feat: add SO101 recording and ACT workflow with progress tracking

robots/record_with_prompts.py

@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+"""Chinese phase banners for LeRobot recording; no changes to robot control."""
+import sys
+
+
+def show_phase(message: str) -> None:
+    if message.startswith("Recording episode "):
+        number = int(message.rsplit(" ", 1)[1]) + 1
+        title, color = f"● 正在录制｜数据集第 {number} 条", "32"
+        lines = [
+            "现在操作主臂：抓起积木 → 放入白盒 → 松开 → 退开",
+            "完成：按 → 结束本条，进入复位（最后一条将保存退出）",
+            "失败：按 ← 标记重录，然后按提示复位",
+            "停止：按 Esc；当前片段可能保存，之后检查完整性",
+        ]
+    elif message == "Reset the environment":
+        title, color = "● 复位阶段｜当前不录入示范", "33"
+        lines = [
+            "把积木取出放回起点，并通过主臂让从臂回到起始姿态",
+            "注意：从臂仍跟随主臂！",
+            "准备好：按 → 继续；超时也会自动继续",
+            "上一条失败：按 ← 标记重录；按 Esc 结束采集",
+        ]
+    elif message == "Re-record episode":
+        title, color = "● 已丢弃本条｜即将重录", "33"
+        lines = ["等待绿色“正在录制”提示后，再开始抓取。"]
+    elif message == "Stop recording":
+        title, color = "● 正在结束采集｜请等待保存与清理", "36"
+        lines = ["不要关闭终端；完成后会返回命令行。"]
+    elif message == "Exiting":
+        title, color = "● 采集程序已退出", "36"
+        lines = ["请检查实际保存条数及视频；提前结束的片段可能不完整。"]
+    else:
+        return
+    use_color = sys.stdout.isatty()
+    start = f"\033[1;{color}m" if use_color else ""
+    end = "\033[0m" if use_color else ""
+    print("\n" + start + "━" * 60, flush=True)
+    print(title, flush=True)
+    print("━" * 60, flush=True)
+    for line in lines:
+        print("  " + line, flush=True)
+    print("━" * 60 + end + "\n", flush=True)
+    if use_color:
+        print("\a", end="", flush=True)
+
+
+def main() -> None:
+    if sys.argv[1:] == ["--preview"]:
+        for message in ["Recording episode 0", "Reset the environment", "Re-record episode", "Stop recording", "Exiting"]:
+            show_phase(message)
+        return
+    from lerobot.scripts import lerobot_record
+
+    original_log_say = lerobot_record.log_say
+
+    def log_with_banner(message, *args, **kwargs):
+        result = original_log_say(message, *args, **kwargs)
+        show_phase(message)
+        return result
+
+    lerobot_record.log_say = log_with_banner
+    lerobot_record.main()
+
+
+if __name__ == "__main__":
+    main()