Implement lazy loading

[lukicdarkoo]

What this does

Implements lazy loading for robots, cameras, and teleoperators, a feature proposed in #1367.

How it was tested

Installed lerobot-xarm and lerobot-teleop packages in editable mode (they are not published yet to pypi) and then:

python -m lerobot.teleoperate \
    --robot.type=lerobot_xarm \
    --robot.id=black \
    --teleop.type=lerobot_teleop \
    --fps=90

Note

Draccus doesn't really support lazy loading, so I had to be a little creative. If you have any way to make the implementation cleaner, please let me know.

UPDATE: In 6e40ce5 I changed how the device registration works. Now it will scan all packages that start with lerobot_ and try to register them. The advantages are:

• A list of available devices will be shown in the CLI help (draccus will recognize all available devices)
• A device doesn't need to be specified in arguments, it will be recognized even if specified in YAML
• Simpler, fewer changes

[Copilot]

Pull Request Overview

This PR implements lazy loading functionality for robots, cameras, and teleoperators to allow dynamic loading of external modules at runtime. The implementation addresses the limitation that Draccus doesn't natively support lazy loading by parsing command-line arguments and dynamically importing modules when their full module paths are specified.

Key changes:

• Added dynamic module importing capability for robot, camera, and teleoperator configurations
• Modified factory functions to handle full module path types with dynamic instantiation
• Extended config classes to pre-import modules based on command-line arguments

Reviewed Changes

Copilot reviewed 7 out of 7 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
src/lerobot/robots/config.py	Added get_known_choices method to parse command-line args and import robot modules
src/lerobot/robots/utils.py	Extended factory function to handle dynamic module path imports for robots
src/lerobot/cameras/configs.py	Added get_known_choices method to parse command-line args and import camera modules
src/lerobot/cameras/utils.py	Extended factory function to handle dynamic module path imports for cameras
src/lerobot/teleoperators/config.py	Added get_known_choices method to parse command-line args and import teleoperator modules
src/lerobot/teleoperators/utils.py	Extended factory function to handle dynamic module path imports for teleoperators
src/lerobot/teleoperate.py	Minor import addition and removed debug print statements