moss

End-to-end deployment of a user's OWN model on RDK boards — quantize .pt/.onnx into .bin (X3/X5/Ultra) or .hbm (S100/S100P/S600) through the BPU toolchain — plus first-boot/network setup, camera bringup, and on-board inference debugging. Use whenever the user is deploying a self-trained model, reports slow inference (1-2 FPS, "pt 拷上去很慢"), is doing first boot / 开箱 / 入门, or debugging a camera or 推理 pipeline. 触发词:部署模型、YOLO 转换、hb_mapper、hb_compile、量化、.bin/.hbm、pt 直接跑很慢、BPU 推理、首次开箱、新手上手、摄像头无画面、v4l2。Routing — ready-made precompiled models → rdk-model-zoo; inference as a ROS node / stereo depth / lidar → rdk-ros; embodied ACT/VLA/Pi0 BPU compile → rdk-embodied-lerobot; pure error-code lookup → rdk-board-knowledge.

TROS (TogetheROS.Bot) / ROS2 development on RDK boards — pick the right perception node for a capability (detection, segmentation, body/face/hand, stereo depth, 3D/lidar, VLM/LLM, audio), launch it with the correct platform and topics, debug "ros2 command not found" / package / launch problems, and follow the official end-to-end robot app cases (AMR, line-follower). Use whenever the user is on an RDK board and mentions TROS, ROS2, a perception node, a topic/launch/package, stereo depth, lidar, or a TROS app. 触发词:TROS、ros2 命令找不到、source /opt/tros、jazzy、humble、双目深度、stereonet、激光雷达、livox、点云、SLAM、nav2、人体检测、手势识别、人脸、YOLO 节点、dnn_node_example、hobot_dnn、ai_msgs、hbmem_img、巡线小车、AMR、感知节点用哪个。Routing — camera format/driver bringup (v4l2, MIPI sensor, no image) → rdk-device; GPIO/peripheral wiring → rdk-peripheral-cookbook; converting your own model to .bin/.hbm → rdk-device; ready-made model picking → rdk-model-zoo.

Host-side (x86 PC) software/tooling for RDK dev — the RDK Studio desktop client (install/login/flash/connect/CLI), the x86 Docker BPU toolchain that produces .bin/.hbm, the host flashing tools (RDK Studio/Rufus for X-series SD, Xburn for S-series USB), AND the Electron/React/Vite/Node/TypeScript engineering of building RDK Studio itself. Use whenever the work happens ON THE PC rather than on the board — installing or driving RDK Studio, choosing a flasher, setting up the toolchain Docker, or fixing a desktop-app build/IPC/HMR/packaging issue. 触发词:RDK Studio、studio 安装、烧录工具、Rufus、Xburn、烧录系统、Type-C 直连、rdkstudio 命令行、dmoss-agent、工具链 docker、x86 转换环境、Electron、preload、IPC、Vite、HMR、tsc 报错、打包签名。Routing — running things ON the board (first boot, on-board inference, camera) → rdk-device; the .pt→.bin/.hbm conversion commands → rdk-device/rdk-model-zoo; board error-code lookup → rdk-board-knowledge.

NVIDIA Jetson single-platform reference — module specs and AI performance (Orin Nano / Orin NX / AGX Orin / Xavier NX / legacy Nano), the JetPack / Jetson Linux (L4T) software stack, Super Mode power profiles, and the TensorRT engine-build workflow (.onnx → .engine via trtexec / nvpmodel / jetson_clocks). Use whenever someone asks about Jetson hardware specs, "多少 TOPS", JetPack/L4T versions, how to flash or set up a Jetson, or how to run a model on Jetson with TensorRT. 触发词:Jetson、Orin Nano、Orin NX、AGX Orin、Xavier NX、Jetson Nano、多少 TOPS、Super 模式、JetPack 版本、L4T、刷机、tegrastats、jtop、TensorRT、trtexec、engine 转换、nvpmodel、jetson_clocks、CUDA 版本。Routing — comparing Jetson against RDK / Raspberry Pi / RK3588 or "买 Jetson 还是 RDK" selection → rdk-ecosystem (cross-platform comparison lives there, anchored on RDK); Raspberry Pi specifics → rpi-knowledge; Rockchip RK3588 specifics → rk-knowledge. This skill covers Jetson itself only.

Bring up D-Robotics OFFICIAL finished accessories — GS130W / GS130Wi binocular depth cameras, the RDK IMU Module (Bosch BMI088), and the RDK S100/S600 Camera & MCU-Port expansion boards — covering selection, wiring/FFC orientation, mounting, and driver/SDK bring-up. These are plug-and-play modules with official pinouts and official SDK/IIO drivers, which is exactly what separates them from DIY peripherals. Use whenever the user asks how to connect/run one of these named parts, which launch file to use, how many CAN/GMSL/MIPI an expansion board has, or which board a part supports. 触发词:GS130W、GS130Wi、双目相机怎么接、22pin 线序、mipi_cam dual、RDK IMU 模组、BMI088、IMU 读数、IIO 驱动、rdk-imu-module-sdk、S100 相机扩展板、S600 相机扩展板、MCU 扩展板、几路 CAN、几路 GMSL、GMSL 供电、扩展板装在哪块板。Routing — DIY a sensor/motor/LED on raw GPIO/I2C/SPI/PWM → rdk-peripheral-cookbook; the board's OWN 40PIN/CAN/Ethernet/compute facts → rdk-hardware; bringing up an UNSUPPORTED MIPI sensor → rdk-mipi-camera-bringup; model deploy / TROS node dev → rdk-device / rdk-ros.

Deep S-series (S100/S100P/S600) "big-brain / little-brain" heterogeneous development — MCU1 FreeRTOS firmware (build, remoteproc load, IPC, UART, CAN) AND the Acore/Linux subsystems unique to S boards (hbmem zero-copy shared memory, Acore↔MCU/VDSP/BPU IPC with real-time core pinning, PCIe RC/EP, EtherCAT master, PTP/gPTP, OTA + miniboot, VDSP). Also covers delegating a board task to the OpenClaw agent (board_openclaw_chat / board_openclaw_delegate) with a complete handoff packet. Use whenever the user works on S100/S100P/S600 MCU firmware, real-time joint/motor control, CPU↔MCU IPC, EtherCAT/PTP, PCIe, system upgrade, the vector DSP, or asks how the CPU+BPU+MCU split works. 触发词:S100、S100P、S600、MCU、小脑、大脑、R52、FreeRTOS、固件、remoteproc、烧固件、关节实时控制、电机回路、IPC、共享内存、hbmem、零拷贝、EtherCAT、运动控制主站、PTP、时间同步、PCIe、OTA、miniboot、VDSP、大小脑异构、CAN、OpenClaw、板端委派。Routing — .hbm compile → rdk-device; ready-made models → rdk-model-zoo; ROS/stereo/lidar → rdk-ros; LLM/VLM → rdk-llm-deployment; error-code lookup → rdk-board-knowledge.

Identify which RDK board you're on, confirm its runtime baseline (SoC/BPU/OS/TROS), diagnose the common on-board errors (camera, model/BPU, TROS/ROS2, APT/pubkey, GPIO/I2C/serial, power, network), correct the high-frequency user misconceptions, and flash the S-series (S100/S100P/S600) via xburn DFU/Fastboot. Use this WHENEVER a user pastes an error/log, asks "which board is this / 是哪块板", reports something broken on the board, asks an official-FAQ-style question, or needs to flash an S-series image — don't wait for them to name the exact subsystem. 触发词:报错、排查、诊断、卡死、连不上、识别板型、确认板子、是哪块板、板型基线、系统版本、摄像头没画面、模型跑不了、ros2 command not found、NO_PUBKEY、GPIO 权限、供电不足、under-voltage、xburn、烧录、刷机、进下载模式、DFU、Fastboot、变砖、S100/S600 烧录、官方 FAQ、默认账户密码。Routing — pure pin/connector/spec facts → rdk-hardware; full self-trained model deployment loop (hb_mapper/hb_compile) → rdk-device; peripheral driver cookbooks → rdk-peripheral-cookbook; product selection/comparison → rdk-ecosystem; exact latest doc URL → rdk-doc-finder.

Command-manual lookup for RDK-specific commands (hrut_somstatus, hrut_boardid, hrut_socuid, hrut_ps, rdkos_info, rdk-miniboot-update, rdk-backup, srpi-config, devmem) plus the Linux command appendix (apt/dmesg/ip/scp/tar...) as documented by D-Robotics. Use whenever the user asks what a command does, its syntax/options/flags, or which boards it applies to — the command is the anchor, not the symptom. Answer with exact syntax, per-board differences (X3 vs X5 vs Ultra vs S100/S100P/S600), and the official doc source. 触发词:hrut_somstatus 怎么读、hrut_boardid 选项含义、hrut_socuid、hrut_ps、rdkos_info -d 输出什么、rdk-miniboot-update 怎么用、rdk-backup 备份、srpi-config 有哪些菜单、devmem 读写寄存器、这条命令哪块板能用、命令语法/选项/适用板型。Routing — a command threw an error and you need symptom-based triage → rdk-board-knowledge; peripheral (camera/GPIO/I2C/UART/PWM) driver setup → rdk-peripheral-cookbook; locate a GitHub repo/source → rdk-source-map; locate an official doc-site chapter/URL → rdk-doc-finder; pure hardware/pinout facts → rdk-hardware.

Pinpoints WHERE in the official D-Robotics documentation a given RDK topic lives, then derives the exact developer.d-robotics.cc URL and verifies it. Use whenever the user asks "where in the docs is X / which manual covers Y / which chapter / where do I look up Z / give me the authoritative link". This is the official doc-SITE navigator — it routes across the six split Docusaurus sites (rdk_x_doc / rdk_s_doc / tros_doc / model_zoo_doc / rdk_studio_doc / accessories_doc) and the archived rdk_doc. 触发词:官方文档在哪、哪本手册、哪一章、去哪查、文档链接、权威出处、developer.d-robotics.cc、文档站、用户手册、Quick Start 在哪、FAQ 在哪、给个官方链接、这个在哪讲。Routing — locating a GitHub repo / source code → rdk-source-map; which board to buy / can it run X / spec comparison → rdk-ecosystem; error-code diagnosis → rdk-board-knowledge; hardware pin/electrical facts → rdk-hardware. This skill answers only "which manual, which chapter, what URL" — it does not replace those content skills.

RDK product-line awareness and buying/selection judgment — which board to buy (X3/X5/Ultra/S100/S100P/S600), whether a given model (YOLO / LLM / VLM) will actually run, how RDK compares to Jetson / Raspberry Pi / RK3588, calibrating LLM/VLM expectations, and where the official ecosystem entry points live (product pages, Model Zoo, NodeHub, forum). Use whenever someone is choosing or comparing boards or asking "can it run X". 触发词:买哪块板、选型、X3 还是 X5、S100 还是 S600、能不能跑 DeepSeek、能不能跑 Qwen、能不能跑 7B、RDK 和 Jetson/树莓派/RK3588 哪个好、跨平台对比、端侧大模型期待、VLM 能跑吗、Model Zoo、NodeHub 在哪、官方资料入口。Routing — cross-platform comparison anchored on RDK (RDK vs X) stays here; single-platform specs/toolchain → jetson-knowledge / rpi-knowledge / rk-knowledge; hardware-subsystem facts → rdk-hardware; on-board model deployment → rdk-device; how LLM/VLM actually runs on-board → rdk-llm-deployment; locate a GitHub repo / source → rdk-source-map; pin down a doc-site chapter / authoritative URL → rdk-doc-finder; one command syntax → rdk-command-manual.

Deploy a trained embodied-AI policy onto an RDK board — LeRobot ACT imitation policies and Pi0 VLA (openpi) — by exporting to ONNX, compiling to a BPU `.hbm`, and running the on-board control loop that drives a robot arm. Use whenever the user has an ACT checkpoint or a Pi0 model and wants it on RDK S100/S100P/S600, mentions export_bpu_actpolicy.py / bpu_control_robot.py / build_all.sh / hbm-runtime / openpi_runtime / piper_node, or asks "怎么把 ACT 部署到板上 / Pi0 怎么跑". 触发词:具身智能、ACT 部署、模仿学习策略上板、LeRobot 上 RDK、Pi0、openpi、VLA、视觉语言动作、机械臂策略、bpu_control_robot、export_bpu_actpolicy、SO-101 跑到 S100、双臂 mango。Routing — generic .onnx→.bin/.hbm quantization (non-policy models) → rdk-device; ros2 commands/env → rdk-ros; on-board LLM/VLM chat & voice → rdk-llm-deployment; S100 CPU/BPU/MCU heterogeneous split, firmware burn, board-agent handoff → rdk-board-delegate; raw error-code lookup → rdk-board-knowledge.

The hardware-facts base for RDK boards — the 6-board spec table (X3 / X5 / Ultra / S100 / S100P / S600) plus 40PIN/GPIO, buses (I2C/SPI/UART/PWM), power & LED meaning, display, network/IP, and CAN. Use WHENEVER a question is about a board hardware fact: are the pins the same across boards, how the 40PIN is wired, IO voltage, default username/password, model dir location, which interfaces exist, TOPS/RAM differences, cooling, OS-version line, or system paths. Answer from here — do not guess from memory, the per-board numbers really do differ. 触发词:各板引脚一样吗、40PIN怎么接、IO电平、1.8V还是3.3V、默认用户名密码、root/sunrise、模型目录在哪、有没有CAN口、ip link can0、网口默认IP、192.168.127.10、连不上板子、算力多少TOPS、内存多大、要不要散热、供电几V、电源灯什么颜色、HDMI分辨率、Ubuntu几、TROS路径、板型怎么查。Routing — error-code / boot-failure → rdk-board-knowledge; driving a peripheral (blink LED, spin motor, read I2C, send CAN frames) → rdk-peripheral-cookbook; model deploy / toolchain / camera bringup → rdk-device; which board to buy → rdk-ecosystem.

Run on-device LLM / VLM chat and the voice stack (ASR→LLM→TTS, plus the xiaozhi 小智 assistant) on D-Robotics RDK boards. Covers hobot_llamacpp GGUF LLM/VLM on X5/S100, the S600 oellm_runtime / D-Robotics_LLM_S600 SDK path, the legacy hobot_llm on X3, and sensevoice_ros2 + hobot_tts. Use whenever the user wants a chatbot / 看图问答 / 语音助手 on the board, asks which LLM/VLM a board can run, or hits a board↔stack mismatch (e.g. trying hobot_llamacpp on S600). 触发词:端侧大模型、在板上跑 LLM、llama.cpp BPU、GGUF、hobot_llamacpp、InternVL、SmolVLM、Qwen3、VLM 看图问答、语音助手、小智、xiaozhi、语音识别、ASR、sensevoice、语音合成、TTS、hobot_tts、hobot_llm、oellm、S600 跑大模型。Routing — robot ACTION policies (VLA / Pi0 / LeRobot) → rdk-embodied-lerobot; ready-made vision detection/classification/segmentation + CLIP perception models → rdk-model-zoo; "can THIS board even run an LLM" sizing/expectation only → rdk-ecosystem; ROS2 env setup → rdk-ros.

Run a ready-made, officially pre-compiled BPU model from the RDK Model Zoo on a board — pick the right branch (branch = board), download the matching .bin/.hbm, run the sample, read the per-board benchmark (latency/FPS/accuracy). Use whenever the user wants a precompiled model instead of quantizing their own, asks "does RDK have a converted YOLO/classification/segmentation/OCR .bin/.hbm", "how do I run a Model Zoo sample", "which branch for my board", or "where do I download the precompiled model". 触发词:Model Zoo、现成模型、预编译模型、官方转好的、有没有现成的 bin/hbm、模型仓、跑示例 sample、哪个分支、archive.d-robotics 下载、benchmark 帧率精度、YOLO11 哪块板能跑、模型性能对比。Routing — quantizing your OWN .pt/.onnx through the toolchain → rdk-device; wrapping a model as a TROS/ROS2 node → rdk-ros; conversational LLM/VLM (InternVL/SmolVLM chat) → rdk-llm-deployment; "can my board run model X" / model selection → rdk-ecosystem; embodied ACT/VLA/Pi0 policies → rdk-embodied-lerobot.

Drive the RDK board's LOW-LEVEL multimedia hardware pipeline — hardware H.264/H.265/JPEG/MJPEG encode/decode, camera VIN/ISP capture, VPS/PYM scale-crop-rotate, HDMI/MIPI display — via sp_dev (/app/cdev_demo C/Python API) and HB_VIN/HB_VPS/HB_VENC/HB_VDEC/HB_VOT on X3/X5/Ultra, or the /app/multimedia_samples + MediaCodec stack on S100/S100P/S600. Use whenever the user moves raw pixel streams between hardware units (capture/encode/decode/scale/display) WITHOUT a ROS layer. 触发词:硬件编码、H264/H265/JPEG 编解码、VPU 软编很慢、stride 对齐报错、VPS 缩放、PYM 金字塔、多路缩放、HDMI/VOT 显示、sp_dev、cdev_demo、vio2encoder、decoder2display、rtsp2display、HB_VENC、HB_VPS、MediaCodec、sample_codec、S600 VPU 多核、IDU 显示。Routing — model inference / .bin/.hbm BPU deploy → rdk-device; capture-encode as a ROS2 node (hobot_codec, image topic, usb_cam/mipi_cam launch) → rdk-ros; which camera to buy / CAM wiring → rdk-accessories; UNSUPPORTED MIPI sensor that won't start (no MCLK / i2c NACK) → rdk-mipi-camera-bringup; GPIO/I2C/PWM/motors → rdk-peripheral-cookbook.

Hands-on peripheral driving on RDK boards — GPIO/I2C/SPI/UART/PWM, servos, DC/stepper/BLDC motors, LED/WS2812, audio (ALSA), and CAN (X5 SocketCAN vs S100/S600 MCU-domain CANHAL) — plus cross-platform pin/bus mapping and zero-driver diagnosis. Use whenever the user wants to actually light an LED, spin a motor, read a sensor, play/record audio, wire a servo, bring up CAN, or when a peripheral plugged into the board is "not detected / no driver". 触发词:点灯、GPIO 不工作、libgpiod、i2cdetect、PCA9685、舵机、步进电机、无刷、WS2812 灯带、ALSA 播放录音、aplay、CAN、SocketCAN、cansend、candump、S100 CAN、S600 自锁口、40PIN 接线、拨码开关、设备不识别没驱动. Routing — pure GPIO pin-number facts / per-board pinout tables → rdk-hardware (cite it when wiring); device error-code lookup / "板子报错" → rdk-board-knowledge; connector/cable/accessory part numbers → rdk-accessories.

Map and disambiguate repositories in the D-Robotics GitHub org (226 public / 327 total incl. private) — tell the user what a repo is, which layer it belongs to, which board it targets, which repo to use for a task, and how to build an RDK OS image or TROS workspace from source. Use whenever the user sees a D-Robotics repo and doesn't know what it does, can't tell hobot- (hyphen, BSP) from hobot_ (underscore, ROS2 app), asks "which repo do I clone for X", or wants the repo/manifest/rdk-gen/vcstool source-build flow. 触发词:这个仓库是干嘛的、属于哪一层、对应哪块板、该 clone 哪个仓、hobot- 和 hobot_ 区别、连字符 下划线、rdk-gen、manifest、repo sync、vcstool、ros2.repos、从源码构建镜像、定制内核、编译 TROS、x5-rdk-gen、s100-rdk-gen。Routing — finding a doc-site chapter → rdk-doc-finder; running a ready-made model on-board → rdk-model-zoo; ROS node usage → rdk-ros; embodied/LLM deployment → rdk-embodied-lerobot / rdk-llm-deployment.

How-to workflows for RDK board system configuration — wired/Wi-Fi/Bluetooth networking (nmcli, wifi_connect, NetworkManager vs /etc/network/interfaces), DNS/proxy, the /boot/config.txt boot file (X-series dtparam/gpio/arm_boost/filters vs S-series bootargs/fdt-enable/dtbo), CPU frequency locking and overclock, thermal trip points and emc2305 fan control, boot self-start services, Samba/NFS file sharing, and the srpi-config TUI. Use whenever a user asks "how do I configure X on this board" and wants concrete steps (commands / menus / config-file edits), the right per-board method, and the X-vs-S difference. 触发词:配网/连WiFi/有线静态IP/改config.txt/改启动配置/CPU锁频/降频/超频/调频/风扇控制/温控/开机自启/自启动/Samba/NFS共享/srpi-config菜单/蓝牙配对/DNS/代理. Routing — single-command syntax lookup → rdk-command-manual; camera/GPIO/I2C/SPI/UART/PWM device drivers → rdk-peripheral-cookbook; errors AFTER configuring → rdk-board-knowledge; doc-site URLs/chapters → rdk-doc-finder; pure pin/hardware facts → rdk-hardware.

Rockchip RK35xx single-platform reference — RK3588 / RK3576 NPU specs, the RKNN-Toolkit2 conversion workflow (.onnx → .rknn on an x86 PC), board-side inference with RKNN-Toolkit-Lite2 / librknnrt, multi-core NPU scheduling via core_mask, and the version-mismatch failures that dominate RKNN support. Use whenever someone asks about a Rockchip RK3588/RK3576 SBC (Radxa ROCK 5B/5 ITX, Orange Pi 5, Firefly), its NPU, RKNN model conversion, .rknn deployment, or "RKNN version mismatch / init runtime failed". 触发词:RK3588、RK3576、Rockchip、瑞芯微、ROCK 5B、Orange Pi 5、Firefly RK3588、RKNN、rknn-toolkit2、rknn_toolkit_lite2、librknnrt、.rknn 转换、NPU 几 TOPS、core_mask、三核 NPU、版本不匹配、init runtime failed。Routing — this skill covers the RK35xx platform itself only; RDK-vs-RK3588 / Jetson / Raspberry Pi selection and "买哪个" comparison → rdk-ecosystem (RDK-anchored); Jetson → jetson-knowledge; Raspberry Pi → rpi-knowledge; RKNN-LLM (LLMs on RK35xx) is a separate Rockchip SDK, out of scope here.

Raspberry Pi platform knowledge — board specs and memory variants (Pi 5 / Pi 4B / CM4, BCM2712/BCM2711, up to 16GB), the RP1 I/O chip and what it breaks, GPIO library choice (gpiozero / lgpio / rpi-lgpio, why RPi.GPIO dies on Pi 5), the rpicam-* / libcamera / Picamera2 camera stack, and where AI inference goes (no on-board NPU → CPU/ONNX, or Hailo AI HAT+ → HEF). Use whenever someone asks about a Raspberry Pi board itself, Pi 5 GPIO not working, a camera command, or running a model on a Pi. 触发词:树莓派、Raspberry Pi、Pi 5、Pi 4B、CM4、RP1、GPIO 不能用、RPi.GPIO 报错、gpiozero、lgpio、libcamera、rpicam、raspistill 废弃、摄像头没画面、AI HAT+、Hailo、HEF、16GB 树莓派、config.txt 在哪。Routing — RDK-vs-Raspberry-Pi selection/comparison → rdk-ecosystem; Jetson platform → jetson-knowledge; Rockchip RK3588 → rk-knowledge; on-board RDK model deployment → rdk-device.