> For the complete documentation index, see [llms.txt](https://robodog.gitbook.io/robodog-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://robodog.gitbook.io/robodog-docs/hardware/datasheets-and-specifications.md).

# Datasheets and Specifications

## Hardware Connections

<figure><img src="https://1981574695-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FsmNbOWbT7W8uswCfgHan%2Fuploads%2Fj7k47DWSRV0J8i7yggNX%2FUntitled.png?alt=media&amp;token=d12ed4e0-dfc0-4050-8078-76f764d62daa" alt=""><figcaption><p>TX2 = Nvidia board, MiniPC = Raspberry Pi</p></figcaption></figure>

## Nvidia Jetson Xavier NX

### CPU

#### `lscpu`:

<table><thead><tr><th width="226">Name</th><th width="265.3333333333333">Value</th></tr></thead><tbody><tr><td><strong>Architecture</strong></td><td>aarch64 Byte </td></tr><tr><td>Order</td><td>Little Endian</td></tr><tr><td><strong>CPU(s)</strong></td><td>6</td></tr><tr><td>On-line CPU(s) list</td><td>0-5</td></tr><tr><td>Thread(s) per core</td><td>1 </td></tr><tr><td>Core(s) per socket</td><td>2</td></tr><tr><td>Socket(s)</td><td>3</td></tr><tr><td>Vendor ID</td><td>Nvidia</td></tr><tr><td>Model</td><td>0</td></tr><tr><td>Model name</td><td>ARMv8 Processor rev 0 (v8l)</td></tr><tr><td>Stepping</td><td>0x0 </td></tr><tr><td>CPU max MHz</td><td>1907.2000 </td></tr><tr><td>CPU min MHz</td><td>115.2000 </td></tr><tr><td>BogoMIPS</td><td>62.50 </td></tr><tr><td>L1d cache</td><td>64K </td></tr><tr><td>L1i cache</td><td>128K </td></tr><tr><td>L2 cache</td><td>2048K</td></tr><tr><td>L3 cache</td><td>4096K</td></tr></tbody></table>

### Jetson Version

#### `root@nx:/home/unitree/git/jetsonUtilities-master# python [jetsonInfo.py](<http://jetsoninfo.py/>)`:

| Name              | Value                                                             |
| ----------------- | ----------------------------------------------------------------- |
| NVIDIA            | NVIDIA Jetson Xavier NX Developer Kit L4T 32.5.0 \[ JetPack 4.5 ] |
| Ubuntu            | 18.04.5 LTS                                                       |
| Kernel Version    | 4.9.201-tegra                                                     |
| CUDA              | 10.2.89                                                           |
| CUDA Architecture | 7.2                                                               |
| OpenCV version    | 4.1.1                                                             |
| OpenCV Cuda       | NO                                                                |
| CUDNN             | 8.0.0.180                                                         |
| TensorRT          | 7.1.3.0                                                           |
| Vision Works      | 1.6.0.501                                                         |
| VPI               | 1.0.12                                                            |

### Tegra Release

#### `root@nx:/home/unitree# cat /etc/nv_tegra_release`:

| Name     | Value                        |
| -------- | ---------------------------- |
|          | R32 (release)                |
| REVISION | 5.0                          |
| GCID     | 25531747                     |
| BOARD    | t186ref                      |
| EABI     | aarch64                      |
| DATE     | Fri Jan 15 23:21:05 UTC 2021 |