Merge 1e6a7ea334 into 78fd1a1e04

README.md

@@ -98,14 +98,18 @@ conda create -y -n lerobot python=3.10
 conda activate lerobot
 ```
 
-Install 🤗 LeRobot:
+When using `miniconda`, if you don't have `fffmpeg` in your environment:
 ```bash
-pip install -e .
+conda install ffmpeg
 ```
 
-> **NOTE:** Depending on your platform, If you encounter any build errors during this step
-you may need to install `cmake` and `build-essential` for building some of our dependencies.
-On linux: `sudo apt-get install cmake build-essential`
+Install 🤗 LeRobot:
+```bash
+pip install --no-binary=av -e .
+```
+
+> **NOTE:** If you encounter build errors, you may need to install additional dependencies (`cmake`, `build-essential`, and `ffmpeg libs`). On 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](https://pyav.org/docs/develop/overview/installation.html#bring-your-own-ffmpeg)
 
 For simulations, 🤗 LeRobot comes with gymnasium environments that can be installed as extras:
 - [aloha](https://github.com/huggingface/gym-aloha)
@@ -114,7 +118,7 @@ For simulations, 🤗 LeRobot comes with gymnasium environments that can be inst
 
 For instance, to install 🤗 LeRobot with aloha and pusht, use:
 ```bash
-pip install -e ".[aloha, pusht]"
+pip install --no-binary=av -e ".[aloha, pusht]"
 ```
 
 To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with

docker/lerobot-gpu-dev/Dockerfile

@@ -1,4 +1,4 @@
-FROM nvidia/cuda:12.2.2-devel-ubuntu22.04
+FROM nvidia/cuda:12.4.1-base-ubuntu22.04
 
 # Configure image
 ARG PYTHON_VERSION=3.10
@@ -17,33 +17,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     python${PYTHON_VERSION} python${PYTHON_VERSION}-venv \
     && apt-get clean && rm -rf /var/lib/apt/lists/*
 
-# Install ffmpeg build dependencies. See:
-# https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu
-# TODO(aliberts): create image to build dependencies from source instead
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    autoconf automake yasm \
-    libass-dev \
-    libfreetype6-dev \
-    libgnutls28-dev \
-    libunistring-dev \
-    libmp3lame-dev \
-    libtool \
-    libvorbis-dev \
-    meson \
-    ninja-build \
-    pkg-config \
-    texinfo \
-    yasm \
-    zlib1g-dev \
-    nasm \
-    libx264-dev \
-    libx265-dev libnuma-dev \
-    libvpx-dev \
-    libfdk-aac-dev \
-    libopus-dev \
-    libsvtav1-dev libsvtav1enc-dev libsvtav1dec-dev \
-    libdav1d-dev
-
 # Install gh cli tool
 RUN (type -p wget >/dev/null || (apt update && apt-get install wget -y)) \
     && mkdir -p -m 755 /etc/apt/keyrings \

examples/10_use_so100.md

@@ -59,7 +59,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 #### 5. Install LeRobot with dependencies for the feetech motors:
 ```bash
-cd ~/lerobot && pip install -e ".[feetech]"
+cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
 ```
 
 Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms :robot:.

examples/11_use_lekiwi.md

@@ -69,7 +69,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 #### 5. Install LeRobot with dependencies for the feetech motors:
 ```bash
-cd ~/lerobot && pip install -e ".[feetech]"
+cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
 ```
 
 ## C. Install LeRobot on laptop
@@ -110,7 +110,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 #### 5. Install LeRobot with dependencies for the feetech motors:
 ```bash
-cd ~/lerobot && pip install -e ".[feetech]"
+cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
 ```
 
 Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms and Mobile base :robot:.

examples/11_use_moss.md

@@ -33,7 +33,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 5. Install LeRobot with dependencies for the feetech motors:
 ```bash
-cd ~/lerobot && pip install -e ".[feetech]"
+cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
 ```
 
 ## Configure the motors

examples/2_evaluate_pretrained_policy.py

@@ -18,7 +18,7 @@ training outputs directory. In the latter case, you might want to run examples/3
 
 It requires the installation of the 'gym_pusht' simulation environment. Install it by running:
 ```bash
-pip install -e ".[pusht]"`
+pip install --no-binary=av -e ".[pusht]"`
 ```
 """
 

examples/7_get_started_with_real_robot.md

@@ -33,7 +33,7 @@ First, install the additional dependencies required for robots built with dynami
 
 Using `pip`:
 ```bash
-pip install -e ".[dynamixel]"
+pip install --no-binary=av -e ".[dynamixel]"
 ```
 
 Using `poetry`:

examples/8_use_stretch.md

@@ -45,7 +45,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 6. Install LeRobot with stretch dependencies:
 ```bash
-cd ~/lerobot && pip install -e ".[stretch]"
+cd ~/lerobot && pip install --no-binary=av -e ".[stretch]"
 ```
 
 > **Note:** If you get this message, you can ignore it: `ERROR: pip's dependency resolver does not currently take into account all the packages that are installed.`

examples/9_use_aloha.md

@@ -32,7 +32,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 5. Install LeRobot with dependencies for the Aloha motors (dynamixel) and cameras (intelrealsense):
 ```bash
-cd ~/lerobot && pip install -e ".[dynamixel, intelrealsense]"
+cd ~/lerobot && pip install --no-binary=av -e ".[dynamixel, intelrealsense]"
 ```
 
 ## Teleoperate

lerobot/common/policies/pi0/modeling_pi0.py

@@ -24,7 +24,7 @@ Designed by Physical Intelligence. Ported from Jax by Hugging Face.
 
 Install pi0 extra dependencies:
 ```bash
-pip install -e ".[pi0]"
+pip install --no-binary=av -e ".[pi0]"
 ```
 
 Example of finetuning the pi0 pretrained model (`pi0_base` in `openpi`):