Fix repeated application of scale to velocity joint limits

[scharalambous-sony]

• Resolves issue where velocity scale is applied 2x to the velocity joint limits
• Adds a corresponding unit test

[balakumar-s]

Thanks for this fix, let me go through the MR to understand why scale was being applied twice.

[scharalambous-sony]

Thanks for this fix, let me go through the MR to understand why scale was being applied twice.

The reason is that the velocity scale is applied here

curobo/src/curobo/cuda_robot_model/cuda_robot_generator.py

Line 976 in 7196be7

joint_limits["velocity"][0] *= self.cspace.velocity_scale

and here

curobo/src/curobo/cuda_robot_model/types.py

Line 200 in 7196be7

if self.velocity_scale is not None:

[scharalambous-sony]

I have updated the PR with a more foolproof implementation. The clipping and scaling operations are now member functions of JointLimits and we can now keep track of whether they've been already applied