Contents
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