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Add joint motors for revolute and prismatic joints #2187

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Run time

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Job	Run time
Check Documentation	2m 31s
Lints	2m 36s
Check Minimal Features	2m 5s
Test Suite (windows-latest)	39m 56s
Test Suite (ubuntu-latest)	19m 16s
Test Suite (macos-latest)	23m 47s
	1h 30m 11s