use pelvis to define origin of box atlas model #1
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@ethanweber I realized as I was working on the Julia controller that it would be much easier to interface between full atlas and box atlas if we used the pelvis (basically the center of the robot's torso) instead of the center of mass to define the "origin" of the box-atlas model. I also switched the fake joint angles from world coordinates to relative, so they now describe the positions of the hands and feet relative the the robot's origin rather than the world frame.
Do these changes all seem reasonable to you?