Add Saturation Joint Limiter that uses clamping method #1437

	# This is a format job. Pre-commit has a first-party GitHub action, so we use
	# that: https://github.com/pre-commit/action

	name: Format

	on:
	workflow_dispatch:
	pull_request:

	jobs:
	pre-commit:
	name: Format
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	- uses: actions/[email protected]
	with:
	python-version: '3.10'
	- name: Install system hooks
	run: sudo apt install -qq cppcheck
	- uses: pre-commit/[email protected]
	with:
	extra_args: --all-files --hook-stage manual

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