From 8be3b966fc377c88b24c4e479ffa6814e4041e98 Mon Sep 17 00:00:00 2001 From: yuyoujiang <254693273@qq.com> Date: Mon, 30 Dec 2024 11:11:46 +0800 Subject: [PATCH 1/3] updata: jp6.1 for jetson --- .../J401/reComputer_J4012_Flash_Jetpack.md | 83 +++++++++++++++++++ .../reComputer_Industrial_Getting_Started.md | 67 +++++++++++++++ .../reServer_Industrial_Getting_Started.md | 51 +++++++++++- 3 files changed, 197 insertions(+), 4 deletions(-) diff --git a/docs/Edge/NVIDIA_Jetson/Carrier_Boards/J401/reComputer_J4012_Flash_Jetpack.md b/docs/Edge/NVIDIA_Jetson/Carrier_Boards/J401/reComputer_J4012_Flash_Jetpack.md index 818d92cf7b3b..1a58315b18fb 100644 --- a/docs/Edge/NVIDIA_Jetson/Carrier_Boards/J401/reComputer_J4012_Flash_Jetpack.md +++ b/docs/Edge/NVIDIA_Jetson/Carrier_Boards/J401/reComputer_J4012_Flash_Jetpack.md @@ -595,8 +595,91 @@ sudo ln -s /usr/src/linux-headers-5.15.136-tegra-ubuntu22.04_aarch64/3rdparty/ca sudo apt install -y iwlwifi-modules ``` + + + + +Here we will use NVIDIA L4T 36.4 to install Jetpack 6.1 on the reComputer + +**Step 1:** Download the system image to your Ubuntu PC corresponding to the Jetson module you are using: + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Jetson ModuleDownload LinkJetPack VersionL4T Version
Jetson Orin NX 16GB + Download + + 6.136.4
Jetson Orin NX 8GB + Download + +
Jetson Orin Nano 8GB + Download + +
Jetson Orin Nano 4GB + Download + +
+
+ +**Step 2:** Extract the downloaded image file: +```bash +sudo tar xpf mfi_xxxx.tar.gz +# For example: sudo tar xpf mfi_recomputer-orin-nx-16g-j401-6.1-36.4.0-2024-12-04.tar +``` + +**Step 3:** Navigate to the unzipped directory and execute the following command to flash jetpack system to the NVMe SSD: + +```bash +cd mfi_xxxx +# For example: cd mfi_recomputer-orin-j401 +sudo ./tools/kernel_flash/l4t_initrd_flash.sh --flash-only --massflash 1 --network usb0 --showlogs +``` + +You will see the following output if the flashing process is successful + +
+ +:::note +The flash command may run for 2-10 minutes. +::: + +**Step 4:** Connect the J401 to a display using the HDMI connector on the board and finish the initial configuration setup: + +
+ +:::info +Please complete the **System Configuration** according to your needs. +::: + diff --git a/docs/Edge/NVIDIA_Jetson/reComputer_Jetson_Series/reComputer_Industrial/reComputer_Industrial_Getting_Started.md b/docs/Edge/NVIDIA_Jetson/reComputer_Jetson_Series/reComputer_Industrial/reComputer_Industrial_Getting_Started.md index 00d0d63c84a3..d3e64d541dfa 100644 --- a/docs/Edge/NVIDIA_Jetson/reComputer_Jetson_Series/reComputer_Industrial/reComputer_Industrial_Getting_Started.md +++ b/docs/Edge/NVIDIA_Jetson/reComputer_Jetson_Series/reComputer_Industrial/reComputer_Industrial_Getting_Started.md @@ -593,6 +593,73 @@ After that, the board will reboot and will be ready to use!
+ + + +- **Step 1:**Download the system image to your Ubuntu PC corresponding to the board you are using + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
DeviceImage LinkJetPack VersionL4T Version
reComputer Industrial J4012Download6.136.4
reComputer Industrial J4011Download
reComputer Industrial J3011Download
reComputer Industrial J3010Download
+ +:::info +The source code for the above images can be found [here](https://github.com/Seeed-Studio/Linux_for_Tegra). +::: + +- **Step 2:** Extract the generated file + +```sh +sudo tar -xvf .tar.gz +``` + +- **Step 3:** Navigate to the extracted file from before and execute the flash command as follows + +```sh +cd mfi_xxxx +sudo ./tools/kernel_flash/l4t_initrd_flash.sh --flash-only --massflash 1 --network usb0 --showlogs +``` + +Now it will start to flash the system image to the board. If the flashing is successful, you will see the below output + +
+ + +- **Step 4:** Connect the J401 to a display using the HDMI connector on the board and finish the initial configuration setup: + +
+ +:::info +Please complete the **System Configuration** according to your needs. +::: + + + diff --git a/docs/Edge/NVIDIA_Jetson/reServer_Jetson_Series/reServer_Industrial_J30_J40/reServer_Industrial_Getting_Started.md b/docs/Edge/NVIDIA_Jetson/reServer_Jetson_Series/reServer_Industrial_J30_J40/reServer_Industrial_Getting_Started.md index 8181619a7676..55e96c461a9e 100644 --- a/docs/Edge/NVIDIA_Jetson/reServer_Jetson_Series/reServer_Industrial_J30_J40/reServer_Industrial_Getting_Started.md +++ b/docs/Edge/NVIDIA_Jetson/reServer_Jetson_Series/reServer_Industrial_J30_J40/reServer_Industrial_Getting_Started.md @@ -314,7 +314,7 @@ import TabItem from '@theme/TabItem'; - reServer Industrial J4012 + reServer Industrial J4012 5.1.1 35.3.1 @@ -336,7 +336,17 @@ import TabItem from '@theme/TabItem'; - reServer Industrial J4011 + 6.1 + 36.4 + + Download1 + + + - + + + + reServer Industrial J4011 5.1.1 35.3.1 @@ -359,7 +369,18 @@ import TabItem from '@theme/TabItem'; - reServer Industrial J3011 + 6.1 + 36.4 + + Download1 + + + + - + + + + reServer Industrial J3011 5.1.1 35.3.1 @@ -381,7 +402,18 @@ import TabItem from '@theme/TabItem'; - reServer Industrial J3010 + 6.1 + 36.4 + + Download1 + + + + - + + + + reServer Industrial J3010 5.1.1 35.3.1 @@ -401,6 +433,17 @@ import TabItem from '@theme/TabItem'; Download2 + + 6.1 + 36.4 + + Download1 + + + + - + + From 27874f7647187b6f199abd56780eef3f7e38314b Mon Sep 17 00:00:00 2001 From: ZhuYaoHui1998 <510677932@qq.com> Date: Mon, 30 Dec 2024 15:40:50 +0800 Subject: [PATCH 2/3] complete the lerobot projects --- .../Robotics/Projects/Lerobot_SO100Arm.md | 70 ++++++++++++++++--- 1 file changed, 62 insertions(+), 8 deletions(-) diff --git a/docs/Edge/NVIDIA_Jetson/Application/Robotics/Projects/Lerobot_SO100Arm.md b/docs/Edge/NVIDIA_Jetson/Application/Robotics/Projects/Lerobot_SO100Arm.md index 9c6822a40d39..e8be0c579115 100644 --- a/docs/Edge/NVIDIA_Jetson/Application/Robotics/Projects/Lerobot_SO100Arm.md +++ b/docs/Edge/NVIDIA_Jetson/Application/Robotics/Projects/Lerobot_SO100Arm.md @@ -41,6 +41,8 @@ This wiki provides the assembly and debugging tutorial for the SO ARM100 and rea 4. **Open Source and Flexible Expansion**: It is an open-source platform that is easy to customize and expand, suitable for developers and researchers to conduct secondary development, and supports the integration of multiple sensors and tools. 5. **Multi-Scene Application**: It is applicable to fields such as education, scientific research, automated production, and robotics, helping users achieve efficient and precise robot operations in various complex tasks. + + ### Specification | Specification | Arm Kit | Arm Kit Pro | |--|--|--| @@ -190,13 +192,18 @@ The calibration of the robotic arm should be carried out strictly in accordance **Manual calibration of follower arm** -Contrarily to step 6 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the auto calibration, we will actually do manual calibration of follower for now. +Firstly, you need to ensure that the serial port numbers of the robotic arm in the `\lerobot\lerobot\configs\robot\so100.yaml` file are consistent with yours, as shown in the following figure. You can view all serial port names according to `ls /dev/ttyACM*`. - +
+ +
You will need to move the follower arm to these positions sequentially: + + Make sure both arms are connected and run this script to launch manual calibration: ```bash python lerobot/scripts/control_robot.py calibrate \ @@ -226,15 +233,49 @@ python lerobot/scripts/control_robot.py teleoperate \ --display-cameras 0 ``` + -**Teleop with displaying cameras** -Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset. +### Teleop with displaying cameras### +After inserting your two USB cameras, run the following script to check the port numbers of the cameras. +```bash +python lerobot/common/robot_devices/cameras/opencv.py \ + --images-dir outputs/images_from_opencv_cameras +``` + +The terminal will print out the following information. +```markdown +Mac or Windows detected. Finding available camera indices through scanning all indices from 0 to 60 +[...] +Camera found at index 2 +Camera found at index 4 +[...] +Connecting cameras +OpenCVCamera(2, fps=30.0, width=640, height=480, color_mode=rgb) +OpenCVCamera(4, fps=30.0, width=640, height=480, color_mode=rgb) +Saving images to outputs/images_from_opencv_cameras +Frame: 0000 Latency (ms): 39.52 +[...] +Frame: 0046 Latency (ms): 40.07 +Images have been saved to outputs/images_from_opencv_cameras +``` + +You can find the pictures taken by each camera in the `outputs/images_from_opencv_cameras` directory, and confirm the port index information corresponding to the cameras at different positions. Then complete the alignment of the camera parameters in the `\lerobot\lerobot\configs\robot\so100.yaml` file. + + +
+ +
+ +Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset. ```bash python lerobot/scripts/control_robot.py teleoperate \ --robot-path lerobot/configs/robot/so100.yaml ``` -### Record a dataset + + +### Record the dataset Once you're familiar with teleoperation, you can record your first dataset with SO-100. @@ -261,9 +302,22 @@ python lerobot/scripts/control_robot.py record \ --reset-time-s 10 \ --num-episodes 2 \ --push-to-hub 1 + --single-task seeedstudio ``` -### Visualize a dataset +```markdown +Parameter Explanations +- wormup-time-s: It refers to the initialization time. +- episode-time-s: It represents the time for collecting data each time. +- reset-time-s: It is the preparation time between each data collection. +- num-episodes: It indicates how many groups of data are expected to be collected. +- push-to-hub: It determines whether to upload the data to the HuggingFace Hub. +``` + + + + +### Visualize the dataset If you uploaded your dataset to the hub with `--push-to-hub 1`, you can [visualize your dataset online](https://huggingface.co/spaces/lerobot/visualize_dataset) by copy pasting your repo id given by: ```bash @@ -303,7 +357,7 @@ python lerobot/scripts/train.py \ hydra.run.dir=outputs/train/act_so100_test \ hydra.job.name=act_so100_test \ device=cuda \ - wandb.enable=true + wandb.enable=false ``` Let's explain it: @@ -335,7 +389,7 @@ As you can see, it's almost the same command as previously used to record your t 1. There is an additional `-p` argument which indicates the path to your policy checkpoint with (e.g. `-p outputs/train/eval_so100_test/checkpoints/last/pretrained_model`). You can also use the model repository if you uploaded a model checkpoint to the hub (e.g. `-p ${HF_USER}/act_so100_test`). 2. The name of dataset begins by `eval` to reflect that you are running inference (e.g. `--repo-id ${HF_USER}/eval_act_so100_test`). - + ### Citation TheRobotStudio Project: [SO-ARM100](https://github.com/TheRobotStudio/SO-ARM100) From 819cf903015e4d3d6d698d496ab901f5e1beb703 Mon Sep 17 00:00:00 2001 From: Carla Date: Mon, 30 Dec 2024 16:50:15 +0800 Subject: [PATCH 3/3] fix the file error --- .../SeeedStudio_XIAO_nRF52840-Sense/XIAO_BLE.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/Sensor/SeeedStudio_XIAO/SeeedStudio_XIAO_nRF52840-Sense/XIAO_BLE.md b/docs/Sensor/SeeedStudio_XIAO/SeeedStudio_XIAO_nRF52840-Sense/XIAO_BLE.md index 3fe7e3298be7..e37da167261c 100644 --- a/docs/Sensor/SeeedStudio_XIAO/SeeedStudio_XIAO_nRF52840-Sense/XIAO_BLE.md +++ b/docs/Sensor/SeeedStudio_XIAO/SeeedStudio_XIAO_nRF52840-Sense/XIAO_BLE.md @@ -543,9 +543,9 @@ For more details, check the PMIC datasheet: [BQ25100](https://www.ti.com/lit/ds/ - **[PDF]** [Seeed Studio XIAO nRF52840 Sense Schematic](https://files.seeedstudio.com/wiki/XIAO-BLE/Seeed-Studio-XIAO-nRF52840-Sense-v1.1.pdf) -- **[ZIP]** [Seeed Studio XIAO nRF52840 KiCAD file](https://files.seeedstudio.com/wiki/XIAO-BLE/SeeedStudio_XIAO_nRF52840_v1.1_SCH&PCB.zip) +- **[ZIP]** [Seeed Studio XIAO nRF52840 KiCAD file](https://files.seeedstudio.com/wiki/XIAO-BLE/SeeedStudio_XIAO_nRF52840_v1.1_KiCAD.zip) -- **[ZIP]** [Seeed Studio XIAO nRF52840 Eagle file](https://files.seeedstudio.com/wiki/XIAO-BLE/SeeedStudio_XIAO_nRF52840_v1.1_KiCAD.zip) +- **[ZIP]** [Seeed Studio XIAO nRF52840 Eagle file](https://files.seeedstudio.com/wiki/XIAO-BLE/SeeedStudio_XIAO_nRF52840_v1.1_SCH&PCB.zip) - **[DXF]** [Seeed Studio XIAO nRF52840 Sense Dimension in DXF](https://files.seeedstudio.com/wiki/XIAO-BLE/XIAO-nRF52840-Sense-DXF.zip)