import{s as kl,a as Hl,n as Il,o as Ll}from"../chunks/scheduler.eb244325.js";import{S as Vl,i as Gl,e as a,s as i,c as p,h as Sl,a as o,d as l,b as s,f as xl,g as m,j as r,k as b,l as El,m as n,n as d,t as u,o as M,p as f}from"../chunks/index.3fe63ad3.js";import{C as Wl}from"../chunks/CopyLLMTxtMenu.88bde5f2.js";import{C as $}from"../chunks/CodeBlock.934d290d.js";import{H as h,E as Fl}from"../chunks/MermaidChart.svelte_svelte_type_style_lang.341974a5.js";function Bl(Ye){let y,kt,_t,Ht,U,It,C,Lt,g,Ne,Vt,j,ze="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.",Gt,Z,St,R,Et,_,Pe="<li>EarthRover Mini robot</li> <li>Computer with Python 3.12 or newer</li> <li>Internet connection</li>",Wt,x,Ft,k,De='The robot needs the <a href="https://github.com/frodobots-org/earth-rovers-sdk" rel="nofollow">Frodobots SDK</a> running on your computer. Here’s how:',Bt,H,Ke="<li>Download and install the SDK:</li>",Xt,I,At,w,Oe="<li>Save Credentials:</li>",Qt,L,qe="Write your .env variables with the SDK API key and bot name provided by the Frodobots team.",Yt,V,Nt,T,tl="<li>Start the SDK:</li>",zt,G,Pt,c,el="<li>Open your web browser and go to <code>http://localhost:8000</code>, then click “Join”</li>",Dt,S,ll="The SDK gives you:",Kt,E,nl="<li>Live video from front and rear cameras</li>",Ot,v,il="<p>The SDK must be running before you can use the robot.</p>",qt,W,te,F,sl='Follow our <a href="./installation">Installation Guide</a> to install LeRobot.',ee,B,al="In addition to the base installation, install the EarthRover Mini with hardware dependencies:",le,X,ne,A,ie,Q,ol="The robot uses the internet to communicate:",se,Y,rl="<li><strong>Movement commands</strong>: Sent through the SDK</li> <li><strong>Camera video</strong>: Received from the SDK</li> <li><strong>Robot info</strong>: Battery, location, speed from the SDK</li>",ae,N,pl="You don’t need to plug anything in - it all works through the SDK.",oe,z,re,P,ml="No calibration needed! The robot is ready to use as soon as the SDK is running.",pe,D,me,K,dl="You control the robot using your keyboard - just like playing a video game with WASD keys.",de,O,ue,q,ul="<thead><tr><th>Key</th> <th>Action</th></tr></thead> <tbody><tr><td>W</td> <td>Move forward</td></tr> <tr><td>S</td> <td>Move backward</td></tr> <tr><td>A</td> <td>Turn left (with forward motion)</td></tr> <tr><td>D</td> <td>Turn right (with forward motion)</td></tr> <tr><td>Q</td> <td>Rotate left in place</td></tr> <tr><td>E</td> <td>Rotate right in place</td></tr> <tr><td>X</td> <td>Stop all movement</td></tr> <tr><td>+/=</td> <td>Increase speed</td></tr> <tr><td>-</td> <td>Decrease speed</td></tr> <tr><td>ESC</td> <td>Disconnect</td></tr></tbody>",Me,tt,fe,et,Ml="You can adjust how fast the robot moves:",he,lt,fl="<li><strong>Forward/backward speed</strong>: Default is full speed (1.0)</li> <li><strong>Turning speed</strong>: Default is full speed (1.0)</li> <li><strong>Speed changes</strong>: Use +/- keys to adjust by 0.1 each time</li>",be,nt,ye,it,hl="Test driving the robot before recording data:",$e,st,ge,J,bl="<p>If you’re using a Mac, you might need to give Terminal permission to access your keyboard for teleoperation. Go to System Preferences &gt; Security &amp; Privacy &gt; Input Monitoring and check the box for Terminal.</p>",we,at,Te,ot,yl="Once you can drive the robot well, you can start recording data to train AI models. The system records:",ce,rt,$l=`<li><strong>What you do</strong>: How you move the robot (forward, backward, turning)</li> <li><strong>What the robot sees</strong>:
<ul><li>Videos from both cameras</li> <li>Robot speed and direction</li> <li>Battery level and location</li> <li>GPS position and signal</li> <li>Other sensor data</li></ul></li> <li><strong>When it happened</strong>: Timestamps for everything</li>`,ve,pt,Je,mt,gl='We use Hugging Face to store your data online. First, log in with your token from <a href="https://huggingface.co/settings/tokens" rel="nofollow">Hugging Face settings</a>:',Ue,dt,Ce,ut,wl="Store your Hugging Face username:",je,Mt,Ze,ft,Re,ht,Tl="Use the standard recording command:",_e,bt,xe,yt,cl="Replace <code>your_username/dataset_name</code> with your Hugging Face username and a name for your dataset.",ke,$t,He,gt,vl="Your dataset includes:",Ie,wt,Jl="<strong>Your Actions (2 features)</strong>:",Le,Tt,Ul="<li><code>linear_velocity</code>: How much you moved forward/backward</li> <li><code>angular_velocity</code>: How much you turned left/right</li>",Ve,ct,Cl="<strong>Robot Observations (24 features)</strong>:",Ge,vt,jl="<li>Front camera video</li> <li>Rear camera video</li> <li>Current speed</li> <li>Battery level</li> <li>Orientation</li> <li>GPS (latitude, longitude, signal strength)</li> <li>Network signal strength</li> <li>Vibration level</li> <li>Lamp state (on/off)</li> <li>Accelerometer (x, y, z)</li> <li>Gyroscope (x, y, z)</li> <li>Magnetometer (x, y, z)</li> <li>Wheel RPMs (4 wheels)</li>",Se,Jt,Ee,Ut,Zl="On your computer: <code>~/.cache/huggingface/lerobot/{repo-id}</code>",We,Ct,Rl="After recording, your data automatically uploads to your Hugging Face page:",Fe,jt,Be,Zt,_l="Your dataset will be tagged with <code>LeRobot</code> for community discovery.",Xe,Rt,Ae,xt,Qe;return U=new Wl({props:{containerStyle:"float: right; margin-left: 10px; display: inline-flex; position: relative; z-index: 10;"}}),C=new h({props:{title:"EarthRover Mini Plus",local:"earthrover-mini-plus",headingTag:"h1"}}),Z=new h({props:{title:"What You Need",local:"what-you-need",headingTag:"h2"}}),R=new h({props:{title:"Hardware",local:"hardware",headingTag:"h3"}}),x=new h({props:{title:"Setting Up the Frodobots SDK",local:"setting-up-the-frodobots-sdk",headingTag:"h3"}}),I=new $({props:{code:"Z2l0JTIwY2xvbmUlMjBodHRwcyUzQSUyRiUyRmdpdGh1Yi5jb20lMkZmcm9kb2JvdHMtb3JnJTJGZWFydGgtcm92ZXJzLXNkay5naXQlMEFjZCUyMGVhcnRoLXJvdmVycy1zZGslMEFwaXAlMjBpbnN0YWxsJTIwLXIlMjByZXF1aXJlbWVudHMudHh0",highlighted:`git <span class="hljs-built_in">clone</span> https://github.com/frodobots-org/earth-rovers-sdk.git
<span class="hljs-built_in">cd</span> earth-rovers-sdk
pip install -r requirements.txt`,wrap:!1}}),V=new $({props:{code:"U0RLX0FQSV9UT0tFTiUzRHlvdXJfc2RrX2FwaV90b2tlbl9oZXJlJTBBQk9UX1NMVUclM0R5b3VyX2JvdF9zbHVnX2hlcmUlMEFDSFJPTUVfRVhFQ1VUQUJMRV9QQVRIJTNEJTJGcGF0aCUyRnRvJTJGY2hyb21lX29yX2Nocm9taXVtJTBBJTIzJTIwRGVmYXVsdCUyMHZhbHVlJTIwaXMlMjBNQVBfWk9PTV9MRVZFTCUzRDE4JTIwaHR0cHMlM0ElMkYlMkZ3aWtpLm9wZW5zdHJlZXRtYXAub3JnJTJGd2lraSUyRlpvb21fbGV2ZWxzJTBBTUFQX1pPT01fTEVWRUwlM0QxOCUwQU1JU1NJT05fU0xVRyUzRHlvdXJfbWlzc2lvbl9zbHVnX2hlcmUlMEElMjMlMjBJbWFnZSUyMHF1YWxpdHklMjBiZXR3ZWVuJTIwMC4xJTIwYW5kJTIwMS4wJTIwKGRlZmF1bHQlM0ElMjAwLjgpJTBBJTIzJTIwUmVjb21tZW5kZWQlM0ElMjAwLjglMjBmb3IlMjBiZXR0ZXIlMjBwZXJmb3JtYW5jZSUwQUlNQUdFX1FVQUxJVFklM0QwLjglMEElMjMlMjBJbWFnZSUyMGZvcm1hdCUzQSUyMGpwZWclMkMlMjBwbmclMjBvciUyMHdlYnAlMjAoZGVmYXVsdCUzQSUyMHBuZyklMEElMjMlMjBSZWNvbW1lbmRlZCUzQSUyMGpwZWclMjBmb3IlMjBiZXR0ZXIlMjBwZXJmb3JtYW5jZSUyMGFuZCUyMGxvd2VyJTIwYmFuZHdpZHRoJTIwdXNhZ2UlMEFJTUFHRV9GT1JNQVQlM0RqcGVn",highlighted:`SDK_API_TOKEN=your_sdk_api_token_here
BOT_SLUG=your_bot_slug_here
CHROME_EXECUTABLE_PATH=/path/to/chrome_or_chromium
<span class="hljs-comment"># Default value is MAP_ZOOM_LEVEL=18 https://wiki.openstreetmap.org/wiki/Zoom_levels</span>
MAP_ZOOM_LEVEL=18
MISSION_SLUG=your_mission_slug_here
<span class="hljs-comment"># Image quality between 0.1 and 1.0 (default: 0.8)</span>
<span class="hljs-comment"># Recommended: 0.8 for better performance</span>
IMAGE_QUALITY=0.8
<span class="hljs-comment"># Image format: jpeg, png or webp (default: png)</span>
<span class="hljs-comment"># Recommended: jpeg for better performance and lower bandwidth usage</span>
IMAGE_FORMAT=jpeg`,wrap:!1}}),G=new $({props:{code:"aHlwZXJjb3JuJTIwbWFpbiUzQWFwcCUyMC0tcmVsb2Fk",highlighted:"hypercorn main:app --reload",wrap:!1}}),W=new h({props:{title:"Install LeRobot",local:"install-lerobot",headingTag:"h2"}}),X=new $({props:{code:"cGlwJTIwaW5zdGFsbCUyMC1lJTIwJTIyLiU1QmhhcmR3YXJlJTVEJTIy",highlighted:'pip install -e <span class="hljs-string">&quot;.[hardware]&quot;</span>',wrap:!1}}),A=new h({props:{title:"How It Works",local:"how-it-works",headingTag:"h2"}}),z=new h({props:{title:"Calibration",local:"calibration",headingTag:"h2"}}),D=new h({props:{title:"Controlling the Robot",local:"controlling-the-robot",headingTag:"h2"}}),O=new h({props:{title:"Keyboard Controls",local:"keyboard-controls",headingTag:"h3"}}),tt=new h({props:{title:"Speed Settings",local:"speed-settings",headingTag:"h3"}}),nt=new h({props:{title:"Try It Out",local:"try-it-out",headingTag:"h3"}}),st=new $({props:{code:"ZnJvbSUyMGxlcm9ib3Qucm9ib3RzLmVhcnRocm92ZXJfbWluaV9wbHVzJTIwaW1wb3J0JTIwRWFydGhSb3Zlck1pbmlQbHVzJTJDJTIwRWFydGhSb3Zlck1pbmlQbHVzQ29uZmlnJTBBZnJvbSUyMGxlcm9ib3QudGVsZW9wZXJhdG9ycy5rZXlib2FyZCUyMGltcG9ydCUyMEtleWJvYXJkUm92ZXJUZWxlb3AlMkMlMjBLZXlib2FyZFJvdmVyVGVsZW9wQ29uZmlnJTBBJTBBJTIzJTIwSW5pdGlhbGl6ZSUyMHJvYm90JTBBcm9ib3RfY29uZmlnJTIwJTNEJTIwRWFydGhSb3Zlck1pbmlQbHVzQ29uZmlnKCklMEFyb2JvdCUyMCUzRCUyMEVhcnRoUm92ZXJNaW5pUGx1cyhyb2JvdF9jb25maWcpJTBBJTBBJTIzJTIwSW5pdGlhbGl6ZSUyMHRlbGVvcGVyYXRvciUwQXRlbGVvcF9jb25maWclMjAlM0QlMjBLZXlib2FyZFJvdmVyVGVsZW9wQ29uZmlnKCUwQSUyMCUyMCUyMCUyMGxpbmVhcl9zcGVlZCUzRDEuMCUyQyUwQSUyMCUyMCUyMCUyMGFuZ3VsYXJfc3BlZWQlM0QxLjAlMkMlMEElMjAlMjAlMjAlMjBzcGVlZF9pbmNyZW1lbnQlM0QwLjElMEEpJTBBdGVsZW9wJTIwJTNEJTIwS2V5Ym9hcmRSb3ZlclRlbGVvcCh0ZWxlb3BfY29uZmlnKSUwQSUwQSUyMyUyMENvbm5lY3QlMEFyb2JvdC5jb25uZWN0KCklMEF0ZWxlb3AuY29ubmVjdCgpJTBBJTBBJTIzJTIwVGVsZW9wZXJhdGUlMjAodXNlJTIwa2V5Ym9hcmQlMjBjb250cm9scyklMEF0cnklM0ElMEElMjAlMjAlMjAlMjB3aGlsZSUyMFRydWUlM0ElMEElMjAlMjAlMjAlMjAlMjAlMjAlMjAlMjBhY3Rpb24lMjAlM0QlMjB0ZWxlb3AuZ2V0X2FjdGlvbigpJTBBJTIwJTIwJTIwJTIwJTIwJTIwJTIwJTIwcm9ib3Quc2VuZF9hY3Rpb24oYWN0aW9uKSUwQWV4Y2VwdCUyMEtleWJvYXJkSW50ZXJydXB0JTNBJTBBJTIwJTIwJTIwJTIwcGFzcyUwQWZpbmFsbHklM0ElMEElMjAlMjAlMjAlMjByb2JvdC5kaXNjb25uZWN0KCklMEElMjAlMjAlMjAlMjB0ZWxlb3AuZGlzY29ubmVjdCgp",highlighted:`<span class="hljs-keyword">from</span> lerobot.robots.earthrover_mini_plus <span class="hljs-keyword">import</span> EarthRoverMiniPlus, EarthRoverMiniPlusConfig
<span class="hljs-keyword">from</span> lerobot.teleoperators.keyboard <span class="hljs-keyword">import</span> KeyboardRoverTeleop, KeyboardRoverTeleopConfig

<span class="hljs-comment"># Initialize robot</span>
robot_config = EarthRoverMiniPlusConfig()
robot = EarthRoverMiniPlus(robot_config)

<span class="hljs-comment"># Initialize teleoperator</span>
teleop_config = KeyboardRoverTeleopConfig(
    linear_speed=<span class="hljs-number">1.0</span>,
    angular_speed=<span class="hljs-number">1.0</span>,
    speed_increment=<span class="hljs-number">0.1</span>
)
teleop = KeyboardRoverTeleop(teleop_config)

<span class="hljs-comment"># Connect</span>
robot.connect()
teleop.connect()

<span class="hljs-comment"># Teleoperate (use keyboard controls)</span>
<span class="hljs-keyword">try</span>:
    <span class="hljs-keyword">while</span> <span class="hljs-literal">True</span>:
        action = teleop.get_action()
        robot.send_action(action)
<span class="hljs-keyword">except</span> KeyboardInterrupt:
    <span class="hljs-keyword">pass</span>
<span class="hljs-keyword">finally</span>:
    robot.disconnect()
    teleop.disconnect()`,wrap:!1}}),at=new h({props:{title:"Recording Data",local:"recording-data",headingTag:"h2"}}),pt=new h({props:{title:"Setting Up Hugging Face",local:"setting-up-hugging-face",headingTag:"h3"}}),dt=new $({props:{code:"aGYlMjBhdXRoJTIwbG9naW4lMjAtLXRva2VuJTIwJTI0JTdCSFVHR0lOR0ZBQ0VfVE9LRU4lN0QlMjAtLWFkZC10by1naXQtY3JlZGVudGlhbA==",highlighted:'hf auth login --token <span class="hljs-variable">${HUGGINGFACE_TOKEN}</span> --add-to-git-credential',wrap:!1}}),Mt=new $({props:{code:"SEZfVVNFUiUzRCUyNChoZiUyMGF1dGglMjB3aG9hbWklMjAlN0MlMjBhd2slMjAtRiclM0ElMjAqJyUyMCdOUiUzRCUzRDElMjAlN0JwcmludCUyMCUyNDIlN0QnKSUwQWVjaG8lMjAlMjRIRl9VU0VS",highlighted:`HF_USER=$(hf auth <span class="hljs-built_in">whoami</span> | awk -F<span class="hljs-string">&#x27;: *&#x27;</span> <span class="hljs-string">&#x27;NR==1 {print $2}&#x27;</span>)
<span class="hljs-built_in">echo</span> <span class="hljs-variable">$HF_USER</span>`,wrap:!1}}),ft=new h({props:{title:"Start Recording",local:"start-recording",headingTag:"h3"}}),bt=new $({props:{code:"bGVyb2JvdC1yZWNvcmQlMjAlNUMlMEElMjAlMjAlMjAlMjAtLXJvYm90LnR5cGUlM0RlYXJ0aHJvdmVyX21pbmlfcGx1cyUyMCU1QyUwQSUyMCUyMCUyMCUyMC0tdGVsZW9wLnR5cGUlM0RrZXlib2FyZF9yb3ZlciUyMCU1QyUwQSUyMCUyMCUyMCUyMC0tZGF0YXNldC5yZXBvX2lkJTNEeW91cl91c2VybmFtZSUyRmRhdGFzZXRfbmFtZSUyMCU1QyUwQSUyMCUyMCUyMCUyMC0tZGF0YXNldC5udW1fZXBpc29kZXMlM0QyJTIwJTVDJTBBJTIwJTIwJTIwJTIwLS1kYXRhc2V0LmZwcyUzRDEwJTIwJTVDJTBBJTIwJTIwJTIwJTIwLS1kYXRhc2V0LnNpbmdsZV90YXNrJTNEJTIyTmF2aWdhdGUlMjBhcm91bmQlMjBvYnN0YWNsZXMlMjIlMjAlNUMlMEElMjAlMjAlMjAlMjAtLWRhdGFzZXQuc3RyZWFtaW5nX2VuY29kaW5nJTNEdHJ1ZSUyMCU1QyUwQSUyMCUyMCUyMCUyMC0tZGF0YXNldC5lbmNvZGVyX3RocmVhZHMlM0QyJTIwJTVDJTBBJTIwJTIwJTIwJTIwJTIzJTIwLS1kYXRhc2V0LnZjb2RlYyUzRGF1dG8lMjAlNUMlMEElMjAlMjAlMjAlMjAtLWRpc3BsYXlfZGF0YSUzRHRydWU=",highlighted:`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=<span class="hljs-string">&quot;Navigate around obstacles&quot;</span> \\
    --dataset.streaming_encoding=<span class="hljs-literal">true</span> \\
    --dataset.encoder_threads=2 \\
    <span class="hljs-comment"># --dataset.vcodec=auto \\</span>
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