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（二）Graspnet在mujoco的仿真复现（操作记录）

news 2025/4/16 12:15:58

《复现的项目来源》

一、创建虚拟环境

二、下载manipulator_grasp项目

三、配置环境

1、基于graspnet-baseline项目进行开发

（1）下载 graspnet-baseline项目

（2）修改graspnet-baseline的requirements.txt，再安装

（3）安装torch

2、Compile and install pointnet2 operators (code adapted from votenet)

3、Compile and install knn operator (code adapted from pytorch_knn_cuda)

4、Install graspnetAPI for evaluation

5、提前处理异常

（1）后续运行项目如果出现错误

（2）下载graspnet-baseline的权重

四、运行manipulator_grasp项目

1、额外所需的包

2、执行命令

五、参考链接

《复现的项目来源》

感谢大佬的开源，大佬的开源地址为： manipulator_grasp: manipulator grasp GraspNet

克隆大佬的项目后，按照下面步骤可在自己本地成功复现。

【Python】目标抓取——GraspNet_哔哩哔哩_bilibilihttps://www.bilibili.com/video/BV1h2o4Y1EHk/?spm_id_from=333.788.player.player_end_recommend_autoplay&vd_source=27c7aca66453fbf427614cc52d0f156a

也可以选择直接clone我的项目（含下面提及的所有项目文件），不用按照下面的步骤一个一个下载项目。

MrQiguan/O_mujoco_Graspnet - Gitee.comhttps://gitee.com/mrqiguan/o_mujoco_-graspnet/tree/master

一、创建虚拟环境

conda env remove -n mujoco_graspnet
conda create -n mujoco_graspnet python=3.9
conda activate mujoco_graspnet

二、下载manipulator_grasp项目

git clone https://gitee.com/chaomingsanhua/manipulator_grasp.git
cd manipulator_grasp

三、配置环境

1、基于graspnet-baseline项目进行开发

（1）下载 graspnet-baseline项目

git clone https://github.com/graspnet/graspnet-baseline.git
cd graspnet-baseline

（2）修改graspnet-baseline的requirements.txt，再安装

去掉torch，修改numpy==1.23.4

pip install -r requirements.txt

（3）安装torch

重点：这里本文安装的CUDA版本为11.3，不断试错，最终选择torch1.12.1版本（虽然项目要求torch1.6）

查看cuda和torch的关系：Previous PyTorch Versions | PyTorch

pip install torch==1.12.1+cu113 torchvision==0.13.1+cu113 torchaudio==0.12.1 --extra-index-url https://download.pytorch.org/whl/cu113

2、Compile and install pointnet2 operators (code adapted from votenet)

cd pointnet2
python setup.py install
cd ../

3、Compile and install knn operator (code adapted from pytorch_knn_cuda)

cd knn
python setup.py install
cd ../

4、Install graspnetAPI for evaluation

git clone https://github.com/graspnet/graspnetAPI.git

修改graspnetAPI的setup.py，将sklearn替换为 scikit-learn，再安装

cd graspnetAPI
pip install .
cd ../

5、提前处理异常

（1）后续运行项目如果出现错误

Traceback (most recent call last): File "/home/song/hjx/manipulator_grasp/main.py", line 19, in <module> from graspnet_dataset import GraspNetDataset File "/home/song/hjx/manipulator_grasp/graspnet-baseline/dataset/graspnet_dataset.py", line 12,https://download.pytorch.org/whl/torch_stable.html ModuleNotFoundError: No module named 'torch._six'。

需要修改graspnet-baseline/dataset/graspnet_dataset.py

# 原代码（旧版PyTorch）
from torch._six import container_abcs
# 修改为（适配PyTorch 2.x）
import collections.abc as container_abcs

（2）下载graspnet-baseline的权重

把权重checkpoint-rs.tar放到manipulator_grasp项目的logs/log_rs（需要自己新建这个目录）

四、运行manipulator_grasp项目

1、额外所需的包

pip install spatialmath-python==1.1.14
pip install roboticstoolbox-python==1.1.1
pip install modern-robotics==1.1.1
pip install mujoco==3.3.1

2、执行命令

根据视频，修改xml文件后，运行看效果

python main.py

./mainpulator_grasp/assets/scenes/scenes.xml。里面有任务：圆柱体、立方体、T形块

五、参考链接

mujoco graspnet 仿真项目的复现记录-CSDN博客https://blog.csdn.net/qq_54900679/article/details/147144922?ops_request_misc=%257B%2522request%255Fid%2522%253A%25226dac2dd8878667370dc34518b58a6e1c%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=6dac2dd8878667370dc34518b58a6e1c&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-4-147144922-null-null.142^v102^control&utm_term=Graspnet%20%E4%BB%BF%E7%9C%9F%E5%A4%8D%E7%8E%B0&spm=1018.2226.3001.4187复现graspnet成功，记录下(大家不懂的地方可以评论区问我)_graspnet复现-CSDN博客https://blog.csdn.net/m0_49496195/article/details/144539627?ops_request_misc=%257B%2522request%255Fid%2522%253A%25226dac2dd8878667370dc34518b58a6e1c%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=6dac2dd8878667370dc34518b58a6e1c&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-2-144539627-null-null.142^v102^control&utm_term=Graspnet%20%E4%BB%BF%E7%9C%9F%E5%A4%8D%E7%8E%B0&spm=1018.2226.3001.4187【GraspNet复现】-CSDN博客https://blog.csdn.net/qq_42699973/article/details/139225786?ops_request_misc=%257B%2522request%255Fid%2522%253A%25226dac2dd8878667370dc34518b58a6e1c%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=6dac2dd8878667370dc34518b58a6e1c&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-1-139225786-null-null.142^v102^control&utm_term=Graspnet%20%E4%BB%BF%E7%9C%9F%E5%A4%8D%E7%8E%B0&spm=1018.2226.3001.4187Graspnet手把手复现流程_graspnet复现-CSDN博客https://blog.csdn.net/qq_29781367/article/details/144491185?ops_request_misc=&request_id=&biz_id=102&utm_term=Graspnet%20%E4%BB%BF%E7%9C%9F%E5%A4%8D%E7%8E%B0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-4-144491185.142^v102^control&spm=1018.2226.3001.4187