Ackermann Chassis set_pose Disrupts Physics Simulation

[Gamenot]

set_pose() seems like a reasonable call but it will not work unless the vehicle chassis is a box model at current, and the Ackermann chassis is the standard for agents. This is a problem since the call in the Ackermann chassis goes down to bullet_client.resetBasePositionAndOrientation() which disrupts the bullet simulation and causes collision filtering artefacts.

The main issue here is that bullet_client.resetBasePositionAndOrientation() teleports the physics body rather than moving it. That body then has no velocity and has had no forces applied to it. So the teleported body cannot collide with another object unless that other object is moving towards it since collision requires the two bodies to have velocity towards the other.

Related: #400 (comment)_

[Gamenot]

Fixed by calling BoxChassis.control(<pose>, <speed>).

[Gamenot]

#485 fixes the problem