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Installation of anygrasp

 You need to get anygrasp license and checkpoint to use it.

  • Python 3.10
conda create -n anygrasp -y python=3.10
conda activate anygrasp

 You need export MAX_JOBS=2 in terminal before pip install if you are running on an laptop due to this issue.

  • Install MinkowskiEngine
# Prerequisites
conda install openblas-devel -c anaconda -y
conda install pytorch==1.13.1 torchvision==0.14.1 torchaudio==0.13.1 pytorch-cuda=11.6 -c pytorch -c nvidia -y
conda install nvidia/label/cuda-11.6.0::libcusolver-dev -y
conda install nvidia/label/cuda-11.6.0::libcurand-dev -y 
conda install ninja -y

# Install
pip install -U git+https://github.com/NVIDIA/MinkowskiEngine -v --no-deps --global-option=build_ext --global-option="--blas_include_dirs=${CONDA_PREFIX}/include" --global-option="--blas=openblas"
  • Install other requirements of anygrasp

  cd to anygrasp project

# Due to graspnetAPI specifies the use of sklearn, allow to install deprecated sklearn package
export SKLEARN_ALLOW_DEPRECATED_SKLEARN_PACKAGE_INSTALL=True
pip install -r requirements.txt
  • Install pointnet2 module.
    cd pointnet2
    python setup.py install
  • Some package version change and install
pip install numpy==1.23.5 --force-reinstall
pip install yacs
  • Other setting #You may encounter the following problems about open3d show:
.../libstdc++.so.6: version `GLIBCXX_3.4.30' not found (required by ...)

  Establish symbolic link to solve this problem

ln -sf /usr/lib/x86_64-linux-gnu/libstdc++.so.6 {anaconda3_path}/envs/anygrasp/lib/python3.10/site-packages/torch/lib/../../../../libstdc++.so.6

change {anaconda3_path} to you anaconda3 install path