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Add joint motors for revolute and prismatic joints #2182

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Run time

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Job	Run time
Check Documentation	2m 15s
Lints	2m 29s
Test Suite (macos-latest)	28m 57s
Test Suite (windows-latest)	41m 25s
Test Suite (ubuntu-latest)	20m 8s
Check Minimal Features	2m 8s
	1h 37m 22s