[Contribute] OnBoard Computing （Jetson Orin, Thor, Raspberry Pi, etc)

[Vector-Wangel]

📋 Issue Description

Implement onboard computing using Raspberry Pi similar to LeKiwi setup, replacing laptop-based control with embedded computing for true mobile autonomy.

🎯 What We Need

Goal: Enable XLeRobot to run with Raspberry Pi onboard computing

Key Requirements:

• Raspberry Pi-based control system
• SSH remote access and control
• Stream 3 camera feeds simultaneously
• Full robot functionality (dual-arm + base + head)
• Performance optimization for Pi hardware

🔧 Expected Approach

Option 1: Extend LeKiwi Implementation

• Take existing LeKiwi codebase from lerobot
• Add second arm and head motor support
• Modify camera configuration for 3-camera setup

Option 2: Adapt XLeRobot for Pi

• Port current XLeRobot control to Raspberry Pi
• Add SSH control interface similar to LeKiwi
• Optimize for Pi's hardware limitations

System Architecture

[Remote Control] <-> SSH/Network <-> [Raspberry Pi] <-> [Motor Controllers + Cameras]
                                         |
                                   [3x Camera Streams]

📝 Technical Requirements

Hardware Setup:

• Raspberry Pi 4/5 (8GB RAM recommended)
• USB hub for multiple camera connections
• Motor controller connections (2x USB for dual-arm + base)
• Network connectivity (WiFi/Ethernet)

Software Components:

• Camera streaming (efficient encoding/compression)
• Motor control optimization
• SSH server with key-based auth
• Resource monitoring and management

📋 Acceptance Criteria

Minimum Requirements:

• [ ] Raspberry Pi successfully controls all motors (dual-arm + base + head)
• [ ] SSH access and remote control working
• [ ] 3 cameras streaming simultaneously (acceptable FPS >10)
• [ ] Basic teleop functionality over network
• [ ] Installation and setup documentation

Bonus Points:

• [ ] Auto-startup on boot
• [ ] Camera stream quality optimization
• [ ] Error recovery mechanisms

💡 Resources

LeKiwi Reference:

• [LeKiwi Implementation](https://github.com/huggingface/lerobot/tree/main/lerobot/robots/lekiwi)
• [LeKiwi Documentation](https://lerobot.readthedocs.io/en/stable/robots/lekiwi.html)

XLeRobot Current Setup:

• XLeRobot Implementation
• Dual-arm Examples

🔧 Implementation Steps

1. Setup Pi Environment

   • Install dependencies on Raspberry Pi
   • Configure camera and USB connections

2. Port Control Logic

   • Adapt motor control for Pi limitations
   • Implement camera streaming pipeline

3. Network Interface

   • SSH server configuration
   • Remote control protocol

4. Testing & Optimization

   • Performance tuning for smooth operation
   • Multi-camera streaming optimization

🤝 Propose Your Approach

Comment with your implementation plan! Include:

• Camera streaming strategy
• Performance optimization approach
• Timeline estimate

Example:

I'd like to work on this! My approach:

• Start with LeKiwi codebase and extend for dual-arm
• Use GStreamer for efficient camera streaming
• Implement motor controller multiplexing
• Test on Pi 4 first, optimize for Pi 5
• Timeline: ~3 weeks

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This will transform XLeRobot from laptop-based operation to a more mobile setup, enabling deployment in real-world scenarios!