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Hardware API redesign (#777)

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Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
This commit is contained in:
Simon Alibert
2025-06-05 17:48:43 +02:00
committed by GitHub
parent b536f47e3f
commit e23b41e79a
247 changed files with 14442 additions and 13550 deletions
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docs/source/installation.mdx
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@@ -2,6 +2,8 @@
## Install LeRobot
Currently only available from source.
Download our source code:
```bash
git clone https://github.com/huggingface/lerobot.git
@@ -13,28 +15,6 @@ Create a virtual environment with Python 3.10, using [`Miniconda`](https://docs.
conda create -y -n lerobot python=3.10
```
Now restart the shell by running:
<hfoptions id="shell_restart">
<hfoption id="Windows">
```bash
source ~/.bashrc
```
</hfoption>
<hfoption id="Mac">
```bash
source ~/.bash_profile
```
</hfoption>
<hfoption id="zshell">
```bash
source ~/.zshrc
```
</hfoption>
</hfoptions>
Then activate your conda environment, you have to do this each time you open a shell to use lerobot:
```bash
conda activate lerobot
@@ -51,14 +31,14 @@ conda install ffmpeg -c conda-forge
> ```bash
> conda install ffmpeg=7.1.1 -c conda-forge
> ```
> - _[On Linux only]_ 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`.
> - _[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`.
Install 🤗 LeRobot:
```bash
cd lerobot && pip install -e ".[feetech]"
pip install -e .
```
## Troubleshooting
### 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
@@ -66,18 +46,24 @@ sudo apt-get install cmake build-essential python-dev pkg-config libavformat-dev
```
For other systems, see: [Compiling PyAV](https://pyav.org/docs/develop/overview/installation.html#bring-your-own-ffmpeg)
## Sim
For simulations, 🤗 LeRobot comes with gymnasium environments that can be installed as extras:
- [aloha](https://github.com/huggingface/gym-aloha)
- [xarm](https://github.com/huggingface/gym-xarm)
- [pusht](https://github.com/huggingface/gym-pusht)
## Optional dependencies
For instance, to install 🤗 LeRobot with aloha and pusht, use:
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](https://github.com/huggingface/gym-aloha)), `xarm` ([gym-xarm](https://github.com/huggingface/gym-xarm)), or `pusht` ([gym-pusht](https://github.com/huggingface/gym-pusht))
Example:
```bash
pip install -e ".[aloha, pusht]"
pip install -e ".[aloha]" # or "[pusht]" for example
```
## W&B
### 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