Added fixed and revolute joints (Ignition -> issacsim)

[ahcorde]

🎉 New feature

Summary

Added fixed and revolute joints (Ignition -> issacsim)

Test it

Launch this model https://app.ignitionrobotics.org/OpenRobotics/fuel/models/Panda%20with%20Ignition%20position%20controller%20model

Checklist

• [ ] Signed all commits for DCO
• [ ] Added tests
• [ ] Added example and/or tutorial
• [ ] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] codecheck passed (See contributing)
• [ ] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.