Requirements

• Python 3.6/3.7/3.8/3.9/3.10
• PyTorch 1.7.1 with CUDA 11.0
• MinkowskiEngine v0.5.4

Installation

1. Follow MinkowskiEngine instructions to install Anaconda, cudatoolkit, Pytorch and MinkowskiEngine. Note that you need export MAX_JOBS=2; before pip install if you are running on an laptop due to this issue. If PyTorch reports a compatibility issue during program execution, you can re-install PyTorch via Pip instead of Anaconda.

2. Install other requirements from Pip.

    pip install -r requirements.txt

3. Install pointnet2 module.

    cd pointnet2
    python setup.py install

License Registration

Due to the IP issue, currently we can only release the SDK library file of AnyGrasp in a licensed manner. Please get the feature id of your machine and fill in the form to apply for the license. See license_registration/README.md for details. If you are interested in code implementation, you can refer to our baseline version of network, or a third-party implementation of our GSNet.

We usually reply in 2 work days. If you do not receive the reply in 2 days, please check the spam folder.

Demo Code

Now you can run your code that uses AnyGrasp SDK. See grasp_detection and grasp_tracking for details.