Setup Guide — LeRobot

Overview

LeRobot is an open-source robotics framework with utilities for imitation learning. With OMX, you can train control policies and deploy them to the robot.

Install LeRobot

Prerequisite: Install Miniconda first. See the Miniconda Quick command line install.

1) Create a Virtual Environment (Miniconda, Python 3.10)

conda create -y -n lerobot python=3.10

2) Activate the Environment

conda activate lerobot

3) Install FFmpeg

conda install -c conda-forge ffmpeg=6.1.1 -y

FFmpeg Installation Options

This typically installs FFmpeg 7.X on your system with the libsvtav1 encoder enabled. If libsvtav1 isn't available (check with ffmpeg -encoders), use one of the options below:

[On any platform] Explicitly install FFmpeg 7.X using:

conda install ffmpeg=7.1.1 -c conda-forge

[On Linux only] To build FFmpeg yourself: install the build dependencies and compile it with libsvtav1, then ensure your shell uses that binary (verify with which ffmpeg).

4) Clone Source and Enter Directory

git clone https://github.com/ROBOTIS-GIT/lerobot.git
cd lerobot

5) Install from Source (editable)

pip install -e .

6) Install Core Library from PyPI (optional)

pip install lerobot

7) Install Dynamixel SDK extras

pip install -e ".[dynamixel]"

Troubleshooting

If you encounter build errors, you may need additional packages such as cmake, build-essential, and FFmpeg libraries. On Linux, install them with:

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 platforms, see: Compiling PyAV

🎉 Lerobot Setup Complete!

Click the button below to start Imitation Learning.