Improve control robot ; Add process to configure motor indices (#326)

Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

lerobot/configs/robot/koch.yaml

@@ -0,0 +1,39 @@
+_target_: lerobot.common.robot_devices.robots.koch.KochRobot
+calibration_path: .cache/calibration/koch.pkl
+leader_arms:
+  main:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    port: /dev/tty.usbmodem575E0031751
+    motors:
+      # name: (index, model)
+      shoulder_pan: [1, "xl330-m077"]
+      shoulder_lift: [2, "xl330-m077"]
+      elbow_flex: [3, "xl330-m077"]
+      wrist_flex: [4, "xl330-m077"]
+      wrist_roll: [5, "xl330-m077"]
+      gripper: [6, "xl330-m077"]
+follower_arms:
+  main:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    port: /dev/tty.usbmodem575E0032081
+    motors:
+      # name: (index, model)
+      shoulder_pan: [1, "xl430-w250"]
+      shoulder_lift: [2, "xl430-w250"]
+      elbow_flex: [3, "xl330-m288"]
+      wrist_flex: [4, "xl330-m288"]
+      wrist_roll: [5, "xl330-m288"]
+      gripper: [6, "xl330-m288"]
+cameras:
+  laptop:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 0
+    fps: 30
+    width: 640
+    height: 480
+  phone:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 1
+    fps: 30
+    width: 640
+    height: 480