目录1.安装MinkowskiEngine问题2. 安装 anygrasp_sdk3. 获取License4. 部署anygrasp服务最近在利用Genmanip框架生成仿真数据但需要安装anygrasp官方给了教程相关配置ubuntu22.04cuda13.0pytorch2.9.1gcc12.3.01.安装MinkowskiEngine问题但是在安装MinkowskiEngine遇到了一些问题当前服务器中配置是cuda13.0pytorch2.9.1然后在github issue中有人给出了解决方案可以点此查看然后按照此方案最后执行安装时python setup.py install --blasopenblas遇到错误error: command /usr/local/cuda-13.0/bin/nvcc failed with exit code 1在这个博客中给出了解决方案ubuntu20.04安装MinkowskiEngine教程及避坑指南报错的主要原因是因为cuda13.0和gcc版本不匹配当前gcc版本是13.0需要重新安装12.3.0版本在官方页面https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html可以查看cuda对应的gcc版本。然后安装gcc12.3版本# 1. 建议从清华大学的镜像源找到指定版本的包 https://mirrors.tuna.tsinghua.edu.cn/gnu/gcc/ https://mirrors.tuna.tsinghua.edu.cn/gnu/gcc/gcc-12.3.0/gcc-12.3.0.tar.gz 然后解压tar -xf gcc-12.3.0.tar.gz 进入解压文件 cd gcc-12.3.0 安装一些工具包 sudo apt install build-essential 为了帮助 GCC 源编译请安装 libgmp3-dev、libmpfr-dev 和 libmpc-dev 包 sudo apt install libmpfr-dev libgmp3-dev libmpc-dev -y # 2. 配置使用您提供的参数 ./configure -v \ --buildx86_64-linux-gnu \ --hostx86_64-linux-gnu \ --targetx86_64-linux-gnu \ --prefix/usr/local/gcc-12.3.0 \ --enable-checkingrelease \ --enable-languagesc,c \ --disable-multilib \ --program-suffix-12.3.0 # 3. 编译使用多核加速可能需要几小时 make -j$(nproc) # 4. 安装 sudo make install # 5. 添加到系统PATH echo export PATH/usr/local/gcc-12.3.0/bin:$PATH ~/.bashrc echo export LD_LIBRARY_PATH/usr/local/gcc-12.3.0/lib64:$LD_LIBRARY_PATH ~/.bashrc source ~/.bashrc # 6. 验证安装 在当前的python环境优先使用gcc12.3版本 export CC/usr/local/gcc-12.3.0/bin/gcc-12.3.0 gcc --version 就会输出12.3版本了安装gcc12.3之后再次执行安装python setup.py install --blasopenblas等待安装完成中间需要等待比较长的时间没有错误执行完成后最后在python里import看看是否成功$ python import MinkowskiEngine as ME ME.__version__ 0.5.4安装成功2. 安装anygrasp_sdk之后安装anygrasp_sdkgit clone https://github.com/graspnet/anygrasp_sdk.git cd anygrasp_sdk pip install -r requirements.txt之后安装pointnet2cd pointnet2 python setup.py install3. 获取LicenseAnyGrasp 目前只以闭源 SDK 的形式提供需要申请 license 才能用下载https://github.com/graspnet/anygrasp_sdk 项目其中提到由于IP问题目前只能以授权方式发布AnyGrasp的SDK库文件需要填写申请才能获取相应文件需要谷歌账号登录然后邮箱需要使用教育邮箱同时填写机器码。# 1.下载anygrasp_sdk项目进入license_registration 目录 cd path/to/anygrasp_sdk/license_registration # 2.to solve ifconfig issue sudo apt install net-tools # 3. 获取机器码 ./license_checker -f大概过一两天邮箱就能收到相应的 license文件包括以下三个文件checkpoint_detection.tar checkpoint_tracking.tar license/ |-- licenseCfg.json |-- [your_name].public_key |-- [your_name].signature |-- [your_name].lic把license压缩包解压改名为license在grasp_detection、grasp_tracking、license_registration文件夹各放置一份进入到license_registration执行以下命令# You can check license states via ./license_checker -c license/licenseCfg.json 显示如下 [2025-12-11 16:30:54.104] [info] [FlexivLic] to verify license... [2025-12-11 16:30:54.110] [info] [FlexivLic] public key xxx.public_key signature xxx.signature are matched [2025-12-11 16:30:54.110] [info] [FlexivLic] license license/xxx.lic check passed然后在grasp_detection的gsnet_versions和license_registration的lib_cxx_versions找到符合自己python版本的文件然后进行改名放到grasp_detection目录下# 文件改名 gsnet.cpython-310-x86_64-linux-gnu.so--gsnet.so lib_cxx.cpython-310-x86_64-linux-gnu.so ---lib_cxx.so然后在grasp_detection执行测试命令 sh demo.sh有下面输出则成功[-0.3800217 -0.15607868 0.229 ] [0.3406217 0.2425703 0.61 ] [0.47655499 0.46615526 0.36957011 0.31306624 0.25849855 0.25698301 0.23997951 0.23209305 0.20437662 0.20322342 0.14972813 0.13736394 0.13477902 0.13426076 0.13037908 0.12712221 0.11432476 0.11229827 0.09463322 0.07871214] grasp score: 0.4765549898147583其中还存在numpy版本不对的问题最后采用的numpy版本是1.23.5安装时会出现和其他不兼容的错误但是只要显示成功安装了即可实际是可以正常使用。4. 部署anygrasp服务在GenManip的官方教程中给出了server.py代码from gsnet import AnyGrasp from graspnetAPI import GraspGroup其中需要用这两个graspnetAPI直接pip安装即可sh demo.sh安装成功之后就可以成功导入gsnet.命令行输入python -c from gsnet import AnyGrasp 输出如下代表成功了 checking license on /home/zoomlion/Project/anygrasp_sdk/grasp_detection/gsnet.so [2025-12-11 16:41:00.182] [info] [FlexivLic] public key xxx.public_key signature xxx.signature are matched [2025-12-11 16:41:00.182] [info] [FlexivLic] license /home/zoomlion/Project/anygrasp_sdk/grasp_detection/license/xxx.lic check passed . license passed: True, state: FvrLicenseState.PASSED /home/zoomlion/miniforge3/envs/anygrasp/lib/python3.10/site-packages/MinkowskiEngine/__init__.py:36: UserWarning: The environment variable OMP_NUM_THREADS not set. MinkowskiEngine will automatically set OMP_NUM_THREADS16. If you want to set OMP_NUM_THREADS manually, plea se export it on the command line before running a python script. e.g. export OMP_NUM_THREADS12; python your_program.py. It is recommende d to set it below 24. warnings.warn( WARNING:root:Failed to import geometry msgs in rigid_transformations.py. WARNING:root:Failed to import ros dependencies in rigid_transforms.py WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable