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/utils.py

@@ -1,5 +1,11 @@
 from typing import Protocol
 
+from lerobot.common.robot_devices.motors.configs import (
+    DynamixelMotorsBusConfig,
+    FeetechMotorsBusConfig,
+    MotorsBusConfig,
+)
+
 
 class MotorsBus(Protocol):
     def motor_names(self): ...
@@ -8,3 +14,40 @@ class MotorsBus(Protocol):
     def revert_calibration(self): ...
     def read(self): ...
     def write(self): ...
+
+
+def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig]) -> list[MotorsBus]:
+    motors_buses = {}
+
+    for key, cfg in motors_bus_configs.items():
+        if cfg.type == "dynamixel":
+            from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
+
+            motors_buses[key] = DynamixelMotorsBus(cfg)
+
+        elif cfg.type == "feetech":
+            from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
+
+            motors_buses[key] = FeetechMotorsBus(cfg)
+
+        else:
+            raise ValueError(f"The motor type '{cfg.type}' is not valid.")
+
+    return motors_buses
+
+
+def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
+    if motor_type == "dynamixel":
+        from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
+
+        config = DynamixelMotorsBusConfig(**kwargs)
+        return DynamixelMotorsBus(config)
+
+    elif motor_type == "feetech":
+        from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
+
+        config = FeetechMotorsBusConfig(**kwargs)
+        return FeetechMotorsBus(config)
+
+    else:
+        raise ValueError(f"The motor type '{motor_type}' is not valid.")