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Add joint motors for revolute and prismatic joints #2186

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Run time

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Job	Run time
Check Documentation	2m 19s
Check Minimal Features	2m 22s
Test Suite (macos-latest)	5m 18s
Lints	2m 29s
Test Suite (ubuntu-latest)	5m 34s
Test Suite (windows-latest)	5m 26s
	23m 28s