feat: add SO101 recording and ACT workflow with progress tracking

2026-09-10 16:46:58 +08:00
parent 2e33355a9c
commit cbf51facff
16 changed files with 604 additions and 7 deletions
@@ -0,0 +1,45 @@
+#!/usr/bin/env bash
+# Source this file to activate the project's LeRobot environment.
+
+if [[ "${BASH_SOURCE[0]}" == "$0" ]]; then
+  echo "This script must be sourced so it can update the current shell:" >&2
+  echo "  source env/activate_lerobot.sh" >&2
+  exit 1
+fi
+
+LEROBOT_PROJECT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
+LEROBOT_VENV="${ROBOT_WORKDIR:-${HOME}/robot}/.venv-lerobot-0.6.1"
+
+if [[ ! -f "$LEROBOT_VENV/bin/activate" ]]; then
+  echo "LeRobot environment not found: $LEROBOT_VENV" >&2
+  echo "Install it first with: bash $LEROBOT_PROJECT_DIR/env/setup_lerobot.sh" >&2
+  return 1
+fi
+
+# shellcheck disable=SC1091
+source "$LEROBOT_VENV/bin/activate"
+
+export LEROBOT_PROJECT_DIR
+export FOLLOWER_PORT="/dev/serial/by-id/usb-1a86_USB_Single_Serial_5B91044223-if00"
+export LEADER_PORT="/dev/serial/by-id/usb-1a86_USB_Single_Serial_5B8E115693-if00"
+
+cd "$LEROBOT_PROJECT_DIR" || return 1
+
+show_lerobot_port() {
+  local role="$1"
+  local stable_path="$2"
+  local current_device
+
+  if [[ -e "$stable_path" ]]; then
+    current_device="$(readlink -f -- "$stable_path")"
+    echo "$role: $stable_path -> $current_device"
+  else
+    echo "$role: $stable_path (not connected)"
+  fi
+}
+
+echo "LeRobot environment activated: $VIRTUAL_ENV"
+echo "Project: $LEROBOT_PROJECT_DIR"
+show_lerobot_port "Follower" "$FOLLOWER_PORT"
+show_lerobot_port "Leader  " "$LEADER_PORT"
+unset -f show_lerobot_port