bullet-featherstone: Enforce joint velocity and effort limits for velocity control commands

[iche033]

🎉 New feature

Closes #

Summary

Updated SetJointVelocityCommand to enforce joint limits by

• manually clamping velocity cmds
• passing impulse to btMultiBodyJointMotor instead of effort

Added the following features:

• SetJointPositionLimitsFeature
• SetJointVelocityLimitsFeature
• SetJointEffortLimitsFeature

Test it

Enabled tests in joint_features related to testing joint limits using velocity control. There are still issues with force control so those tests remain disabled in bullet-featherstone

Note I added collisions to the simple_joint_test in test.world (used by various joint limit tests) because bullet-featherstone requires a link to have collisions otherwise the joints do not move.

Here's a joint_limits.sdf world that consists of a simple model with JointPositionController

Before: joint limits not enforced so joint rotates at a high speed

After: joint limits enforced

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[azeey]

I haven't tried it out yet, but the code looks good. Just a few minor comments.

[azeey]

Other than the dartsim test being skipped, this looks good to me. I've verified locally that the limits work.

[azeey]

Steve has removed homebrew CI from the required CI checks while the DART fix is in progress. We can go ahead and merge this PR.

comments addressed