Unpacking Carter

If you are an NVIDIA partner, you will receive a Carter Version 2.3 robot, along with accessories.

1. Carter V2.3 robot

2. Wall charger for battery

3. Battery compartment key

4. Paired bluetooth joystick (PS5 Controller)

5. USB Wireless Touch Keyboard K400 with built-in Multi-Touch Touchpad

6. A tow handle to transport the robot when it is unpowered (Note: To move the robot when it is powered, use the front button labeled “press down to move the robot”. This will disable the motors that prevent free movement).

Size and Weight

• Weight: 45kg

• Length: 747 mm

• Width: 500 mm

• Height: 556 mm

• Wheel diameter: 280 mm

• Battery Capacity: 1152 Wh (48V, 24 Ah)

• Expected Battery Life: 8+ hrs (strenuous use), 10+ hrs (normal use)

Wheelbase

• Segway RMPLite 220

Compute Platform

• Jetson AGX Orin Dev Kit (with 2TB SSD and 10 GbE PCIe card)

1. Power button

2. Status indicator light:

   • Green: App is successfully communicating with the wheelbase.

   • Yellow: Wheelbase is not receiving active communications from Jetson.

   • White: Motors de-powered. Re-activate with the motor release button.

   • Red: EStop button is pressed, or other error status is active.

3. Motor release button

   • Long-press to de-energize motors, allowing the wheels to move freely while the robot is powered on. Long-press again to restore the normal functional state.

4. Hesai PandarXT-32 3D Lidar

5. Front Hawk v1.1 Stereo Camera w/ integrated BMI088 IMU

6. Front Realsense D455

7. HDMI Port: To access GUI functions of the Jetson AGX Orin

8. 10 GbE Ethernet: For external network connection and data upload

9. USB: To connect a keyboard and mouse to the Jetson AGX Orin

10. EStop button

11. Rear Hawk v1.1 Stereo Camera w/ integrated BMI088 IMU

12. Rear Realsense D455

13. Power indicator lights: These will remain lit while the robot is powered on.

Not Pictured: 2x Sony IMX322 180deg USB Camera (left & right)

Before assembling or operating the Carter robot, read all of the following safety guidelines carefully. You must follow all of these guidelines during operation of the robot.

• The Carter robot is a small and light robot; it is not designed to carry a payload. The main hazard is impact from the robot itself, where moderate harm could result from a worst-case direct collision. Robot operators should take the following precautions:

  • Familiarize yourself with the Carter controls and dynamics in an open area away from bystanders.

  • Be aware of the speed at which Carter can accelerate, decelerate, and turn.

  • Be aware that stopping Carter quickly while it’s moving forward may cause it to overshoot and move backwards.

• In the event of a safety incident, inspect the Carter robot for the following:

  • Damage to the robot chassis (including dents/punctures to the housing or drivetrain)

  • Damage to the sensors that emit IR (including scratches and pits on the optical window)

• If there is damage, do not power on the Carter robot. Use the tow handle to move the robot and contact your NVIDIA representative immediately.

• Carter has a tow handle to easily transport the robot manually. It’s located above the caster wheels.

• A red emergency stop (ESTOP) button is located above the caster wheels, below the tow handle. Pushing the ESTOP button will disconnect power to the motors, but the Carter robot may continue to coast in the direction it was previously moving.

• If you need further details on Isaac Robot specific safety information, contact your NVIDIA representative.

• The Carter robot is a platform for evaluating the Isaac 2.0 software stack and is intended for application development only. Future Isaac software releases will include functional safety support; if you have immediate interest in functional safety for Isaac, contact NVIDIA to discuss available platforms for early safety development.

• Do not allow the battery to completely discharge, or it will be damaged and no longer capable of charging. For this reason, do not leave the robot powered overnight. The best practice is to always plug the battery in for charging at the end of day. The state of charge is accessible by pressing the button on the battery and looking at the LED indicator lights.

• Do not open up or remove any panels from the robot, and do not loosen or remove any sensors.

• Hitting the EStop button will cut motor power. There are no passive brakes on the robot, so it will roll if placed on a slope in an EStop state.