Add hand joints tf publishing functionality#3

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W567 wants to merge 21 commits intorail-berkeley:mainfrom W567:dev

+633-25

Commits on Dec 6, 2023

[visualize_oculus_transforms.py] check if matrix is invertible before inverting to avoid problem caused by singular matrix when no hand is detected
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Commits on Dec 13, 2023

[OculusTeleop.cpp] get finger joint pose only if hands are tracked instead of controllers
W567
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[reader/visualize_oculus_transforms] stop publishing joint tf when controllers are tracked
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[visualize_oculus_transforms.py] separately publish button data to each of the corresponding ros topic
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Commits on Dec 24, 2023