Add pre_solve method to Joint base class and improve RevoluteJoint #2

	name: CI

	on:
	push:
	branches: [ "main" ]
	pull_request:
	branches: [ "main" ]

	jobs:
	test:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	- name: Set up Python
	uses: actions/setup-python@v4
	with:
	python-version: "3.8"
	- name: Install dependencies
	run: \|
	python -m pip install --upgrade pip
	pip install -r requirements.txt
	pip install pytest black mypy
	- name: Run tests
	run: \|
	pytest
	- name: Check formatting with Black
	run: \|
	black --check .
	- name: Run type checking with mypy
	run: \|
	mypy .

Provide feedback