feat: add gamepad control

[zzzyishi]

What does this PR do?

This PR adds complete gamepad teleoperation support to the VLA project. The implementation covers frontend browser‑based gamepad input collection, WebSocket communication, a backend device abstraction layer, a strategy mapping layer, and seamless integration with the existing training/inference pipeline.

Key Features

• Full gamepad support: Supports standard gamepads, automatic detection of connection/disconnection, and low‑latency input acquisition.
• 6‑DoF control:
  • Position: Left joystick controls X/Y axes; right joystick Y‑axis controls Z.
  • Rotation: Right joystick X‑axis controls Yaw; D‑Pad controls Roll and Pitch.
  • Gripper: X button toggles gripper open/close.
• Intervention mode: RT button activates intervention (hold‑to‑engage). When pressed, gamepad commands override model outputs.

Button Mapping

Button / Axis	Function
Left Stick Up / Down	+x / -x
Left Stick Left / Right	+y / -y
Right Stick Up / Down	+z / -z
Right Stick Left / Right	+Yaw / -Yaw
D‑Pad Up / Down	+Pitch / -Pitch
D‑Pad Left / Right	+Roll / -Roll
X Button	Gripper toggle
RT Button	Intervention (hold)

Configuration

In rob_sac_env.yaml:

gamepad:
  pos_sensitivity: 0.5
  rot_sensitivity: 1.0
  intervention_button: RT
  gripper_button: X
  button_threshold: 0.5
  left_stick_x_axis: axis_0
  left_stick_y_axis: axis_1
  right_stick_y_axis: axis_3
  right_stick_x_axis: axis_2
  dpad_up_button: DUp
  dpad_down_button: DDown
  dpad_left_button: DLeft
  dpad_right_button: DRight

In teleop/config.py:

class GamepadTeleopConfig:
    pos_sensitivity: float = 0.5
    rot_sensitivity: float = 1.0
    intervention_button: str = "RT"
    gripper_button: str = "X"
    button_threshold: float = 0.5
    max_events: int = 256
    left_stick_x_axis: str = "axis_0"
    left_stick_y_axis: str = "axis_1"
    right_stick_y_axis: str = "axis_3"
    right_stick_x_axis: str = "axis_2"
    dpad_up_button: str = "DUp"
    dpad_down_button: str = "DDown"
    dpad_left_button: str = "DLeft"
    dpad_right_button: str = "DRight"

[gemini-code-assist]

Code Review

This pull request introduces gamepad teleoperation support, adding a new GamepadDevice, a frontend JS handler, and a LiberoGamepadStrategy to map gamepad inputs to robot actions. The review feedback highlights several critical issues, including a reversed direction bug on the Left Stick Y-axis, state collisions and WebSocket flooding when multiple gamepads are connected, potential AttributeError crashes due to missing payload keys, misleading key binding descriptions, and an anti-pattern of swallowing exceptions during event draining.

Important

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