# 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.