Installation#
System Requirements#
Component |
Requirement |
|---|---|
OS |
Linux (x86_64): Ubuntu 20.04+ |
GPU |
NVIDIA with compute capability 7.0+ |
NVIDIA Driver |
535 - 570 (580+ is untested and may be unstable) |
Python |
3.10 or 3.11 |
[!NOTE] Ensure your NVIDIA driver is compatible with your chosen PyTorch wheel. We recommend installing PyTorch from the official PyTorch instructions for your CUDA version.
Installation#
Docker (Recommended)#
We strongly recommend using our pre-configured Docker environment, which contains all necessary dependencies including CUDA, Vulkan, and GPU rendering support.
1. Pull the image:
docker pull dexforce/embodichain:ubuntu22.04-cuda12.8
2. Start a container:
Use the provided run script (docker/docker_run.sh), which handles GPU driver and Vulkan mounting:
./docker/docker_run.sh <container_name> <data_path>
pip (PyPI)#
[!TIP] We strongly recommend using a virtual environment to avoid dependency conflicts.
pip install embodichain --extra-index-url http://pyp.open3dv.site:2345/simple/ --trusted-host pyp.open3dv.site
From Source#
[!TIP] We strongly recommend using a virtual environment to avoid dependency conflicts.
git clone https://github.com/DexForce/EmbodiChain.git
cd EmbodiChain
pip install -e . --extra-index-url http://pyp.open3dv.site:2345/simple/ --trusted-host pyp.open3dv.site
Verify Installation#
Run the demo script to confirm everything is set up correctly:
python scripts/tutorials/sim/create_scene.py
If the installation is successful, you will see a simulation window with a rendered scene. To run without a display:
python scripts/tutorials/sim/create_scene.py --headless