feat: add SO101 recording and ACT workflow with progress tracking

robots/teleoperate_one_camera.sh

@@ -0,0 +1,33 @@
+#!/usr/bin/env bash
+# Launch SO101 teleoperation with this machine's calibrated arms.
+set -eo pipefail
+
+script_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+source "$script_dir/../env/activate_lerobot.sh"
+set -u
+
+check_device() {
+  if [[ ! -e "$1" ]]; then
+    echo "设备未连接：$1" >&2
+    exit 1
+  fi
+  if [[ ! -r "$1" || ! -w "$1" ]]; then
+    echo "设备缺少读写权限：$1，请检查串口 dialout / 摄像头 video 权限。" >&2
+    exit 1
+  fi
+}
+check_device "$FOLLOWER_PORT"
+check_device "$LEADER_PORT"
+check_device "/dev/v4l/by-id/usb-ZSKJ-260319-K_Integrated_Webcam_HD-video-index0"
+
+echo "启动遥操作；按 Ctrl+C 停止。"
+exec lerobot-teleoperate \
+  --robot.type=so101_follower \
+  --robot.port="$FOLLOWER_PORT" \
+  --robot.id=zihao_follower_arm \
+  --robot.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"}}' \
+  --teleop.type=so101_leader \
+  --teleop.port="$LEADER_PORT" \
+  --teleop.id=zihao_leader_arm \
+  --display_data=true \
+  "$@"