feat: 对接Python，暴露接口

config/omnisocket_demo.yaml

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+transport:
+  server_addr: "127.0.0.1:10909"
+  relay_via: ""
+  bind_ip: ""
+  bind_device: ""
+
+control_sender:
+  peer_id: "peer-a-ctrl"
+  target_peer: "peer-b-ctrl"
+  joy_topic: "/xbox_data"
+  deadzone: 0.10
+  analog_epsilon: 0.01
+  dpad_threshold: 0.50
+  trigger_pressed_threshold: -0.50
+
+control_receiver:
+  peer_id: "peer-b-ctrl"
+
+motion:
+  initial_lift: 0.89
+  lift_step: 0.05
+  max_surge: 1.0
+  max_sway: 0.5
+  max_spin: 0.5
+  max_lift: 0.90
+  min_lift: 0.65
+  surge_step: 0.1
+  sway_step: 0.1
+  spin_step: 0.1
+
+video_sender:
+  peer_id: "peer-b-video"
+  target_peer: "peer-a-video"
+  frame_bytes: 30720
+  frame_interval_ms: 66
+
+video_receiver:
+  peer_id: "peer-a-video"
+  # recv_into() requires a buffer large enough for the whole frame.
+  # If buffer_bytes is smaller than video_sender.frame_bytes, the oversize frame is dropped.
+  buffer_bytes: 65536