| # Installation | |
| ## Install LeRobot | |
| Currently only available from source. | |
| Download our source code: | |
| ```bash | |
| git clone https://github.com/huggingface/lerobot.git | |
| cd lerobot | |
| ``` | |
| Create a virtual environment with Python 3.10, using [`Miniconda`](https://docs.anaconda.com/miniconda/install/#quick-command-line-install) | |
| ```bash | |
| conda create -y -n lerobot python=3.10 | |
| ``` | |
| Then activate your conda environment, you have to do this each time you open a shell to use lerobot: | |
| ```bash | |
| conda activate lerobot | |
| ``` | |
| When using `miniconda`, install `ffmpeg` in your environment: | |
| ```bash | |
| conda install ffmpeg -c conda-forge | |
| ``` | |
| > [!TIP] | |
| > This usually installs `ffmpeg 7.X` for your platform compiled with the `libsvtav1` encoder. If `libsvtav1` is not supported (check supported encoders with `ffmpeg -encoders`), you can: | |
| > - _[On any platform]_ Explicitly install `ffmpeg 7.X` using: | |
| > ```bash | |
| > conda install ffmpeg=7.1.1 -c conda-forge | |
| > ``` | |
| > - _[On Linux only]_ If you want to bring your own ffmpeg: Install [ffmpeg build dependencies](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#GettheDependencies) and [compile ffmpeg from source with libsvtav1](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#libsvtav1), and make sure you use the corresponding ffmpeg binary to your install with `which ffmpeg`. | |
| Install 🤗 LeRobot: | |
| ```bash | |
| pip install -e . | |
| ``` | |
| ### Troubleshooting | |
| If you encounter build errors, you may need to install additional dependencies: `cmake`, `build-essential`, and `ffmpeg libs`. | |
| To install these for linux run: | |
| ```bash | |
| sudo apt-get install cmake build-essential python-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev pkg-config | |
| ``` | |
| For other systems, see: [Compiling PyAV](https://pyav.org/docs/develop/overview/installation.html#bring-your-own-ffmpeg) | |
| ## Optional dependencies | |
| LeRobot provides optional extras for specific functionalities. Multiple extras can be combined (e.g., `.[aloha,feetech]`). For all available extras, refer to `pyproject.toml`. | |
| ### Simulations | |
| Install environment packages: `aloha` ([gym-aloha](https://github.com/huggingface/gym-aloha)), `xarm` ([gym-xarm](https://github.com/huggingface/gym-xarm)), or `pusht` ([gym-pusht](https://github.com/huggingface/gym-pusht)) | |
| Example: | |
| ```bash | |
| pip install -e ".[aloha]" # or "[pusht]" for example | |
| ``` | |
| ### Motor Control | |
| For Koch v1.1 install the Dynamixel SDK, for SO100/SO101/Moss install the Feetech SDK. | |
| ```bash | |
| pip install -e ".[feetech]" # or "[dynamixel]" for example | |
| ``` | |
| ### Experiment Tracking | |
| To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with | |
| ```bash | |
| wandb login | |
| ``` | |
| You can now assemble your robot if it's not ready yet, look for your robot type on the left. Then follow the link below to use Lerobot with your robot. | |