1.增加xbox控制器和飞行手柄控制器

2.增加多臂多控制器模式
3.末端姿态由欧拉角控制切换到四元数控制
4.增加vr手柄控制器

Signed-off-by: 1002142102@qq.com <1002142102@qq.com>

robot_client/robots/mix/__init__.py

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+from .robot_mix import MixRobot
+from .config import MixRobotConfig
+__all__ = ["MixRobot", "MixRobotConfig"]

robot_client/robots/mix/config.py

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+from dataclasses import dataclass, field
+from lerobot.robots.config import RobotConfig
+
+@RobotConfig.register_subclass("mix")
+@dataclass
+class MixRobotConfig(RobotConfig):
+    # Port to connect to the arm
+    robotList: dict[str,RobotConfig] = field(default_factory=dict[str,RobotConfig])

robot_client/robots/mix/robot_mix.py

@@ -0,0 +1,98 @@
+import logging
+from functools import cached_property
+import time
+from typing import Any
+from .config import MixRobotConfig
+from lerobot.robots.robot import Robot
+from lerobot.utils.errors import DeviceNotConnectedError
+from lerobot.robots import Robot,make_robot_from_config
+
+logger = logging.getLogger(__name__)
+class MixRobot(Robot):
+    config_class = MixRobotConfig
+    name = "mix"
+    def __init__(self, config: MixRobotConfig):
+        super().__init__(config)
+        self.config = config
+        self.robotList = {}
+        for name,config in self.config.robotList.items():
+            self.robotList[name] = make_robot_from_config(config)
+    @property
+    def _motors_ft(self) -> dict[str, type]:
+        ret = {}
+        for name,robot in self.robotList.items():
+            for pname,motor in robot._motors_ft:
+                pname = pname.replace(".pos", "")
+                ret[f"{pname}_{name}.pos"] = motor
+        return ret
+
+    @property
+    def _cameras_ft(self) -> dict[str, tuple]:
+        ret = {}
+        for name,robot in self.robotList.items():
+            for pname,cam in robot._cameras_ft:
+                ret[f"{pname}.{name}"] = cam
+        return ret
+
+    @cached_property
+    def observation_features(self) -> dict[str, type | tuple]:
+        return {**self._motors_ft, **self._cameras_ft}
+
+    @cached_property
+    def action_features(self) -> dict[str, type]:
+        ret = {}
+        for name,robot in self.robotList.items():
+            for pname,typeVal in robot.action_features.items():
+                ret[f"{name}.{pname}"] = typeVal
+        return ret
+
+    @property
+    def is_connected(self) -> bool:
+        return all([robot.is_connected for robot in self.robotList.values()])
+    
+    def connect(self, calibrate: bool = True) -> None:
+        for name,robot in self.robotList.items():
+            robot.connect(calibrate)
+    
+    @property
+    def is_calibrated(self) -> bool:
+        return all([robot.is_calibrated for robot in self.robotList.values()])
+    
+    def calibrate(self) -> None:
+        pass
+    
+    def configure(self) -> None:
+        pass
+    
+    def setup_motors(self) -> None:
+        pass
+
+    def get_observation(self) -> dict[str, Any]:
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+        obs_dict = {}
+        for name,robot in self.robotList.items():
+            obs_dict.update({f"{name}.{kname}":item for kname,item in robot.get_observation().items()})
+        return obs_dict
+    
+    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+        dic = {}
+        for key,value in action.items():
+            name = key.split(".")[0]
+            if name not in dic:
+                dic[name] = {}
+            dic[name][key.removeprefix(name+".")] = value
+
+        for dname,dvalue in dic.items():
+            if dname not in self.robotList:
+                continue
+            self.robotList[dname].send_action(dvalue)
+
+    def disconnect(self):
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        for name,robot in self.robotList.items():
+            robot.disconnect()