[Enhancement] - Refactor Atama

[FaaizHaikal]

Jira Link:

Description

• Fix head scanning functions and mode
• Fix tracking object calculations
• Disable updating the head data from the tachimawari current_joints, as this causes the robot's head to stutter when tracking object

Type of Change

• Bugfix
• Enhancement
• New feature
• Breaking change (fix or feature that would cause the existing functionality to not work as expected)

How Has This Been Tested?

• New unit tests added.
• Manual tested.

Checklist:

• Using Branch Name Convention
  • feature/JIRA-ID-SHORT-DESCRIPTION if has a JIRA ticket
  • enhancement/SHORT-DESCRIPTION if has/has no JIRA ticket and contain enhancement
  • hotfix/SHORT-DESCRIPTION if the change doesn't need to be tested (urgent)
• I have commented on my code, particularly in hard-to-understand areas.
• I have made the documentation for the corresponding changes.