the default constructor alpha value for ChainIkSolverVel_pinv_nso is 0.25, while that type is an int. not 100% sure, but assuming that type should be a double and that the default value is correct
added wrapper for ChainIkSolverVel_wdls, ChainIkSolverVel_pinv_nso and ChainIkSolverVel_pinv_givens
uncommenting broken __repr__ method