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Add joint motors for revolute and prismatic joints #2183

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Run time

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Job	Run time
Check Minimal Features	2m 11s
Check Documentation	2m 30s
Test Suite (windows-latest)	41m 29s
Test Suite (ubuntu-latest)	20m 14s
Test Suite (macos-latest)	29m 35s
Lints	2m 31s
	1h 38m 30s