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/robots/stretch.py

@@ -15,23 +15,14 @@
 # limitations under the License.
 
 import time
-from dataclasses import dataclass, field, replace
+from dataclasses import replace
 
 import torch
 from stretch_body.gamepad_teleop import GamePadTeleop
 from stretch_body.robot import Robot as StretchAPI
 from stretch_body.robot_params import RobotParams
 
-from lerobot.common.robot_devices.cameras.utils import Camera
-
-
-@dataclass
-class StretchRobotConfig:
-    robot_type: str | None = "stretch"
-    cameras: dict[str, Camera] = field(default_factory=lambda: {})
-    # TODO(aliberts): add feature with max_relative target
-    # TODO(aliberts): add comment on max_relative target
-    max_relative_target: list[float] | float | None = None
+from lerobot.common.robot_devices.robots.configs import StretchRobotConfig
 
 
 class StretchRobot(StretchAPI):
@@ -40,11 +31,12 @@ class StretchRobot(StretchAPI):
     def __init__(self, config: StretchRobotConfig | None = None, **kwargs):
         super().__init__()
         if config is None:
-            config = StretchRobotConfig()
-        # Overwrite config arguments using kwargs
-        self.config = replace(config, **kwargs)
+            self.config = StretchRobotConfig(**kwargs)
+        else:
+            # Overwrite config arguments using kwargs
+            self.config = replace(config, **kwargs)
 
-        self.robot_type = self.config.robot_type
+        self.robot_type = self.config.type
         self.cameras = self.config.cameras
         self.is_connected = False
         self.teleop = None