[feature] dual arm working simulation - DRAFT

[adeeb10abbas]

• Still requires better code organization

Summary by CodeRabbit

• Chores

  • Updated .gitignore to enhance build configuration by refining file exclusion patterns.

• New Features

  • Enhanced the avatar hand controller with new import dependencies for improved functionality.

• Refactor

  • Modified the HandControllerAvatar class initialization method and variable naming for better clarity and performance.
  • Improved logic for stiffness calculation and joint expansion methods in the avatar hand controller.

• Documentation

  • No visible changes to end-user documentation.

• Bug Fixes

  • Adjusted the physical properties of the table top in the simulation environment to reflect a more realistic mass and inertia.

[coderabbitai[bot]]

Walkthrough

The project has undergone a significant update, with changes to build configurations, Python controller logic, and simulation model properties. The .gitignore file now better filters build artifacts, the Python controller for an avatar hand has been refactored with new imports and updated logic, and the simulation model's mass and inertia have been adjusted to reflect a heavier and more complex object.

Changes

File Path	Summary
.gitignore	Added exclusion for **/logs and modified bazel-* pattern.
controllers/.../impedance_controller_avatar_hand.py	Updated imports, refactored __init__ method, renamed variables, and modified logic for stiffness and joint expansion.
data/avatar/.../table_top.sdf	Increased object mass from 10 to 20 and added inertia elements in the <inertial> section.

Poem

🐇✨ In the code's burrow, deep and vast,
Changes made, the die is cast.
From Python's grip to models grand,
A rabbit's touch, a guiding hand.
🌟📜

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