feat: add SO101 recording and ACT workflow with progress tracking

robots/block_white_box_common.sh

@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+# Shared task configuration; source from a launcher.
+set -eo pipefail
+TASK_SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+source "$TASK_SCRIPT_DIR/../env/activate_lerobot.sh"
+set -u
+TASK_TEXT='Pick up the block and place it in the white box.'
+DATASET_ID="${DATASET_ID:-local/block_white_box_v1}"
+DATASET_ROOT="${DATASET_ROOT:-$LEROBOT_PROJECT_DIR/data/block_white_box_v1}"
+TASK_CAMERAS='{"wrist": {"type": "opencv", "index_or_path": "/dev/v4l/by-id/usb-ZSKJ-260319-K_Integrated_Webcam_HD-video-index0", "width": 640, "height": 480, "fps": 30, "fourcc": "MJPG"}, "front": {"type": "opencv", "index_or_path": "/dev/v4l/by-id/usb-Sonix_Technology_Co.__Ltd._USB2.0_CAM1_USB2.0_CAM1-video-index0", "width": 640, "height": 480, "fps": 25, "fourcc": "MJPG"}}'
+ROBOT_ARGS=(--robot.type=so101_follower "--robot.port=$FOLLOWER_PORT" --robot.id=zihao_follower_arm "--robot.cameras=$TASK_CAMERAS")
+run_task() {
+  if [[ "${DRY_RUN:-0}" == 1 ]]; then
+    printf '%q ' "$@"
+    printf '\n'
+    return
+  fi
+  exec "$@"
+}
+check_task_devices() {
+  [[ "${DRY_RUN:-0}" == 1 ]] && return 0
+  local device
+  for device in "$FOLLOWER_PORT" "/dev/v4l/by-id/usb-ZSKJ-260319-K_Integrated_Webcam_HD-video-index0" "/dev/v4l/by-id/usb-Sonix_Technology_Co.__Ltd._USB2.0_CAM1_USB2.0_CAM1-video-index0"; do
+    [[ -r "$device" && -w "$device" ]] || { echo "设备未连接或缺少读写权限：$device" >&2; exit 1; }
+  done
+}