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View Code? Open in Web Editor NEWGrasp Simulator for paper "Deep Dexterous Grasping".
License: GNU General Public License v3.0
Grasp Simulator for paper "Deep Dexterous Grasping".
License: GNU General Public License v3.0
# Ubuntu 14.04 Requirement Installation Instructions: sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl sudo apt-get update sudo apt-get install build-essential screen git cmake freeglut3-dev libopencv-dev python-opencv libpcl-all libnoise-dev libcurl4-openssl-dev libcurlpp-dev parallel zip unzip # Ubuntu 16.04 Requirement Installation Instructions: sudo apt-get remove libcurlpp0 git clone https://github.com/jpbarrette/curlpp.git cd curlpp cmake . make sudo make install sudo apt-get install build-essential screen git cmake libproj-dev freeglut3-dev libopencv-dev python-opencv libpcl-dev libnoise-dev libcurl4-openssl-dev parallel zip unzip # Following instructions are the same for both 14.04 and 16.04: git clone https://gitlab.com/rusen/Grasp.git cd Grasp mkdir build cd build cmake ../mjpro150 make # Running the program Dropbox folder sharing invitations should be accepted (shared separately). This is how the program can be run: cd ../mjpro150/bin screen ./runGrasp.sh <number of processes> <Dropbox folder> The script runs <number of processes> simultaneous processes at once. An example run is: screen ./runGrasp.sh 4 /home/username/Dropbox # Misc For Ubuntu 14.04, a number higher than 4 is causing crashes, hence a maximum number of 4 is recommended. For Mac, one can go higher. After running the above command, press (ctrl + a) , then (d) to leave screen window, and type (screen -x) to revisit the window later. To stop processing, you can go to the screen window by typing (screen -x) and pressing (ctrl + c). If the child processes do not stop, you can kill them all by typing: killall -v basicGrasp The computer should be connected to the internet at all times. MUjoco grasp simulation uses Dropbox to access another machine in Birmingham, where point clouds are processed to obtain trajectories. The resulting log data is sent to an AWS machine, and is not kept locally after that. In case this server is down, the files are saved under mjpro/bin/tmp.
I only wanted to try out the dataset. I was not able to extract the dataset zip file, neither manually nor with command line. Here is the output when I use "unzip" in command line, with Ubuntu 18.04.
unzip GM2.zip
Archive: GM2.zip
warning [GM2.zip]: 4294967296 extra bytes at beginning or within zipfile
(attempting to process anyway)
file #1: bad zipfile offset (local header sig): 4294967296
(attempting to re-compensate)
creating: GM2/
error: invalid zip file with overlapped components (possible zip bomb)
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