robotic-grasping
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Published
20 hours ago •
skumra
skumra
Questions regarding setup
Hello,
First, thank you for this impressive contribution to the robotics community and for making it open source!
I had a couple of questions regarding setting up GR-Convnet on a new machine:
- What are the versions for the required libraries for the dependencies listed in the "requirements.txt" file?
- What version of CUDA is most compatible with this version of Convnet and/or Convnet V2?
I also could not find the link to the GR-Convnet V2 (The version published in your 2022 paper). The link in the paper refers to this repo but I could not find a commit indicating that the model in this paper is updated.
Thank you again for your contributions and I hope to hear from you soon!
https://github.com/skumra/robotic-grasping/blob/183c6f68c44c1c7ff0f07707e2db6fcfd6840d2d/utils/dataset_processing/grasp.py#L184
For question 1, since np.int is deprecated in numpy 1.20, I use 1.19 instead and install the environment with conda:
conda create -n grcnn python numpy=1.19 pytorch torchvision opencv scikit-image tensorboardx matplotlib pillow
pip install torchsummary
You may want to install something that I haven't used. Specifically, the environment I installed by that command is:
conda list
# Name Version Build Channel
_libgcc_mutex 0.1 conda_forge conda-forge
_openmp_mutex 4.5 2_kmp_llvm conda-forge
alsa-lib 1.2.8 h166bdaf_0 conda-forge
aom 3.5.0 h27087fc_0 conda-forge
attr 2.5.1 h166bdaf_1 conda-forge
blosc 1.21.3 hafa529b_0 conda-forge
brotli 1.0.9 h166bdaf_8 conda-forge
brotli-bin 1.0.9 h166bdaf_8 conda-forge
brotlipy 0.7.0 py39hb9d737c_1005 conda-forge
brunsli 0.1 h9c3ff4c_0 conda-forge
bzip2 1.0.8 h7f98852_4 conda-forge
c-ares 1.18.1 h7f98852_0 conda-forge
c-blosc2 2.8.0 hf91038e_1 conda-forge
ca-certificates 2023.5.7 hbcca054_0 conda-forge
cairo 1.16.0 ha61ee94_1014 conda-forge
certifi 2023.5.7 pyhd8ed1ab_0 conda-forge
cffi 1.15.1 py39he91dace_3 conda-forge
cfitsio 4.1.0 hd9d235c_0 conda-forge
charls 2.3.4 h9c3ff4c_0 conda-forge
charset-normalizer 3.1.0 pyhd8ed1ab_0 conda-forge
click 8.1.3 unix_pyhd8ed1ab_2 conda-forge
cloudpickle 2.2.1 pyhd8ed1ab_0 conda-forge
cryptography 40.0.2 py39h079d5ae_0 conda-forge
cuda-version 11.8 h70ddcb2_2 conda-forge
cudatoolkit 11.8.0 h37601d7_11 conda-forge
cudnn 8.8.0.121 h0800d71_0 conda-forge
cycler 0.11.0 pyhd8ed1ab_0 conda-forge
cytoolz 0.12.0 py39hb9d737c_1 conda-forge
dask-core 2023.4.1 pyhd8ed1ab_0 conda-forge
dav1d 1.0.0 h166bdaf_1 conda-forge
dbus 1.13.6 h5008d03_3 conda-forge
expat 2.5.0 hcb278e6_1 conda-forge
ffmpeg 4.4.2 gpl_h8dda1f0_112 conda-forge
fftw 3.3.10 nompi_hc118613_107 conda-forge
font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge
font-ttf-inconsolata 3.000 h77eed37_0 conda-forge
font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge
font-ttf-ubuntu 0.83 hab24e00_0 conda-forge
fontconfig 2.14.2 h14ed4e7_0 conda-forge
fonts-conda-ecosystem 1 0 conda-forge
fonts-conda-forge 1 0 conda-forge
fonttools 4.39.3 py39h72bdee0_0 conda-forge
freeglut 3.2.2 h9c3ff4c_1 conda-forge
freetype 2.12.1 hca18f0e_1 conda-forge
fsspec 2023.5.0 pyh1a96a4e_0 conda-forge
gettext 0.21.1 h27087fc_0 conda-forge
giflib 5.2.1 h0b41bf4_3 conda-forge
glib 2.76.2 hfc55251_0 conda-forge
glib-tools 2.76.2 hfc55251_0 conda-forge
gmp 6.2.1 h58526e2_0 conda-forge
gnutls 3.7.8 hf3e180e_0 conda-forge
graphite2 1.3.13 h58526e2_1001 conda-forge
gst-plugins-base 1.21.3 h4243ec0_1 conda-forge
gstreamer 1.21.3 h25f0c4b_1 conda-forge
gstreamer-orc 0.4.33 h166bdaf_0 conda-forge
harfbuzz 5.3.0 h418a68e_0 conda-forge
hdf5 1.12.2 nompi_h4df4325_101 conda-forge
icu 70.1 h27087fc_0 conda-forge
idna 3.4 pyhd8ed1ab_0 conda-forge
imagecodecs 2022.8.8 py39h090f8d4_5 conda-forge
imageio 2.28.1 pyh24c5eb1_0 conda-forge
importlib-metadata 6.6.0 pyha770c72_0 conda-forge
importlib_metadata 6.6.0 hd8ed1ab_0 conda-forge
jack 1.9.22 h11f4161_0 conda-forge
jasper 2.0.33 h0ff4b12_1 conda-forge
jpeg 9e h0b41bf4_3 conda-forge
jxrlib 1.1 h7f98852_2 conda-forge
keyutils 1.6.1 h166bdaf_0 conda-forge
kiwisolver 1.4.4 py39hf939315_1 conda-forge
krb5 1.20.1 h81ceb04_0 conda-forge
lame 3.100 h166bdaf_1003 conda-forge
lcms2 2.14 h6ed2654_0 conda-forge
ld_impl_linux-64 2.40 h41732ed_0 conda-forge
lerc 4.0.0 h27087fc_0 conda-forge
libaec 1.0.6 hcb278e6_1 conda-forge
libavif 0.10.1 h5cdd6b5_2 conda-forge
libblas 3.9.0 16_linux64_openblas conda-forge
libbrotlicommon 1.0.9 h166bdaf_8 conda-forge
libbrotlidec 1.0.9 h166bdaf_8 conda-forge
libbrotlienc 1.0.9 h166bdaf_8 conda-forge
libcap 2.67 he9d0100_0 conda-forge
libcblas 3.9.0 16_linux64_openblas conda-forge
libclang 15.0.7 default_had23c3d_1 conda-forge
libclang13 15.0.7 default_h3e3d535_1 conda-forge
libcups 2.3.3 h36d4200_3 conda-forge
libcurl 8.0.1 h588be90_0 conda-forge
libdb 6.2.32 h9c3ff4c_0 conda-forge
libdeflate 1.14 h166bdaf_0 conda-forge
libdrm 2.4.114 h166bdaf_0 conda-forge
libedit 3.1.20191231 he28a2e2_2 conda-forge
libev 4.33 h516909a_1 conda-forge
libevent 2.1.10 h28343ad_4 conda-forge
libexpat 2.5.0 hcb278e6_1 conda-forge
libffi 3.4.2 h7f98852_5 conda-forge
libflac 1.4.2 h27087fc_0 conda-forge
libgcc-ng 12.2.0 h65d4601_19 conda-forge
libgcrypt 1.10.1 h166bdaf_0 conda-forge
libgfortran-ng 12.2.0 h69a702a_19 conda-forge
libgfortran5 12.2.0 h337968e_19 conda-forge
libglib 2.76.2 hebfc3b9_0 conda-forge
libglu 9.0.0 he1b5a44_1001 conda-forge
libgpg-error 1.46 h620e276_0 conda-forge
libhwloc 2.9.1 hd6dc26d_0 conda-forge
libiconv 1.17 h166bdaf_0 conda-forge
libidn2 2.3.4 h166bdaf_0 conda-forge
liblapack 3.9.0 16_linux64_openblas conda-forge
liblapacke 3.9.0 16_linux64_openblas conda-forge
libllvm15 15.0.7 hadd5161_1 conda-forge
libnghttp2 1.52.0 h61bc06f_0 conda-forge
libnsl 2.0.0 h7f98852_0 conda-forge
libogg 1.3.4 h7f98852_1 conda-forge
libopenblas 0.3.21 pthreads_h78a6416_3 conda-forge
libopencv 4.6.0 py39h5ca1638_3 conda-forge
libopus 1.3.1 h7f98852_1 conda-forge
libpciaccess 0.17 h166bdaf_0 conda-forge
libpng 1.6.39 h753d276_0 conda-forge
libpq 15.2 hb675445_0 conda-forge
libprotobuf 3.20.1 h6239696_4 conda-forge
libsndfile 1.2.0 hb75c966_0 conda-forge
libsqlite 3.41.2 h2797004_1 conda-forge
libssh2 1.10.0 hf14f497_3 conda-forge
libstdcxx-ng 12.2.0 h46fd767_19 conda-forge
libsystemd0 253 h8c4010b_1 conda-forge
libtasn1 4.19.0 h166bdaf_0 conda-forge
libtiff 4.4.0 h82bc61c_5 conda-forge
libtool 2.4.7 h27087fc_0 conda-forge
libudev1 253 h0b41bf4_1 conda-forge
libunistring 0.9.10 h7f98852_0 conda-forge
libuuid 2.38.1 h0b41bf4_0 conda-forge
libva 2.18.0 h0b41bf4_0 conda-forge
libvorbis 1.3.7 h9c3ff4c_0 conda-forge
libvpx 1.11.0 h9c3ff4c_3 conda-forge
libwebp-base 1.3.0 h0b41bf4_0 conda-forge
libxcb 1.13 h7f98852_1004 conda-forge
libxkbcommon 1.5.0 h79f4944_1 conda-forge
libxml2 2.10.3 hca2bb57_4 conda-forge
libzlib 1.2.13 h166bdaf_4 conda-forge
libzopfli 1.0.3 h9c3ff4c_0 conda-forge
llvm-openmp 16.0.3 h4dfa4b3_0 conda-forge
locket 1.0.0 pyhd8ed1ab_0 conda-forge
lz4-c 1.9.4 hcb278e6_0 conda-forge
magma 2.5.4 hc72dce7_4 conda-forge
matplotlib 3.5.3 py39hf3d152e_2 conda-forge
matplotlib-base 3.5.3 py39h19d6b11_2 conda-forge
mkl 2022.2.1 h84fe81f_16997 conda-forge
mpg123 1.31.3 hcb278e6_0 conda-forge
munkres 1.1.4 pyh9f0ad1d_0 conda-forge
mysql-common 8.0.32 hf1915f5_2 conda-forge
mysql-libs 8.0.32 hca2cd23_2 conda-forge
nccl 2.15.5.1 h0800d71_0 conda-forge
ncurses 6.3 h27087fc_1 conda-forge
nettle 3.8.1 hc379101_1 conda-forge
networkx 3.1 pyhd8ed1ab_0 conda-forge
ninja 1.11.1 h924138e_0 conda-forge
nspr 4.35 h27087fc_0 conda-forge
nss 3.89 he45b914_0 conda-forge
numpy 1.19.5 py39hd249d9e_3 conda-forge
opencv 4.6.0 py39hf3d152e_3 conda-forge
openh264 2.3.1 hcb278e6_2 conda-forge
openjpeg 2.5.0 h7d73246_1 conda-forge
openssl 3.1.0 hd590300_3 conda-forge
p11-kit 0.24.1 hc5aa10d_0 conda-forge
packaging 23.1 pyhd8ed1ab_0 conda-forge
partd 1.4.0 pyhd8ed1ab_0 conda-forge
pcre2 10.40 hc3806b6_0 conda-forge
pillow 9.2.0 py39hf3a2cdf_3 conda-forge
pip 23.1.2 pyhd8ed1ab_0 conda-forge
pixman 0.40.0 h36c2ea0_0 conda-forge
ply 3.11 py_1 conda-forge
protobuf 3.20.1 py39h5a03fae_0 conda-forge
pthread-stubs 0.4 h36c2ea0_1001 conda-forge
pulseaudio 16.1 hcb278e6_3 conda-forge
pulseaudio-client 16.1 h5195f5e_3 conda-forge
pulseaudio-daemon 16.1 ha8d29e2_3 conda-forge
py-opencv 4.6.0 py39hef51801_3 conda-forge
pycparser 2.21 pyhd8ed1ab_0 conda-forge
pyopenssl 23.1.1 pyhd8ed1ab_0 conda-forge
pyparsing 3.0.9 pyhd8ed1ab_0 conda-forge
pyqt 5.15.7 py39h5c7b992_3 conda-forge
pyqt5-sip 12.11.0 py39h227be39_3 conda-forge
pysocks 1.7.1 pyha2e5f31_6 conda-forge
python 3.9.16 h2782a2a_0_cpython conda-forge
python-dateutil 2.8.2 pyhd8ed1ab_0 conda-forge
python_abi 3.9 3_cp39 conda-forge
pytorch 1.12.1 cuda112py39ha0cca9b_200 conda-forge
pywavelets 1.3.0 py39hd257fcd_1 conda-forge
pyyaml 6.0 py39hb9d737c_5 conda-forge
qt-main 5.15.6 hf6cd601_5 conda-forge
readline 8.2 h8228510_1 conda-forge
requests 2.29.0 pyhd8ed1ab_0 conda-forge
scikit-image 0.19.3 py39h1832856_1 conda-forge
scipy 1.9.1 py39h8ba3f38_0 conda-forge
setuptools 67.7.2 pyhd8ed1ab_0 conda-forge
sip 6.7.9 py39h3d6467e_0 conda-forge
six 1.16.0 pyh6c4a22f_0 conda-forge
sleef 3.5.1 h9b69904_2 conda-forge
snappy 1.1.10 h9fff704_0 conda-forge
svt-av1 1.4.1 hcb278e6_0 conda-forge
tbb 2021.9.0 hf52228f_0 conda-forge
tensorboardx 2.5.1 pyhd8ed1ab_0 conda-forge
tifffile 2022.10.10 pyhd8ed1ab_0 conda-forge
tk 8.6.12 h27826a3_0 conda-forge
toml 0.10.2 pyhd8ed1ab_0 conda-forge
tomli 2.0.1 pyhd8ed1ab_0 conda-forge
toolz 0.12.0 pyhd8ed1ab_0 conda-forge
torchvision 0.13.0 cuda112py39hd2c45b6_0 conda-forge
tornado 6.3 py39h72bdee0_0 conda-forge
typing_extensions 4.5.0 pyha770c72_0 conda-forge
tzdata 2023c h71feb2d_0 conda-forge
unicodedata2 15.0.0 py39hb9d737c_0 conda-forge
urllib3 1.26.15 pyhd8ed1ab_0 conda-forge
wheel 0.40.0 pyhd8ed1ab_0 conda-forge
x264 1!164.3095 h166bdaf_2 conda-forge
x265 3.5 h924138e_3 conda-forge
xcb-util 0.4.0 h516909a_0 conda-forge
xcb-util-image 0.4.0 h166bdaf_0 conda-forge
xcb-util-keysyms 0.4.0 h516909a_0 conda-forge
xcb-util-renderutil 0.3.9 h166bdaf_0 conda-forge
xcb-util-wm 0.4.1 h516909a_0 conda-forge
xkeyboard-config 2.38 h0b41bf4_0 conda-forge
xorg-fixesproto 5.0 h7f98852_1002 conda-forge
xorg-inputproto 2.3.2 h7f98852_1002 conda-forge
xorg-kbproto 1.0.7 h7f98852_1002 conda-forge
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xorg-libxfixes 5.0.3 h7f98852_1004 conda-forge
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zfp 1.0.0 h27087fc_3 conda-forge
zipp 3.15.0 pyhd8ed1ab_0 conda-forge
zlib 1.2.13 h166bdaf_4 conda-forge
zlib-ng 2.0.7 h0b41bf4_0 conda-forge
zstd 1.5.2 h3eb15da_6 conda-forge
