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/feetech.py

@@ -8,6 +8,7 @@ from copy import deepcopy
 import numpy as np
 import tqdm
 
+from lerobot.common.robot_devices.motors.configs import FeetechMotorsBusConfig
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
 from lerobot.common.utils.utils import capture_timestamp_utc
 
@@ -252,10 +253,11 @@ class FeetechMotorsBus:
     motor_index = 6
     motor_model = "sts3215"
 
-    motors_bus = FeetechMotorsBus(
+    config = FeetechMotorsBusConfig(
         port="/dev/tty.usbmodem575E0031751",
         motors={motor_name: (motor_index, motor_model)},
     )
+    motors_bus = FeetechMotorsBus(config)
     motors_bus.connect()
 
     position = motors_bus.read("Present_Position")
@@ -271,23 +273,14 @@ class FeetechMotorsBus:
 
     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: FeetechMotorsBusConfig,
     ):
-        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