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install_dovsg.md

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Environment Setup

You need to get anygrasp license and checkpoint. It usually reply in 2 work days. If you do not receive the reply in 2 days, please check the spam folder. You need to organize the folders like DovSG/license.

Then, you should install cuda-12.1 for this project

create conda env, python=3.9 is indeed when using anygrasp api

git clone --recursive [email protected]:BJHYZJ/DovSG.git
cd DovSG

please fellow the above step to setup environment

use cuda-12.1 and install torch==2.3.1

pip install torch==2.3.1 torchvision==0.18.1 torchaudio==2.3.1 --index-url https://download.pytorch.org/whl/cu121  # -i https://pypi.tuna.tsinghua.edu.cn/simple

Install sam2

# Edit sam2's set.py
cd third_party/segment-anything-2
# we use '7e1596c' branch
# change setup.py
# line 27: "numpy>=1.24.4" ==> "numpy>=1.23.0",
# line 144: python_requires=">=3.10.0" ==> python_requires=">=3.9.0"

pip install -e .  # -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install -e ".[demo]"  # -i https://pypi.tuna.tsinghua.edu.cn/simple

Install groundingdino

cd ../../third_party/GroundingDINO
# we use `856dde2`
pip install -e .  # -i https://pypi.tuna.tsinghua.edu.cn/simple

Install RAM & Tag2Text:

cd ../../third_party
pip install -r ./recognize-anything/requirements.txt  # -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install -e ./recognize-anything/  # -i https://pypi.tuna.tsinghua.edu.cn/simple

Install ACE

# We use ace as the relocalization model
# https://github.com/nianticlabs/ace.git
# For ease of use, we have modified some of the code, so please use the ace code provided in our repo directly
conda install opencv
cd ../ace/dsacstar
python setup.py install

install lightglue for searching similar image

cd ../../third_party/LightGlue
# we use `edb2b83`
python -m pip install -e .

install Faiss

# Install the Faiss library (CPU version should be fine)
conda install -c pytorch faiss-cpu=1.7.4 mkl=2021 blas=1.0=mkl

install pytorch3d

cd ../../third_party/pytorch3d
# we use `05cbea1`
python setup.py install

install other package

cd ../../
pip install ipython cmake pybind11 ninja scipy==1.10.1 scikit-learn==1.4.0 pandas==2.0.3 hydra-core opencv-python openai-clip timm matplotlib==3.7.2 imageio timm open3d numpy-quaternion more-itertools pyliblzfse einops transformers pytorch-lightning wget gdown tqdm zmq torch_geometric numpy==1.23.0  # -i https://pypi.tuna.tsinghua.edu.cn/simple

install protobuf==3.19.0, MinkowskiEngine graspnet api. this package is a little difficult to instll

pip install protobuf==3.19.0  # -i https://pypi.tuna.tsinghua.edu.cn/simple

pip install git+https://github.com/pccws/MinkowskiEngine  # -i https://pypi.tuna.tsinghua.edu.cn/simple
# if you meet ` No module named 'distutils.msvccompiler` error, use: conda install "setuptools <65" 
pip install graspnetAPI  # -i https://pypi.tuna.tsinghua.edu.cn/simple

install torch-cluster

# download whl file from https://pytorch-geometric.com/whl/torch-2.3.0%2Bcu121.html
pip install "/path/to/torch_cluster*.whl"
# For example: pip install torch_cluster-1.6.3+pt23cu121-cp39-cp39-linux_x86_64.whl
pip install numpy==1.23.0 supervision==0.14.0 shapely alphashape   # -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install pyrealsense2 open_clip_torch graphviz pyrender  # -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install openai==1.43.0