Does the QT Motor interface implement joint limits?

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Does the QT Motor interface implement joint limits? #4

Open RMichaelSwan opened 4 years ago

RMichaelSwan commented 4 years ago

I have been looking around, but I don't see any documentation on this topic on the wiki. Can I rest assured that the joint limits have been implemented such that I am not allowed to push the arms beyond allowable limits? If so, does this include recorded gestures?

apaikan commented 4 years ago

The short answer is Yes.

QTrobot motor interface sets all joint, torque limits of each motor independently at the startup. Each motor separately does the joint limit check on each position command that it receives.

NOTICE : This does not mean that the QTrobot has self collision awareness when moving its joints!

RMichaelSwan commented 4 years ago

So does this mean we should not be able to command motor movement that would collide with the static portion of the body? In other words, the head should not be pushing past its neck, or the arms against the belly regardless of the motor commands received?