mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-11 14:49:43 +00:00
Steven Palma
e489ba24fc
* feat(dependecies): upgrade to python3.12 * fix(test): processor regex message * fix(test): processor regex message * fix(dependecies): resolve all tags in python 3.12 * fix(dependecies): add more hints to faster resolve * chore(dependecies): remove cli tag huggingface-hub dep * refactor(policy): update eagle for python3.12 * chore(docs): update policy creation for python 3.12 * chore(test): skip failing tests in macos
137 lines
4.2 KiB
Plaintext
137 lines
4.2 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 >=3.12 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 3.12, using conda:
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```bash
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conda create -y -n lerobot python=3.12
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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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> [!NOTE]
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> When installing LeRobot inside WSL (Windows Subsystem for Linux), make sure to install `evdev` with the following command:
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>
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> ```bash
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> conda install evdev -c conda-forge
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> ```
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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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