Installation#
System Requirements#
The following minimum system requirements are recommended to run EmbodiChain reliably. These are the tested configurations during development — other Linux distributions and versions may work but are not officially supported.
Operating System:
Linux (x86_64): Ubuntu 20.04+
NVIDIA GPU and drivers:
Hardware: NVIDIA GPU with compute capability 7.0 or higher
NVIDIA Driver: 535 or higher (recommended 570)
Python:
3.10
3.11
Notes:
Ensure your NVIDIA driver is compatible with your chosen PyTorch wheel.
We recommend installing PyTorch from the official PyTorch instructions for your CUDA version: https://pytorch.org/get-started/locally/
Recommended: Install with Docker#
We strongly recommend using our pre-configured Docker environment, which contains all necessary dependencies.
docker pull dexforce/embodichain:ubuntu22.04-cuda12.8
After pulling the Docker image, you can run a container with the provided scripts.
./docker_run.sh [container_name] [data_path]
Install EmbodiChain#
We strongly recommend using a virtual environment to avoid dependency conflicts.
Clone the EmbodiChain repository:
git clone https://github.com/DexForce/EmbodiChain.git
Install the project in development mode:
pip install -e . --extra-index-url http://pyp.open3dv.site:2345/simple/ --trusted-host pyp.open3dv.site
# Or install with the lerobot extras:
pip install -e .[lerobot] --extra-index-url http://pyp.open3dv.site:2345/simple/ --trusted-host pyp.open3dv.site
[!NOTE]
LeRobot is an optional module for EmbodiChain that provides data saving and loading functionalities for robot learning tasks. Installing with the
lerobotextras will include this module and its dependencies.
Verify Installation#
To verify that EmbodiChain is installed correctly, run a simple demo script to create a simulation scene:
python scripts/tutorials/sim/create_scene.py
# Or run in headless mode.
python scripts/tutorials/sim/create_scene.py --headless