Skip to content

Commit 3581f0a

Browse files
tonyleo723tonyleo723
committed
Merge branch 'docusaurus-version' of https://github.com/tonyleo723/wiki-documents into docusaurus-version
2 parents 6c4a69e + 4ca8ddc commit 3581f0a

File tree

659 files changed

+167359
-3467
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

659 files changed

+167359
-3467
lines changed

‎docs/Cloud_Chain/SenseCAP_AI/xiao-esp32c3-sensecapai.md‎

Lines changed: 37 additions & 40 deletions
Original file line numberDiff line numberDiff line change
@@ -29,37 +29,36 @@ This tutorial, then, will bridge the XIAO ESP32 series with the SenseCAP platfor
2929

3030
The three pieces of hardware that will be used in this tutorial are the XIAO ESP32C3, the Grove Base for XIAO, and the Grove SHT40 temperature and humidity sensor. For the convenience of wiring, we use the XIAO expansion board, which you can purchase according to your actual needs.
3131

32-
<div class="table-center">
33-
<table align="center">
34-
<tr>
35-
<th>Seeed Studio XIAO ESP32C3</th>
36-
<th>Grove Base for XIAO</th>
37-
<th>Grove - Temperature & Humidity Sensor(SHT40)</th>
38-
</tr>
39-
<tr>
40-
<td><div style={{textAlign:'center'}}><img src="https://files.seeedstudio.com/wiki/XIAO_WiFi/board-pic.png" style={{width:100, height:'auto'}}/></div></td>
41-
<td><div style={{textAlign:'center'}}><img src="https://files.seeedstudio.com/wiki/Grove-Shield-for-Seeeduino-XIAO/img/xiao_-Preview-25.png" style={{width:230, height:'auto'}}/></div></td>
42-
<td><div style={{textAlign:'center'}}><img src="https://files.seeedstudio.com/wiki/Wio-Terminal-Developer-for-helium/SHT40.jpg" style={{width:200, height:'auto'}}/></div></td>
43-
</tr>
44-
<tr>
45-
<td><div class="get_one_now_container" style={{textAlign: 'center'}}>
46-
<a class="get_one_now_item" href="https://www.seeedstudio.com/Seeed-XIAO-ESP32C3-p-5431.html">
47-
<strong><span><font color={'FFFFFF'} size={"4"}> Get One Now 🖱️</font></span></strong>
48-
</a>
49-
</div></td>
50-
<td><div class="get_one_now_container" style={{textAlign: 'center'}}>
51-
<a class="get_one_now_item" href="https://www.seeedstudio.com/Grove-Shield-for-Seeeduino-XIAO-p-4621.html">
52-
<strong><span><font color={'FFFFFF'} size={"4"}> Get One Now 🖱️</font></span></strong>
53-
</a>
54-
</div></td>
55-
<td><div class="get_one_now_container" style={{textAlign: 'center'}}>
56-
<a class="get_one_now_item" href="https://www.seeedstudio.com/Grove-Temp-Humi-Sensor-SHT40-p-5384.html">
57-
<strong><span><font color={'FFFFFF'} size={"4"}> Get One Now 🖱️</font></span></strong>
58-
</a>
59-
</div></td>
60-
</tr>
61-
</table>
62-
</div>
32+
<table align="center">
33+
<tr>
34+
<th>Seeed Studio XIAO ESP32C3</th>
35+
<th>Grove Base for XIAO</th>
36+
<th>Grove - Temperature & Humidity Sensor(SHT40)</th>
37+
</tr>
38+
<tr>
39+
<td><div style={{textAlign:'center'}}><img src="https://files.seeedstudio.com/wiki/XIAO_WiFi/board-pic.png" style={{width:100, height:'auto'}}/></div></td>
40+
<td><div style={{textAlign:'center'}}><img src="https://files.seeedstudio.com/wiki/Grove-Shield-for-Seeeduino-XIAO/img/xiao_-Preview-25.png" style={{width:230, height:'auto'}}/></div></td>
41+
<td><div style={{textAlign:'center'}}><img src="https://files.seeedstudio.com/wiki/Wio-Terminal-Developer-for-helium/SHT40.jpg" style={{width:200, height:'auto'}}/></div></td>
42+
</tr>
43+
<tr>
44+
<td><div class="get_one_now_container" style={{textAlign: 'center'}}>
45+
<a class="get_one_now_item" href="https://www.seeedstudio.com/Seeed-XIAO-ESP32C3-p-5431.html">
46+
<strong><span><font color={'FFFFFF'} size={"4"}> Get One Now 🖱️</font></span></strong>
47+
</a>
48+
</div></td>
49+
<td><div class="get_one_now_container" style={{textAlign: 'center'}}>
50+
<a class="get_one_now_item" href="https://www.seeedstudio.com/Grove-Shield-for-Seeeduino-XIAO-p-4621.html">
51+
<strong><span><font color={'FFFFFF'} size={"4"}> Get One Now 🖱️</font></span></strong>
52+
</a>
53+
</div></td>
54+
<td><div class="get_one_now_container" style={{textAlign: 'center'}}>
55+
<a class="get_one_now_item" href="https://www.seeedstudio.com/Grove-Temp-Humi-Sensor-SHT40-p-5384.html">
56+
<strong><span><font color={'FFFFFF'} size={"4"}> Get One Now 🖱️</font></span></strong>
57+
</a>
58+
</div></td>
59+
</tr>
60+
</table>
61+
6362

6463

6564
### Software Preparation
@@ -928,16 +927,14 @@ This may be due to an interface timeout, you can wait until the next query is se
928927

929928
Thank you for choosing our products! We are here to provide you with different support to ensure that your experience with our products is as smooth as possible. We offer several communication channels to cater to different preferences and needs.
930929

931-
<div class="table-center">
932-
<div class="button_tech_support_container">
933-
<a href="https://forum.seeedstudio.com/" class="button_forum"></a>
934-
<a href="https://www.seeedstudio.com/contacts" class="button_email"></a>
935-
</div>
930+
<div class="button_tech_support_container">
931+
<a href="https://forum.seeedstudio.com/" class="button_forum"></a>
932+
<a href="https://www.seeedstudio.com/contacts" class="button_email"></a>
933+
</div>
936934

937-
<div class="button_tech_support_container">
938-
<a href="https://discord.gg/eWkprNDMU7" class="button_discord"></a>
939-
<a href="https://github.com/Seeed-Studio/wiki-documents/discussions/69" class="button_discussion"></a>
940-
</div>
935+
<div class="button_tech_support_container">
936+
<a href="https://discord.gg/eWkprNDMU7" class="button_discord"></a>
937+
<a href="https://github.com/Seeed-Studio/wiki-documents/discussions/69" class="button_discussion"></a>
941938
</div>
942939

943940

‎docs/Cloud_Chain/SenseCraft/SenseCraft_AI/Application/grove-vision-ai-v2-ha.md‎

Lines changed: 8 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -404,15 +404,13 @@ You may need to delete the device and re-add it in SenseCraft. After deleting it
404404

405405
Thank you for choosing our products! We are here to provide you with different support to ensure that your experience with our products is as smooth as possible. We offer several communication channels to cater to different preferences and needs.
406406

407-
<div class="table-center">
408-
<div class="button_tech_support_container">
409-
<a href="https://forum.seeedstudio.com/" class="button_forum"></a>
410-
<a href="https://www.seeedstudio.com/contacts" class="button_email"></a>
411-
</div>
412-
413-
<div class="button_tech_support_container">
414-
<a href="https://discord.gg/eWkprNDMU7" class="button_discord"></a>
415-
<a href="https://github.com/Seeed-Studio/wiki-documents/discussions/69" class="button_discussion"></a>
416-
</div>
407+
<div class="button_tech_support_container">
408+
<a href="https://forum.seeedstudio.com/" class="button_forum"></a>
409+
<a href="https://www.seeedstudio.com/contacts" class="button_email"></a>
410+
</div>
411+
412+
<div class="button_tech_support_container">
413+
<a href="https://discord.gg/eWkprNDMU7" class="button_discord"></a>
414+
<a href="https://github.com/Seeed-Studio/wiki-documents/discussions/69" class="button_discussion"></a>
417415
</div>
418416

‎docs/Cloud_Chain/SenseCraft/SenseCraft_AI/SenseCraft_AI_overview.md‎

Lines changed: 8 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -265,16 +265,14 @@ The Serial Port output provides a straightforward way to establish communication
265265

266266
Thank you for choosing our products! We are here to provide you with different support to ensure that your experience with our products is as smooth as possible. We offer several communication channels to cater to different preferences and needs.
267267

268-
<div class="table-center">
269-
<div class="button_tech_support_container">
270-
<a href="https://forum.seeedstudio.com/" class="button_forum"></a>
271-
<a href="https://www.seeedstudio.com/contacts" class="button_email"></a>
272-
</div>
273-
274-
<div class="button_tech_support_container">
275-
<a href="https://discord.gg/eWkprNDMU7" class="button_discord"></a>
276-
<a href="https://github.com/Seeed-Studio/wiki-documents/discussions/69" class="button_discussion"></a>
277-
</div>
268+
<div class="button_tech_support_container">
269+
<a href="https://forum.seeedstudio.com/" class="button_forum"></a>
270+
<a href="https://www.seeedstudio.com/contacts" class="button_email"></a>
271+
</div>
272+
273+
<div class="button_tech_support_container">
274+
<a href="https://discord.gg/eWkprNDMU7" class="button_discord"></a>
275+
<a href="https://github.com/Seeed-Studio/wiki-documents/discussions/69" class="button_discussion"></a>
278276
</div>
279277

280278

‎docs/Edge/NVIDIA_Jetson/Application/Generative_AI/Deploy_DeepSeek_on_reComputer_Jetson_with_MLC.md‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@ keywords:
77
- LLM
88
- MLC
99
- deepseek
10-
image: https://files.seeedstudio.com/wiki/reComputer-Jetson/deepseek/deepseek.webp
10+
image: https://files.seeedstudio.com/wiki/reComputer-Jetson/deepseek/mlc/deploy_deepseek.webp
1111
slug: /deploy_deepseek_on_jetson_with_mlc
1212
last_update:
1313
date: 02/13/2025

‎docs/Edge/NVIDIA_Jetson/Application/Robotics/Projects/Lerobot_SO100Arm.md‎

Lines changed: 69 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -137,17 +137,16 @@ Environments such as pytorch and torchvision need to be installed based on your
137137
For Jetson:
138138

139139
```bash
140-
mkdir -p ~/miniconda3
141-
cd ~/miniconda3
142140
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-aarch64.sh
143141
chmod +x Miniconda3-latest-Linux-aarch64.sh
144142
./Miniconda3-latest-Linux-aarch64.sh
145143
source ~/.bashrc
146144
```
147145

148-
Or, For Windows Linux:
146+
Or, For X86 Linux:
149147
```bash
150148
mkdir -p ~/miniconda3
149+
cd miniconda3
151150
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
152151
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
153152
rm ~/miniconda3/miniconda.sh
@@ -173,6 +172,17 @@ git clone https://github.com/ZhuYaoHui1998/lerobot.git ~/lerobot
173172
cd ~/lerobot && pip install -e ".[feetech]"
174173
```
175174

175+
For Jetson Jetpack6.0+ devices (please make sure to install [Pytorch-gpu and Torchvision](https://github.com/Seeed-Projects/reComputer-Jetson-for-Beginners/blob/main/3-Basic-Tools-and-Getting-Started/3.3-Pytorch-and-Tensorflow/README.md#installing-pytorch-on-recomputer-nvidia-jetson) from step 5 before executing this step):
176+
177+
```bash
178+
conda install -y -c conda-forge "opencv>=4.10.0.84" # Install OpenCV and other dependencies through conda, this step is only for Jetson Jetpack 6.0+
179+
conda remove opencv # Uninstall OpenCV
180+
pip3 install opencv-python==4.10.0.84 # Then install opencv-python via pip3
181+
conda install -y -c conda-forge ffmpeg
182+
conda uninstall numpy
183+
pip3 install numpy==1.26.0 # This should match torchvision
184+
```
185+
176186
For Linux only (not Mac), install extra dependencies for recording datasets:
177187

178188
```bash
@@ -255,7 +265,7 @@ Detailed video instructions are on the [HuggingFace Youtube](https://www.youtube
255265

256266
## Calibrate
257267

258-
Next, you'll need to calibrate your SO-100 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position. This calibration is essential because it allows a neural network trained on one SO-100 robot to work on another.
268+
Next, you'll need to calibrate your SO-100 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position. This calibration is essential because it allows a neural network trained on one SO-100 robot to work on another. If you need to recalibrate the robotic arm, delete the `~/lerobot/.cache/huggingface/calibration/so100` folder.
259269

260270
:::info
261271
The calibration of the robotic arm should be carried out strictly in accordance with the ["Calibrate"](https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md#e-calibrate) steps in the official tutorial of Lerobot.
@@ -340,6 +350,13 @@ python lerobot/scripts/control_robot.py \
340350
--control.arms='["main_leader"]'
341351
```
342352

353+
| **Follower Zero Position** | **Follower Rotated Position** | **Follower Rest Position** |
354+
|:---------:|:---------:|:---------:|
355+
| ![fig1](https://files.seeedstudio.com/wiki/robotics/projects/lerobot/follower_zero_position.jpg) | ![fig2](https://files.seeedstudio.com/wiki/robotics/projects/lerobot/follower_rotated_position.jpg) | ![fig3](https://files.seeedstudio.com/wiki/robotics/projects/lerobot/follower_rest_position.jpg) |
356+
| **Leader Zero Position** | **Leader Rotated Position** | **Leader Rest Position** |
357+
| ![fig4](https://files.seeedstudio.com/wiki/robotics/projects/lerobot/leader_zero_position.jpg) | ![fig5](https://files.seeedstudio.com/wiki/robotics/projects/lerobot/leader_rotated_position.jpg) | ![fig6](https://files.seeedstudio.com/wiki/robotics/projects/lerobot/leader_rest_position.jpg) |
358+
359+
343360
## Teleoperate
344361

345362
**Simple teleop**
@@ -356,7 +373,7 @@ python lerobot/scripts/control_robot.py \
356373

357374
## Add cameras
358375

359-
After inserting your two USB cameras, run the following script to check the port numbers of the cameras.
376+
After inserting your two USB cameras, run the following script to check the port numbers of the cameras, It is important to remember that the camera must not be connected to a USB Hub; instead, it should be plugged directly into the device. The slower speed of a USB Hub may result in the inability to read image data.
360377

361378
```bash
362379
python lerobot/common/robot_devices/cameras/opencv.py \
@@ -366,7 +383,7 @@ python lerobot/common/robot_devices/cameras/opencv.py \
366383
The terminal will print out the following information.
367384

368385
```markdown
369-
Mac or Windows detected. Finding available camera indices through scanning all indices from 0 to 60
386+
Mac or X86 Ubuntu detected. Finding available camera indices through scanning all indices from 0 to 60
370387
[...]
371388
Camera found at index 2
372389
Camera found at index 4
@@ -552,10 +569,11 @@ python lerobot/scripts/train.py \
552569
--output_dir=outputs/train/act_so100_test \
553570
--job_name=act_so100_test \
554571
--device=cuda \
555-
--wandb.enable=true
572+
--wandb.enable=false \
573+
--dataset.local_files_only=true
556574
```
557575

558-
Note: If you didn't push your dataset yet, add `--control.local_files_only=true`.
576+
Note: If you didn't push your dataset yet, add `--dataset.local_files_only=true`.
559577

560578
Let's explain it:
561579

@@ -594,6 +612,49 @@ As you can see, it's almost the same command as previously used to record your t
594612

595613
<iframe width="900" height="600" src="https://www.youtube.com/embed/wc-qh7UFkuQ?si=Y2SXU9T0DSmtz4ll" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
596614

615+
## FAQ
616+
617+
- If you are following this documentation/tutorial, please git clone the recommended GitHub repository `https://github.com/ZhuYaoHui1998/lerobot.git`. The repository recommended in this documentation is a verified stable version; the official Lerobot repository is continuously updated to the latest version, which may cause unforeseen issues such as different dataset versions, different commands, etc.
618+
619+
- If you encounter the following error, you need to check whether the robotic arm connected to the corresponding port is powered on and whether the bus servos have any loose or disconnected cables.
620+
```bash
621+
ConnectionError: Read failed due to comunication eror on port /dev/ttyACM0 for group key Present_Position_Shoulder_pan_Shoulder_lift_elbow_flex_wrist_flex_wrist_roll_griper: [TxRxResult] There is no status packet!
622+
```
623+
624+
- If you have repaired or replaced any parts of the robotic arm, please completely delete the `~/lerobot/.cache/huggingface/calibration/so100` folder and recalibrate the robotic arm.
625+
626+
- If the remote control functions normally but the remote control with Camera fails to display the image interface, you can find [here](https://github.com/huggingface/lerobot/pull/757/files)
627+
628+
- If you encounter libtiff issues during dataset remote operation, please update the libtiff version.
629+
```bash
630+
conda install libtiff==4.5.0 #for Ubuntu 22.04 is libtiff==4.5.1
631+
```
632+
633+
- After executing the [Lerobot Installation](https://wiki.seeedstudio.com/lerobot_so100m/#install-lerobot), the GPU version of pytorch may be automatically uninstalled, so you need to manually install torch-gpu.
634+
635+
- For Jetson, please first install [Pytorch and Torchvsion](https://github.com/Seeed-Projects/reComputer-Jetson-for-Beginners/blob/main/3-Basic-Tools-and-Getting-Started/3.3-Pytorch-and-Tensorflow/README.md#installing-pytorch-on-recomputer-nvidia-jetson) before executing `conda install -y -c conda-forge ffmpeg`, otherwise, when compiling torchvision, an ffmpeg version mismatch issue may occur.
636+
637+
- If the following problem occurs, it means that your computer does not support this video codec format. You need to modify line 134 in the file `lerobot/lerobot/common/datasets
638+
/video_utils.py` by changing the value of `vcodec: str = "libsvtav1"` to `libx264` or `libopenh264`. Different computers may require different parameters, so you can try various options. [Issues 705](https://github.com/huggingface/lerobot/issues/705)
639+
640+
```bash
641+
[vost#0:0 @ 0x13207240] Unknown encoder 'libsvtav1' [vost#0:0 @ 0x13207240] Error selecting an encoder Error opening output file /home/han/.cache/huggingface/lerobot/lyhhan/so100_test/videos/chunk-000/observation.images.laptop/episode_000000.mp4. Error opening output files: Encoder not found
642+
```
643+
644+
- Important!!! If during execution the servo's cable becomes loose, please restore the servo to its initial position and then reconnect the servo cable. You can also individually calibrate a servo using the [Servo Initialization Command](https://wiki.seeedstudio.com/lerobot_so100m/#configure-the-motors), ensuring that only one cable is connected between the servo and the driver board during individual calibration. If you encounter
645+
```bash
646+
Auto-correct calibration of motor 'wrist roll' by shifting value by 1 full turns, from '-270 < -312.451171875 < 270degrees' to'-270<-312.451171875 < 270 degrees'.
647+
```
648+
or other errors during the robotic arm calibration process related to angles and exceeding limit values, this method is still applicable.
649+
650+
- Training 50 sets of ACT data on an 8G 3060 laptop takes approximately 6 hours, while on a 4090 or A100 computer, training 50 sets of data takes about 2–3 hours.
651+
652+
- During data collection, ensure that the camera's position, angle, and environmental lighting remain stable, and minimize capturing excessive unstable backgrounds and pedestrians; otherwise, significant environmental changes during deployment may cause the robotic arm to fail to grasp properly.
653+
654+
- Ensure that the `num-episodes` parameter in the data collection command is set to collect sufficient data, and do not manually pause midway. This is because the mean and variance of the data are calculated only after data collection is complete, which is necessary for training.
655+
656+
- If the program prompts that it cannot read the USB camera image data, please ensure that the USB camera is not connected to a hub. The USB camera must be directly connected to the device to ensure a fast image transmission rate.
657+
597658
## Citation
598659

599660
TheRobotStudio Project: [SO-ARM100](https://github.com/TheRobotStudio/SO-ARM100)

‎docs/Edge/NVIDIA_Jetson/Carrier_Boards/A203v2/reComputer_A203_Flash_System.md‎

Lines changed: 19 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -277,6 +277,13 @@ Now, we need to install the driver as well to make sure each component on the bo
277277
<td align="center">35.1.0</td>
278278
<td align="center"><a href="https://files.seeedstudio.com/wiki/A203_V.2/203_jp5.0.2.zip">Download</a></td>
279279
</tr>
280+
<tr>
281+
<td align="center">A203/ A203V2</td>
282+
<td align="center">Jetson Xavier NX eMMC</td>
283+
<td align="center">5.1.4</td>
284+
<td align="center">35.6.0</td>
285+
<td align="center"><a href="https://seeedstudio88-my.sharepoint.com/:u:/g/personal/youjiang_yu_seeedstudio88_onmicrosoft_com/ETrn1ItMYHVPmWPvDgMyXbABcpzAgQHQpgwf5CFecVDscA?e=gHOJ4T">Download</a></td>
286+
</tr>
280287
</tbody>
281288
</table>
282289

@@ -446,12 +453,20 @@ After we unzip the package, we need to install the driver as well to make sure e
446453
<td align="center">4.6</td>
447454
<td align="center">32.6.1</td>
448455
<td align="center"><a href="https://files.seeedstudio.com/wiki/NVIDIA/A203_jp4.6_tx2nx.zip">Download</a></td>
449-
</tr><tr>
456+
</tr>
457+
<tr>
458+
<td align="center">A203/ A203V2</td>
459+
<td align="center">Jetson TX2NX eMMC</td>
460+
<td align="center">4.6.6</td>
461+
<td align="center">32.7.6</td>
462+
<td align="center"><a href="https://seeedstudio88-my.sharepoint.com/:u:/g/personal/youjiang_yu_seeedstudio88_onmicrosoft_com/EQmiemIe-7tIjZmUDZ85E8sB81pOtZIyBe9WvdzzE3kPyA?e=8V7Sxt">Download</a></td>
463+
</tr>
464+
<tr>
450465
<td align="center">A203/ A203V2</td>
451466
<td align="center">Jetson Xavier NX eMMC</td>
452-
<td align="center">5.0.2</td>
453-
<td align="center">35.1.0</td>
454-
<td align="center"><a href="https://files.seeedstudio.com/wiki/A203_V.2/203_jp5.0.2.zip">Download</a></td>
467+
<td align="center">5.1.4</td>
468+
<td align="center">35.6.0</td>
469+
<td align="center"><a href="https://seeedstudio88-my.sharepoint.com/:u:/g/personal/youjiang_yu_seeedstudio88_onmicrosoft_com/EZY6h_VrBrBFhyaMpOGVX3oBDH0eeWQfIk15UB6uI_Ujsg?e=qVCggN">Download</a></td>
455470
</tr>
456471
</tbody>
457472
</table>

0 commit comments

Comments
 (0)