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feat(robots): add earth rover robot support (#2575)
Co-authored-by: somthecoder <sbaner64@gmail.com> Co-authored-by: randomSmarts <Aarshsmittal@gmail.com> Co-authored-by: Hassoonu <halsae2@illinois.edu> Co-authored-by: Saketh06 <saketh.kantipudi@gmail.com> Co-authored-by: sairajshetye <sairajshetye2@gmail.com> Co-authored-by: Khalil Meftah <kmeftah.khalil@gmail.com>
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Steven Palma
@@ -85,6 +85,8 @@
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title: Reachy 2
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- local: unitree_g1
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title: Unitree G1
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- local: earthrover_mini_plus
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title: Earth Rover Mini
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title: "Robots"
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- sections:
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- local: phone_teleop
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@@ -0,0 +1,206 @@
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# EarthRover Mini Plus
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The EarthRover Mini Plus is a fully open source mobile robot that connects through the cloud using the Frodobots SDK. This lets you control the robot and record datasets for training AI models.
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## What You Need
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### Hardware
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- EarthRover Mini robot
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- Computer with Python 3.10 or newer
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- Internet connection
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### Setting Up the Frodobots SDK
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The robot needs the [Frodobots SDK](https://github.com/Frodobots/earth-rovers-sdk) running on your computer. Here's how:
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1. Download and install the SDK:
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```bash
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git clone https://github.com/Frodobots/earth-rovers-sdk.git
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cd earth-rovers-sdk
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pip install -r requirements.txt
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```
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2. Start the SDK:
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```bash
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hypercorn main:app --reload
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```
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3. Open your web browser and go to `http://localhost:8000`, then click "Join"
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The SDK gives you:
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- Live video from front and rear cameras
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> [!IMPORTANT]
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> The SDK must be running before you can use the robot.
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## Install LeRobot
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Follow our [Installation Guide](./installation) to install LeRobot.
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In addition to the base installation, install the EarthRover Mini dependencies:
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```bash
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pip install -e .
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```
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## How It Works
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The robot uses the internet to communicate:
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- **Movement commands**: Sent through the SDK
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- **Camera video**: Received from the SDK
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- **Robot info**: Battery, location, speed from the SDK
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You don't need to plug anything in - it all works through the SDK.
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## Calibration
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No calibration needed! The robot is ready to use as soon as the SDK is running.
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## Controlling the Robot
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You control the robot using your keyboard - just like playing a video game with WASD keys.
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### Keyboard Controls
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| Key | Action |
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| --- | -------------------------------- |
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| W | Move forward |
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| S | Move backward |
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| A | Turn left (with forward motion) |
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| D | Turn right (with forward motion) |
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| Q | Rotate left in place |
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| E | Rotate right in place |
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| X | Stop all movement |
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| +/= | Increase speed |
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| - | Decrease speed |
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| ESC | Disconnect |
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### Speed Settings
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You can adjust how fast the robot moves:
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- **Forward/backward speed**: Default is full speed (1.0)
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- **Turning speed**: Default is full speed (1.0)
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- **Speed changes**: Use +/- keys to adjust by 0.1 each time
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### Try It Out
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Test driving the robot before recording data:
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```python
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from lerobot.robots.earthrover_mini_plus import EarthRoverMiniPlus, EarthRoverMiniPlusConfig
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from lerobot.teleoperators.keyboard import KeyboardRoverTeleop, KeyboardRoverTeleopConfig
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# Initialize robot
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robot_config = EarthRoverMiniPlusConfig()
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robot = EarthRoverMiniPlus(robot_config)
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# Initialize teleoperator
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teleop_config = KeyboardRoverTeleopConfig(
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linear_speed=1.0,
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angular_speed=1.0,
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speed_increment=0.1
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)
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teleop = KeyboardRoverTeleop(teleop_config)
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# Connect
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robot.connect()
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teleop.connect()
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# Teleoperate (use keyboard controls)
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try:
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while True:
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action = teleop.get_action()
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robot.send_action(action)
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except KeyboardInterrupt:
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pass
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finally:
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robot.disconnect()
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teleop.disconnect()
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```
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> [!TIP]
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> If you're using a Mac, you might need to give Terminal permission to access your keyboard for teleoperation. Go to System Preferences > Security & Privacy > Input Monitoring and check the box for Terminal.
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## Recording Data
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Once you can drive the robot well, you can start recording data to train AI models. The system records:
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- **What you do**: How you move the robot (forward, backward, turning)
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- **What the robot sees**:
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- Videos from both cameras
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- Robot speed and direction
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- Battery level and location
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- GPS position and signal
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- Other sensor data
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- **When it happened**: Timestamps for everything
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### Setting Up Hugging Face
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We use Hugging Face to store your data online. First, log in with your token from [Hugging Face settings](https://huggingface.co/settings/tokens):
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```bash
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huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
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```
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Store your Hugging Face username:
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```bash
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HF_USER=$(huggingface-cli whoami | head -n 1)
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echo $HF_USER
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```
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### Start Recording
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Use the standard recording command:
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```bash
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python src/lerobot/scripts/lerobot_record.py \
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--robot.type=earthrover_mini_plus \
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--teleop.type=keyboard_rover \
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--dataset.repo_id=your_username/dataset_name \
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--dataset.num_episodes=2 \
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--dataset.fps=10 \
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--dataset.single_task="Navigate around obstacles" \
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--display_data=true
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```
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Replace `your_username/dataset_name` with your Hugging Face username and a name for your dataset.
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### What Gets Saved
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Your dataset includes:
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**Your Actions (2 things)**:
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- How much you moved forward/backward
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- How much you turned left/right
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**Robot Observations (12 things)**:
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- Front camera video
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- Rear camera video
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- Current speed
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- Battery level
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- Which way the robot is facing
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- GPS location (latitude, longitude, signal strength)
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- Network signal strength
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- Vibration level
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- Lamp status (on/off)
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### Where Your Data Goes
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On your computer: `~/.cache/huggingface/lerobot/{repo-id}`
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After recording, your data automatically uploads to your Hugging Face page:
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```bash
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echo https://huggingface.co/datasets/${HF_USER}/earthrover-navigation
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```
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Your dataset will be tagged with `LeRobot` for community discovery.
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