Run graspnet-demo in our devcontainer #205
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Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Max Waterhout <[email protected]>
Signed-off-by: Max Waterhout <[email protected]>
Signed-off-by: Max Waterhout <[email protected]>
…e references Signed-off-by: Max Waterhout <[email protected]>
…roup and clean up unused entries Signed-off-by: Max Waterhout <[email protected]>
Signed-off-by: Max Waterhout <[email protected]>
Jelmerdw
added a commit
that referenced
this pull request
Oct 8, 2025
* Install cuda. Signed-off-by: Jelmer de Wolde <[email protected]> * Make script executable. Signed-off-by: Jelmer de Wolde <[email protected]> * Rename. Signed-off-by: Jelmer de Wolde <[email protected]> * Clone graspnet-baseline repo in docker. Signed-off-by: Jelmer de Wolde <[email protected]> * Switch to our graspnet fork. Signed-off-by: Jelmer de Wolde <[email protected]> * Fix dependencies. Signed-off-by: Jelmer de Wolde <[email protected]> * Update dependencies. Signed-off-by: Jelmer de Wolde <[email protected]> * Add demo. Signed-off-by: Jelmer de Wolde <[email protected]> * Create ros node. Signed-off-by: Jelmer de Wolde <[email protected]> * Remove demo. Signed-off-by: Jelmer de Wolde <[email protected]> * Fix ty. Signed-off-by: Jelmer de Wolde <[email protected]> * Update dependencies to fix deprecated sklearn. Signed-off-by: Jelmer de Wolde <[email protected]> * Add ros2-numpy to uv. Signed-off-by: Jelmer de Wolde <[email protected]> * Use base frame instead of world frame. Signed-off-by: Jelmer de Wolde <[email protected]> * Place rviz marker on generated grasp pose. Signed-off-by: Jelmer de Wolde <[email protected]> * Set fr3_hand_tcp asp end-effector link. Signed-off-by: Jelmer de Wolde <[email protected]> * Add scipy-stubs to uv. Signed-off-by: Jelmer de Wolde <[email protected]> * Use graspnet pose as goal_pose. Signed-off-by: Jelmer de Wolde <[email protected]> * remove cuda from container Signed-off-by: Max Waterhout <[email protected]> * WIP Signed-off-by: Max Waterhout <[email protected]> * Remove rcdt_grasping package and update moveit_manager to change frame references Signed-off-by: Max Waterhout <[email protected]> * Refactor dependencies: move graspnet-related packages to a separate group and clean up unused entries Signed-off-by: Max Waterhout <[email protected]> * Refactor code structure for improved readability and maintainability Signed-off-by: Max Waterhout <[email protected]> --------- Signed-off-by: Jelmer de Wolde <[email protected]> Signed-off-by: Max Waterhout <[email protected]> Co-authored-by: Max Waterhout <[email protected]> Signed-off-by: Jelmer de Wolde <[email protected]>
Jelmerdw
added a commit
that referenced
this pull request
Oct 8, 2025
* Install cuda. Signed-off-by: Jelmer de Wolde <[email protected]> * Make script executable. Signed-off-by: Jelmer de Wolde <[email protected]> * Rename. Signed-off-by: Jelmer de Wolde <[email protected]> * Clone graspnet-baseline repo in docker. Signed-off-by: Jelmer de Wolde <[email protected]> * Switch to our graspnet fork. Signed-off-by: Jelmer de Wolde <[email protected]> * Fix dependencies. Signed-off-by: Jelmer de Wolde <[email protected]> * Update dependencies. Signed-off-by: Jelmer de Wolde <[email protected]> * Add demo. Signed-off-by: Jelmer de Wolde <[email protected]> * Create ros node. Signed-off-by: Jelmer de Wolde <[email protected]> * Remove demo. Signed-off-by: Jelmer de Wolde <[email protected]> * Fix ty. Signed-off-by: Jelmer de Wolde <[email protected]> * Update dependencies to fix deprecated sklearn. Signed-off-by: Jelmer de Wolde <[email protected]> * Add ros2-numpy to uv. Signed-off-by: Jelmer de Wolde <[email protected]> * Use base frame instead of world frame. Signed-off-by: Jelmer de Wolde <[email protected]> * Place rviz marker on generated grasp pose. Signed-off-by: Jelmer de Wolde <[email protected]> * Set fr3_hand_tcp asp end-effector link. Signed-off-by: Jelmer de Wolde <[email protected]> * Add scipy-stubs to uv. Signed-off-by: Jelmer de Wolde <[email protected]> * Use graspnet pose as goal_pose. Signed-off-by: Jelmer de Wolde <[email protected]> * remove cuda from container Signed-off-by: Max Waterhout <[email protected]> * WIP Signed-off-by: Max Waterhout <[email protected]> * Remove rcdt_grasping package and update moveit_manager to change frame references Signed-off-by: Max Waterhout <[email protected]> * Refactor dependencies: move graspnet-related packages to a separate group and clean up unused entries Signed-off-by: Max Waterhout <[email protected]> * Refactor code structure for improved readability and maintainability Signed-off-by: Max Waterhout <[email protected]> --------- Signed-off-by: Jelmer de Wolde <[email protected]> Signed-off-by: Max Waterhout <[email protected]> Co-authored-by: Max Waterhout <[email protected]> Signed-off-by: Jelmer de Wolde <[email protected]>
Jelmerdw
added a commit
that referenced
this pull request
Oct 16, 2025
* Install cuda. Signed-off-by: Jelmer de Wolde <[email protected]> * Make script executable. Signed-off-by: Jelmer de Wolde <[email protected]> * Rename. Signed-off-by: Jelmer de Wolde <[email protected]> * Clone graspnet-baseline repo in docker. Signed-off-by: Jelmer de Wolde <[email protected]> * Switch to our graspnet fork. Signed-off-by: Jelmer de Wolde <[email protected]> * Fix dependencies. Signed-off-by: Jelmer de Wolde <[email protected]> * Update dependencies. Signed-off-by: Jelmer de Wolde <[email protected]> * Add demo. Signed-off-by: Jelmer de Wolde <[email protected]> * Create ros node. Signed-off-by: Jelmer de Wolde <[email protected]> * Remove demo. Signed-off-by: Jelmer de Wolde <[email protected]> * Fix ty. Signed-off-by: Jelmer de Wolde <[email protected]> * Update dependencies to fix deprecated sklearn. Signed-off-by: Jelmer de Wolde <[email protected]> * Add ros2-numpy to uv. Signed-off-by: Jelmer de Wolde <[email protected]> * Use base frame instead of world frame. Signed-off-by: Jelmer de Wolde <[email protected]> * Place rviz marker on generated grasp pose. Signed-off-by: Jelmer de Wolde <[email protected]> * Set fr3_hand_tcp asp end-effector link. Signed-off-by: Jelmer de Wolde <[email protected]> * Add scipy-stubs to uv. Signed-off-by: Jelmer de Wolde <[email protected]> * Use graspnet pose as goal_pose. Signed-off-by: Jelmer de Wolde <[email protected]> * remove cuda from container Signed-off-by: Max Waterhout <[email protected]> * WIP Signed-off-by: Max Waterhout <[email protected]> * Remove rcdt_grasping package and update moveit_manager to change frame references Signed-off-by: Max Waterhout <[email protected]> * Refactor dependencies: move graspnet-related packages to a separate group and clean up unused entries Signed-off-by: Max Waterhout <[email protected]> * Refactor code structure for improved readability and maintainability Signed-off-by: Max Waterhout <[email protected]> --------- Signed-off-by: Jelmer de Wolde <[email protected]> Signed-off-by: Max Waterhout <[email protected]> Co-authored-by: Max Waterhout <[email protected]> Signed-off-by: Jelmer de Wolde <[email protected]>
Jelmerdw
added a commit
that referenced
this pull request
Oct 21, 2025
* Install cuda. Signed-off-by: Jelmer de Wolde <[email protected]> * Make script executable. Signed-off-by: Jelmer de Wolde <[email protected]> * Rename. Signed-off-by: Jelmer de Wolde <[email protected]> * Clone graspnet-baseline repo in docker. Signed-off-by: Jelmer de Wolde <[email protected]> * Switch to our graspnet fork. Signed-off-by: Jelmer de Wolde <[email protected]> * Fix dependencies. Signed-off-by: Jelmer de Wolde <[email protected]> * Update dependencies. Signed-off-by: Jelmer de Wolde <[email protected]> * Add demo. Signed-off-by: Jelmer de Wolde <[email protected]> * Create ros node. Signed-off-by: Jelmer de Wolde <[email protected]> * Remove demo. Signed-off-by: Jelmer de Wolde <[email protected]> * Fix ty. Signed-off-by: Jelmer de Wolde <[email protected]> * Update dependencies to fix deprecated sklearn. Signed-off-by: Jelmer de Wolde <[email protected]> * Add ros2-numpy to uv. Signed-off-by: Jelmer de Wolde <[email protected]> * Use base frame instead of world frame. Signed-off-by: Jelmer de Wolde <[email protected]> * Place rviz marker on generated grasp pose. Signed-off-by: Jelmer de Wolde <[email protected]> * Set fr3_hand_tcp asp end-effector link. Signed-off-by: Jelmer de Wolde <[email protected]> * Add scipy-stubs to uv. Signed-off-by: Jelmer de Wolde <[email protected]> * Use graspnet pose as goal_pose. Signed-off-by: Jelmer de Wolde <[email protected]> * remove cuda from container Signed-off-by: Max Waterhout <[email protected]> * WIP Signed-off-by: Max Waterhout <[email protected]> * Remove rcdt_grasping package and update moveit_manager to change frame references Signed-off-by: Max Waterhout <[email protected]> * Refactor dependencies: move graspnet-related packages to a separate group and clean up unused entries Signed-off-by: Max Waterhout <[email protected]> * Refactor code structure for improved readability and maintainability Signed-off-by: Max Waterhout <[email protected]> --------- Signed-off-by: Jelmer de Wolde <[email protected]> Signed-off-by: Max Waterhout <[email protected]> Co-authored-by: Max Waterhout <[email protected]> Signed-off-by: Jelmer de Wolde <[email protected]>
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Description
The default of graspnet samples different grasps that are not in collision and do not overlap. You can read the paper here.
We created two forks for graspnet-baseline and GraspnetAPI
Download the checkpoint here
after running
git clone https://github.com/alliander-opensource/graspnet-baseline/tree/main uv sync --group graspnet -v cd ../graspnet-baseline python demo.py --checkpoint_path ../rcdt_robotics/checkpoint.tarit runs the demo
Note: Uv sync can take a while because torch also downloads some bigger cuda packages, that is why sometimes -v is recommended to see the progress.
Because Ty also updates the register.py also needed an update in the return statement.
Fixes: #204
Additional Notes