Add bi-gamepad teleop + quick reset support for bimanual garment manipulation task

[Reza2kn]

Title
Add bi-gamepad teleop + quick reset support for bimanual garment manipulation task

Description

Summary

This PR adds gamepad teleoperation for the bimanual garment task and improves teleop usability/stability for data collection workflows.

What’s included

• Added new bi-gamepad teleop device:
  • File: source/lehome/lehome/devices/gamepad/bi_gamepad.py
  • Export: source/lehome/lehome/devices/gamepad/__init__.py
• Wired bi-gamepad into device selection and parser choices:
  • scripts/utils/parser.py
  • scripts/utils/dataset_record.py
  • source/lehome/lehome/devices/__init__.py
• Action pipeline support for gamepad/vision bi-arm relative control:
  • source/lehome/lehome/devices/action_process.py
• Quick reset callback support in teleop loop:
  • Keyboard R
  • Gamepad VIEW/BACK
  • Handled in idle/live/recording phases
  • scripts/utils/dataset_record.py
• Keyboard robustness improvements for bi-keyboard key handling and compatibility:
  • source/lehome/lehome/devices/keyboard/bi_keyboard.py
• Included bi-gamepad and bi-vision in gripper effort reset path:
  • source/lehome/lehome/utils/env_utils.py

Gamepad control model (current)

• Split bimanual control (left controls left arm, right controls right arm)
• Gripper:
  • Left: L2 close / L1 open
  • Right: R2 close / R1 open
• Wrist flex + rotation separation with combos:
  • Right: X/B (Square/Circle on PS) for wrist flex, R1 + X/B for wrist rotation
  • Left: D-pad Left/Right for wrist flex, L1 + D-pad Left/Right for wrist rotation
• Start control:
  • Gamepad START/MENU or keyboard B
• Quick reset:
  • Gamepad VIEW/BACK or keyboard R

Notes

• This PR focuses on teleop input behavior and workflow control.
• No cloth/physics parameters were intentionally modified as part of this PR.
• CPU mode remains recommended for garment physics stability in current challenge setup.

Validation performed

• Local teleop runtime verification for:
  • bi-keyboard start/control/reset
  • bi-gamepad start/control/reset
  • side-correct bimanual mapping and wrist/gripper combos
• Python syntax checks for modified modules (py_compile)

Potential follow-ups (separate PRs)

• Optional per-controller preset profiles (PS/Xbox naming differences)
• Optional calibration utility for axis inversion/deadzone tuning via CLI flags