[Servo] Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints #7883

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

	name: Formatting (pre-commit)

	on:
	workflow_dispatch:
	pull_request:
	merge_group:
	push:
	branches:
	- main

	jobs:
	pre-commit:
	name: Format
	runs-on: ubuntu-22.04
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v5
	with:
	python-version: '3.10'
	- name: Install clang-format-14
	run: sudo apt-get install clang-format-14
	- uses: pre-commit/[email protected]
	id: precommit
	- name: Upload pre-commit changes
	if: failure() && steps.precommit.outcome == 'failure'
	uses: rhaschke/upload-git-patch-action@main
	with:
	name: pre-commit

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