# Installation

This guide uses `conda` (via miniforge) to manage environments (recommended). If you prefer another environment manager (e.g. `uv`, `venv`), ensure you have Python >=3.12 and `ffmpeg` installed with the `libsvtav1` encoder, then skip ahead to [Environment Setup](#step-2-environment-setup).

## Step 1 (`conda` only): Install [`miniforge`](https://conda-forge.org/download/)

```bash
wget "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh"
bash Miniforge3-$(uname)-$(uname -m).sh
```

## Step 2: Environment Setup

Create a virtual environment with Python 3.12:

<!-- prettier-ignore-start -->
<hfoptions id="create_venv">
<hfoption id="conda">
```bash
conda create -y -n lerobot python=3.12
```
</hfoption>
<hfoption id="uv">
```bash
uv python install 3.12
uv venv --python 3.12
```
</hfoption>
</hfoptions>
<!-- prettier-ignore-end -->

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

<!-- prettier-ignore-start -->
<hfoptions id="activate_venv">
<hfoption id="conda">```bash
conda activate lerobot
```</hfoption>
<hfoption id="uv">
```bash
# Linux/macOSsource
source .venv/bin/activate
# Windows PowerShell
source .venv\Scripts\Activate.ps1
```
</hfoption>
</hfoptions>
<!-- prettier-ignore-end -->

When using `conda`, install `ffmpeg` in your environment:

```bash
conda install ffmpeg -c conda-forge
ffmpeg -version  # ffmpeg 8.X is not yet supported !
```

> [!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`.

> [!NOTE]
> When installing LeRobot inside WSL (Windows Subsystem for Linux), make sure to install `evdev` with the following command:
>
> ```bash
> conda install evdev -c conda-forge
> ```

> [!IMPORTANT]
> If you are using `uv` you will have to install `ffmpeg` system-wide (outside of the virtual environment). You rely on `uv` and `torchcodec` ability to dynamically link to the system `ffmpeg`.

## Step 3: Install LeRobot 🤗

### From Source

First, clone the repository and navigate into the directory:

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

Then, install the library in editable mode. This is useful if you plan to contribute to the code.

<!-- prettier-ignore-start -->
<hfoptions id="install_lerobot_src">
<hfoption id="conda">
```bash
pip install -e .
```
</hfoption>
<hfoption id="uv">
```bash
uv pip install -e .
```
</hfoption>
</hfoptions>
<!-- prettier-ignore-end -->

### Installation from PyPI

**Core Library:**
Install the base package with:

<!-- prettier-ignore-start -->
<hfoptions id="install_lerobot_pypi">
<hfoption id="conda">
```bash
pip install lerobot
```
</hfoption>
<hfoption id="uv">
```bash
uv pip install lerobot
```
</hfoption>
</hfoptions>
<!-- prettier-ignore-end -->

_This installs only the default dependencies._

**Extra Features:**
To install additional functionality, use one of the following (If you are using `uv`, replace `pip install` with `uv pip install` in the commands below.):

```bash
pip install 'lerobot[all]'          # All available features
pip install 'lerobot[aloha,pusht]'  # Specific features (Aloha & Pusht)
pip install 'lerobot[feetech]'      # Feetech motor support
```

_Replace `[...]` with your desired features._

**Available Tags:**
For a full list of optional dependencies, see:
https://pypi.org/project/lerobot/

### 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 python3-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev
```

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`. If you are using `uv`, replace `pip install` with `uv pip install` in the commands below.

### Simulations

Install environment packages: `aloha` ([gym-aloha](https://github.com/huggingface/gym-aloha)), 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.