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Nvidia Jetson Orin AGX Backpack

Created by: Hello Robot Inc

This tool allows an Nvidia Jetson Orin AGX to be mounted and wired to the Stretch base. The design uses a laser cut piece of white Delrin ordered from Ponoko.com, and a number of off the shelf items listed below.

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Parts List

Item Qty Vendor
DC Power Pigtails Cable, DC 5.5mm x 2.5mm Male Plug Jack to Bare Wire Open End Power Supply Replacement 3Ft 1 Amazon
12V DC to 19V DC Mini Size Ultra-slim High Efficiency 90W Power Adapter DD90M-19V 1 BIX
JST VH 3.96 mm Pitch 2 Pin 1 Amazon
CAT6A Slim Cable UTP Booted 1.5 FT 1 Amazon
White Delrin Laser Cut Base using Jetson_Orin_AGX_base_plate_flat_pattern.DXF 1 Ponoko
Male-Female Threaded Hex Standoff 4 McMaster-Carr
Cable Tie Mount 5 McMaster-Carr
Cable Zip Ties 4 Inch 8 Amazon
Phillips Rounded Head Thread-Forming Screws 5 McMaster-Carr
Black-Oxide Alloy Steel Button Head Torx Screws 4 McMaster-Carr
Torx Flat Head Thread-Cutting Screws for Metal 4 McMaster-Carr

Assembly instructions

NVIDIA Jetson Orin AGX Mount Assembly Instructions PDF

  1. Cut the DC power cable 20" in length. Pigtail the cable and expose 3/16" of copper wire . Crimp with JST-VH crimper tool and attach the JST-VH 2 pin connector.

  2. Remove base shell from Stretch base.

  3. Connect the 2 pin connector to 12volt Aux on PIMU.

  4. Using a digital multimeter place the positive (red) probe inside the barrel jack connector of the new cable, and touch the negative (black) probe on the outside of the barrel jack connector.

  5. Turn on Stretch and measure the voltage coming out of new cable that is connected to the 12volt Aux connector using a digital multimeter. Ensure that the voltage reading is positive 12V or higher

    [!WARNING] Ensuring that the voltage coming out of the new cable is positive, is crucial in protecting Stretch's main power board from damaging.

  6. Route cable through Aux hole in the base shell and re-install base shell.

  7. Mount the Jetson Orin AGX to white delrin custom plate using 4x Torx Flat Head Thread-Cutting Screws for Metal.

  8. Add 4x Male-Female Threaded Hex Standoff to Stretch Base accessory mounts.

  9. Mount the white delrin custom plate to standoffs using 4x Steel Button Head Torx Screws.

  10. Plug in ethernet cable to Jetson Orin AGX.

  11. Plug your custom length DC power cable into the BIX power adaptor. Plug the Bix power adapter to Jetson Orin AGX.

    [!IMPORTANT] The BIX Power Adapter is a crucial component that we highly recommend purchasing for this setup. It adds additional safety features to the power path system. Not adding this part to the setup can lead to the Jetson power system failing.

  12. Attach 5x Cable tie mounts using 5x Phillips Rounded Head Thread forming screws.

  13. Zip-tie cables and cut excess.

Software

Adding this requires limiting the range of motion of the lift joint so that it does not collide with the part. To do this, modify the lower range in your stretch_user_params.yaml to:

lift:
  range_m: [0.25, 1.xxx]

Note: 1.xx is the calibrated upper bound found from stretch_params.py | grep lift | grep range_m

Note: This conservatively limits the range of motion such that the standard gripper will not collide when stowed.