86 propagate set target velocity and set target torque

[askuric]

So I've gone through the velocity kinematics equations and made a few corrections

• Jacobian calculation had some errors
• Inverse and forward velocity calculations were inversed

I've verified that they calculate good values and implemented a closed-loop example in python numerical_ik.ipynb.

The set target vecloity and torque are implemented and propagated to the python code and C code:

• bind in C_API
• bind in python
• bind in HWI - EDIT 23.10.2025.

The only thing left is to propagate them to the HWI.

IMPORTANT: the torque values are still in milliamps not in Nm (we should provide a way to configure this relationship - maybe in the config files)

[askuric]

I've tested the axis inversion support in the code and it seems to work.
But its a mess!
Both in terms of how it's manged in the code and consistency between the function calls.
This should definitely be refactored!
For now, I've added the necessary steps to for it to work, but its not pretty.

[SteveNguyen]

I've tested the axis inversion support in the code and it seems to work. But its a mess! Both in terms of how it's manged in the code and consistency between the function calls. This should definitely be refactored! For now, I've added the necessary steps to for it to work, but its not pretty.

Sorry... It was not trivial.

[SteveNguyen]

Merged along with hwi update