FLSpegtransfer這個也是自動化的嘗試,它看起來也是要參加CRTK比賽的,嘗試用deep RNN訓練,使用達文西機器手臂,將一個物品移到另一個地方.

我剛開始是建立FLSpegtransfer子目錄下,結果裝到後面才發覺他是建立在~/pycharmprojects下,而且要自己更動一下

mkdir pycharmprojects && cd pycharmprojects
git clone https://github.com/BerkeleyAutomation/FLSpegtransferHO.git
mv FLSpegtransferHO FLSpegtransfer #否則Import會一直出錯

然後把3個原本在~/pycharmprojects/FLSPegTransfer下的FLSPegTransfer_single.py, FLSPegTransfer_dual.py, FLSPegTransfer_handover.py檔案copy到~/pycharmprojects下

然後照它步驟做,但它還是有些錯誤

cd ~/pycharmprojects/FLSpegtransfer
sudo apt install build-essential
source /opt/ros/noetic/setup.bash

virtualenv venv
. venv/bin/activate
pip install probreg #==0.3.1是錯的,沒這個版本
pip install mayavi
pip install cvxopt
pip install opencv-python
pip install osqp

而且要再加裝一些東西

pip install opencv-contrib-python
pip install --upgrade setuptools
pip install --upgrade y-py==0.6.0
pip install jupyter-ydoc
pip install rospkg
pip install torchvision #XD,virtualenv連torch跟qt都沒有
pip install traitsui

加裝pyqt4

sudo add-apt-repository ppa:rock-core/qt4
sudo apt-get update

cd ~/Downloads
wget http://archive.ubuntu.com/ubuntu/pool/universe/q/qt-assistant-compat/libqtassistantclient4_4.6.3-7build1_amd64.deb
sudo apt-get install ./libqtassistantclient4_4.6.3-7build1_amd64.deb
wget http://archive.ubuntu.com/ubuntu/pool/universe/p/python-qt4/python-qt4_4.12.1+dfsg-2_amd64.deb
sudo apt-get install ./python-qt4_4.12.1+dfsg-2_amd64.deb
wget http://archive.ubuntu.com/ubuntu/pool/universe/p/python-pyaudio/python-pyaudio_0.2.11-1build2_amd64.deb
sudo apt-get install ./python-pyaudio_0.2.11-1build2_amd64.deb

# sudo apt-get install libcanberra-gtk-module

還要加裝Zivid

cd ~/pycharmprojects
apt install python3-dev ＃如果還沒裝

＃＃Zivid-SDK跟zivid安裝
mkdir Zivid
cd Zivid

wget \
https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/u20/zivid-telicam-driver_3.0.1.1-3_amd64.deb \
https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/u20/zivid_2.9.0+4dbba385-1_amd64.deb \
https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/u20/zivid-studio_2.9.0+4dbba385-1_amd64.deb \
https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/u20/zivid-tools_2.9.0+4dbba385-1_amd64.deb

sudo apt install ./*.deb

pip install zivid

確認C++ 17 compiler

之後啟動

roscore 

再開一個terminal,可以執行

. venv/bin/activate
cd ~/pycharmprojects
python3 FLSPegTransfer_single.py

但因為沒有硬體...

上次裝不起來時問原作者,他不理我,等到我問他老闆,才終於可以裝.但沒畫面沒真相,等我如果有問到,再跟各位報告.