# Installation

## Install LeRobot

Download our source code:
```bash
git clone https://github.com/huggingface/lerobot.git
cd lerobot
```

Create a virtual environment with Python 3.10, using [`Miniconda`](https://docs.anaconda.com/miniconda/install/#quick-command-line-install)
```bash
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
```

When using `miniconda`, install `ffmpeg` in your environment:
```bash
conda install ffmpeg -c conda-forge
```

> [!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]_ 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
```

## 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 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](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)

For instance, to install 🤗 LeRobot with aloha and pusht, use:
```bash
pip install -e ".[aloha, pusht]"
```

## Motor SDK
For Koch v1.1 install the Dynamixel SDK, for SO100/SO101/Moss install the Feetech SDK.

<hfoptions id="install motors">
<hfoption id="Feetech">
```bash
pip install -e ".[feetech]"
```
</hfoption>
<hfoption id="Dynamixel">
```bash
pip install -e ".[dynamixel]"
```
</hfoption>
</hfoptions>

## W&B
To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with
```bash
wandb login
```