Fixes DCMotor clipping for negative power and adds actuator tests (#2300)

# Description

This PR adds tests for actuator initialization, configuration, and
computation for Implicit, IdealPD, and DC motor actuators.

This PR also updates the DCMotor model to clip based on a four quadrant
DC motor model. This will fix improper clipping in the negative power
regions (i.e. positive torque and negative velocity or negative torque
and positive velocity).

NOTE: This PR is dependant on the pytest migration in:
[2034](https://github.com/isaac-sim/IsaacLab/pull/2034)
This PR includes changes made in
[2291](https://github.com/isaac-sim/IsaacLab/pull/2291) and would be an
alternate candidate.

Fixes [#2139](https://github.com/isaac-sim/IsaacLab/issues/2139)

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## Type of change

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- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## Screenshots


![image](https://github.com/user-attachments/assets/c94f877e-b3a9-441a-ad2e-ec6124cc64de)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

docs/source/api/lab/isaaclab.actuators.rst

@@ -67,6 +67,11 @@ Ideal PD Actuator
 DC Motor Actuator
 -----------------
 
+.. figure:: ../../../_static/overview/actuator-group/dc_motor_clipping.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: The effort clipping as a function of joint velocity for a linear DC Motor.
+
 .. autoclass:: DCMotor
   :members:
   :inherited-members:

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.41.0"
+version = "0.41.1"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.41.1 (2025-07-22)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added unit tests for :class:`~isaaclab.actuator.ImplicitActuator`, :class:`~isaaclab.actuator.IdealPDActuator`,
+  and :class:`~isaaclab.actuator.DCMotor` independent of :class:`~isaaclab.assets.Articulation`
+
+Changed
+^^^^^^^
+
+* Changed the way clipping is handled for :class:`~isaaclab.actuator.DCMotor` for torque-speed points in when in
+  negative power regions.
+
+
 0.41.0 (2025-07-21)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/actuators/actuator_net.py

@@ -79,8 +79,6 @@ class ActuatorNetLSTM(DCMotor):
         # compute network inputs
         self.sea_input[:, 0, 0] = (control_action.joint_positions - joint_pos).flatten()
         self.sea_input[:, 0, 1] = joint_vel.flatten()
-        # save current joint vel for dc-motor clipping
-        self._joint_vel[:] = joint_vel
 
         # run network inference
         with torch.inference_mode():

source/isaaclab/isaaclab/actuators/actuator_pd.py

@@ -201,8 +201,8 @@ class IdealPDActuator(ActuatorBase):
 class DCMotor(IdealPDActuator):
     r"""Direct control (DC) motor actuator model with velocity-based saturation model.
 
-    It uses the same model as the :class:`IdealActuator` for computing the torques from input commands.
-    However, it implements a saturation model defined by DC motor characteristics.
+    It uses the same model as the :class:`IdealPDActuator` for computing the torques from input commands.
+    However, it implements a saturation model defined by a linear four quadrant DC motor torque-speed curve.
 
     A DC motor is a type of electric motor that is powered by direct current electricity. In most cases,
     the motor is connected to a constant source of voltage supply, and the current is controlled by a rheostat.
@@ -211,23 +211,28 @@ class DCMotor(IdealPDActuator):
 
     A DC motor characteristics are defined by the following parameters:
 
-    * Continuous-rated speed (:math:`\dot{q}_{motor, max}`) : The maximum-rated speed of the motor.
-    * Continuous-stall torque (:math:`\tau_{motor, max}`): The maximum-rated torque produced at 0 speed.
-    * Saturation torque (:math:`\tau_{motor, sat}`): The maximum torque that can be outputted for a short period.
+    * No-load speed (:math:`\dot{q}_{motor, max}`) : The maximum-rated speed of the motor at 0 Torque (:attr:`velocity_limit`).
+    * Stall torque (:math:`\tau_{motor, stall}`): The maximum-rated torque produced at 0 speed (:attr:`saturation_effort`).
+    * Continuous torque (:math:`\tau_{motor, con}`): The maximum torque that can be outputted for a short period. This
+      is often enforced on the current drives for a DC motor to limit overheating, prevent mechanical damage, or
+      enforced by electrical limitations.(:attr:`effort_limit`).
+    * Corner velocity (:math:`V_{c}`): The velocity where the torque-speed curve intersects with continuous torque.
+      Based on these parameters, the instantaneous minimum and maximum torques for velocities between corner velocities
+      (where torque-speed curve intersects with continuous torque) are defined as follows:
 
-    Based on these parameters, the instantaneous minimum and maximum torques are defined as follows:
+    Based on these parameters, the instantaneous minimum and maximum torques for velocities are defined as follows:
 
     .. math::
 
-        \tau_{j, max}(\dot{q}) & = clip \left (\tau_{j, sat} \times \left(1 -
-            \frac{\dot{q}}{\dot{q}_{j, max}}\right), 0.0, \tau_{j, max} \right) \\
-        \tau_{j, min}(\dot{q}) & = clip \left (\tau_{j, sat} \times \left( -1 -
-            \frac{\dot{q}}{\dot{q}_{j, max}}\right), - \tau_{j, max}, 0.0 \right)
+        \tau_{j, max}(\dot{q}) & = clip \left (\tau_{j, stall} \times \left(1 -
+            \frac{\dot{q}}{\dot{q}_{j, max}}\right), -∞, \tau_{j, con} \right) \\
+        \tau_{j, min}(\dot{q}) & = clip \left (\tau_{j, stall} \times \left( -1 -
+            \frac{\dot{q}}{\dot{q}_{j, max}}\right), - \tau_{j, con}, ∞ \right)
 
     where :math:`\gamma` is the gear ratio of the gear box connecting the motor and the actuated joint ends,
-    :math:`\dot{q}_{j, max} = \gamma^{-1} \times  \dot{q}_{motor, max}`, :math:`\tau_{j, max} =
-    \gamma \times \tau_{motor, max}` and :math:`\tau_{j, peak} = \gamma \times \tau_{motor, peak}`
-    are the maximum joint velocity, maximum joint torque and peak torque, respectively. These parameters
+    :math:`\dot{q}_{j, max} = \gamma^{-1} \times  \dot{q}_{motor, max}`, :math:`\tau_{j, con} =
+    \gamma \times \tau_{motor, con}` and :math:`\tau_{j, stall} = \gamma \times \tau_{motor, stall}`
+    are the maximum joint velocity, continuous joint torque and stall torque, respectively. These parameters
     are read from the configuration instance passed to the class.
 
     Using these values, the computed torques are clipped to the minimum and maximum values based on the
@@ -237,6 +242,10 @@ class DCMotor(IdealPDActuator):
 
         \tau_{j, applied} = clip(\tau_{computed}, \tau_{j, min}(\dot{q}), \tau_{j, max}(\dot{q}))
 
+    If the velocity of the joint is outside corner velocities (this would be due to external forces) the
+    applied output torque will be driven to the Continuous Torque (`effort_limit`).
+
+    The figure below demonstrates the clipping action for example (velocity, torque) pairs.
     """
 
     cfg: DCMotorCfg
@@ -245,10 +254,11 @@ class DCMotor(IdealPDActuator):
     def __init__(self, cfg: DCMotorCfg, *args, **kwargs):
         super().__init__(cfg, *args, **kwargs)
         # parse configuration
-        if self.cfg.saturation_effort is not None:
+        if self.cfg.saturation_effort is None:
+            raise ValueError("The saturation_effort must be provided for the DC motor actuator model.")
         self._saturation_effort = self.cfg.saturation_effort
-        else:
-            self._saturation_effort = torch.inf
+        # find the velocity on the torque-speed curve that intersects effort_limit in the second and fourth quadrant
+        self._vel_at_effort_lim = self.velocity_limit * (1 + self.effort_limit / self._saturation_effort)
         # prepare joint vel buffer for max effort computation
         self._joint_vel = torch.zeros_like(self.computed_effort)
         # create buffer for zeros effort
@@ -274,16 +284,18 @@ class DCMotor(IdealPDActuator):
     """
 
     def _clip_effort(self, effort: torch.Tensor) -> torch.Tensor:
+        # save current joint vel
+        self._joint_vel[:] = torch.clip(self._joint_vel, min=-self._vel_at_effort_lim, max=self._vel_at_effort_lim)
         # compute torque limits
+        torque_speed_top = self._saturation_effort * (1.0 - self._joint_vel / self.velocity_limit)
+        torque_speed_bottom = self._saturation_effort * (-1.0 - self._joint_vel / self.velocity_limit)
         # -- max limit
-        max_effort = self._saturation_effort * (1.0 - self._joint_vel / self.velocity_limit)
-        max_effort = torch.clip(max_effort, min=self._zeros_effort, max=self.effort_limit)
+        max_effort = torch.clip(torque_speed_top, max=self.effort_limit)
         # -- min limit
-        min_effort = self._saturation_effort * (-1.0 - self._joint_vel / self.velocity_limit)
-        min_effort = torch.clip(min_effort, min=-self.effort_limit, max=self._zeros_effort)
-
+        min_effort = torch.clip(torque_speed_bottom, min=-self.effort_limit)
         # clip the torques based on the motor limits
-        return torch.clip(effort, min=min_effort, max=max_effort)
+        clamped = torch.clip(effort, min=min_effort, max=max_effort)
+        return clamped
 
 
 class DelayedPDActuator(IdealPDActuator):

source/isaaclab/test/actuators/test_dc_motor.py

+# Copyright (c) 2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from isaaclab.app import AppLauncher
+
+HEADLESS = True
+
+# if not AppLauncher.instance():
+simulation_app = AppLauncher(headless=HEADLESS).app
+
+"""Rest of imports follows"""
+
+import torch
+
+import pytest
+
+from isaaclab.actuators import DCMotorCfg
+
+
+@pytest.mark.parametrize("num_envs", [1, 2])
+@pytest.mark.parametrize("num_joints", [1, 2])
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+def test_dc_motor_init_minimum(num_envs, num_joints, device):
+    joint_names = [f"joint_{d}" for d in range(num_joints)]
+    joint_ids = [d for d in range(num_joints)]
+    stiffness = 200
+    damping = 10
+    effort_limit = 60.0
+    saturation_effort = 100.0
+    velocity_limit = 50
+
+    actuator_cfg = DCMotorCfg(
+        joint_names_expr=joint_names,
+        stiffness=stiffness,
+        damping=damping,
+        effort_limit=effort_limit,
+        saturation_effort=saturation_effort,
+        velocity_limit=velocity_limit,
+    )
+    # assume Articulation class:
+    #   - finds joints (names and ids) associate with the provided joint_names_expr
+
+    actuator = actuator_cfg.class_type(
+        actuator_cfg,
+        joint_names=joint_names,
+        joint_ids=joint_ids,
+        num_envs=num_envs,
+        device=device,
+    )
+
+    # check device and shape
+    torch.testing.assert_close(actuator.computed_effort, torch.zeros(num_envs, num_joints, device=device))
+    torch.testing.assert_close(actuator.applied_effort, torch.zeros(num_envs, num_joints, device=device))
+    torch.testing.assert_close(
+        actuator.effort_limit,
+        effort_limit * torch.ones(num_envs, num_joints, device=device),
+    )
+    torch.testing.assert_close(
+        actuator.velocity_limit, velocity_limit * torch.ones(num_envs, num_joints, device=device)
+    )
+
+
+@pytest.mark.parametrize("num_envs", [1, 2])
+@pytest.mark.parametrize("num_joints", [1, 2])
+@pytest.mark.parametrize("device", ["cuda", "cpu"])
+@pytest.mark.parametrize("test_point", range(20))
+def test_dc_motor_clip(num_envs, num_joints, device, test_point):
+    r"""Test the computation of the dc motor actuator 4 quadrant torque speed curve.
+    torque_speed_pairs of interest:
+
+    0 - fully inside torque speed curve and effort limit (quadrant 1)
+    1 - greater than effort limit but under torque-speed curve (quadrant 1)
+    2 - greater than effort limit and outside torque-speed curve (quadrant 1)
+    3 - less than effort limit but outside torque speed curve (quadrant 1)
+    4 - less than effort limit but outside torque speed curve and outside corner velocity(quadrant 4)
+    5 - fully inside torque speed curve and effort limit (quadrant 4)
+    6 - fully outside torque speed curve and -effort limit (quadrant 4)
+    7 - fully inside torque speed curve, outside -effort limit, and inside corner velocity (quadrant 4)
+    8 - fully inside torque speed curves, outside -effort limit, and outside corner velocity (quadrant 4)
+    9 - less than effort limit but outside torque speed curve and inside corner velocity (quadrant 4)
+    e - effort_limit
+    s - saturation_effort
+    v - velocity_limit
+    c - corner velocity
+    \ - torque-speed linear boundary between v and s
+    each torque_speed_point will be tested in quadrant 3 and 4
+    ===========================================================
+                            Torque
+                             \  (+)
+                               \ |
+                Q2               s                   Q1
+                                 | \        2
+        \                        | 1 \
+          c ---------------------e-----\
+            \                    |       \
+              \                  |  0      \ 3
+                \                |           \
+    (-)-----------v -------------o-------------v --------------(+) Speed
+                    \            |               \   9    4
+                      \          |    5            \
+                        \        |                   \
+                          \ -----e---------------------c
+                            \    |                      \  6
+                Q3            \  |              7    Q4   \
+                                \s                          \
+                                 |\                       8   \
+                                (-) \
+    ============================================================
+    """
+    effort_lim = 60
+    saturation_effort = 100.0
+    velocity_limit = 50
+
+    torque_speed_pairs = [
+        (30.0, 10.0),  # 0
+        (70.0, 10.0),  # 1
+        (80.0, 40.0),  # 2
+        (30.0, 40.0),  # 3
+        (-20.0, 90.0),  # 4
+        (-30.0, 10.0),  # 5
+        (-80.0, 110.0),  # 6
+        (-80.0, 50.0),  # 7
+        (-120.0, 90.0),  # 8
+        (-10.0, 70.0),  # 9
+        (-30.0, -10.0),  # -0
+        (-70.0, -10.0),  # -1
+        (-80.0, -40.0),  # -2
+        (-30.0, -40.0),  # -3
+        (20.0, -90.0),  # -4
+        (30.0, -10.0),  # -5
+        (80.0, -110.0),  # -6
+        (80.0, -50.0),  # -7
+        (120.0, -90.0),  # -8
+        (10.0, -70.0),  # -9
+    ]
+    expected_clipped_effort = [
+        30.0,  # 0
+        60.0,  # 1
+        20.0,  # 2
+        20.0,  # 3
+        -60.0,  # 4
+        -30.0,  # 5
+        -60.0,  # 6
+        -60.0,  # 7
+        -60.0,  # 8
+        -40.0,  # 9
+        -30.0,  # -0
+        -60.0,  # -1
+        -20,  # -2
+        -20,  # -3
+        60.0,  # -4
+        30.0,  # -5
+        60.0,  # -6
+        60.0,  # -7
+        60.0,  # -8
+        40.0,  # -9
+    ]
+
+    joint_names = [f"joint_{d}" for d in range(num_joints)]
+    joint_ids = [d for d in range(num_joints)]
+    stiffness = 200
+    damping = 10
+    actuator_cfg = DCMotorCfg(
+        joint_names_expr=joint_names,
+        stiffness=stiffness,
+        damping=damping,
+        effort_limit=effort_lim,
+        velocity_limit=velocity_limit,
+        saturation_effort=saturation_effort,
+    )
+
+    actuator = actuator_cfg.class_type(
+        actuator_cfg,
+        joint_names=joint_names,
+        joint_ids=joint_ids,
+        num_envs=num_envs,
+        device=device,
+        stiffness=actuator_cfg.stiffness,
+        damping=actuator_cfg.damping,
+    )
+
+    ts = torque_speed_pairs[test_point]
+    torque = ts[0]
+    speed = ts[1]
+    actuator._joint_vel[:] = speed * torch.ones(num_envs, num_joints, device=device)
+    effort = torque * torch.ones(num_envs, num_joints, device=device)
+    clipped_effort = actuator._clip_effort(effort)
+    torch.testing.assert_close(
+        expected_clipped_effort[test_point] * torch.ones(num_envs, num_joints, device=device),
+        clipped_effort,
+    )

source/isaaclab/test/actuators/test_implicit_actuator.py

+# Copyright (c) 2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from isaaclab.app import AppLauncher
+
+HEADLESS = True
+
+# if not AppLauncher.instance():
+simulation_app = AppLauncher(headless=HEADLESS).app
+
+"""Rest of imports follows"""
+
+import torch
+
+import pytest
+
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.sim import build_simulation_context
+
+
+@pytest.fixture
+def sim(request):
+    """Create simulation context with the specified device."""
+    device = request.getfixturevalue("device")
+    with build_simulation_context(device=device) as sim:
+        sim._app_control_on_stop_handle = None
+        yield sim
+
+
+@pytest.mark.parametrize("num_envs", [1, 2])
+@pytest.mark.parametrize("num_joints", [1, 2])
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.parametrize("usd_default", [False, True])
+def test_implicit_actuator_init_minimum(sim, num_envs, num_joints, device, usd_default):
+    """Test initialization of implicit actuator with minimum configuration."""
+
+    joint_names = [f"joint_{d}" for d in range(num_joints)]
+    joint_ids = [d for d in range(num_joints)]
+    stiffness = None if usd_default else 200
+    damping = None if usd_default else 10
+    friction = None if usd_default else 0.1
+    armature = None if usd_default else 0.2
+
+    actuator_cfg = ImplicitActuatorCfg(
+        joint_names_expr=joint_names,
+        stiffness=stiffness,
+        damping=damping,
+        armature=armature,
+        friction=friction,
+    )
+    # assume Articulation class:
+    #   - finds joints (names and ids) associate with the provided joint_names_expr
+
+    # faux usd defaults
+    stiffness_default = 300
+    damping_default = 20
+    friction_default = 0.0
+    armature_default = 0.0
+
+    actuator = actuator_cfg.class_type(
+        actuator_cfg,
+        joint_names=joint_names,
+        joint_ids=joint_ids,
+        num_envs=num_envs,
+        device=device,
+        stiffness=stiffness_default,
+        damping=damping_default,
+        friction=friction_default,
+        armature=armature_default,
+    )
+
+    # check initialized actuator
+    assert actuator.is_implicit_model is True
+    # check device and shape
+    torch.testing.assert_close(actuator.computed_effort, torch.zeros(num_envs, num_joints, device=device))
+    torch.testing.assert_close(actuator.applied_effort, torch.zeros(num_envs, num_joints, device=device))
+
+    torch.testing.assert_close(actuator.effort_limit, torch.inf * torch.ones(num_envs, num_joints, device=device))
+    torch.testing.assert_close(actuator.effort_limit_sim, torch.inf * torch.ones(num_envs, num_joints, device=device))
+    torch.testing.assert_close(actuator.velocity_limit, torch.inf * torch.ones(num_envs, num_joints, device=device))
+    torch.testing.assert_close(actuator.velocity_limit_sim, torch.inf * torch.ones(num_envs, num_joints, device=device))
+
+    if not usd_default:
+        torch.testing.assert_close(actuator.stiffness, stiffness * torch.ones(num_envs, num_joints, device=device))
+        torch.testing.assert_close(actuator.damping, damping * torch.ones(num_envs, num_joints, device=device))
+        torch.testing.assert_close(actuator.armature, armature * torch.ones(num_envs, num_joints, device=device))
+        torch.testing.assert_close(actuator.friction, friction * torch.ones(num_envs, num_joints, device=device))
+    else:
+        torch.testing.assert_close(
+            actuator.stiffness, stiffness_default * torch.ones(num_envs, num_joints, device=device)
+        )
+        torch.testing.assert_close(actuator.damping, damping_default * torch.ones(num_envs, num_joints, device=device))
+        torch.testing.assert_close(
+            actuator.armature, armature_default * torch.ones(num_envs, num_joints, device=device)
+        )
+        torch.testing.assert_close(
+            actuator.friction, friction_default * torch.ones(num_envs, num_joints, device=device)
+        )
+
+
+@pytest.mark.parametrize("num_envs", [1, 2])
+@pytest.mark.parametrize("num_joints", [1, 2])
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.parametrize("effort_lim", [None, 300, 200])
+@pytest.mark.parametrize("effort_lim_sim", [None, 400, 200])
+def test_implicit_actuator_init_effort_limits(sim, num_envs, num_joints, device, effort_lim, effort_lim_sim):
+    """Test initialization of implicit actuator with effort limits."""
+    effort_limit_default = 5000
+
+    joint_names = [f"joint_{d}" for d in range(num_joints)]
+    joint_ids = [d for d in range(num_joints)]
+
+    actuator_cfg = ImplicitActuatorCfg(
+        joint_names_expr=joint_names,
+        stiffness=200,
+        damping=10,
+        effort_limit=effort_lim,
+        effort_limit_sim=effort_lim_sim,
+    )
+
+    if effort_lim is not None and effort_lim_sim is not None and effort_lim != effort_lim_sim:
+        with pytest.raises(ValueError):
+            actuator = actuator_cfg.class_type(
+                actuator_cfg,
+                joint_names=joint_names,
+                joint_ids=joint_ids,
+                num_envs=num_envs,
+                device=device,
+                stiffness=actuator_cfg.stiffness,
+                damping=actuator_cfg.damping,
+                effort_limit=effort_limit_default,
+            )
+    else:
+        actuator = actuator_cfg.class_type(
+            actuator_cfg,
+            joint_names=joint_names,
+            joint_ids=joint_ids,
+            num_envs=num_envs,
+            device=device,
+            stiffness=actuator_cfg.stiffness,
+            damping=actuator_cfg.damping,
+            effort_limit=effort_limit_default,
+        )
+        if effort_lim is not None and effort_lim_sim is None:
+            assert actuator.cfg.effort_limit_sim == actuator.cfg.effort_limit
+            effort_lim_expected = effort_lim
+            effort_lim_sim_expected = effort_lim
+
+        elif effort_lim is None and effort_lim_sim is not None:
+            assert actuator.cfg.effort_limit_sim == actuator.cfg.effort_limit
+            effort_lim_expected = effort_lim_sim
+            effort_lim_sim_expected = effort_lim_sim
+
+        elif effort_lim is None and effort_lim_sim is None:
+            assert actuator.cfg.effort_limit_sim is None
+            assert actuator.cfg.effort_limit is None
+            effort_lim_expected = effort_limit_default
+            effort_lim_sim_expected = effort_limit_default
+
+        elif effort_lim is not None and effort_lim_sim is not None:
+            assert actuator.cfg.effort_limit_sim == actuator.cfg.effort_limit
+            effort_lim_expected = effort_lim
+            effort_lim_sim_expected = effort_lim_sim
+
+        torch.testing.assert_close(
+            actuator.effort_limit, effort_lim_expected * torch.ones(num_envs, num_joints, device=device)
+        )
+        torch.testing.assert_close(
+            actuator.effort_limit_sim, effort_lim_sim_expected * torch.ones(num_envs, num_joints, device=device)
+        )
+
+
+@pytest.mark.parametrize("num_envs", [1, 2])
+@pytest.mark.parametrize("num_joints", [1, 2])
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.parametrize("velocity_lim", [None, 300, 200])
+@pytest.mark.parametrize("velocity_lim_sim", [None, 400, 200])
+def test_implicit_actuator_init_velocity_limits(sim, num_envs, num_joints, device, velocity_lim, velocity_lim_sim):
+    """Test initialization of implicit actuator with velocity limits.
+
+    Note implicit actuators do no use velocity limits in computation, they are passed to physics via articulations.
+    """
+    velocity_limit_default = 1000
+    joint_names = [f"joint_{d}" for d in range(num_joints)]
+    joint_ids = [d for d in range(num_joints)]
+
+    actuator_cfg = ImplicitActuatorCfg(
+        joint_names_expr=joint_names,
+        stiffness=200,
+        damping=10,
+        velocity_limit=velocity_lim,
+        velocity_limit_sim=velocity_lim_sim,
+    )
+
+    if velocity_lim is not None and velocity_lim_sim is not None and velocity_lim != velocity_lim_sim:
+        with pytest.raises(ValueError):
+            actuator = actuator_cfg.class_type(
+                actuator_cfg,
+                joint_names=joint_names,
+                joint_ids=joint_ids,
+                num_envs=num_envs,
+                device=device,
+                stiffness=actuator_cfg.stiffness,
+                damping=actuator_cfg.damping,
+                velocity_limit=velocity_limit_default,
+            )
+    else:
+        actuator = actuator_cfg.class_type(
+            actuator_cfg,
+            joint_names=joint_names,
+            joint_ids=joint_ids,
+            num_envs=num_envs,
+            device=device,
+            stiffness=actuator_cfg.stiffness,
+            damping=actuator_cfg.damping,
+            velocity_limit=velocity_limit_default,
+        )
+        if velocity_lim is not None and velocity_lim_sim is None:
+            assert actuator.cfg.velocity_limit is None
+            vel_lim_expected = velocity_limit_default
+        elif velocity_lim is None and velocity_lim_sim is not None:
+            assert actuator.cfg.velocity_limit == actuator.cfg.velocity_limit_sim
+            vel_lim_expected = velocity_lim_sim
+        elif velocity_lim is None and velocity_lim_sim is None:
+            assert actuator.cfg.velocity_limit is None
+            assert actuator.cfg.velocity_limit_sim is None
+            vel_lim_expected = velocity_limit_default
+        else:
+            assert actuator.cfg.velocity_limit == actuator.cfg.velocity_limit_sim
+            vel_lim_expected = velocity_lim_sim
+
+        torch.testing.assert_close(
+            actuator.velocity_limit, vel_lim_expected * torch.ones(num_envs, num_joints, device=device)
+        )
+        torch.testing.assert_close(
+            actuator.velocity_limit_sim, vel_lim_expected * torch.ones(num_envs, num_joints, device=device)
+        )
+
+
+if __name__ == "__main__":
+    pytest.main([__file__, "-v", "--maxfail=1"])