mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-11 14:49:43 +00:00
Jai Kumaar Ratadia
d2d01399d6
* docs: clarify installation steps are sequential, not optional Add intro paragraph noting conda is one path (not the only one) and number the three sections as steps so readers understand miniforge and environment setup are prerequisites, not independent choices. * Update installation guide link for LeRobot Signed-off-by: Jai Kumaar Ratadia <jaikumaarratadia@gmail.com> * Fix link formatting in installation guide again Signed-off-by: Jai Kumaar Ratadia <jaikumaarratadia@gmail.com> --------- Signed-off-by: Jai Kumaar Ratadia <jaikumaarratadia@gmail.com> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
130 lines
4.0 KiB
Plaintext
130 lines
4.0 KiB
Plaintext
# Installation
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This guide uses conda (via miniforge) to manage environments. If you prefer another environment manager (e.g. `uv`, `venv`), ensure you have Python >=3.10 and ffmpeg installed with the `libsvtav1` encoder, then skip ahead to [Install LeRobot](#step-3-install-lerobot-).
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## Step 1: Install [`miniforge`](https://conda-forge.org/download/)
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```bash
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wget "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh"
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bash Miniforge3-$(uname)-$(uname -m).sh
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```
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## Step 2: Environment Setup
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Create a virtual environment with Python 3.10, using conda:
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```bash
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conda create -y -n lerobot python=3.10
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```
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Then activate your conda environment, you have to do this each time you open a shell to use lerobot:
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```bash
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conda activate lerobot
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```
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When using `conda`, install `ffmpeg` in your environment:
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```bash
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conda install ffmpeg -c conda-forge
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```
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> [!TIP]
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> 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:
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>
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> - _[On any platform]_ Explicitly install `ffmpeg 7.X` using:
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>
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> ```bash
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> conda install ffmpeg=7.1.1 -c conda-forge
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> ```
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>
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> - _[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`.
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## Step 3: Install LeRobot 🤗
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### From Source
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First, clone the repository and navigate into the directory:
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```bash
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git clone https://github.com/huggingface/lerobot.git
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cd lerobot
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```
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Then, install the library in editable mode. This is useful if you plan to contribute to the code.
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```bash
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pip install -e .
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```
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### Installation from PyPI
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**Core Library:**
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Install the base package with:
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```bash
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pip install lerobot
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```
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_This installs only the default dependencies._
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**Extra Features:**
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To install additional functionality, use one of the following:
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```bash
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pip install 'lerobot[all]' # All available features
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pip install 'lerobot[aloha,pusht]' # Specific features (Aloha & Pusht)
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pip install 'lerobot[feetech]' # Feetech motor support
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```
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_Replace `[...]` with your desired features._
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**Available Tags:**
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For a full list of optional dependencies, see:
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https://pypi.org/project/lerobot/
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> [!NOTE]
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> For lerobot 0.4.0, if you want to install pi, you will have to do: `pip install "lerobot[pi]@git+https://github.com/huggingface/lerobot.git"`
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### Troubleshooting
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If you encounter build errors, you may need to install additional dependencies: `cmake`, `build-essential`, and `ffmpeg libs`.
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To install these for linux run:
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```bash
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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
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```
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For other systems, see: [Compiling PyAV](https://pyav.org/docs/develop/overview/installation.html#bring-your-own-ffmpeg)
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## Optional dependencies
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LeRobot provides optional extras for specific functionalities. Multiple extras can be combined (e.g., `.[aloha,feetech]`). For all available extras, refer to `pyproject.toml`.
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### Simulations
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Install environment packages: `aloha` ([gym-aloha](https://github.com/huggingface/gym-aloha)), or `pusht` ([gym-pusht](https://github.com/huggingface/gym-pusht))
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Example:
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```bash
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pip install -e ".[aloha]" # or "[pusht]" for example
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```
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### Motor Control
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For Koch v1.1 install the Dynamixel SDK, for SO100/SO101/Moss install the Feetech SDK.
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```bash
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pip install -e ".[feetech]" # or "[dynamixel]" for example
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```
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### Experiment Tracking
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To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with
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```bash
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wandb login
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```
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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.
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