[feature] basic ros teleop mimic

[adeeb10abbas]

Tested with simulated and real trajectories (collected via the rdda_interface for the gloves)

• The Keyboard teleop functionality is still incomplete.
• Skip any code reviews, this is just to get basic functionality merged in
• Added a control flow diagram in the readme for easy understanding of what's happening behind the scenes.

Summary by CodeRabbit

• Documentation
  • Updated README with hardware setup instructions, software documentation, and control flow diagram.
• New Features
  • Added functionality for defining and building Python modules and binaries for a robotics simulation environment.
  • Introduced AvatarDrakeEnv class for controlling an avatar using the Drake framework.
  • Increased subscription timeout and added new methods for data retrieval in ros_teleop_data_receiver_py.py.
  • Added script for initializing ROS 2 and printing simulated data in test_ros_node.py.
  • Added opencv-python package to requirements for image processing.
  • Introduced utility functions for teleoperation in teleop_utils.py.
• Refactor
  • Moved AvatarDrakeEnv class to a separate file and modified the main function in avatar_dual_arm_py.py.
• Chores
  • Updated dependencies in utils/BUILD.bazel.

[coderabbitai[bot]]

Walkthrough

The changes encompass the introduction of functionality for robotics simulation, adjustments in ROS node subscriptions, addition of computer vision capabilities, reorganization of code structure, and the inclusion of utility functions for teleoperation.

Changes

File	Summary
README.md	Added instructions for running hardware, a YouTube link, software documentation, and a control flow diagram.
envs/BUILD.bazel, envs/avatar_drake_env.py	Introduced Python modules and binaries for robotics simulation, including the AvatarDrakeEnv class.
nodes/ros_teleop_data_receiver_py.py, nodes/test_ros_node.py	Enhanced ROS node subscriptions and added script for printing simulated data.
requirements.in	Added opencv-python package for computer vision.
simulate/BUILD.bazel, simulate/avatar_dual_arm_py.py	Updated simulation dependencies and restructured code for simulation.
utils/BUILD.bazel, utils/teleop_utils.py	Introduced teleop_utils library with utility functions for teleoperation and VR input processing.

Poem

In code we weave, with changes grand, A rabbit's touch, across the land. New paths unfold, in lines and strings, A dance of bytes, where wonder sings. 🐇✨

[!NOTE]

Pull Request Summarized by CodeRabbit Free

Your organization is on the Free plan. CodeRabbit will generate a high-level summary and a walkthrough for each pull request. For a comprehensive line-by-line review, please upgrade your subscription to CodeRabbit Pro by visiting

---

Tips

### Chat with CodeRabbit Bot (`@coderabbitai`) - You can directly reply to a review comment made by CodeRabbit. Example: - _I pushed a fix in commit ``._ - You can tag CodeRabbit on specific lines of code or entire files in the PR by tagging `@coderabbitai` in a comment. Examples: - _@coderabbitai generate unit tests for this file_ - _@coderabbitai modularize this function_ - You can tag `@coderabbitai` in a PR comment and ask questions about the PR and the codebase. Use quoted replies to pass the context for follow-up questions. Examples: - _@coderabbitai render interesting statistics about this repository as a table_. - _@coderabbitai show all the `console.log` statements in this repository_. - _@coderabbitai generate unit tests for the `src/utils.ts` file_. ### CodeRabbit Commands (invoked as PR comments) - `@coderabbitai pause` to pause the reviews on a PR. - `@coderabbitai resume` to resume the paused reviews. - `@coderabbitai review` to trigger a review. This is useful when automatic reviews are disabled for the repository. - `@coderabbitai resolve` resolve all the CodeRabbit review comments. - `@coderabbitai help` to get help. Additionally, you can add `@coderabbitai ignore` anywhere in the PR description to prevent this PR from being reviewed. ### CodeRabbit Configration File (`.coderabbit.yaml`) - You can programmatically configure CodeRabbit by adding a `.coderabbit.yaml` file to the root of your repository. - The JSON schema for the configuration file is available [here](https://coderabbit.ai/integrations/coderabbit-overrides.v2.json). - If your editor has YAML language server enabled, you can add the path at the top of this file to enable auto-completion and validation: `# yaml-language-server: $schema=https://coderabbit.ai/integrations/coderabbit-overrides.v2.json` ### CodeRabbit Discord Community Join our [Discord Community](https://discord.com/invite/GsXnASn26c) to get help, request features, and share feedback.