direct and residual movement inconsistency fixed

simulation.py

@@ -85,7 +85,7 @@ class Simulation:
                 force=30,
                 physicsClientId=self.physics_client
             )
-
+            
     def hard_reset_joint_angles(self, target_angles: Union[np.ndarray, dt.RadArray]) -> None:
         """Instantly teleports joint angles to target positions, clearing velocity state."""
         radflat = target_angles.data.flatten() if isinstance(target_angles, dt.RadArray) else target_angles.flatten()