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)

  • Recommended distributions: Ubuntu 20.04 LTS or Ubuntu 22.04 LTS

• NVIDIA GPU and drivers:

  • Hardware: NVIDIA GPU with compute capability 7.0 or higher (e.g., RTX 20 series, RTX 30 series, A100, etc.)

  • NVIDIA driver: 535 or higher (recommended 570)

  • CUDA Toolkit: any of 11.8 — 12.8 (we test primarily with 11.8 and 12.x)

• Python:

  • Supported Python versions:

    • Python 3.10

  • Use a virtual environment (venv, virtualenv, or conda) to isolate dependencies

Notes:

• Ensure your NVIDIA driver and CUDA toolkit versions are 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/

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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]

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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 . 

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

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