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>

src/lerobot/teleoperators/keyboard/teleop_keyboard.py

@@ -25,7 +25,11 @@ from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnected
 
 from ..teleoperator import Teleoperator
 from ..utils import TeleopEvents
-from .configuration_keyboard import KeyboardEndEffectorTeleopConfig, KeyboardTeleopConfig
+from .configuration_keyboard import (
+    KeyboardEndEffectorTeleopConfig,
+    KeyboardRoverTeleopConfig,
+    KeyboardTeleopConfig,
+)
 
 PYNPUT_AVAILABLE = True
 try:
@@ -289,3 +293,158 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
             TeleopEvents.SUCCESS: success,
             TeleopEvents.RERECORD_EPISODE: rerecord_episode,
         }
+
+
+class KeyboardRoverTeleop(KeyboardTeleop):
+    """
+    Keyboard teleoperator for mobile robots like EarthRover Mini Plus.
+
+    Provides intuitive WASD-style controls for driving a mobile robot:
+    - Linear movement (forward/backward)
+    - Angular movement (turning/rotation)
+    - Speed adjustment
+    - Emergency stop
+
+    Keyboard Controls:
+        Movement:
+            - W: Move forward
+            - S: Move backward
+            - A: Turn left (with forward motion)
+            - D: Turn right (with forward motion)
+            - Q: Rotate left in place
+            - E: Rotate right in place
+            - X: Emergency stop
+
+        Speed Control:
+            - +/=: Increase speed
+            - -: Decrease speed
+
+        System:
+            - ESC: Disconnect teleoperator
+
+    Attributes:
+        config: Teleoperator configuration
+        current_linear_speed: Current linear velocity magnitude
+        current_angular_speed: Current angular velocity magnitude
+
+    Example:
+        ```python
+        from lerobot.teleoperators.keyboard import KeyboardRoverTeleop, KeyboardRoverTeleopConfig
+
+        teleop = KeyboardRoverTeleop(
+            KeyboardRoverTeleopConfig(linear_speed=1.0, angular_speed=1.0, speed_increment=0.1)
+        )
+        teleop.connect()
+
+        while teleop.is_connected:
+            action = teleop.get_action()
+            robot.send_action(action)
+        ```
+    """
+
+    config_class = KeyboardRoverTeleopConfig
+    name = "keyboard_rover"
+
+    def __init__(self, config: KeyboardRoverTeleopConfig):
+        super().__init__(config)
+        # Add rover-specific speed settings
+        self.current_linear_speed = config.linear_speed
+        self.current_angular_speed = config.angular_speed
+
+    @property
+    def action_features(self) -> dict:
+        """Return action format for rover (linear and angular velocities)."""
+        return {
+            "linear.vel": float,
+            "angular.vel": float,
+        }
+
+    @property
+    def is_calibrated(self) -> bool:
+        """Rover teleop doesn't require calibration."""
+        return True
+
+    def _drain_pressed_keys(self):
+        """Update current_pressed state from event queue without clearing held keys"""
+        while not self.event_queue.empty():
+            key_char, is_pressed = self.event_queue.get_nowait()
+            if is_pressed:
+                self.current_pressed[key_char] = True
+            else:
+                # Only remove key if it's being released
+                self.current_pressed.pop(key_char, None)
+
+    def get_action(self) -> dict[str, Any]:
+        """
+        Get the current action based on pressed keys.
+
+        Returns:
+            dict with 'linear.vel' and 'angular.vel' keys
+        """
+        before_read_t = time.perf_counter()
+
+        if not self.is_connected:
+            raise DeviceNotConnectedError(
+                "KeyboardRoverTeleop is not connected. You need to run `connect()` before `get_action()`."
+            )
+
+        self._drain_pressed_keys()
+
+        linear_velocity = 0.0
+        angular_velocity = 0.0
+
+        # Check which keys are currently pressed (not released)
+        active_keys = {key for key, is_pressed in self.current_pressed.items() if is_pressed}
+
+        # Linear movement (W/S) - these take priority
+        if "w" in active_keys:
+            linear_velocity = self.current_linear_speed
+        elif "s" in active_keys:
+            linear_velocity = -self.current_linear_speed
+
+        # Turning (A/D/Q/E)
+        if "d" in active_keys:
+            angular_velocity = -self.current_angular_speed
+            if linear_velocity == 0:  # If not moving forward/back, add slight forward motion
+                linear_velocity = self.current_linear_speed * self.config.turn_assist_ratio
+        elif "a" in active_keys:
+            angular_velocity = self.current_angular_speed
+            if linear_velocity == 0:  # If not moving forward/back, add slight forward motion
+                linear_velocity = self.current_linear_speed * self.config.turn_assist_ratio
+        elif "q" in active_keys:
+            angular_velocity = self.current_angular_speed
+            linear_velocity = 0  # Rotate in place
+        elif "e" in active_keys:
+            angular_velocity = -self.current_angular_speed
+            linear_velocity = 0  # Rotate in place
+
+        # Stop (X) - overrides everything
+        if "x" in active_keys:
+            linear_velocity = 0
+            angular_velocity = 0
+
+        # Speed adjustment
+        if "+" in active_keys or "=" in active_keys:
+            self.current_linear_speed += self.config.speed_increment
+            self.current_angular_speed += self.config.speed_increment * self.config.angular_speed_ratio
+            logging.info(
+                f"Speed increased: linear={self.current_linear_speed:.2f}, angular={self.current_angular_speed:.2f}"
+            )
+        if "-" in active_keys:
+            self.current_linear_speed = max(
+                self.config.min_linear_speed, self.current_linear_speed - self.config.speed_increment
+            )
+            self.current_angular_speed = max(
+                self.config.min_angular_speed,
+                self.current_angular_speed - self.config.speed_increment * self.config.angular_speed_ratio,
+            )
+            logging.info(
+                f"Speed decreased: linear={self.current_linear_speed:.2f}, angular={self.current_angular_speed:.2f}"
+            )
+
+        self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
+
+        return {
+            "linear.vel": linear_velocity,
+            "angular.vel": angular_velocity,
+        }