Simplify configs (#550)

Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>

lerobot/common/robot_devices/motors/dynamixel.py

@@ -8,6 +8,7 @@ from copy import deepcopy
 import numpy as np
 import tqdm
 
+from lerobot.common.robot_devices.motors.configs import DynamixelMotorsBusConfig
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
 from lerobot.common.utils.utils import capture_timestamp_utc
 
@@ -252,7 +253,6 @@ class JointOutOfRangeError(Exception):
 
 
 class DynamixelMotorsBus:
-    # TODO(rcadene): Add a script to find the motor indices without DynamixelWizzard2
     """
     The DynamixelMotorsBus class allows to efficiently read and write to the attached motors. It relies on
     the python dynamixel sdk to communicate with the motors. For more info, see the [Dynamixel SDK Documentation](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/python_read_write_protocol_2_0/#python-read-write-protocol-20).
@@ -274,10 +274,11 @@ class DynamixelMotorsBus:
     motor_index = 6
     motor_model = "xl330-m288"
 
-    motors_bus = DynamixelMotorsBus(
+    config = DynamixelMotorsBusConfig(
         port="/dev/tty.usbmodem575E0031751",
         motors={motor_name: (motor_index, motor_model)},
     )
+    motors_bus = DynamixelMotorsBus(config)
     motors_bus.connect()
 
     position = motors_bus.read("Present_Position")
@@ -293,23 +294,14 @@ class DynamixelMotorsBus:
 
     def __init__(
         self,
-        port: str,
-        motors: dict[str, tuple[int, str]],
-        extra_model_control_table: dict[str, list[tuple]] | None = None,
-        extra_model_resolution: dict[str, int] | None = None,
-        mock=False,
+        config: DynamixelMotorsBusConfig,
     ):
-        self.port = port
-        self.motors = motors
-        self.mock = mock
+        self.port = config.port
+        self.motors = config.motors
+        self.mock = config.mock
 
         self.model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE)
-        if extra_model_control_table:
-            self.model_ctrl_table.update(extra_model_control_table)
-
         self.model_resolution = deepcopy(MODEL_RESOLUTION)
-        if extra_model_resolution:
-            self.model_resolution.update(extra_model_resolution)
 
         self.port_handler = None
         self.packet_handler = None