import{s as Lt,n as Wt,o as Yt}from"../chunks/scheduler.eb244325.js";import{S as _t,i as Ht,e as $,s as i,c as a,h as Ft,a as u,d as l,b as s,f as ft,g as o,j as d,k as rt,l as me,m as n,n as p,t as m,o as f,p as r}from"../chunks/index.3fe63ad3.js";import{C as Bt}from"../chunks/CopyLLMTxtMenu.08242e11.js";import{C as b}from"../chunks/CodeBlock.91baa5b4.js";import{H as c,E as Pt}from"../chunks/MermaidChart.svelte_svelte_type_style_lang.234c3f85.js";function Rt($t){let h,ge,ue,be,y,ce,w,he,v,Me,T,ye,C,we,x,ut="Create a virtual environment with Python 3.10, using conda:",ve,U,Te,j,dt="Then activate your conda environment, you have to do this each time you open a shell to use lerobot:",Ce,G,xe,J,gt="When using <code>conda</code>, install <code>ffmpeg</code> in your environment:",Ue,Z,je,g,fe,bt="This usually installs <code>ffmpeg 7.X</code> for your platform compiled with the <code>libsvtav1</code> encoder. If <code>libsvtav1</code> is not supported (check supported encoders with <code>ffmpeg -encoders</code>), you can:",ot,re,ct="<li><em>[On any platform]</em> Explicitly install <code>ffmpeg 7.X</code> using:</li>",pt,I,mt,$e,ht='<li><em>[On Linux only]</em> If you want to bring your own ffmpeg: Install <a href="https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#GettheDependencies" rel="nofollow">ffmpeg build dependencies</a> and <a href="https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#libsvtav1" rel="nofollow">compile ffmpeg from source with libsvtav1</a>, and make sure you use the corresponding ffmpeg binary to your install with <code>which ffmpeg</code>.</li>',Ge,k,Je,L,Ze,W,Mt="First, clone the repository and navigate into the directory:",Ie,Y,ke,_,yt="Then, install the library in editable mode. This is useful if you plan to contribute to the code.",Le,H,We,F,Ye,B,wt=`<strong>Core Library:</strong>
Install the base package with:`,_e,P,He,R,vt="<em>This installs only the default dependencies.</em>",Fe,S,Tt=`<strong>Extra Features:</strong>
To install additional functionality, use one of the following:`,Be,E,Pe,V,Ct="<em>Replace <code>[...]</code> with your desired features.</em>",Re,X,xt=`<strong>Available Tags:</strong>
For a full list of optional dependencies, see:
<a href="https://pypi.org/project/lerobot/" rel="nofollow">https://pypi.org/project/lerobot/</a>`,Se,N,Ee,z,Ut=`If you encounter build errors, you may need to install additional dependencies: <code>cmake</code>, <code>build-essential</code>, and <code>ffmpeg libs</code>.
To install these for linux run:`,Ve,A,Xe,q,jt='For other systems, see: <a href="https://pyav.org/docs/develop/overview/installation.html#bring-your-own-ffmpeg" rel="nofollow">Compiling PyAV</a>',Ne,Q,ze,O,Gt="LeRobot provides optional extras for specific functionalities. Multiple extras can be combined (e.g., <code>.[aloha,feetech]</code>). For all available extras, refer to <code>pyproject.toml</code>.",Ae,K,qe,D,Jt=`Install environment packages: <code>aloha</code> (<a href="https://github.com/huggingface/gym-aloha" rel="nofollow">gym-aloha</a>), or <code>pusht</code> (<a href="https://github.com/huggingface/gym-pusht" rel="nofollow">gym-pusht</a>)
Example:`,Qe,ee,Oe,te,Ke,le,Zt="For Koch v1.1 install the Dynamixel SDK, for SO100/SO101/Moss install the Feetech SDK.",De,ne,et,ie,tt,se,It='To use <a href="https://docs.wandb.ai/quickstart" rel="nofollow">Weights and Biases</a> for experiment tracking, log in with',lt,ae,nt,oe,kt="You can now assemble your robot if it’s not ready yet, look for your robot type on the left. Then follow the link below to use Lerobot with your robot.",it,pe,st,de,at;return y=new Bt({props:{containerStyle:"float: right; margin-left: 10px; display: inline-flex; position: relative; z-index: 10;"}}),w=new c({props:{title:"Installation",local:"installation",headingTag:"h1"}}),v=new c({props:{title:"Install miniforge",local:"install-miniforge",headingTag:"h2"}}),T=new b({props:{code:"d2dldCUyMCUyMmh0dHBzJTNBJTJGJTJGZ2l0aHViLmNvbSUyRmNvbmRhLWZvcmdlJTJGbWluaWZvcmdlJTJGcmVsZWFzZXMlMkZsYXRlc3QlMkZkb3dubG9hZCUyRk1pbmlmb3JnZTMtJTI0KHVuYW1lKS0lMjQodW5hbWUlMjAtbSkuc2glMjIlMEFiYXNoJTIwTWluaWZvcmdlMy0lMjQodW5hbWUpLSUyNCh1bmFtZSUyMC1tKS5zaA==",highlighted:`wget <span class="hljs-string">&quot;https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-<span class="hljs-subst">$(uname)</span>-<span class="hljs-subst">$(uname -m)</span>.sh&quot;</span>
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<span class="hljs-built_in">cd</span> lerobot`,wrap:!1}}),H=new b({props:{code:"cGlwJTIwaW5zdGFsbCUyMC1lJTIwLg==",highlighted:"pip install -e .",wrap:!1}}),F=new c({props:{title:"Installation from PyPI",local:"installation-from-pypi",headingTag:"h3"}}),P=new b({props:{code:"cGlwJTIwaW5zdGFsbCUyMGxlcm9ib3Q=",highlighted:"pip install lerobot",wrap:!1}}),E=new b({props:{code:"cGlwJTIwaW5zdGFsbCUyMCdsZXJvYm90JTVCYWxsJTVEJyUyMCUyMCUyMCUyMCUyMCUyMCUyMCUyMCUyMCUyMCUyMyUyMEFsbCUyMGF2YWlsYWJsZSUyMGZlYXR1cmVzJTBBcGlwJTIwaW5zdGFsbCUyMCdsZXJvYm90JTVCYWxvaGElMkNwdXNodCU1RCclMjAlMjAlMjMlMjBTcGVjaWZpYyUyMGZlYXR1cmVzJTIwKEFsb2hhJTIwJTI2JTIwUHVzaHQpJTBBcGlwJTIwaW5zdGFsbCUyMCdsZXJvYm90JTVCZmVldGVjaCU1RCclMjAlMjAlMjAlMjAlMjAlMjAlMjMlMjBGZWV0ZWNoJTIwbW90b3IlMjBzdXBwb3J0",highlighted:`pip install <span class="hljs-string">&#x27;lerobot[all]&#x27;</span>          <span class="hljs-comment"># All available features</span>
pip install <span class="hljs-string">&#x27;lerobot[aloha,pusht]&#x27;</span>  <span class="hljs-comment"># Specific features (Aloha &amp; Pusht)</span>
pip install <span class="hljs-string">&#x27;lerobot[feetech]&#x27;</span>      <span class="hljs-comment"># Feetech motor support</span>`,wrap:!1}}),N=new c({props:{title:"Troubleshooting",local:"troubleshooting",headingTag:"h3"}}),A=new b({props:{code:"c3VkbyUyMGFwdC1nZXQlMjBpbnN0YWxsJTIwY21ha2UlMjBidWlsZC1lc3NlbnRpYWwlMjBweXRob24tZGV2JTIwcGtnLWNvbmZpZyUyMGxpYmF2Zm9ybWF0LWRldiUyMGxpYmF2Y29kZWMtZGV2JTIwbGliYXZkZXZpY2UtZGV2JTIwbGliYXZ1dGlsLWRldiUyMGxpYnN3c2NhbGUtZGV2JTIwbGlic3dyZXNhbXBsZS1kZXYlMjBsaWJhdmZpbHRlci1kZXYlMjBwa2ctY29uZmln",highlighted:"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",wrap:!1}}),Q=new c({props:{title:"Optional dependencies",local:"optional-dependencies",headingTag:"h2"}}),K=new c({props:{title:"Simulations",local:"simulations",headingTag:"h3"}}),ee=new b({props:{code:"cGlwJTIwaW5zdGFsbCUyMC1lJTIwJTIyLiU1QmFsb2hhJTVEJTIyJTIwJTIzJTIwb3IlMjAlMjIlNUJwdXNodCU1RCUyMiUyMGZvciUyMGV4YW1wbGU=",highlighted:'pip install -e <span class="hljs-string">&quot;.[aloha]&quot;</span> <span class="hljs-comment"># or &quot;[pusht]&quot; for example</span>',wrap:!1}}),te=new c({props:{title:"Motor Control",local:"motor-control",headingTag:"h3"}}),ne=new b({props:{code:"cGlwJTIwaW5zdGFsbCUyMC1lJTIwJTIyLiU1QmZlZXRlY2glNUQlMjIlMjAlMjMlMjBvciUyMCUyMiU1QmR5bmFtaXhlbCU1RCUyMiUyMGZvciUyMGV4YW1wbGU=",highlighted:'pip install -e <span class="hljs-string">&quot;.[feetech]&quot;</span> <span class="hljs-comment"># or &quot;[dynamixel]&quot; for example</span>',wrap:!1}}),ie=new c({props:{title:"Experiment Tracking",local:"experiment-tracking",headingTag:"h3"}}),ae=new b({props:{code:"d2FuZGIlMjBsb2dpbg==",highlighted:"wandb login",wrap:!1}}),pe=new 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