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Fix velocity scaling factor calculations and support multi-DOF joints in Servo #6081

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Fix velocity scaling factor calculations and support multi-DOF joints in Servo

Fix velocity scaling factor calculations and support multi-DOF joints in Servo #6081

Run time

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Job Run time
rolling-ci + ccov
12m 4s
rolling-ci-testing + ikfast + clang-tidy (delta)
46s
humble-ci
6m 51s
humble-ci-testing
1m 37s
21m 18s