Difference between revisions of "K-Scale Manipulation Suite"
| Line 20: | Line 20: | ||
pip install -e . | pip install -e . | ||
</pre> | </pre> | ||
| + | |||
| + | == Usage - Basic == | ||
| + | '''Visualize the MuJoCo scene''' | ||
| + | <pre> | ||
| + | python gym_kmanip/examples/1_view_env.py | ||
| + | </pre> | ||
| + | '''Record a video of the MuJoCo scene''' | ||
| + | <pre> | ||
| + | python gym_kmanip/examples/2_record_video.py | ||
| + | </pre> | ||
| + | |||
| + | == Usage - Recording Data == | ||
| + | '''K-Scale HuggingFace Datasets''' | ||
| + | '''Data is recorded via teleop, this requires additional dependencies''' | ||
| + | <pre> | ||
| + | pip install opencv-python==4.9.0.80 | ||
| + | pip install vuer==0.0.30 | ||
| + | pip install rerun-sdk==0.16.0 | ||
| + | </pre> | ||
| + | '''Start the server on the robot computer''' | ||
| + | <pre> | ||
| + | python gym_kmanip/examples/4_record_data_teleop.py | ||
| + | </pre> | ||
| + | '''Start ngrok on the robot computer''' | ||
| + | <pre> | ||
| + | ngrok http 8012 | ||
| + | </pre> | ||
| + | '''Open the browser app on the VR headset and go to the ngrok URL''' | ||
Revision as of 20:47, 22 May 2024
Setup - Linux
Clone and install dependencies
git clone https://github.com/kscalelabs/gym-kmanip.git && cd gym-kmanip conda create -y -n gym-kmanip python=3.10 && conda activate gym-kmanip pip install -e .
Run tests
pip install pytest pytest tests/test_env.py
Setup - Jetson Orin AGX
No conda on ARM64, install on bare metal
sudo apt-get install libhdf5-dev git clone https://github.com/kscalelabs/gym-kmanip.git && cd gym-kmanip pip install -e .
Usage - Basic
Visualize the MuJoCo scene
python gym_kmanip/examples/1_view_env.py
Record a video of the MuJoCo scene
python gym_kmanip/examples/2_record_video.py
Usage - Recording Data
K-Scale HuggingFace Datasets Data is recorded via teleop, this requires additional dependencies
pip install opencv-python==4.9.0.80 pip install vuer==0.0.30 pip install rerun-sdk==0.16.0
Start the server on the robot computer
python gym_kmanip/examples/4_record_data_teleop.py
Start ngrok on the robot computer
ngrok http 8012
Open the browser app on the VR headset and go to the ngrok URL
