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Jetson AGX Orin(JetPack6.2.1)

環境構築Script

install.sh

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#!/bin/bash

# Jetson Orin Nano, AGX Orin
# JetPack6.2.1用
# LeRobotのInstall Script
#!/usr/bin/env bash

set -euo pipefail

# ===== 基本設定 =====
trap 'kill ${SUDO_PID:-0} >/dev/null 2>&1 || true' EXIT

# sudo keep-alive
sudo -v
( while true; do sudo -n true; sleep 60; done ) &
SUDO_PID=$!

TMP=$(mktemp -d)

# ===== APT =====
sudo apt-get update
sudo apt-get install -y \
    python3-pip curl build-essential \
    libopenblas-base libopenblas-dev \
    libjpeg-dev zlib1g-dev libpng-dev \
    python3-libnvinfer python3-packaging \
    cuda-runtime-12-6 libcublas-12-6 \
    libcublas-dev-12-6 cuda-cupti-12-6 

# ===== Miniconda (非対話) =====
MINI="$HOME/miniconda"
if [ ! -d "$MINI" ]; then
  wget -q https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-aarch64.sh -O "$TMP/miniconda.sh"
  bash "$TMP/miniconda.sh" -b -p "$MINI"
fi
source "$MINI/etc/profile.d/conda.sh"

# ~/.bashrc に一度だけ Miniconda 初期化を追記
BASHRC_TAG="### Miniconda init (robot script)"
grep -qxF "$BASHRC_TAG" "$HOME/.bashrc" || cat >>"$HOME/.bashrc" <<'BASHRC'
### Miniconda init (robot script)
if [ -f "$HOME/miniconda/etc/profile.d/conda.sh" ]; then
  . "$HOME/miniconda/etc/profile.d/conda.sh"
  export PATH="$HOME/miniconda/bin:$PATH"
fi
### End Miniconda init
BASHRC

source "$HOME/.bashrc"

eval "$(conda shell.bash hook)"

conda create -y -n lerobot python=3.10
conda activate lerobot

# ===== LeRobotをgit clone　=====
git clone https://github.com/huggingface/lerobot ~/lerobot || true
cd ~/lerobot

# =====　torchとtorchvisionがインストールされないように　=====
sed -i.bak -E 's/^(\s*)("torch.*")/#\1\2/' pyproject.toml
sed -i.bak -E 's/^(\s*)("torchvision.*")/#\1\2/' pyproject.toml
diff pyproject.toml.bak pyproject.toml || true

# ===== LeRobotのインストール　=====
pip install -e ".[feetech,dynamixel]"

# ===== OpenCV は pip で入れる =====
conda install -y -c conda-forge "opencv>=4.10.0.84"
conda remove -y opencv
pip3 install --no-cache-dir opencv-python==4.10.0.84

# ===== conda パッケージ =====
conda install -y -c conda-forge ffmpeg libpng 

# ===== numpy 1.26.4にダウングレード =====
pip install numpy==1.26.4 

# ===== PyTorch 2.8.0 (CUDA 12.6, aarch64) ===== 
wget -O "$TMP/torch-2.8.0-cp310-cp310-linux_aarch64.whl" \
    https://pypi.jetson-ai-lab.io/jp6/cu126/+f/62a/1beee9f2f1470/torch-2.8.0-cp310-cp310-linux_aarch64.whl
pip3 install "$TMP/torch-2.8.0-cp310-cp310-linux_aarch64.whl"

# ===== TorchVision 0.23.0 (ビルド済み aarch64) =====
wget -O "$TMP/torchvision-0.23.0-cp310-cp310-linux_aarch64.whl" \
  wget https://pypi.jetson-ai-lab.io/jp6/cu126/+f/907/c4c1933789645/torchvision-0.23.0-cp310-cp310-linux_aarch64.whl
pip3 install "$TMP/torchvision-0.23.0-cp310-cp310-linux_aarch64.whl"

# Dynamixel SDK
pip3 install dynamixel-sdk

# モデルを事前ダウンロード
python - <<'PY'
import torchvision
for name in ("resnet18", "resnet50"):
    torchvision.models.get_model(name, weights="DEFAULT")
PY

# ===== ttyACM0/1 を 0666 に固定する udev ルール =====
sudo tee /etc/udev/rules.d/99-otterarm-ttyacm.rules >/dev/null <<'EOF'
KERNEL=="ttyACM0", MODE="0666"
KERNEL=="ttyACM1", MODE="0666"
KERNEL=="ttyUSB0", MODE="0666"
KERNEL=="ttyUSB1", MODE="0666"
EOF
sudo udevadm control --reload-rules
sudo udevadm trigger   # 既存デバイスにも即適用

# ===== CUDA 動作確認 =====
python - <<'PY'
import sys, torch
print("PyTorch :", torch.__version__)
print("CUDA OK :", torch.cuda.is_available())
if not torch.cuda.is_available():
    sys.exit("❌  GPU (CUDA) が利用できません")
print("Device  :", torch.cuda.get_device_name(0))
print("✅  CUDA が正常に認識されました")
PY

echo "✅ Installation completed."

rm -rf "$TMP"

# USB Speakerの認識
# pactl list short sinks
# 0   alsa_output.platform-sound.analog-stereo    module-alsa-card.c  s16le 2ch 44100Hz   SUSPENDED
# 1   alsa_output.usb-C-Media_INC._USB_Sound_Device-00.analog-stereo  module-alsa-card.c  s16le 2ch 44100Hz   RUNNING
# pactl set-default-sink alsa_output.usb-C-Media_INC._USB_Sound_Device-00.analog-stereo
# pactl set-sink-volume alsa_output.usb-C-Media_INC._USB_Sound_Device-00.analog-stereo 80%
# spd-say "warmup record"

install.shの名前で保存して

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chmod 755 ./install.sh

Warning

現在、http://jetson.webredirect.org/　の転送先　https://pypi.jetson-ai-lab.dev/　が落ちているようです。

実行

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./install.sh

rebootして、再起動したら

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conda activate lerobot

する。この処理は毎回実施。

日本語対応

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sudo apt-get install language-pack-ja language-pack-ja-base

# 2) /etc/locale.gen で ja_JP.UTF-8 の行をアンコメント
sudo sed -i '/^# *ja_JP.UTF-8 /s/^# *//' /etc/locale.gen

# 3) 実際にロケールファイルを生成
sudo locale-gen

export LANG=ja_JP.UTF-8