LeRobot Installation Guide

Install LeRobot

On your computer:

  1. Install Miniconda:

    We use Miniconda to manage Python environments and dependencies. To install Miniconda, download the installer for your Linux operating system from the Miniconda Installation Guide.

  2. Create and activate a fresh Conda environment for LeRobot:

    conda create -y -n lerobot python=3.10 && conda activate lerobot

  3. Clone LeRobot:

    git clone -b trossen-ai https://github.com/Interbotix/lerobot.git ~/lerobot

  4. Install LeRobot with dependencies for the Trossen AI arms (trossen-arm) and cameras (intelrealsense):

    cd ~/lerobot && pip install --no-binary=av -e ".[trossen_ai]"

    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 python3-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

  5. For Linux only (not Mac), install extra dependencies for recording datasets:

    conda install -y -c conda-forge 'ffmpeg>=7.0'

    Note

    Installing ffmpeg>=7.0 using the above command usually provides ffmpeg 7.X compiled with the libsvtav1 encoder. If libsvtav1 is not available on your system (you can verify by running ffmpeg -encoders), you have two options:

    • Any platform: Install a specific version of FFmpeg with conda:

      conda install ffmpeg=7.1.1 -c conda-forge
    • Linux only: Manually install FFmpeg build dependencies and compile FFmpeg from source with libsvtav1 support:

      Refer to the official guides below:

    After installation, confirm you’re using the correct FFmpeg binary with:

    which ffmpeg