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/utils.py

@@ -1,5 +1,16 @@
 from typing import Protocol
 
+from lerobot.common.robot_devices.robots.configs import (
+    AlohaRobotConfig,
+    KochBimanualRobotConfig,
+    KochRobotConfig,
+    ManipulatorRobotConfig,
+    MossRobotConfig,
+    RobotConfig,
+    So100RobotConfig,
+    StretchRobotConfig,
+)
+
 
 def get_arm_id(name, arm_type):
     """Returns the string identifier of a robot arm. For instance, for a bimanual manipulator
@@ -19,3 +30,36 @@ class Robot(Protocol):
     def capture_observation(self): ...
     def send_action(self, action): ...
     def disconnect(self): ...
+
+
+def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
+    if robot_type == "aloha":
+        return AlohaRobotConfig(**kwargs)
+    elif robot_type == "koch":
+        return KochRobotConfig(**kwargs)
+    elif robot_type == "koch_bimanual":
+        return KochBimanualRobotConfig(**kwargs)
+    elif robot_type == "moss":
+        return MossRobotConfig(**kwargs)
+    elif robot_type == "so100":
+        return So100RobotConfig(**kwargs)
+    elif robot_type == "stretch":
+        return StretchRobotConfig(**kwargs)
+    else:
+        raise ValueError(f"Robot type '{robot_type}' is not available.")
+
+
+def make_robot_from_config(config: RobotConfig):
+    if isinstance(config, ManipulatorRobotConfig):
+        from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
+
+        return ManipulatorRobot(config)
+    else:
+        from lerobot.common.robot_devices.robots.stretch import StretchRobot
+
+        return StretchRobot(config)
+
+
+def make_robot(robot_type: str, **kwargs) -> Robot:
+    config = make_robot_config(robot_type, **kwargs)
+    return make_robot_from_config(config)