[Question] UNITREE_GO2_CFG and unitree_ros have different effort_limits

[CAI23sbP]

Question

#3030
@RandomOakForest Thank you for your response — it was very helpful in understanding the differences.

I have a follow-up question that's closely related to the original topic.

In unitree.py, the "UNITREE_GO2_CFG" defines a single effort_limit value, whereas in the official references, effort_limit is defined per joint with varying values.

You mentioned that IsaacLab is designed for realistic sim-to-real deployment, robustness, and flexibility. Given that, I'm wondering why the effort_limit values in IsaacLab don’t seem to closely match the more detailed reference specifications.

[RandomOakForest]

Thank you for posting this. That is a design question. I'll move this post to our Discussions for the team to follow up.