Added DART feature for setting joint limits dynamically.

[peci1]

🎉 New feature

Closes #96

Summary

Added features SetJointPositionLimitsCommandFeature, SetJointVelocityLimitsCommandFeature, SetJointEffortLimitsCommandFeature which allow runtime changes to joint limits.

The only thing that doesn't work as expected is setting a position limit and controlling the joint via velocity commands - the joint will slow down when violating the limit, but not stop. This is a reported DART issue: dartsim/dart#1583 . I at least tried to detect the situations when the bug affects the ign-physics behavior and issue an error that an effort limit should be set for the joint - this is a workaround for the bug (but there is no single thershold that would work for all cases, so I left the setting to the user).

Until gazebo-forks/dart#26 is out, some tests may be failing because limits are not respected. But I'd say this PR is kind of independent and can be merged even before the DART update (maybe temporarily disabling the failing tests). The tests known to fail with older DART and succeed with newer DART are JointSetVelocityLimitsWithForceControl and JointSetCombinedLimitsWithForceControl.

Test it

Automated tests were added. See the tests.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• 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

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[peci1]

Followup ign-gazebo PR: gazebosim/gz-sim#847 .

[peci1]

Example usage here: osrf/subt#948 .

[chapulina]

Until gazebo-forks/dart#26 is out, some tests may be failing because limits are not respected.

I'm in favor of getring the release out before merging this so we can get it in with all the successful tests 👍

[codecov]

Codecov Report

Merging #260 (f1d9269) into ign-physics3 (c788a0d) will decrease coverage by 0.19%.
The diff coverage is 63.52%.

❗ Current head f1d9269 differs from pull request most recent head 4984cec. Consider uploading reports for the commit 4984cec to get more accurate results

@@               Coverage Diff                @@
##           ign-physics3     #260      +/-   ##
================================================
- Coverage         74.63%   74.43%   -0.20%     
================================================
  Files               115      115              
  Lines              4703     4788      +85     
================================================
+ Hits               3510     3564      +54     
- Misses             1193     1224      +31     

Impacted Files	Coverage Δ
dartsim/src/JointFeatures.cc	63.42% <49.18%> (-4.44%)	⬇️
include/ignition/physics/detail/Joint.hh	100.00% <100.00%> (ø)

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[azeey]

LGTM! Just a few minor comments.

[peci1]

Thanks for the review. I addressed all issues.