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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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2
src/lerobot/scripts/lerobot_calibrate.py
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@@ -52,6 +52,7 @@ from lerobot.teleoperators import ( # noqa: F401
so100_leader,
so101_leader,
)
from lerobot.utils.import_utils import register_third_party_devices
from lerobot.utils.utils import init_logging
@@ -83,6 +84,7 @@ def calibrate(cfg: CalibrateConfig):
def main():
register_third_party_devices()
calibrate()

2
src/lerobot/scripts/lerobot_record.py
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@@ -117,6 +117,7 @@ from lerobot.utils.control_utils import (
sanity_check_dataset_name,
sanity_check_dataset_robot_compatibility,
)
from lerobot.utils.import_utils import register_third_party_devices
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import (
get_safe_torch_device,
@@ -513,6 +514,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
def main():
register_third_party_devices()
record()

2
src/lerobot/scripts/lerobot_replay.py
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@@ -61,6 +61,7 @@ from lerobot.robots import ( # noqa: F401
so101_follower,
)
from lerobot.utils.constants import ACTION
from lerobot.utils.import_utils import register_third_party_devices
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import (
init_logging,
@@ -126,6 +127,7 @@ def replay(cfg: ReplayConfig):
def main():
register_third_party_devices()
replay()

2
src/lerobot/scripts/lerobot_teleoperate.py
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@@ -88,6 +88,7 @@ from lerobot.teleoperators import ( # noqa: F401
so100_leader,
so101_leader,
)
from lerobot.utils.import_utils import register_third_party_devices
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import init_logging, move_cursor_up
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
@@ -215,6 +216,7 @@ def teleoperate(cfg: TeleoperateConfig):
def main():
register_third_party_devices()
teleoperate()