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feat(devices): add lazy loading for 3rd party robots cameras and teleoperators (#2123)

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* feat(devices): add lazy loading for 3rd party robots cameras and teleoperators

Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com>

* feat(devices): load device class based on assumptions in naming

* docs(devices): instructions for using 3rd party devices

* docs: address review feedback

* chore(docs): add example for 3rd party devices

---------

Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com>
This commit is contained in:
Steven Palma
2025-10-07 17:46:22 +02:00
committed by GitHub
parent 9f32e00f90
commit bf3c8746b7
9 changed files with 255 additions and 5 deletions
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10
src/lerobot/robots/utils.py
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@@ -14,13 +14,16 @@
import logging
from pprint import pformat
from typing import cast
from lerobot.robots import RobotConfig
from lerobot.utils.import_utils import make_device_from_device_class
from .config import RobotConfig
from .robot import Robot
def make_robot_from_config(config: RobotConfig) -> Robot:
# TODO(Steven): Consider just using the make_device_from_device_class for all types
if config.type == "koch_follower":
from .koch_follower import KochFollower
@@ -66,7 +69,10 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
return MockRobot(config)
else:
raise ValueError(config.type)
try:
return cast(Robot, make_device_from_device_class(config))
except Exception as e:
raise ValueError(f"Error creating robot with config {config}: {e}") from e
# TODO(pepijn): Move to pipeline step to make sure we don't have to do this in the robot code and send action to robot is clean for use in dataset