K-Scale Manipulation Suite

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