Jetson Orin¶

Jetson Orin is the on-board compute for ToddlerBot. We recommend Jetson Orin NX 16GB due to its cost effectiveness.

Flash the System¶

Follow the instructions on this page to flash the system. We’ve also provided some tips below to help you through the process.
- For the Enter Force Recover Mode, you can refer to this photo if the GIF on the page is not clear.
- Click on JP6.0 tab and download the image corresponding to Jetson Orin NX 16GB. The download link may be slow—it took us about an hour to download the image.
After flashing, unplug the powercable, the USB-C cable and the jumper wire. Replug the power cable, the HDMI cable, the keyboard and the mouse. The system should boot up now. The start screen should look like this:
Enter your username and password.
Set the APP Partition to the max size.
No need to install the Chromium browser.
Power off the Jetson Orin and install the WiFi card like the photo below.
Power on the Jetson Orin and connect to the WiFi.
Press Ctrl + Alt + T to open the terminal. Run ifconfig to check the IP address of the Jetson Orin. Write down the IP address and the hostname of the Jetson Orin, e.g., 192.168.0.237 and toddy@toddy-desktop.
Select the power mode on the top right corner to 0:MAXN.
Now feel free to unplug the HDMI cable, the keyboard and the mouse. We will access the Jetson Orin through SSH for the following steps.

Note

The USB-C port on Jetson is only for flashing, which means transfering data through this port won’t work.

Set up Real-Time (RT) Kernel¶

SSH into the Jetson Orin.
```
ssh toddy@toddy-desktop.local
```

Follow the instructions on this page to install the real-time kernel. We found that it’s OK to ignore the warning message below, but please open a GitHub issue if you encounter any problem:

Errors were encountered while processing:
nvidia-l4t-rt-kernel
nvidia-l4t-rt-kernel-oot-modules
nvidia-l4t-rt-kernel-headers
nvidia-l4t-display-rt-kernel
E: Sub-process /usr/bin/dpkg returned an error code (1)

After rebooting, check the kernel version with uname -r. It should be 5.15.136-rt-tegra. The numbers may vary, but -rt-tegra should be there.

Additional Packages¶

Go through the steps in Setup. Note that wget is handy for downloading the Miniforge installer from the terminal.
For Jetson, you need to follow the information on this page to install torch and torchvision. Please do NOT install numpy when installing torch as it will install numpy 2.x and cause conflicts. For reference, we downloaded the wheel file for PyTorch v2.3.0 with JetPack 6.0 (L4T R36.2 / R36.3) + CUDA 12.2.

We find that the --content-disposition option is useful for downloading the file with the correct name:
```
wget --content-disposition <link/to/the/wheel>
```
Assuming the toddlerbot conda environment is activated, install the wheels with:
```
pip install <path/to/the/wheel>
```
Last but not least, run the following command to verify that jax and torch versions are compatible:
```
python examples/test_jax_torch.py --platform jetson
```

We need to install Jetson.GPIO. Revised from instructions on this page, we need to run the following commands to set it up:

sudo groupadd -f -r gpio
sudo usermod -aG gpio $USER
sudo chown root.gpio /dev/gpiochip0
sudo chmod 660 /dev/gpiochip0

conda activate toddlerbot
sudo cp ~/miniforge3/envs/toddlerbot/lib/python3.10/site-packages/Jetson/GPIO/99-gpio.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger

To access the imu and dynamixel motors, we need to add the user to i2c and dialout group.
```
sudo usermod -aG i2c $USER
sudo usermod -aG dialout $USER
```
Now reboot the Jetson Orin. Run groups to check if the user is in the i2c, dialout, and gpio group. An example output looks like this:
```
toddy adm dialout cdrom sudo audio dip video plugdev render i2c lpadmin sambashare gdm weston-launch gpio
```

For the accuracy of teleoperation and logging over network, we need to install ntp package to sync time of the Jetson to server.

sudo apt install ntp ntpdate
sudo systemctl enable ntp

sudo nano /etc/ntp.conf

comment out the following lines:

# pool 0.ubuntu.pool.ntp.org iburst
# pool 1.ubuntu.pool.ntp.org iburst
# pool 2.ubuntu.pool.ntp.org iburst
# pool 3.ubuntu.pool.ntp.org iburst
# pool ntp.ubuntu.com

add:

server <ip address of the steam deck> iburst

sudo systemctl start ntp

For the fisheye cameras to work, we need to install the following packages:
```
sudo apt install v4l-utils ffmpeg
```
For the speaker and microphone to work, we need to install the following packages:
```
sudo apt install portaudio19-dev flac
```