# EarthRover Mini Plus

<img
  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Earth_Rover_Mini_5_240c9adc-4f9e-44b7-982f-5d1dc24af1d8.png.webp"
  alt="EarthRover Mini Plus"
  width="70%"
/>

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.

## What You Need

### Hardware

- EarthRover Mini robot
- Computer with Python 3.12 or newer
- Internet connection

### Setting Up the Frodobots SDK

The robot needs the [Frodobots SDK](https://github.com/frodobots-org/earth-rovers-sdk) running on your computer. Here's how:

1. Download and install the SDK:

```bash
git clone https://github.com/frodobots-org/earth-rovers-sdk.git
cd earth-rovers-sdk
pip install -r requirements.txt
```

2. Save Credentials:

Write your .env variables with the SDK API key and bot name provided by the Frodobots team.

```bash
SDK_API_TOKEN=your_sdk_api_token_here
BOT_SLUG=your_bot_slug_here
CHROME_EXECUTABLE_PATH=/path/to/chrome_or_chromium
# Default value is MAP_ZOOM_LEVEL=18 https://wiki.openstreetmap.org/wiki/Zoom_levels
MAP_ZOOM_LEVEL=18
MISSION_SLUG=your_mission_slug_here
# Image quality between 0.1 and 1.0 (default: 0.8)
# Recommended: 0.8 for better performance
IMAGE_QUALITY=0.8
# Image format: jpeg, png or webp (default: png)
# Recommended: jpeg for better performance and lower bandwidth usage
IMAGE_FORMAT=jpeg
```

3. Start the SDK:

```bash
hypercorn main:app --reload
```

4. Open your web browser and go to `http://localhost:8000`, then click "Join"

The SDK gives you:

- Live video from front and rear cameras

> [!IMPORTANT]
> The SDK must be running before you can use the robot.

## Install LeRobot

Follow our [Installation Guide](./installation) to install LeRobot.

In addition to the base installation, install the EarthRover Mini with hardware dependencies:

```bash
pip install -e ".[hardware]"
```

## How It Works

The robot uses the internet to communicate:

- **Movement commands**: Sent through the SDK
- **Camera video**: Received from the SDK
- **Robot info**: Battery, location, speed from the SDK

You don't need to plug anything in - it all works through the SDK.

## Calibration

No calibration needed! The robot is ready to use as soon as the SDK is running.

## Controlling the Robot

You control the robot using your keyboard - just like playing a video game with WASD keys.

### Keyboard Controls

| Key | Action                           |
| --- | -------------------------------- |
| 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   | Stop all movement                |
| +/= | Increase speed                   |
| -   | Decrease speed                   |
| ESC | Disconnect                       |

### Speed Settings

You can adjust how fast the robot moves:

- **Forward/backward speed**: Default is full speed (1.0)
- **Turning speed**: Default is full speed (1.0)
- **Speed changes**: Use +/- keys to adjust by 0.1 each time

### Try It Out

Test driving the robot before recording data:

```python
from lerobot.robots.earthrover_mini_plus import EarthRoverMiniPlus, EarthRoverMiniPlusConfig
from lerobot.teleoperators.keyboard import KeyboardRoverTeleop, KeyboardRoverTeleopConfig

# Initialize robot
robot_config = EarthRoverMiniPlusConfig()
robot = EarthRoverMiniPlus(robot_config)

# Initialize teleoperator
teleop_config = KeyboardRoverTeleopConfig(
    linear_speed=1.0,
    angular_speed=1.0,
    speed_increment=0.1
)
teleop = KeyboardRoverTeleop(teleop_config)

# Connect
robot.connect()
teleop.connect()

# Teleoperate (use keyboard controls)
try:
    while True:
        action = teleop.get_action()
        robot.send_action(action)
except KeyboardInterrupt:
    pass
finally:
    robot.disconnect()
    teleop.disconnect()
```

> [!TIP]
> 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.

## Recording Data

Once you can drive the robot well, you can start recording data to train AI models. The system records:

- **What you do**: How you move the robot (forward, backward, turning)
- **What the robot sees**:
  - Videos from both cameras
  - Robot speed and direction
  - Battery level and location
  - GPS position and signal
  - Other sensor data
- **When it happened**: Timestamps for everything

### Setting Up Hugging Face

We use Hugging Face to store your data online. First, log in with your token from [Hugging Face settings](https://huggingface.co/settings/tokens):

```bash
hf auth login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
```

Store your Hugging Face username:

```bash
HF_USER=$(hf auth whoami | awk -F': *' 'NR==1 {print $2}')
echo $HF_USER
```

### Start Recording

Use the standard recording command:

```bash
lerobot-record \
    --robot.type=earthrover_mini_plus \
    --teleop.type=keyboard_rover \
    --dataset.repo_id=your_username/dataset_name \
    --dataset.num_episodes=2 \
    --dataset.fps=10 \
    --dataset.single_task="Navigate around obstacles" \
    --dataset.streaming_encoding=true \
    --dataset.encoder_threads=2 \
    # --dataset.camera_encoder.vcodec=auto \
    --display_data=true
```

Replace `your_username/dataset_name` with your Hugging Face username and a name for your dataset.

### What Gets Saved

Your dataset includes:

**Your Actions (2 features)**:

- `linear_velocity`: How much you moved forward/backward
- `angular_velocity`: How much you turned left/right

**Robot Observations (24 features)**:

- Front camera video
- Rear camera video
- Current speed
- Battery level
- Orientation
- GPS (latitude, longitude, signal strength)
- Network signal strength
- Vibration level
- Lamp state (on/off)
- Accelerometer (x, y, z)
- Gyroscope (x, y, z)
- Magnetometer (x, y, z)
- Wheel RPMs (4 wheels)

### Where Your Data Goes

On your computer: `~/.cache/huggingface/lerobot/{repo-id}`

After recording, your data automatically uploads to your Hugging Face page:

```bash
echo https://huggingface.co/datasets/${HF_USER}/earthrover-navigation
```

Your dataset will be tagged with `LeRobot` for community discovery.
