Modify Ignition door plugin to enable simulations with both TPE and default physics engines #278
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Direction of Linear Vel Cmd is relative to coordinate frame defined by original pose of the link + its current pose.
…type` Ensures calculated position can be negative as well
Removes need to save door type field in DoorCommon::DoorElement struct
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Uses link-level
LinearVelocityCmds andAngularVelocityCmds to mimic motion of the joints. The code for TPE is slightly more complicated because we need to take care of things like reference frames, command directions and discontinuities in rotation angle, which were previously automatically taken care of by the joints.Depends on gazebosim/gz-sim#427, so this may need to be updated depending on what gets changed in that pull request.