Test joint limits
V = islimit(L,Q) V = islimit(ROBOT,Q)
V = islimit(L,Q)
is true (1) if Q is outside
the soft limits set for this joint.
V = islimit(ROBOT,Q)
is a vector of boolean values,
one per joint, false (0) if Q(i) is within the joint limits, else true (1).
Joint limits are purely advisory and are not used in any other function. Just seemed like a useful thing to include...