Installation

Install LeRobot

Download our source code:

git clone https://github.com/huggingface/lerobot.git
cd lerobot

Create a virtual environment with Python 3.10, using Miniconda

conda create -y -n lerobot python=3.10

Now restart the shell by running:

Linux

Mac

Then activate your conda environment, you have to do this each time you open a shell to use lerobot:

conda activate lerobot

When using miniconda, install ffmpeg in your environment:

conda install ffmpeg -c conda-forge

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:
```
conda install ffmpeg=7.1.1 -c conda-forge
```
[On Linux only] If you want to bring your own ffmpeg: Install ffmpeg build dependencies and compile ffmpeg from source with libsvtav1, and make sure you use the corresponding ffmpeg binary to your install with which ffmpeg.

Install 🤗 LeRobot:

cd lerobot && pip install -e ".[feetech]"

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:

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

Sim

For simulations, 🤗 LeRobot comes with gymnasium environments that can be installed as extras:

For instance, to install 🤗 LeRobot with aloha and pusht, use:

pip install -e ".[aloha, pusht]"

Motor SDK

For Koch v1.1 install the Dynamixel SDK, for SO100/SO101/Moss install the Feetech SDK.

Feetech

Dynamixel

W&B

To use Weights and Biases for experiment tracking, log in with

wandb login

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