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/teleoperators/mix/mix.py

@@ -0,0 +1,64 @@
+import queue
+import threading
+import pygame
+import time
+import sys
+from  lerobot.teleoperators import Teleoperator,make_teleoperator_from_config
+from .config import MixConfig
+"""
+混合控制器。
+"""
+class Mix(Teleoperator):
+    config_class = MixConfig
+    name = "mix"
+    def __init__(self, config: MixConfig):
+        self.config = config
+        self.teleopList = {}
+        for name,teleop in self.config.teleopList.items():
+            self.teleopList[name] = make_teleoperator_from_config(teleop)
+    @property
+    def action_features(self):
+        action_features = {}
+        for name,teleop in self.teleopList.items():
+            for i,item in enumerate(teleop.action_features()["names"].keys()):
+                action_features[f"{name}.{item}"] = i
+        return {
+            "dtype": "float32",
+            "shape": (len(action_features),),
+            "names": action_features,
+        }
+
+    @property
+    def feedback_features(self):
+        return {}
+
+    @property
+    def is_connected(self):
+        return all([teleop.is_connected for teleop in self.teleopList.values()])
+
+    def connect(self, calibrate = True):
+        for teleop in self.teleopList.values():
+            teleop.connect(calibrate)
+    @property
+    def is_calibrated(self):
+        return True
+
+    def calibrate(self):
+        return all([teleop.calibrate() for teleop in self.teleopList.values()])
+
+    def configure(self):
+        pass
+
+    def get_action(self):
+        data = {}
+        for index,teleop in self.teleopList.items():
+            for key,item in teleop.get_action().items():
+                data[f"{index}.{key}"] = item
+        return data
+
+    def send_feedback(self, feedback):
+        pass
+
+    def disconnect(self):
+        for teleop in self.teleopList.values():
+            teleop.disconnect()