安装 AnyGrasp

你可以参考这篇 博客 来安装 AnyGrasp。

下面的示例程序展示了如何将 AnyGrasp 部署为服务器：

anygrasp_sdk/grasp_detection/server.py

import argparse
import os

parser = argparse.ArgumentParser()
parser.add_argument("-p", "--port", type=str)
parser.add_argument("-d", "--device", type=str)
args = parser.parse_args()

os.environ["CUDA_VISIBLE_DEVICES"] = args.device

import numpy as np
import open3d as o3d
from flask import Flask, request, jsonify
import torch
import gc

from gsnet import AnyGrasp
from graspnetAPI import GraspGroup

VISUALIZED = False
app = Flask(__name__)

class Configs:
    checkpoint_path = "log/checkpoint_detection.tar"
    max_gripper_width = 0.1
    gripper_height = 0.03
    top_down_grasp = True
    debug = True

cfgs = Configs()

print("Loading AnyGrasp model into memory...")
anygrasp = AnyGrasp(cfgs)
anygrasp.load_net()
print("Model loaded successfully.")

def handle_grasp(data):
    try:
        dense_mode = data.get("dense_mode", False)
        print(dense_mode)
        colors = np.array(data["colors"])
        depths = np.array(data["depths"])
        fx, fy = float(data["fx"]), float(data["fy"])
        cx, cy = float(data["cx"]), float(data["cy"])
        scale = float(data["scale"])

        intrinsic = o3d.camera.PinholeCameraIntrinsic()
        intrinsic.set_intrinsics(
            width=colors.shape[1], height=colors.shape[0], fx=fx, fy=fy, cx=cx, cy=cy
        )
        colors = colors.astype(np.float32) / 255.0
        xmap, ymap = np.arange(depths.shape[1]), np.arange(depths.shape[0])
        xmap, ymap = np.meshgrid(xmap, ymap)
        points_z = depths / scale
        points_x = (xmap - cx) / fx * points_z
        points_y = (ymap - cy) / fy * points_z

        mask = (points_z > -2.0) & (points_z <= 2.0)
        points = np.stack([points_x, points_y, points_z], axis=-1)
        points = points[mask].astype(np.float32)
        colors = colors[mask].astype(np.float32)

        lims = [-20.0, 20.0, -20.0, 20.0, -2.0, 2.0]

        with torch.no_grad():
            gg, cloud = anygrasp.get_grasp(
                points,
                colors,
                lims=lims,
                apply_object_mask=True,
                dense_grasp=dense_mode,
                collision_detection=True,
            )

        if gg is None or len(gg) == 0:
            return None

        gg = gg.nms().sort_by_score()
        gg_pick = gg[:]  # top-K or all

        if VISUALIZED:
            trans_mat = np.array([[1, 0, 0, 0],
                                  [0, 1, 0, 0],
                                  [0, 0, -1, 0],
                                  [0, 0, 0, 1]])
            cloud.transform(trans_mat)
            grippers = gg_pick.to_open3d_geometry_list()
            for gripper in grippers:
                gripper.transform(trans_mat)
            o3d.visualization.draw_geometries([*grippers, cloud])

        return gg_pick
    finally:
        gc.collect()
        torch.cuda.empty_cache()


@app.route("/process", methods=["POST"])
def process_data():
    try:
        data = request.get_json()
        data["colors"] = np.array(data["colors"], dtype=np.uint8)
        data["depths"] = np.array(data["depths"], dtype=np.uint16)
        result = handle_grasp(data)

        if result is None:
            return jsonify({"message": "No Grasp detected!"}), 400

        grasp_list = []
        for grasp in result:
            grasp_list.append({
                "translation": grasp.translation.tolist(),
                "rotation_matrix": grasp.rotation_matrix.tolist(),
                "depth": grasp.depth,
                "score": grasp.score,
            })

        return jsonify({"grasp_groups": grasp_list}), 200

    except Exception as e:
        print("Error:", e)
        return jsonify({"error": str(e)}), 500


if __name__ == "__main__":
    app.run(host="0.0.0.0", port=int(args.port), threaded=False)

你可以使用以下命令来启动 AnyGrasp 服务器：

python anygrasp_sdk/grasp_detection/server.py -p 5000 -d 0

• -p：指定服务器监听的端口。
• -d：指定使用的 GPU 编号。

你还可以将该端口暴露在 内网中，这样可以让 多台服务器同时访问同一个 AnyGrasp 服务器实例。

你可以修改 configs/miscs/anygrasp.yml 中 default 段落来修改服务器的地址与端口为你自己的部署。