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Checking limits in servo commands #387

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stephane-caron opened this issue Apr 3, 2023 · 2 comments
Open

Checking limits in servo commands #387

stephane-caron opened this issue Apr 3, 2023 · 2 comments
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enhancement New feature or request

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@stephane-caron
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stephane-caron commented Apr 3, 2023 •
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Position commands are currently forwarded unchecked to the actuators, but we can forward their limits e.g. at spine configuration time. A safer behavior would be to:

  • Store and enforce position (if applicable), velocity and torque limits
  • Warn when they are not provided at spine configuration time
@stephane-caron stephane-caron self-assigned this Apr 3, 2023
@stephane-caron stephane-caron added the enhancement New feature or request label May 5, 2023
@stephane-caron stephane-caron removed their assignment May 23, 2023
@stephane-caron stephane-caron transferred this issue from stephane-caron/vulp Aug 7, 2024
@stephane-caron
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Following up on this: we now pass joint limits (parsed from the URDF description) in Gymnasium environments. On the spine side, the proposal in #454 is to duplicate joint limits from upkie_description in a static C++ model, and use them for the last checks before sending position commands to the actuators.

@stephane-caron stephane-caron changed the title Servo position, velocity, torque limits from robot model Checking limits in servo commands Nov 6, 2024
@stephane-caron
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After some more examination:

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