Remove odometry data from mobile robot state

[shantanuparab-tr]

Summary

Removed odometry position data (x, y, theta) from the Trossen AI Mobile robot state representation, retaining only velocity-based information.

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Changes

• Removed "odom_x", "odom_y", and "odom_theta" from state_names in the motor_features property
• Removed corresponding odometry readings from the read_base method
• Simplified state representation to include only "linear_vel" and "angular_vel" in addition to arm motor names

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Motivation

This change was made to:

• Avoid issues related to the odometry mapping bug that caused inconsistencies in state representation
• Standardize the dataset format across all mobile platforms by using a consistent velocity-based base state

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Validation

The change was validated by:

• Replaying both recorded actions and observations from a collected dataset
• Verifying that the robot exhibited identical behavior after the modification

This confirms that the action space remains consistent with the observation space and that removing absolute odometry values does not alter functional behavior.

[Copilot]

Pull request overview

This PR updates the Trossen AI Mobile robot’s state representation to remove absolute odometry (x, y, theta) and keep only velocity-based base state, aligning mobile platform datasets around a consistent base signal.

Changes:

• Removed odom_x, odom_y, odom_theta from motor_features()["observation.state"].names.
• Removed odometry fields from get_base_state() so it returns only linear_vel and angular_vel.

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[shantanuparab-tr]

@copilot open a new pull request to apply changes based on the comments in this thread

[Copilot]

@shantanuparab-tr I've opened a new pull request, #67, to work on those changes. Once the pull request is ready, I'll request review from you.