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]

https://github.com/skumra/robotic-grasping/blob/183c6f68c44c1c7ff0f07707e2db6fcfd6840d2d/utils/dataset_processing/grasp.py#L184 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 ```