P.T. question: how to get a list of all existing motors in beamline config (not session) ?

Question from crocodile tomographer: how to get a list of ALL existing motors in beamline config (not session) ?
proposition of lsconfig():

obj_dict = dict()

for name in config.names_list:
    c=config.get_config(name).get('class')
    # print(f"{name}: {c}")  
    if c is None and config.get_config(name).plugin == "emotion":
        c = "Motor"
    try:
        obj_dict[c].append(name)
    except KeyError:
        obj_dict[c] = list()
        obj_dict[c].append(name)

for cc in obj_dict.keys():
    print(f"{cc}: ")

    obj_str = "          "
    while obj_dict[cc]:
        obj_str += obj_dict[cc].pop() + " "
        if len(obj_str ) > 60:
             print(obj_str)
             obj_str = "          "
    print(obj_str)
    print()

example of result:

MeasurementGroup: 
          demo_counters MG_tomo MG_sim MG_gauss MG_align 

MultiplePositions: 
          beamstop att1 

Motor: 
          wl_mono u42c u42b spec_m3 ser0 pzth_enc pzth psho pshg 
          psf psb out1 motor7 motor6 mono mm7 mm6 mm5 mm4 mm3 
          mm2 mm1 mech1 mc2 mc1_enc mc1 mbv4mot m5 m4 m3 m2 m1 
          kbvo kbvg kbho kbhg kb1 ice2 ice1 hpz_rx hpz_off_2 
          hpz_off_1 hppstc2 hppstc1 gal fsh e_mono dummy2 dummy1 
          controller_setting3 controller_setting2 controller_setting1 
          calc_mot blade_up blade_front blade_down blade_back 
          bend_u bend_d 

SimulationCounter: 
          sim_ct_calib_gauss3 sim_ct_calib_gauss2 sim_ct_calib_gauss 
          sim_ct_5 sim_ct_4 sim_ct_3 sim_ct_2 sim_ct_1 ct1 

Session: 
          tutu ttt mmm lll kbtest demo cyril 

simulation_diode: 
          simulated_diode3 simulated_diode2 simulated_diode1 
          savoie diot 

EMH: 
          em 

mockup: 
          simotors simcity kb_simot ene_mono 

FalconX: 
          fx21 

Lima: 
          id21bv1 

keithley428: 
          k3 k2 k1 

Keithley3706: 
          k37dcm 

slits: 
          prim_slits kb_vslits kb_hslits 

MachInfo: 
          mama 

Mechonics: 
          mecho30 

mini: 
          miminamed 

MeanCalcCounterController: 
          my_cc_controller 

SimulatedMCA: 
          simul_mca 

tango_attr_as_counter: 
          wagoid21