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>

test2.py

@@ -0,0 +1,24 @@
+from Robotic_Arm.rm_robot_interface import *
+import numpy
+
+def getPose(handle)->tuple[int,rm_current_arm_state_t]:
+        state = rm_current_arm_state_t()
+        ret = rm_get_current_arm_state(handle, byref(state))
+        return ret,state
+# 运行简化版
+if __name__ == "__main__":
+    rmarm = RoboticArm(rm_thread_mode_e.RM_DUAL_MODE_E)
+    handle = rmarm.rm_create_robot_arm("127.0.0.1", 8800)
+    rmarm.rm_set_arm_run_mode(0)
+    rmarm.rm_movej([15,90,10,80,110,0], 5, 0, 0, 1)
+    ret,pose = getPose(handle)
+    init_pose = numpy.array([
+            pose.pose.position.x, 
+            pose.pose.position.y, 
+            pose.pose.position.z,
+            pose.qu
+        ])
+    init_pose[0]+=0.02
+    print(init_pose)
+    ret = rmarm.rm_movel(init_pose.tolist(),5,50,0,1)
+    print(ret)