#!/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
}