Create a virtual environment with venv
sudo apt install python3.13-venv
python3.13 -m venv .venv
. .venv/bin/activate
Validate python version in the venv
(.venv) $ python -V
Python 3.13.5
Install following dependencies
git clone git+https://github.com/alexis779/slobot.git
cd slobot
pip install -e .
Ensure the robot configuration in available in slobot.config package.
cd ..
git clone https://github.com/google-deepmind/mujoco_menagerie
cd slobot
ln -s ../mujoco_menagerie/trs_so_arm100 src/slobot/config/trs_so_arm100
pip install git+https://github.com/huggingface/lerobot.git
pip install git+https://github.com/Genesis-Embodied-AI/Genesis.git
Also refer to the installation guide. Make sure to run the hello world example successfully.
On Ubuntu, Qt5 library may be incompatible with pymeshlab native library. See reported issue. As a workaround, give precedence to the python module QT library instead of the Ubuntu system QT library.
SITE_PACKAGES=`pip show pymeshlab | grep Location | sed 's|Location: ||'`
PYMESHLAB_LIB=$SITE_PACKAGES/pymeshlab/lib
Make sure the symbol is found
strings $PYMESHLAB_LIB/libQt5Core.so.5 | grep _ZdlPvm
Finally, configure LD_LIBRARY_PATH to overwrite QT library path,
LD_LIBRARY_PATH=$PYMESHLAB_LIB python <script.py>
Build docker image:
docker build -f docker/Dockerfile.local -t slobot .
Run docker container. Make sure to enable DRI for hardware graphics acceleration.
docker run -it --security-opt no-new-privileges=true -p 7860:7860 --device=/dev/dri -v $PWD:/home/user/app slobot