Tiago inconsistency joint states and actuation

[maxspahn]

The tiago robot consists of several joints that can be roughly split into the following groups:

• base, actuation: forward velocity, angular velocity, states: x, y, theta
• torso, actuation: prismatic torso joint, states: torso_position
• right arm, actuation: 7 revolute joints, states: 7 joint poisitions
• left arm, actuation: 7 revolute joints, states: 7 joint positions
• head, actuation: 2 revolute joints, states: 2 joint positions

The ordering in the actuations and observation is different.
It must be consistent for many motion planners:
I suggest the following order: base, torso, arm_1, arm_2, head