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Jetson AGX Thor📖
1.Get started
  • 01.Learning Route
  • 02.Getting Started Quickly
2.Jetson basic course
  • 01.Jetson board introduction
  • 02.Flashing a Pure Jetson System via SDK
  • 03.Flashing a Pure Jetson System via USB Drive
  • 04.Flashing the Jetson Bootloader using L4T
  • 05.Replacing the SSD
  • 06.Install Jetpack environment
  • 07.Backup SSD system
  • 08.Restore factory image system
  • 09.SSD expansion
  • 10.SSD Speed Test
3.Basic setting course
  • 01.Basic knowledge
  • 02.Network configuration
  • 03.SSH remote login
  • 04.VNC remote control
  • 05.Remote file transfer
  • 06.Jtop tool
  • 07.Exchange space expansion
  • 08.Use VSCode
  • 09.Use VMware
  • 10.Change screen resolution
  • 11.Virtual Desktop
  • 12.Set root user password
  • 13.Configure sudo passwordless operation
  • 14.Managing custom services
  • 15.View system version information
4.OpenCV basic course
  • 01.Image reading
  • 02.Image saving
  • 03.Image modification
  • 04.Image scaling
  • 05.Image cropping
  • 06.Image translation
  • 07.Image mirroring
  • 08.Image grayscale conversion
  • 09.Image binarization
  • 10.Image edge detection
  • 11.Add line segments
  • 12.Add rectangles
  • 13.Add circular shape
  • 14.Add ellipses
  • 15.Add polygons
  • 16.Add Text
5.Vision basic course
  • 01.USB camera preview
  • 02.Use Jupyter Lab
  • 03.Use JetCam
6.Vision advanced course
01.Environment construction
  • 01.TensorFlow
  • 02.PyTorch
  • 03.Torchvision
  • 04.Torchaudio
02.DeepStream development
  • 01.DeepStream environment
  • 02.Four types of detection(traffic)
03.YOLO26 development
  • 01.YOLO Environment Setup
  • 02.CLI Usage
  • 03.Object Detection
  • 04.Instance Segmentation
  • 05.Pose Estimation
  • 06.Image Classification
  • 07.Oriented Bounding Boxes Object Detection
  • 08.Model Conversion
  • 09.Dataset Annotation
  • 10.Model Training_Conversion
  • 11.Model Prediction
04.Mediapipe development
  • 01.Mediapipe environment
  • 02.Hand detection
  • 03.Face detection
  • 04.Face effects
  • 05.3D object recognition
  • 06.Virtual brush
  • 07.Gesture recognition
  • 08.Finger control
  • 09.Posture estimation
  • 10.Face mask
  • 11.Overall detection
  • 12.Green scene removal(Human)
05.QR code recognition
  • 01.Barcode Recognition
  • 02.QR Code Recognition
  • 03.Machine Code Recognition
  • 04.Handwritten Digit Recognition
7.Docker basic course
  • 01.Docker introduction
  • 02.Docker installation
  • 03.Docker command
  • 04.Docker usage
  • 05.Docker interaction
8.ROS2-jazzy
1.ROS2 basic course
  • 1.Introduction to ROS2
  • 2.ROS2 install Jazzy
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
2.ROS2 vision course
  • 01.Camera preview (USB)
  • 02.Camera calibration (USB)
  • 03.AR vision (USB)
9.Offline AI model course
Offline large model (Text Interaction)
  • 1.Al large model environment deployment
  • 2.Install large model dialogue platform
  • 3.Meta Al Llama3.2 model
  • 4.Alibaba Cloud Qwen3 model
  • 5.Microsoft Phi-4-mini model
  • 6.DeepSeek DeepSeek-R1 model
  • 7.Alibaba Cloud Qwen2.5v visual multimodal large model
  • 8.Google Gemma3 visual multimodal large model
  • 9.Lava visual multimodal large model
  • 10.MiniCPM-V visual multimodal large model
  • 11.Multimodal visual understand application
  • 12.Multimodal text image application
  • 13.Multimodal video analysis application
  • 14.Multi module visual position application
  • 15.Multimodal table scanning application
  • 16.Multimodal autonomous agent application
Offline large model (Voice Interaction)
  • 0.Voice interaction hardware connection (ReadMe)
  • 1.Offline speech to text (ASR)
  • 2.Offline text to speech (TTS)
  • 3.AI large model voice interaction
  • 4.Multimodal visual understand speech interaction
  • 5.Multimodal text and graphics application
  • 6.Multimodal video analysis application
  • 7.Multi module visual position application
  • 8.Multimodal table scanning application
  • 9.Multimodal autonomous proxy application
  • 10.AI large model offline voice assistant
10.Online AI model course
Online large model (Text Interaction)
  • 1.OpenRouter large model API aggregation platform
  • 2.Multimodal Video Analysis Applications
  • 3.Multimodal visual localization application
  • 4.Multimodal table scanning application
  • 5.Multimodal autonomous proxy application
Online large model (Voice Interaction)
  • 0.Voice interaction hardware connection (ReadMe)
  • 1.Online speech to text (ASR)
  • 2.Online text to speech (TTS)
  • 3.AI large model voice interaction
  • 4.Multimodal visual understand speech interaction
  • 5.Multi module visual position application
  • 6.Multimodal table scanning application
  • 7.Multimodal autonomous proxy application
  • 8.AI large model offline voice assistant
11.Generative AI Applications
  • 0.Development Environment Setup
  • 01.Children's Storytelling Session
  • 02.Cooking Assistant
  • 03.Homework tutor
  • 04.Image to animation
12.OpenClaw Advanced Development
  • 00.OpenClaw Quick Start on Jetson Platform
  • 01.OpenClaw Installation
  • 02.OpenClaw Online Platform Deployment
  • 03.OpenClaw Local Model Deployment
  • 04.OpenClaw TUI Interaction
  • 05.OpenClaw WebChat Interaction
  • 06.OpenClaw Tools Introduction
  • 07.OpenClawGate Gateway User Manual
  • 08.OpenClaw Features Overview
  • 09.OpenClawClawHub Introduction (Skill Installation)
  • 10. OpenClaw Switching Models
  • 11.OpenClaw Application - File Management
  • 12.OpenClaw Application - Camera
  • 13.OpenClaw Application - Browser Control
  • 14.OpenClaw Application - Script Execution
  • 15.OpenClaw Application - AI Programming
  • 16.OpenClaw Application - Dedicated AI Assistant
  • 17.OpenClaw WhatsApp Plugin Application
  • 18.OpenClaw Voice Assistant
Download
  • Code
  • SystemFile
  • VM_File
  • Tools
  • Jetson boot files
Download ZIP

Welcome to Jetson AGX Thor repository

0.Development Environment Setup

Development Environment Setup

Development Environment SetupI. ComfyUI Development Environment Setup1. Install ComfyUI2. Start ComfyUI3. Exporting the ComfyUI API JSON FileII. Setting Up the Workspace Virtual Environment2. Install Speech-to-Text Tools3. Install Text-to-Speech Tools

If using the factory image, the development environment is pre-installed; please skip the installation steps.

I. ComfyUI Development Environment Setup

Note: The following installation process must be performed in the same terminal.

1. Install ComfyUI

Download ComfyUI source code

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cd ~/ 
git clone https://github.com/Comfy-Org/ComfyUI.git

Create a new venv virtual environment

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cd ~/ComfyUI 
python -m venv venv

Activate the virtual environment

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source ~/ComfyUI/venv/bin/activate

Modify the environment dependency file, commenting out torch, torchvision, and torchaudio.

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vim ~/ComfyUI/requirements.txt

image-20260407182518673

Then install the environment dependencies.

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pip install -r requirements.txt

Install torch, torchvision, and torchaudio from jetson-ai-lab.io

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pip install --pre torch, torchvision, torchaudio --index-url https://pypi.jetson-ai-lab.io/sbsa/cu130

2. Start ComfyUI

Open the terminal and activate the virtual environment

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source ~/ComfyUI/venv/bin/activate

Due to network issues, accessing the Huggingface website may be inaccessible in China. Adding the HF_ENDPOINT variable can speed up access.

Run the following command in your terminal to add the HF_ENDPOINT variable (optional):

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export HF_ENDPOINT=https://hf-mirror.com

Run the following commands to launch the ComfyUI application:

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cd ~/ComfyUI
python main.py

image-20260407184830519

If the application launches successfully, the ComfyUI URL will be printed to the console: http://127.0.0.1:8188

image-20260407184905824

Open the ComfyUI URL in your system's web browser.

image-20260407185247649

3. Exporting the ComfyUI API JSON File

Click the menu icon in the top-left corner, then click [New] to create a blank workflow. Design your workflow according to your specific needs, and then save it.

image-20260407195649684

Alternatively, select a workflow with the appropriate functionality from the [Templates] section. image-20260407200220193

Using the text-to-image workflow as an example here: click on [Workflows], then select [text_to_image.json].

image-20260407194152384

Click the three-line menu button, then select [Export (API)].

image-20260407194337962

Click [Confirm].

image-20260407200527721

You can find the JSON file in your system's [Downloads] directory.

image-20260407203651243

 

II. Setting Up the Workspace Virtual Environment

Note: Open a new terminal window; all of the following installation commands should be executed within this same terminal session. ### 1. Set Up Virtual Environment

Open the terminal and create a new virtual environment for your workspace:

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cd ~/showing
python -m venv venvs

Activate the virtual environment:

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source ~/showing/venvs/bin/activate

Install dependencies:

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sudo apt install libgtk2.0-dev
sudo apt install portaudio19-dev
sudo apt install screen
sudo apt install ffmpeg
sudo apt install ninja-build
sudo apt install libopenblas-dev
sudo apt install alsa-utils curl jq
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pip install torch torchvision torchaudio --index-url https://pypi.jetson-ai-lab.io/sbsa/cu130
​
pip install soundfile
pip install screeninfo
pip install websocket-client
pip install flask
pip install openai-whisper sounddevice numpy
pip install transformers
pip install opencv-python-headless
pip install soundfile
pip install opencv-python pillow websocket-client requests pyserial numpy
pip install wheel setuptools pybind11 packaging
pip install pathvalidate
pip install unicode_rbnf

2. Install Speech-to-Text Tools

Download the source code:

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cd ~/showing
git clone --recursive https://github.com/OpenNMT/CTranslate2.git
cd CTranslate2

Compile the source code:

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mkdir build && cd build
cmake .. \
  -DCMAKE_BUILD_TYPE=Release \
  -DWITH_CUDA=ON \
  -DWITH_CUDNN=ON \
  -DWITH_MKL=OFF \
  -DWITH_OPENBLAS=ON \
  -DCMAKE_CUDA_ARCHITECTURES=110 \
  -DBUILD_CLI=OFF \
  -DOPENMP_RUNTIME=COMP \
  -G Ninja
​
ninja -j"$(nproc)"
cmake -DCMAKE_INSTALL_PREFIX=$HOME/.local .
ninja install

Install the Python Driver Library

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export CPLUS_INCLUDE_PATH=$HOME/.local/include:${CPLUS_INCLUDE_PATH}
export LIBRARY_PATH=$HOME/.local/lib:${LIBRARY_PATH}
export LD_LIBRARY_PATH=$HOME/.local/lib:${LD_LIBRARY_PATH}
export CMAKE_PREFIX_PATH=$HOME/.local:${CMAKE_PREFIX_PATH}
​
cd ../python
python setup.py bdist_wheel
pip install dist/*.whl
​
pip install faster-whisper

3. Install Text-to-Speech Tools

Install Tools

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pip install g2pw sentence_stream
pip install piper-tts==1.4.1

Speech Model Download Link:

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https://huggingface.co/rhasspy/piper-voices/tree/main

 

 

AI large model offline voice assistant
Children's Storytelling Session

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