ubuntu20.04 install anygrasp

ubuntu20.04 install anygrasp

Recently, I want to use anygrasp to complete a clamping task, and record the installation process and the pits encountered

project address

1. Install anygrasp

• Create a new runtime environment

conda create --name anygrasp python=3.9
conda activate anygrasp

• Install pytorch and cudatoolkit, etc.

Note: Since it needs to be installed MinkowskiEngine v0.5.4, the cudatoolkit version of pytorch should be consistent with the CUDA version you installed. My CUDA version is 11.6, so use the following installation command

conda install pytorch==1.12.1 torchvision==0.13.1 torchaudio==0.12.1 cudatoolkit=11.6 -c pytorch -c conda-forge

• InstallMinkowskiEngine v0.5.4

You can refer to this installation tutorial

• Install dependencies and pointnet2 modules in requirements.txt

Then because of this issue , you need to MAX_JOBSset it to 2 before installing

export MAX_JOBS=2

Then execute the installation command separately

# 安装依赖
pip install -r requirements.txt
# 安装pointnet2模块
cd pointnet2
python setup.py install

pointnet2 installed successfully

2. Apply for SDK license and checkpoint

Submit the form application according to the warehouse readme, refer to the link

3. Run AnyGrasp Detection Demo

According to the warehouse readme operation, refer to the link

operation result

AnyGrasp Tracking Demoin the same way