chore(docs): improve installation instructions
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Steven Palma
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README.md
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README.md
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- Thanks to Antonio Loquercio and Ashish Kumar for their early support.
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- Thanks to [Seungjae (Jay) Lee](https://sjlee.cc/), [Mahi Shafiullah](https://mahis.life/) and colleagues for open sourcing [VQ-BeT](https://sjlee.cc/vq-bet/) policy and helping us adapt the codebase to our repository. The policy is adapted from [VQ-BeT repo](https://github.com/jayLEE0301/vq_bet_official).
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## Installation
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Download our source code:
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### 1. Clone the repository
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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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### 2. Set up Python environment
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Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/free/miniconda/index.html):
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```bash
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conda create -y -n lerobot python=3.10
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conda activate lerobot
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```
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When using `miniconda`, if you don't have `ffmpeg` in your environment:
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### 3. Choose your installation method
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- **Option A**: torchcodec support (better performance) only available for Linux systems with x86/x86_64 architecture (not ARM) and macOS systems with ARM architecture (M chips, not Intel x86_64). Recommended if available.
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- **Option B**: libsvtav1 support instead
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<details>
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<summary><strong>Option A: torchcodec support </strong></summary>
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*Supported platforms:*
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- Linux (x86/x86_64 only)
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- macOS (ARM/M chips only)
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#### Linux
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```bash
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conda install ffmpeg
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sudo apt-get install cmake build-essential python3-dev pkg-config \
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libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev \
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libswscale-dev libswresample-dev libavfilter-dev
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conda install ffmpeg # In the virtual environment
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```
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Install 🤗 LeRobot:
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#### macOS
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```bash
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brew install pkg-config
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conda install ffmpeg # In the virtual environment
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```
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</details>
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<details>
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<summary><strong>Option B: libsvtav1 support</strong></summary>
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#### Linux (Ubuntu 24.04)
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```bash
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sudo apt-get install cmake build-essential python3-dev pkg-config \
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libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev \
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libswscale-dev libswresample-dev libavfilter-dev ffmpeg
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```
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#### macOS
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```bash
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brew install pkg-config ffmpeg@6
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echo "export PATH=\"/opt/homebrew/opt/ffmpeg@6/bin:\$PATH\"" >> ~/.zshrc
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echo "export LDFLAGS=\"-L/opt/homebrew/opt/ffmpeg@6/lib\"" >> ~/.zshrc
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echo "export CPPFLAGS=\"-I/opt/homebrew/opt/ffmpeg@6/include\"" >> ~/.zshrc
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echo "export PKG_CONFIG_PATH=\"/opt/homebrew/opt/ffmpeg@6/lib/pkgconfig\"" >> ~/.zshrc
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# Restart terminal or run: source ~/.zshrc
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```
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</details>
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### Install LeRobot in the virtual environment
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```bash
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pip install --no-binary=av -e .
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```
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> **NOTE:** If you encounter build errors, you may need to install additional dependencies (`cmake`, `build-essential`, and `ffmpeg libs`). On Linux, run:
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`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)
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For simulations, 🤗 LeRobot comes with gymnasium environments that can be installed as extras:
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- [aloha](https://github.com/huggingface/gym-aloha)
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- [xarm](https://github.com/huggingface/gym-xarm)
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- [pusht](https://github.com/huggingface/gym-pusht)
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For instance, to install 🤗 LeRobot with aloha and pusht, use:
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### 4. Other environments/dependencies (Optional)
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For testing and developing:
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```bash
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pip install --no-binary=av -e ".[dev, test]"
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```
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For motor hardware support:
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```bash
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pip install --no-binary=av -e ".[dynamixel, feetech]"
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```
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For simulation environments:
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```bash
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# Example: Install with Aloha and PushT support
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pip install --no-binary=av -e ".[aloha, pusht]"
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```
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To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with
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| Environment | Docs |
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|-------------|------|
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| Aloha | [gym-aloha](https://github.com/huggingface/gym-aloha) |
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| xArm | [gym-xarm](https://github.com/huggingface/gym-xarm) |
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| PushT | [gym-pusht](https://github.com/huggingface/gym-pusht) |
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### 5. Experiment Tracking (Optional)
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To use Weights & Biases:
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```bash
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wandb login
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```
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(note: you will also need to enable WandB in the configuration. See below.)
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*Note: Remember to enable WandB in your configuration file.*
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## Walkthrough
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