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Fix Nans from RevoluteJoint::angle() (#736) #1232

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Run time

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Job	Run time
build-native	16m 15s
build-wasm	1m 1s
build-wasm-emscripten	1m 47s
check-fmt	6s
doc	58s
publish-dry-run	6m 15s
typos	4s
	26m 26s