[Servo] Use velocity scaling properly in Cartesian and pose tracking commands

[sea-bass]

Description

This PR seeks to apply max linear/angular velocity scaling properly in the Cartesian and pose tracking commands. Specifically:

• Max linear/angular speeds were not being honored at all in Cartesian mode; they were just used for unitless command scaling
• Important: In pose tracking mode, even if a pose was far away, no efforts were made to limit the speed at that pose. The Cartesian delta was whatever joint angle difference was computed between the current state and target pose IK solution.
• Singularity scaling was only applied in Cartesian, but not Pose tracking mode (probably an oversight)

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[sea-bass]

@ibrahiminfinite give this a look if you can?

[ibrahiminfinite]

sure !

[rhaschke]

LGTM

[sjahr]

Thanks! On small comment then we can merge this

[ibrahiminfinite]

Scaling looks right to me.

[sea-bass]

I've been periodically rerunning CI with these scaled down speeds and so far haven't encountered any test failures. Maybe this PR will help with #3005 after all.

EDIT: Just kidding, saw the flake just now 😭