conda create --name sms -y python=3.10.14
conda activate sms
pip install torch==2.0.1+cu118 torchvision==0.15.2+cu118 --extra-index-url https://download.pytorch.org/whl/cu118
pip install ninja git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch
git clone https://github.com/BerkeleyAutomation/sms.git --recurse-submodules
cd sms
python -m pip install -e .
ns-install-cli
python -m pip install 'git+https://github.com/facebookresearch/detectron2.git' # From https://detectron2.readthedocs.io/en/latest/tutorials/install.html
# From https://github.com/facebookresearch/Detic/blob/main/docs/INSTALL.md
cd ~/sms/sms/data/utils/Detic
pip install -r requirements.txt
cd third_party/Deformable-DETR/models/ops
./make.sh
cuml and cudf install for HDBSCAN on cuda-11.8 and python 3.10:
conda install -c rapidsai -c conda-forge -c nvidia rapids=24.06 python=3.10 cuda-version=11.8
Specific commit of gsplat is required
python -m pip uninstall gsplat
python -m pip install git+https://github.com/nerfstudio-project/gsplat.git@d01e6c0561f5c51d4372ff6b1d3c45f7b1e28fd5
pip install ur_rtde==1.4.2
pip install cowsay
pip install opt-einsum
pip install pyvista
pip install autolab-core
cd ~/sms/sms/ur5_interface/ur5_interface/ur5py
pip install -e .
cd ~/sms/sms/ur5_interface/ur5_interface/RAFT_Stereo
pip install -e .
cd ~/sms/sms/ur5_interface
pip install -e .
conda create --name contact_graspnet python=3.8
conda activate contact_graspnet
conda install -c conda-forge cudatoolkit=11.2
conda install -c conda-forge cudnn=8.2
pip install tensorflow==2.5 tensorflow-gpu==2.5
pip install opencv-python-headless
pip install pyyaml
pip install pyrender
pip install tqdm
pip install mayavi
pip install numpy==1.19.2
pip install typing-extensions==3.7.4
pip install trimesh==3.8.12
pip install configobj==5.0.6
pip install matplotlib==3.3.2
pip install pyside2==5.11.0
pip install scikit-image==0.19.0
pip install open3d==0.10.0