Questions regarding setup

[Marwan-Refaat]

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:

1. What are the versions for the required libraries for the dependencies listed in the "requirements.txt" file?
2. 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!

[destroy314]

robotic-grasping/utils/dataset_processing/grasp.py

Line 184 in 183c6f6

return a.astype(np.int)

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
xorg-libice               1.0.10               h7f98852_0    conda-forge
xorg-libsm                1.2.3             hd9c2040_1000    conda-forge
xorg-libx11               1.8.4                h0b41bf4_0    conda-forge
xorg-libxau               1.0.9                h7f98852_0    conda-forge
xorg-libxdmcp             1.1.3                h7f98852_0    conda-forge
xorg-libxext              1.3.4                h0b41bf4_2    conda-forge
xorg-libxfixes            5.0.3             h7f98852_1004    conda-forge
xorg-libxi                1.7.10               h7f98852_0    conda-forge
xorg-libxrender           0.9.10            h7f98852_1003    conda-forge
xorg-renderproto          0.11.1            h7f98852_1002    conda-forge
xorg-xextproto            7.3.0             h0b41bf4_1003    conda-forge
xorg-xproto               7.0.31            h7f98852_1007    conda-forge
xz                        5.2.6                h166bdaf_0    conda-forge
yaml                      0.2.5                h7f98852_2    conda-forge
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