AnyPick DraKe

Installation

AnyPick DraKe Package Installation

git clone git@github.com:toyat522/anypick_dk.git 
git submodule update --init --recursive

cd anypick_dk
pip install -e .

Grounded SAM Installation

Install dependencies and SAM:

cd external/grounded_sam
pip install -r requirements.txt
pip install "git+https://github.com/facebookresearch/segment-anything.git"

Download pretrained weights:

wget https://github.com/IDEA-Research/GroundingDINO/releases/download/v0.1.0-alpha/groundingdino_swint_ogc.pth
wget https://dl.fbaipublicfiles.com/segment_anything/sam_vit_h_4b8939.pth

Install Grounding DINO:

cd GroundingDINO
pip install -e .
cd ../../..

GPD Installation

cd external/anypick_gpd
mkdir build
cd build
cmake ..
make -j$(nproc)
make install
ldconfig

Other Dependencies

pip install open3d py-trees