Installation

Install LeRobot

Currently only available from source.

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

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:

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:

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

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), xarm (gym-xarm), or pusht (gym-pusht) Example:

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.

pip install -e ".[feetech]" # or "[dynamixel]" for example

Experiment Tracking

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

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.

< > Update on GitHub