[HaiyuanGui@master01 ~]$ conda list
# packages in environment at /hpcfiles/users/HaiyuanGui/.conda/envs/GraspBalance:
#
# Name Version Build Channel
_libgcc_mutex 0.1 main defaults
_openmp_mutex 5.1 1_gnu defaults
absl-py 1.4.0 pypi_0 pypi
addict 2.4.0 pypi_0 pypi
aiofiles 22.1.0 pypi_0 pypi
aiosqlite 0.19.0 pypi_0 pypi
anyio 3.7.1 pypi_0 pypi
appdirs 1.4.4 pypi_0 pypi
argon2-cffi 21.3.0 pypi_0 pypi
argon2-cffi-bindings 21.2.0 pypi_0 pypi
arrow 1.2.3 pypi_0 pypi
attrs 23.1.0 pypi_0 pypi
autolab-core 1.1.1 pypi_0 pypi
autolab-perception 1.0.0 pypi_0 pypi
babel 2.12.1 pypi_0 pypi
backcall 0.2.0 pyhd3eb1b0_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
beautifulsoup4 4.12.2 pypi_0 pypi
blas 1.0 mkl defaults
bleach 6.0.0 pypi_0 pypi
brotlipy 0.7.0 py37h27cfd23_1003 defaults
bzip2 1.0.8 h7b6447c_0 defaults
ca-certificates 2023.01.10 h06a4308_0 anaconda
cached-property 1.5.2 pypi_0 pypi
cachetools 4.2.4 pypi_0 pypi
certifi 2022.12.7 py37h06a4308_0 anaconda
cffi 1.15.1 py37h5eee18b_3 defaults
charset-normalizer 2.0.4 pyhd3eb1b0_0 defaults
click 8.1.5 pypi_0 pypi
colorlog 6.7.0 pypi_0 pypi
cryptography 39.0.1 py37h9ce1e76_0 defaults
cuda-cudart 11.7.99 0 nvidia
cuda-cupti 11.7.101 0 nvidia
cuda-libraries 11.7.1 0 nvidia
cuda-nvrtc 11.7.99 0 nvidia
cuda-nvtx 11.7.91 0 nvidia
cuda-runtime 11.7.1 0 nvidia
cvxopt 1.3.1 pypi_0 pypi
cycler 0.11.0 pypi_0 pypi
cython 0.29.36 pypi_0 pypi
debugpy 1.6.7 pypi_0 pypi
decorator 5.1.1 pyhd3eb1b0_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
defusedxml 0.7.1 pyhd3eb1b0_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
deprecation 2.1.0 pypi_0 pypi
dill 0.3.6 pypi_0 pypi
docker-pycreds 0.4.0 pypi_0 pypi
easydict 1.10 pypi_0 pypi
entrypoints 0.4 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
exceptiongroup 1.1.2 pypi_0 pypi
fastjsonschema 2.17.1 pypi_0 pypi
ffmpeg 4.3 hf484d3e_0 pytorch
ffmpeg-python 0.2.0 pypi_0 pypi
fonttools 4.38.0 pypi_0 pypi
fqdn 1.5.1 pypi_0 pypi
freetype 2.12.1 h4a9f257_0 defaults
future 0.18.3 pypi_0 pypi
giflib 5.2.1 h5eee18b_3 defaults
gitdb 4.0.10 pypi_0 pypi
gitpython 3.1.32 pypi_0 pypi
gmp 6.2.1 h295c915_3 defaults
gnutls 3.6.15 he1e5248_0 defaults
google-auth 1.35.0 pypi_0 pypi
google-auth-oauthlib 0.4.6 pypi_0 pypi
grasp-nms 1.0.2 pypi_0 pypi
graspnetapi 1.2.10 pypi_0 pypi
grpcio 1.56.0 pypi_0 pypi
h5py 3.8.0 pypi_0 pypi
idna 3.4 py37h06a4308_0 defaults
imageio 2.31.1 pypi_0 pypi
importlib-metadata 6.7.0 pypi_0 pypi
importlib-resources 5.12.0 pypi_0 pypi
importlib_metadata 4.11.3 hd3eb1b0_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
importlib_resources 5.2.0 pyhd3eb1b0_1 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
intel-openmp 2021.4.0 h06a4308_3561 defaults
ipykernel 6.16.2 pypi_0 pypi
ipython 7.34.0 pypi_0 pypi
ipython_genutils 0.2.0 pyhd3eb1b0_1 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
ipywidgets 8.0.7 pypi_0 pypi
isoduration 20.11.0 pypi_0 pypi
jedi 0.18.2 pypi_0 pypi
jinja2 3.1.2 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
joblib 1.3.1 pypi_0 pypi
jpeg 9e h5eee18b_1 defaults
json5 0.9.14 pypi_0 pypi
jsonpointer 2.4 pypi_0 pypi
jsonschema 4.17.3 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
jupyter-core 4.12.0 pypi_0 pypi
jupyter-events 0.6.3 pypi_0 pypi
jupyter-packaging 0.12.3 pypi_0 pypi
jupyter-server 1.24.0 pypi_0 pypi
jupyter-server-fileid 0.9.0 pypi_0 pypi
jupyter-server-ydoc 0.8.0 pypi_0 pypi
jupyter-ydoc 0.2.4 pypi_0 pypi
jupyter_client 7.4.9 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
jupyter_core 4.11.2 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
jupyter_server 1.23.4 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
jupyterlab 3.6.5 pypi_0 pypi
jupyterlab-pygments 0.2.2 pypi_0 pypi
jupyterlab-server 2.23.0 pypi_0 pypi
jupyterlab-widgets 3.0.8 pypi_0 pypi
jupyterlab_pygments 0.1.2 py_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
jupyterlab_widgets 1.0.0 pyhd3eb1b0_1 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
kiwisolver 1.4.4 pypi_0 pypi
knn-pytorch 0.1 pypi_0 pypi
lame 3.100 h7b6447c_0 defaults
lcms2 2.12 h3be6417_0 defaults
ld_impl_linux-64 2.38 h1181459_1 defaults
lerc 3.0 h295c915_0 defaults
libcublas 11.10.3.66 0 nvidia
libcufft 10.7.2.124 h4fbf590_0 nvidia
libcufile 1.7.0.149 0 nvidia
libcurand 10.3.3.53 0 nvidia
libcusolver 11.4.0.1 0 nvidia
libcusparse 11.7.4.91 0 nvidia
libdeflate 1.17 h5eee18b_0 defaults
libffi 3.4.4 h6a678d5_0 defaults
libgcc-ng 11.2.0 h1234567_1 defaults
libgfortran-ng 8.2.0 hdf63c60_1 anaconda
libgomp 11.2.0 h1234567_1 defaults
libiconv 1.16 h7f8727e_2 defaults
libidn2 2.3.4 h5eee18b_0 defaults
libnpp 11.7.4.75 0 nvidia
libnvjpeg 11.8.0.2 0 nvidia
libopenblas 0.3.2 h9ac9557_1 anaconda
libpng 1.6.39 h5eee18b_0 defaults
libsodium 1.0.18 h7b6447c_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libstdcxx-ng 11.2.0 h1234567_1 defaults
libtasn1 4.19.0 h5eee18b_0 defaults
libtiff 4.5.0 h6a678d5_2 defaults
libunistring 0.9.10 h27cfd23_0 defaults
libwebp 1.2.4 h11a3e52_1 defaults
libwebp-base 1.2.4 h5eee18b_1 defaults
lz4-c 1.9.4 h6a678d5_0 defaults
markdown 3.4.3 pypi_0 pypi
markupsafe 2.1.3 pypi_0 pypi
matplotlib 3.5.3 pypi_0 pypi
matplotlib-inline 0.1.6 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
minkowskiengine 0.5.4 pypi_0 pypi
mistune 3.0.1 pypi_0 pypi
mkl 2021.4.0 h06a4308_640 defaults
mkl-service 2.4.0 py37h7f8727e_0 defaults
mkl_fft 1.3.1 py37hd3c417c_0 defaults
mkl_random 1.2.2 py37h51133e4_0 defaults
multiprocess 0.70.14 pypi_0 pypi
nbclassic 1.0.0 pypi_0 pypi
nbclient 0.7.4 pypi_0 pypi
nbconvert 7.6.0 pypi_0 pypi
nbformat 5.8.0 pypi_0 pypi
ncurses 6.4 h6a678d5_0 defaults
nest-asyncio 1.5.6 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
nettle 3.7.3 hbbd107a_1 defaults
networkx 2.6.3 pypi_0 pypi
ninja 1.11.1 pypi_0 pypi
notebook 6.5.4 pypi_0 pypi
notebook-shim 0.2.3 pypi_0 pypi
numpy 1.21.5 py37h6c91a56_3 defaults
numpy-base 1.21.5 py37ha15fc14_3 defaults
oauthlib 3.2.2 pypi_0 pypi
open3d 0.9.0.0 py37_0 open3d-admin
openblas-devel 0.3.2 0 anaconda
opencv-python 4.8.0.74 pypi_0 pypi
openh264 2.1.1 h4ff587b_0 defaults
openssl 1.1.1s h7f8727e_0 anaconda
packaging 23.1 pypi_0 pypi
pandas 1.3.5 pypi_0 pypi
pandocfilters 1.5.0 pyhd3eb1b0_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
parso 0.8.3 pyhd3eb1b0_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
pathtools 0.1.2 pypi_0 pypi
pexpect 4.8.0 pyhd3eb1b0_3 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
pickleshare 0.7.5 pyhd3eb1b0_1003 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
pillow 9.4.0 py37h6a678d5_0 defaults
pip 23.2.1 pypi_0 pypi
pkgutil-resolve-name 1.3.10 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
pointnet2 0.0.0 pypi_0 pypi
pointnet2-cuda 0.0.0 pypi_0 pypi
prometheus-client 0.17.0 pypi_0 pypi
prometheus_client 0.14.1 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
prompt-toolkit 3.0.39 pypi_0 pypi
protobuf 3.20.0 pypi_0 pypi
psutil 5.9.5 pypi_0 pypi
ptyprocess 0.7.0 pyhd3eb1b0_2 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
pyasn1 0.5.0 pypi_0 pypi
pyasn1-modules 0.3.0 pypi_0 pypi
pycparser 2.21 pyhd3eb1b0_0 defaults
pygments 2.15.1 pypi_0 pypi
pyopenssl 23.0.0 py37h06a4308_0 defaults
pyparsing 3.1.0 pypi_0 pypi
pyrsistent 0.19.3 pypi_0 pypi
pyserial 3.5 pypi_0 pypi
pysocks 1.7.1 py37_1 defaults
python 3.7.16 h7a1cb2a_0 defaults
python-dateutil 2.8.2 pyhd3eb1b0_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
python-fastjsonschema 2.16.2 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
python-json-logger 2.0.7 pypi_0 pypi
pytorch 1.13.1 py3.7_cuda11.7_cudnn8.5.0_0 pytorch
pytorch-cuda 11.7 h778d358_5 pytorch
pytorch-mutex 1.0 cuda pytorch
pytz 2023.3 pypi_0 pypi
pywavefront 1.3.3 pypi_0 pypi
pywavelets 1.3.0 pypi_0 pypi
pyyaml 6.0 pypi_0 pypi
pyzmq 25.1.0 pypi_0 pypi
readline 8.2 h5eee18b_0 defaults
requests 2.28.1 py37h06a4308_0 defaults
requests-oauthlib 1.3.1 pypi_0 pypi
rfc3339-validator 0.1.4 pypi_0 pypi
rfc3986-validator 0.1.1 pypi_0 pypi
rsa 4.9 pypi_0 pypi
ruamel-yaml 0.17.32 pypi_0 pypi
ruamel-yaml-clib 0.2.7 pypi_0 pypi
scikit-image 0.19.3 pypi_0 pypi
scikit-learn 1.0.2 pypi_0 pypi
scipy 1.7.3 pypi_0 pypi
send2trash 1.8.2 pypi_0 pypi
sentry-sdk 1.28.1 pypi_0 pypi
setproctitle 1.3.2 pypi_0 pypi
setuptools 68.0.0 pypi_0 pypi
six 1.16.0 pyhd3eb1b0_1 defaults
smmap 5.0.0 pypi_0 pypi
sniffio 1.3.0 pypi_0 pypi
soupsieve 2.4.1 pypi_0 pypi
sqlite 3.41.2 h5eee18b_0 defaults
tensorboard 2.3.0 pypi_0 pypi
tensorboard-plugin-wit 1.8.1 pypi_0 pypi
terminado 0.17.1 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
testpath 0.6.0 py37h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
threadpoolctl 3.1.0 pypi_0 pypi
tifffile 2021.11.2 pypi_0 pypi
tinycss2 1.2.1 pypi_0 pypi
tk 8.6.12 h1ccaba5_0 defaults
tomli 2.0.1 pypi_0 pypi
tomlkit 0.11.8 pypi_0 pypi
torchaudio 0.13.1 py37_cu117 pytorch
torchvision 0.14.1 py37_cu117 pytorch
tornado 6.2 py37h5eee18b_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
tqdm 4.65.0 pypi_0 pypi
traitlets 5.9.0 pypi_0 pypi
transforms3d 0.3.1 pypi_0 pypi
trimesh 3.22.3 pypi_0 pypi
typing_extensions 4.3.0 py37h06a4308_0 defaults
uri-template 1.3.0 pypi_0 pypi
urllib3 1.26.14 py37h06a4308_0 defaults
vision-sandbox 0.1 pypi_0 pypi
wandb 0.15.5 pypi_0 pypi
wcwidth 0.2.6 pypi_0 pypi
webcolors 1.13 pypi_0 pypi
webencodings 0.5.1 pypi_0 pypi
websocket-client 1.6.1 pypi_0 pypi
werkzeug 2.2.3 pypi_0 pypi
wheel 0.41.2 pypi_0 pypi
widgetsnbextension 4.0.8 pypi_0 pypi
xz 5.4.2 h5eee18b_0 defaults
y-py 0.5.9 pypi_0 pypi
ypy-websocket 0.8.2 pypi_0 pypi
zeromq 4.3.4 h2531618_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
zipp 3.15.0 pypi_0 pypi
zlib 1.2.13 h5eee18b_0 defaults
zstd 1.5.5 hc292b87_0 defaultsIn this paper, K-nearest neighbors (KNN) is primarily used to find the n nearest points within the grasp perception field for graspable point.
# cd YourProject/ and clone our knn code
git clone https://github.com/upc-ghy/knn.git
# cd KNN
cd KNN
# install
sudo python setup.py install
# you can test if it is successfully installed
# a simple case
python test.pycd PointNet
python setup.py install
cd pointnet2_batch
python setup.py install4. Configure graspnetAPI (graspnetAPI is a tutorial document for data processing, pose visualization, and other functions of the GraspNet-1Billion dataset.)
git clone https://github.com/graspnet/graspnetAPI.git
cd graspnetAPI
pip install .cd DataProcessing
sh command_generate_clean_data.shcd DataProcessing
sh command_generate_tolerance_label.sh
-
Ubuntu 20.04 (Our PC is installed with ubuntu system, you can choose other systems according to your needs.)
-
System real time kernel (Installing a real-time kernel is the key to implementing an operating system to drive Franka's real robots. It is recommended to install a real-time kernel with a similar version of the system's own kernel)
-
Nvidia Graphics Card Drivers (Graphics card drivers that meet the version of the real-time kernel system)
-
Ros Noetic (meet the Ubuntu 20.04)
-
Franka Robot (Install and compile libfranka, install and compile franka_ros. Remember that the version of libfranka is the same as the version of the Franka driver, and franka_ros is installed with the version corresponding to libfranka.)
-
MoveIt (Install moveit) Start the franka robot arm correctly, activate the FCI and run franka_control：
roslaunch panda_moveit_config franka_control.launch robot_ip:=172.16.3.69
-
RealSense D435i (Install Intel RealSense Viewwe, and librealsense https://github.com/IntelRealSense/librealsense)
-
hand-eye calibration (Find the relationship between the camera coordinate system and the Franka robot coordinate system)
-
Write Franka and RealSense control code (The algorithm predicts the grasping position in the camera coordinate system, converts it to a position in the Franka robot coordinate system, and controls the robot to move to that position for object grasping and placing into the storage box.)
Haiyuan Gui: guihaiyuan736570@gmail.com
Shanchen Pang: pangsc@upc.edu.cn
Xiao He: xiao_he2022@126.com