Joint velocity controller does not disengage with bullet-featherstone

[scpeters]

Environment

• OS Version: macOS
• Source or binary build? gz-sim9 from source (38e27ab)

Description

• Expected behavior: I created an example for how to control joints using different components in Add example about using joint control components #2728. I expect this example to work the same way that it does with dartsim when launched with --physics-engine gz-physics-bullet-featherstone-plugin
• Actual behavior: With bullet-featherstone the velocity controllers never disengage, even if the JointForceCmd is set.

Steps to reproduce

1. Build example from Add example about using joint control components #2728
2. Launch using its README instructions with --physics-engine gz-physics-bullet-featherstone-plugin
3. Unpause simulation
4. Expect middle and right pendulums to fall when constant velocity pulse is in its off cycle.

Output

Dartsim behavior:

example_joint_control_commands_dartsim.mov

Bullet-featherstone behavior:

example_joint_control_components_bullet.mov

[iche033]

gazebosim/gz-physics#713 should make the bullet-featherstone joint behavior consistent with dartsim