upload real-robot deployment code

unitree_deploy/docs/add_robot_camera.md

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+# How to build your own cameras
+
+### Define your own config for cameras (unitree_deploy/robot_devices/cameras/config.py)
+
+```python
+@CameraConfig.register_subclass("opencv") # Define and wrap your own cameras. Here use def __init__(self, config: OpenCVCameraConfig):
+@dataclass
+class OpenCVCameraConfig(CameraConfig):
+    """
+    Example of tested options for Intel Real Sense D405:
+
+    OpenCVCameraConfig(0, 30, 640, 480)
+    OpenCVCameraConfig(0, 60, 640, 480)
+    OpenCVCameraConfig(0, 90, 640, 480)
+    OpenCVCameraConfig(0, 30, 1280, 720)
+
+    """
+    # Define the required camera parameters
+    camera_index: int
+    fps: int | None = None
+    width: int | None = None
+    height: int | None = None
+    color_mode: str = "rgb"
+    channels: int | None = None
+    rotation: int | None = None
+    mock: bool = False
+
+    def __post_init__(self):
+        if self.color_mode not in ["rgb", "bgr"]:
+            raise ValueError(
+                f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided."
+            )
+
+        self.channels = 3
+
+        if self.rotation not in [-90, None, 90, 180]:
+            raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})")
+
+# Default parameters go first [parameters that need to be customized],
+# Non-default parameters go later [fixed parameters]
+```
+
+### Description of methods in your cameras class (unitree_deploy/robot_devices/cameras/utils.py)
+
+```python
+# Base class for cameras, extensible with required methods
+
+class Camera(Protocol):
+    def connect(self): ...
+    def read(self, temporary_color: str | None = None) -> np.ndarray: ...   # Single-threaded reading
+    def async_read(self) -> np.ndarray: ...                                 # Multi-threaded
+    def disconnect(self): ...
+```
+
+How can external modules implement calls? Use **make_cameras_from_configs [based on configuration files]** to construct the `UnitreeRobot` class.  
+**make_camera [based on camera_type]** is generally used for external module loading.
+
+### Implementation of the `camera` class (unitree_deploy/robot_devices/camera/.../....py)
+
+```python
+    # These need to be completed, focusing on implementing these two parts
+    def read(self, temporary_color: str | None = None) -> np.ndarray: ...   # Single-threaded reading
+    def async_read(self) -> np.ndarray: ...                                 # Multi-threaded
+```
+
+All cameras use threading to implement `async_read` for internal read and write operations.