Unify BehaviorRobot into floating-base robot paradigm (e.g. Tiago), perhaps through common base class

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Unify BehaviorRobot into floating-base robot paradigm (e.g. Tiago), perhaps through common base class #883

Open cgokmen opened 2 months ago

cgokmen commented 2 months ago

The BehaviorRobot behaves differently from the Tiago robot: Tiago keeps the real base link at the origin, but the BehaviorRobot moves it. We should unify. We should also get rid of the BRPart system as much as possible.

ChengshuLi commented 2 months ago

The command / control limits of the 6 DoF torso / arm / head joints are also wrong - the 3 DoF orientation should have range [-2 pi, 2 pi] rather than [-1000, 1000]. Currently robot_control_example.py is broken for BehaviorRobot.