Bugs in BehaviorRobot (can't merge now because it will break determinism)

[ChengshuLi]

• We should add self.get_orientation() in the end as well. https://github.com/fxia22/iGibson/blob/d7414e5170a54d1cd92dc3ab528718f6d11484b8/gibson2/robots/behavior_robot.py#L323-L324
• Hand / head action space - linear/angular velocity should be w.r.t the body frame
• Allowed per-timestep offset 1) is too high for RL agent (maybe that's okay, we need to accommodate fast-moving human), 2) should depend on action frequency (the offset should be smaller if action frequency is higher)
• Currently the effect of twist is only approximated by p.getQuaternionFromEuler(delta_orn) and local_pos += delta_pos. The way to compute the exact value can be found in my HW1 of CS336.

[fxia22]

also add the trig_frac bug for bookkeeping purposes. https://github.com/fxia22/iGibson/commit/8c1ec28af8e8ff37575fbef739657126ff86d3ab