Allow joint to recover after reaching position limits in servo mode #21

	# https://help.github.com/en/articles/workflow-syntax-for-github-actions

	name: CI Windows

	on:
	push:
	branches:
	- "**"
	schedule:
	# Cron syntax: [minute hour day_of_the_month month day_of_the_week]
	- cron: "0 2 * * 0,3" # Run every Sunday and Wednesday at 02:00

	jobs:
	build_2022:
	name: ${{ matrix.build_type }}
	runs-on: windows-2022
	strategy:
	fail-fast: false
	matrix:
	toolset: [""]
	build_type: [Release]
	# build_shared_libs: [ON, OFF] # TODO(JS): Enable once shared lib build is resolved
	build_shared_libs: [OFF]
	env:
	BUILD_TYPE: ${{ matrix.build_type }}
	VCPKG_ROOT: "C:/dartsim/vcpkg"
	VCPKG_BUILD_TAG: v6.13-2022.07.25-0
	steps:
	- name: Checkout
	uses: actions/checkout@v2
	- name: Install Dependencies
	shell: cmd
	run: \|
	mkdir -p C:\dartsim
	choco install -y wget
	wget -q https://github.com/dartsim/vcpkg-build/releases/download/%VCPKG_BUILD_TAG%/vcpkg-dartsim-dependencies.zip
	unzip -qq vcpkg-dartsim-dependencies.zip -d C:\dartsim
	- name: Install Python dependencies
	run: \|
	python -m pip install --upgrade pip
	pip install -U pytest
	- name: Build
	shell: cmd
	run: \|
	mkdir build
	cd build
	cmake .. -G "Visual Studio 17 2022" -A x64 -Wno-dev ${{ matrix.toolset }} ^
	-DCMAKE_BUILD_TYPE=%BUILD_TYPE% ^
	-DCMAKE_TOOLCHAIN_FILE="%VCPKG_ROOT%/scripts/buildsystems/vcpkg.cmake" ^
	-DDART_MSVC_DEFAULT_OPTIONS=ON ^
	-DDART_VERBOSE=ON ^
	-DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }}
	cmake --build . --config %BUILD_TYPE% --target ALL_BUILD --parallel
	ctest --rerun-failed --output-on-failure -C %BUILD_TYPE%

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