Fixes implicit actuator limits configs for assets (#2952)

As discussed by several earlier commit and issues #2135 #1654 #1384
limit(velocity_limit), effort limit(effort_limit), simulation velocity
limit(velocity_limit_sim) and effort limit(effort_limit_sim).

ImplicitActuator, lacking the motor model, is inherently
non-attributable to velocity_limit or effort_limit, and should be using
velocity_limit_sim and effort_limit_sim instead if such limits should be
set. However, since most of environment with `ImplicitActuatorCfg` was
written before v1.4, when velocity_limit was basically ignored, and
velocity_limit_sim did not exist. To not break those environments
training, we remove all `velocity_limit` attribute from existing
`ImplicitActuatorCfg`, change all `effort_limit` to `effort_limit_sim`,
and added documentation to articulate this point .

However, even with removing velocity_limit, effort_limit, there could be
subtitles interacting with default USD value. USD may have joints that
comes with velocity_limit_sim and effort_limit_sim unnoticed by user.
Thus, user may thinking sim_limits are uncaped by not specifying limits
in Cfg, but is silently set in USD.

To make that more clear, this PR added flag:
`actuator_value_resolution_debug_print(default to false)` in
`ArticulationCfg`
that has following behavior:

case 1: if USD has default, ActuatorCfg has limits
       >if limits is same -> we are all good, no warning.
       >if limits is different -> we warn user we used cfg value.
case 2: USD has default, ActuatorCfg no limits -> We warn user saying
the USD defaults is used

Note that his logging can apply to all other joint attributes where
there could be USD-ArticulationCfg conflicts, not limited to
`velocity_limit_si,` or `effort_limit_sim` -> such as : stiffness,
damping, armature .....

 Note this section is also documented in articulation.rst
This PR added actuator discrepancy logging into the
:class:`ActuatorBase`.

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- Bug fix (non-breaking change which fixes an issue)
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

docs/source/how-to/write_articulation_cfg.rst

@@ -115,3 +115,154 @@ to combine them into a single actuator model.
             damping={"slider_to_cart": 10.0, "cart_to_pole": 0.0},
          ),
       },
+
+
+ActuatorCfg velocity/effort limits considerations
+-------------------------------------------------
+
+In IsaacLab v1.4.0, the plain ``velocity_limit`` and ``effort_limit`` attributes were **not** consistently
+pushed into the physics solver:
+
+- **Implicit actuators**
+  - velocity_limit was ignored (never set in simulation)
+  - effort_limit was set into simulation
+
+- **Explicit actuators**
+  - both velocity_limit and effort_limit were used only by the drive model, not by the solver
+
+
+In v2.0.1 we accidentally changed this: all velocity_limit & effort_limit, implicit or
+explicit, were being applied to the solver. That caused many training under the old default uncaped solver
+limits to break.
+
+To restore the original behavior while still giving users full control over solver limits, we introduced two new flags:
+
+* **velocity_limit_sim**
+  Sets the physics-solver's maximum joint-velocity cap in simulation.
+
+* **effort_limit_sim**
+  Sets the physics-solver's maximum joint-effort cap in simulation.
+
+
+These explicitly set the solver's joint-velocity and joint-effort caps at simulation level.
+
+On the other hand, velocity_limit and effort_limit model the motor's hardware-level constraints in torque
+computation for all explicit actuators rather than limiting simulation-level constraint.
+For implicit actuators, since they do not model motor hardware limitations, ``velocity_limit`` were removed in v2.1.1
+and marked as deprecated. This preserves same behavior as they did in v1.4.0. Eventually, ``velocity_limit`` and
+``effort_limit`` will be deprecated for implicit actuators, preserving only ``velocity_limit_sim`` and
+``effort_limit_sim``
+
+
+.. table:: Limit Options Comparison
+
+    .. list-table::
+      :header-rows: 1
+      :widths: 20 40 40
+
+      * - **Attribute**
+        - **Implicit Actuator**
+        - **Explicit Actuator**
+      * - ``velocity_limit``
+        - Deprecated (alias for ``velocity_limit_sim``)
+        - Used by the model (e.g. DC motor), not set into simulation
+      * - ``effort_limit``
+        - Deprecated (alias for ``effort_limit_sim``)
+        - Used by the model, not set into simulation
+      * - ``velocity_limit_sim``
+        - Set into simulation
+        - Set into simulation
+      * - ``effort_limit_sim``
+        - Set into simulation
+        - Set into simulation
+
+
+
+Users who want to tune the underlying physics-solver limits should set the ``_sim`` flags.
+
+
+USD vs. ActuatorCfg discrepancy resolution
+------------------------------------------
+
+USD having default value and the fact that ActuatorCfg can be specified with None, or a overriding value can sometime be
+confusing what exactly gets written into simulation. The resolution follows these simple rules,per joint and per
+property:
+
+.. table:: Resolution Rules for USD vs. ActuatorCfg
+
+    +------------------------+------------------------+--------------------+
+    | **Condition**          | **ActuatorCfg Value**  | **Applied**        |
+    +========================+========================+====================+
+    | No override provided   | Not Specified          | USD Value          |
+    +------------------------+------------------------+--------------------+
+    | Override provided      | User's ActuatorCfg     | Same as ActuatorCfg|
+    +------------------------+------------------------+--------------------+
+
+
+Digging into USD can sometime be unconvinent, to help clarify what exact value is written, we designed a flag
+:attr:`~isaaclab.assets.ArticulationCfg.actuator_value_resolution_debug_print`,
+to help user figure out what exact value gets used in simulation.
+
+Whenever an actuator parameter is overridden in the user's ActuatorCfg (or left unspecified),
+we compare it to the value read from the USD definition and record any differences.  For each joint and each property,
+if unmatching value is found, we log the resolution:
+
+  1. **USD Value**
+     The default limit or gain parsed from the USD asset.
+
+  2. **ActuatorCfg Value**
+     The user-provided override (or “Not Specified” if none was given).
+
+  3. **Applied**
+     The final value actually used for simulation: if the user didn't override it, this matches the USD value;
+     otherwise it reflects the user's setting.
+
+This resolution info is emitted as a warning table only when discrepancies exist.
+Here's an example of what you'll see::
+
+    +----------------+--------------------+---------------------+----+-------------+--------------------+----------+
+    |     Group      |      Property      |         Name        | ID |  USD Value  | ActuatorCfg Value  | Applied  |
+    +----------------+--------------------+---------------------+----+-------------+--------------------+----------+
+    | panda_shoulder | velocity_limit_sim |    panda_joint1     |  0 |    2.17e+00 |   Not Specified    | 2.17e+00 |
+    |                |                    |    panda_joint2     |  1 |    2.17e+00 |   Not Specified    | 2.17e+00 |
+    |                |                    |    panda_joint3     |  2 |    2.17e+00 |   Not Specified    | 2.17e+00 |
+    |                |                    |    panda_joint4     |  3 |    2.17e+00 |   Not Specified    | 2.17e+00 |
+    |                |     stiffness      |    panda_joint1     |  0 |    2.29e+04 |      8.00e+01      | 8.00e+01 |
+    |                |                    |    panda_joint2     |  1 |    2.29e+04 |      8.00e+01      | 8.00e+01 |
+    |                |                    |    panda_joint3     |  2 |    2.29e+04 |      8.00e+01      | 8.00e+01 |
+    |                |                    |    panda_joint4     |  3 |    2.29e+04 |      8.00e+01      | 8.00e+01 |
+    |                |      damping       |    panda_joint1     |  0 |    4.58e+03 |      4.00e+00      | 4.00e+00 |
+    |                |                    |    panda_joint2     |  1 |    4.58e+03 |      4.00e+00      | 4.00e+00 |
+    |                |                    |    panda_joint3     |  2 |    4.58e+03 |      4.00e+00      | 4.00e+00 |
+    |                |                    |    panda_joint4     |  3 |    4.58e+03 |      4.00e+00      | 4.00e+00 |
+    |                |      armature      |    panda_joint1     |  0 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |                |                    |    panda_joint2     |  1 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |                |                    |    panda_joint3     |  2 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |                |                    |    panda_joint4     |  3 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    | panda_forearm  | velocity_limit_sim |    panda_joint5     |  4 |    2.61e+00 |   Not Specified    | 2.61e+00 |
+    |                |                    |    panda_joint6     |  5 |    2.61e+00 |   Not Specified    | 2.61e+00 |
+    |                |                    |    panda_joint7     |  6 |    2.61e+00 |   Not Specified    | 2.61e+00 |
+    |                |     stiffness      |    panda_joint5     |  4 |    2.29e+04 |      8.00e+01      | 8.00e+01 |
+    |                |                    |    panda_joint6     |  5 |    2.29e+04 |      8.00e+01      | 8.00e+01 |
+    |                |                    |    panda_joint7     |  6 |    2.29e+04 |      8.00e+01      | 8.00e+01 |
+    |                |      damping       |    panda_joint5     |  4 |    4.58e+03 |      4.00e+00      | 4.00e+00 |
+    |                |                    |    panda_joint6     |  5 |    4.58e+03 |      4.00e+00      | 4.00e+00 |
+    |                |                    |    panda_joint7     |  6 |    4.58e+03 |      4.00e+00      | 4.00e+00 |
+    |                |      armature      |    panda_joint5     |  4 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |                |                    |    panda_joint6     |  5 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |                |                    |    panda_joint7     |  6 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |                |      friction      |    panda_joint5     |  4 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |                |                    |    panda_joint6     |  5 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |                |                    |    panda_joint7     |  6 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |  panda_hand    | velocity_limit_sim | panda_finger_joint1 |  7 |    2.00e-01 |   Not Specified    | 2.00e-01 |
+    |                |                    | panda_finger_joint2 |  8 |    2.00e-01 |   Not Specified    | 2.00e-01 |
+    |                |     stiffness      | panda_finger_joint1 |  7 |    1.00e+06 |      2.00e+03      | 2.00e+03 |
+    |                |                    | panda_finger_joint2 |  8 |    1.00e+06 |      2.00e+03      | 2.00e+03 |
+    |                |      armature      | panda_finger_joint1 |  7 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |                |                    | panda_finger_joint2 |  8 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |                |      friction      | panda_finger_joint1 |  7 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    |                |                    | panda_finger_joint2 |  8 |    0.00e+00 |   Not Specified    | 0.00e+00 |
+    +----------------+--------------------+---------------------+----+-------------+--------------------+----------+
+
+To keep the cleaniness of logging, :attr:`~isaaclab.assets.ArticulationCfg.actuator_value_resolution_debug_print`
+default to False, remember to turn it on when wishes.

docs/source/migration/migrating_from_isaacgymenvs.rst

@@ -692,18 +692,18 @@ the need to set simulation parameters for actors in the task implementation.
 |     asset_root = os.path.dirname(asset_path)                           |     actuators={                                                     |
 |     asset_file = os.path.basename(asset_path)                          |         "cart_actuator": ImplicitActuatorCfg(                       |
 |                                                                        |             joint_names_expr=["slider_to_cart"],                    |
-|     asset_options = gymapi.AssetOptions()                              |             effort_limit=400.0,                                     |
-|     asset_options.fix_base_link = True                                 |             velocity_limit=100.0,                                   |
+|     asset_options = gymapi.AssetOptions()                              |             effort_limit_sim=400.0,                                 |
+|     asset_options.fix_base_link = True                                 |             velocity_limit_sim=100.0,                               |
 |     cartpole_asset = self.gym.load_asset(self.sim,                     |             stiffness=0.0,                                          |
 |         asset_root, asset_file, asset_options)                         |             damping=10.0,                                           |
 |     self.num_dof = self.gym.get_asset_dof_count(                       |         ),                                                          |
 |         cartpole_asset)                                                |         "pole_actuator": ImplicitActuatorCfg(                       |
-|                                                                        |             joint_names_expr=["cart_to_pole"], effort_limit=400.0,  |
-|     pose = gymapi.Transform()                                          |             velocity_limit=100.0, stiffness=0.0, damping=0.0        |
-|     if self.up_axis == 'z':                                            |         ),                                                          |
-|         pose.p.z = 2.0                                                 |     },                                                              |
-|         pose.r = gymapi.Quat(0.0, 0.0, 0.0, 1.0)                       | )                                                                   |
-|     else:                                                              |                                                                     |
+|                                                                        |             joint_names_expr=["cart_to_pole"],                      |
+|     pose = gymapi.Transform()                                          |             effort_limit_sim=400.0, velocity_limit_sim=100.0,       |
+|     if self.up_axis == 'z':                                            |             stiffness=0.0, damping=0.0                              |
+|         pose.p.z = 2.0                                                 |         ),                                                          |
+|         pose.r = gymapi.Quat(0.0, 0.0, 0.0, 1.0)                       |     },                                                              |
+|     else:                                                              | )                                                                   |
 |         pose.p.y = 2.0                                                 |                                                                     |
 |         pose.r = gymapi.Quat(                                          |                                                                     |
 |             -np.sqrt(2)/2, 0.0, 0.0, np.sqrt(2)/2)                     |                                                                     |

docs/source/migration/migrating_from_omniisaacgymenvs.rst

@@ -295,8 +295,8 @@ including file path, simulation parameters, actuator properties, and initial sta
        actuators={
            "cart_actuator": ImplicitActuatorCfg(
                joint_names_expr=["slider_to_cart"],
-               effort_limit=400.0,
-               velocity_limit=100.0,
+               effort_limit_sim=400.0,
+               velocity_limit_sim=100.0,
                stiffness=0.0,
                damping=10.0,
            ),

source/isaaclab/isaaclab/actuators/actuator_base.py

@@ -156,26 +156,46 @@ class ActuatorBase(ABC):
         self._device = device
         self._joint_names = joint_names
         self._joint_indices = joint_ids
-
+        self.joint_property_resolution_table: dict[str, list] = {}
         # For explicit models, we do not want to enforce the effort limit through the solver
         # (unless it is explicitly set)
         if not self.is_implicit_model and self.cfg.effort_limit_sim is None:
             self.cfg.effort_limit_sim = self._DEFAULT_MAX_EFFORT_SIM
 
-        # parse joint stiffness and damping
-        self.stiffness = self._parse_joint_parameter(self.cfg.stiffness, stiffness)
-        self.damping = self._parse_joint_parameter(self.cfg.damping, damping)
-        # parse joint armature and friction
-        self.armature = self._parse_joint_parameter(self.cfg.armature, armature)
-        self.friction = self._parse_joint_parameter(self.cfg.friction, friction)
-        self.dynamic_friction = self._parse_joint_parameter(self.cfg.dynamic_friction, dynamic_friction)
-        self.viscous_friction = self._parse_joint_parameter(self.cfg.viscous_friction, viscous_friction)
-        # parse joint limits
-        # -- velocity
-        self.velocity_limit_sim = self._parse_joint_parameter(self.cfg.velocity_limit_sim, velocity_limit)
+        # resolve usd, actuator configuration values
+        # case 1: if usd_value == actuator_cfg_value: all good,
+        # case 2: if usd_value != actuator_cfg_value: we use actuator_cfg_value
+        # case 3: if actuator_cfg_value is None: we use usd_value
+
+        to_check = [
+            ("velocity_limit_sim", velocity_limit),
+            ("effort_limit_sim", effort_limit),
+            ("stiffness", stiffness),
+            ("damping", damping),
+            ("armature", armature),
+            ("friction", friction),
+            ("dynamic_friction", dynamic_friction),
+            ("viscous_friction", viscous_friction),
+        ]
+        for param_name, usd_val in to_check:
+            cfg_val = getattr(self.cfg, param_name)
+            setattr(self, param_name, self._parse_joint_parameter(cfg_val, usd_val))
+            new_val = getattr(self, param_name)
+
+            allclose = (
+                torch.all(new_val == usd_val) if isinstance(usd_val, (float, int)) else torch.allclose(new_val, usd_val)
+            )
+            if cfg_val is None or not allclose:
+                self._record_actuator_resolution(
+                    cfg_val=getattr(self.cfg, param_name),
+                    new_val=new_val[0],  # new val always has the shape of (num_envs, num_joints)
+                    usd_val=usd_val,
+                    joint_names=joint_names,
+                    joint_ids=joint_ids,
+                    actuator_param=param_name,
+                )
+
         self.velocity_limit = self._parse_joint_parameter(self.cfg.velocity_limit, self.velocity_limit_sim)
-        # -- effort
-        self.effort_limit_sim = self._parse_joint_parameter(self.cfg.effort_limit_sim, effort_limit)
         self.effort_limit = self._parse_joint_parameter(self.cfg.effort_limit, self.effort_limit_sim)
 
         # create commands buffers for allocation
@@ -260,6 +280,18 @@ class ActuatorBase(ABC):
     Helper functions.
     """
 
+    def _record_actuator_resolution(self, cfg_val, new_val, usd_val, joint_names, joint_ids, actuator_param: str):
+        if actuator_param not in self.joint_property_resolution_table:
+            self.joint_property_resolution_table[actuator_param] = []
+        table = self.joint_property_resolution_table[actuator_param]
+
+        ids = joint_ids if isinstance(joint_ids, torch.Tensor) else list(range(len(joint_names)))
+        for idx, name in enumerate(joint_names):
+            cfg_val_log = "Not Specified" if cfg_val is None else float(new_val[idx])
+            default_usd_val = usd_val if isinstance(usd_val, (float, int)) else float(usd_val[0][idx])
+            applied_val_log = default_usd_val if cfg_val is None else float(new_val[idx])
+            table.append([name, int(ids[idx]), default_usd_val, cfg_val_log, applied_val_log])
+
     def _parse_joint_parameter(
         self, cfg_value: float | dict[str, float] | None, default_value: float | torch.Tensor | None
     ) -> torch.Tensor:

source/isaaclab/isaaclab/assets/articulation/articulation.py

@@ -1717,8 +1717,21 @@ class Articulation(AssetBase):
                 f" joints available: {total_act_joints} != {self.num_joints - self.num_fixed_tendons}."
             )
 
+        if self.cfg.actuator_value_resolution_debug_print:
+            t = PrettyTable(["Group", "Property", "Name", "ID", "USD Value", "ActutatorCfg Value", "Applied"])
+            for actuator_group, actuator in self.actuators.items():
+                group_count = 0
+                for property, resolution_details in actuator.joint_property_resolution_table.items():
+                    for prop_idx, resolution_detail in enumerate(resolution_details):
+                        actuator_group_str = actuator_group if group_count == 0 else ""
+                        property_str = property if prop_idx == 0 else ""
+                        fmt = [f"{v:.2e}" if isinstance(v, float) else str(v) for v in resolution_detail]
+                        t.add_row([actuator_group_str, property_str, *fmt])
+                        group_count += 1
+            omni.log.warn(f"\nActuatorCfg-USD Value Discrepancy Resolution (matching values are skipped): \n{t}")
+
     def _process_tendons(self):
-        """Process fixed and spatialtendons."""
+        """Process fixed and spatial tendons."""
         # create a list to store the fixed tendon names
         self._fixed_tendon_names = list()
         self._spatial_tendon_names = list()

source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py

@@ -66,3 +66,7 @@ class ArticulationCfg(AssetBaseCfg):
 
     actuators: dict[str, ActuatorBaseCfg] = MISSING
     """Actuators for the robot with corresponding joint names."""
+
+    actuator_value_resolution_debug_print = False
+    """Print the resolution of actuator final value when input cfg is different from USD value, Defaults to False
+    """

source/isaaclab/test/assets/test_articulation.py

@@ -906,6 +906,7 @@ def test_external_force_on_single_body_at_position(sim, num_articulations, devic
     for _ in range(5):
         # reset root state
         root_state = articulation.data.default_root_state.clone()
+        root_state[0, 0] = 2.5  # space them apart by 2.5m
 
         articulation.write_root_pose_to_sim(root_state[:, :7])
         articulation.write_root_velocity_to_sim(root_state[:, 7:])

source/isaaclab_assets/isaaclab_assets/robots/allegro.py

@@ -58,8 +58,7 @@ ALLEGRO_HAND_CFG = ArticulationCfg(
     actuators={
         "fingers": ImplicitActuatorCfg(
             joint_names_expr=[".*"],
-            effort_limit=0.5,
-            velocity_limit=100.0,
+            effort_limit_sim=0.5,
             stiffness=3.0,
             damping=0.1,
             friction=0.01,

source/isaaclab_assets/isaaclab_assets/robots/cart_double_pendulum.py

@@ -39,16 +39,15 @@ CART_DOUBLE_PENDULUM_CFG = ArticulationCfg(
     actuators={
         "cart_actuator": ImplicitActuatorCfg(
             joint_names_expr=["slider_to_cart"],
-            effort_limit=400.0,
-            velocity_limit=100.0,
+            effort_limit_sim=400.0,
             stiffness=0.0,
             damping=10.0,
         ),
         "pole_actuator": ImplicitActuatorCfg(
-            joint_names_expr=["cart_to_pole"], effort_limit=400.0, velocity_limit=100.0, stiffness=0.0, damping=0.0
+            joint_names_expr=["cart_to_pole"], effort_limit_sim=400.0, stiffness=0.0, damping=0.0
         ),
         "pendulum_actuator": ImplicitActuatorCfg(
-            joint_names_expr=["pole_to_pendulum"], effort_limit=400.0, velocity_limit=100.0, stiffness=0.0, damping=0.0
+            joint_names_expr=["pole_to_pendulum"], effort_limit_sim=400.0, stiffness=0.0, damping=0.0
         ),
     },
 )

source/isaaclab_assets/isaaclab_assets/robots/cartpole.py

@@ -39,13 +39,12 @@ CARTPOLE_CFG = ArticulationCfg(
     actuators={
         "cart_actuator": ImplicitActuatorCfg(
             joint_names_expr=["slider_to_cart"],
-            effort_limit=400.0,
-            velocity_limit=100.0,
+            effort_limit_sim=400.0,
             stiffness=0.0,
             damping=10.0,
         ),
         "pole_actuator": ImplicitActuatorCfg(
-            joint_names_expr=["cart_to_pole"], effort_limit=400.0, velocity_limit=100.0, stiffness=0.0, damping=0.0
+            joint_names_expr=["cart_to_pole"], effort_limit_sim=400.0, stiffness=0.0, damping=0.0
         ),
     },
 )

source/isaaclab_assets/isaaclab_assets/robots/cassie.py

@@ -60,8 +60,7 @@ CASSIE_CFG = ArticulationCfg(
     actuators={
         "legs": ImplicitActuatorCfg(
             joint_names_expr=["hip_.*", "thigh_.*", "ankle_.*"],
-            effort_limit=200.0,
-            velocity_limit=10.0,
+            effort_limit_sim=200.0,
             stiffness={
                 "hip_abduction.*": 100.0,
                 "hip_rotation.*": 100.0,
@@ -79,8 +78,7 @@ CASSIE_CFG = ArticulationCfg(
         ),
         "toes": ImplicitActuatorCfg(
             joint_names_expr=["toe_.*"],
-            effort_limit=20.0,
-            velocity_limit=10.0,
+            effort_limit_sim=20.0,
             stiffness={
                 "toe_joint.*": 20.0,
             },

source/isaaclab_assets/isaaclab_assets/robots/franka.py

@@ -51,21 +51,18 @@ FRANKA_PANDA_CFG = ArticulationCfg(
         "panda_shoulder": ImplicitActuatorCfg(
             joint_names_expr=["panda_joint[1-4]"],
             effort_limit_sim=87.0,
-            velocity_limit_sim=2.175,
             stiffness=80.0,
             damping=4.0,
         ),
         "panda_forearm": ImplicitActuatorCfg(
             joint_names_expr=["panda_joint[5-7]"],
             effort_limit_sim=12.0,
-            velocity_limit_sim=2.61,
             stiffness=80.0,
             damping=4.0,
         ),
         "panda_hand": ImplicitActuatorCfg(
             joint_names_expr=["panda_finger_joint.*"],
             effort_limit_sim=200.0,
-            velocity_limit_sim=0.2,
             stiffness=2e3,
             damping=1e2,
         ),

source/isaaclab_assets/isaaclab_assets/robots/kinova.py

@@ -51,8 +51,7 @@ KINOVA_JACO2_N7S300_CFG = ArticulationCfg(
     actuators={
         "arm": ImplicitActuatorCfg(
             joint_names_expr=[".*_joint_[1-7]"],
-            velocity_limit=100.0,
-            effort_limit={
+            effort_limit_sim={
                 ".*_joint_[1-2]": 80.0,
                 ".*_joint_[3-4]": 40.0,
                 ".*_joint_[5-7]": 20.0,
@@ -68,8 +67,7 @@ KINOVA_JACO2_N7S300_CFG = ArticulationCfg(
         ),
         "gripper": ImplicitActuatorCfg(
             joint_names_expr=[".*_finger_[1-3]", ".*_finger_tip_[1-3]"],
-            velocity_limit=100.0,
-            effort_limit=2.0,
+            effort_limit_sim=2.0,
             stiffness=1.2,
             damping=0.01,
         ),
@@ -105,8 +103,7 @@ KINOVA_JACO2_N6S300_CFG = ArticulationCfg(
     actuators={
         "arm": ImplicitActuatorCfg(
             joint_names_expr=[".*_joint_[1-6]"],
-            velocity_limit=100.0,
-            effort_limit={
+            effort_limit_sim={
                 ".*_joint_[1-2]": 80.0,
                 ".*_joint_3": 40.0,
                 ".*_joint_[4-6]": 20.0,
@@ -122,8 +119,7 @@ KINOVA_JACO2_N6S300_CFG = ArticulationCfg(
         ),
         "gripper": ImplicitActuatorCfg(
             joint_names_expr=[".*_finger_[1-3]", ".*_finger_tip_[1-3]"],
-            velocity_limit=100.0,
-            effort_limit=2.0,
+            effort_limit_sim=2.0,
             stiffness=1.2,
             damping=0.01,
         ),
@@ -158,7 +154,6 @@ KINOVA_GEN3_N7_CFG = ArticulationCfg(
     actuators={
         "arm": ImplicitActuatorCfg(
             joint_names_expr=["joint_[1-7]"],
-            velocity_limit=100.0,
             effort_limit={
                 "joint_[1-4]": 39.0,
                 "joint_[5-7]": 9.0,

source/isaaclab_assets/isaaclab_assets/robots/ridgeback_franka.py

@@ -49,29 +49,25 @@ RIDGEBACK_FRANKA_PANDA_CFG = ArticulationCfg(
     actuators={
         "base": ImplicitActuatorCfg(
             joint_names_expr=["dummy_base_.*"],
-            velocity_limit=100.0,
-            effort_limit=1000.0,
+            effort_limit_sim=1000.0,
             stiffness=0.0,
             damping=1e5,
         ),
         "panda_shoulder": ImplicitActuatorCfg(
             joint_names_expr=["panda_joint[1-4]"],
-            effort_limit=87.0,
-            velocity_limit=100.0,
+            effort_limit_sim=87.0,
             stiffness=800.0,
             damping=40.0,
         ),
         "panda_forearm": ImplicitActuatorCfg(
             joint_names_expr=["panda_joint[5-7]"],
-            effort_limit=12.0,
-            velocity_limit=100.0,
+            effort_limit_sim=12.0,
             stiffness=800.0,
             damping=40.0,
         ),
         "panda_hand": ImplicitActuatorCfg(
             joint_names_expr=["panda_finger_joint.*"],
-            effort_limit=200.0,
-            velocity_limit=0.2,
+            effort_limit_sim=200.0,
             stiffness=1e5,
             damping=1e3,
         ),

source/isaaclab_assets/isaaclab_assets/robots/sawyer.py

@@ -48,15 +48,13 @@ SAWYER_CFG = ArticulationCfg(
     actuators={
         "head": ImplicitActuatorCfg(
             joint_names_expr=["head_pan"],
-            velocity_limit=100.0,
-            effort_limit=8.0,
+            effort_limit_sim=8.0,
             stiffness=800.0,
             damping=40.0,
         ),
         "arm": ImplicitActuatorCfg(
             joint_names_expr=["right_j[0-6]"],
-            velocity_limit=100.0,
-            effort_limit={
+            effort_limit_sim={
                 "right_j[0-1]": 80.0,
                 "right_j[2-3]": 40.0,
                 "right_j[4-6]": 9.0,

source/isaaclab_assets/isaaclab_assets/robots/shadow_hand.py

@@ -53,7 +53,7 @@ SHADOW_HAND_CFG = ArticulationCfg(
     actuators={
         "fingers": ImplicitActuatorCfg(
             joint_names_expr=["robot0_WR.*", "robot0_(FF|MF|RF|LF|TH)J(3|2|1)", "robot0_(LF|TH)J4", "robot0_THJ0"],
-            effort_limit={
+            effort_limit_sim={
                 "robot0_WRJ1": 4.785,
                 "robot0_WRJ0": 2.175,
                 "robot0_(FF|MF|RF|LF)J1": 0.7245,

source/isaaclab_assets/isaaclab_assets/robots/unitree.py

@@ -216,8 +216,7 @@ H1_CFG = ArticulationCfg(
     actuators={
         "legs": ImplicitActuatorCfg(
             joint_names_expr=[".*_hip_yaw", ".*_hip_roll", ".*_hip_pitch", ".*_knee", "torso"],
-            effort_limit=300,
-            velocity_limit=100.0,
+            effort_limit_sim=300,
             stiffness={
                 ".*_hip_yaw": 150.0,
                 ".*_hip_roll": 150.0,
@@ -235,15 +234,13 @@ H1_CFG = ArticulationCfg(
         ),
         "feet": ImplicitActuatorCfg(
             joint_names_expr=[".*_ankle"],
-            effort_limit=100,
-            velocity_limit=100.0,
+            effort_limit_sim=100,
             stiffness={".*_ankle": 20.0},
             damping={".*_ankle": 4.0},
         ),
         "arms": ImplicitActuatorCfg(
             joint_names_expr=[".*_shoulder_pitch", ".*_shoulder_roll", ".*_shoulder_yaw", ".*_elbow"],
-            effort_limit=300,
-            velocity_limit=100.0,
+            effort_limit_sim=300,
             stiffness={
                 ".*_shoulder_pitch": 40.0,
                 ".*_shoulder_roll": 40.0,
@@ -315,8 +312,7 @@ G1_CFG = ArticulationCfg(
                 ".*_knee_joint",
                 "torso_joint",
             ],
-            effort_limit=300,
-            velocity_limit=100.0,
+            effort_limit_sim=300,
             stiffness={
                 ".*_hip_yaw_joint": 150.0,
                 ".*_hip_roll_joint": 150.0,
@@ -338,7 +334,7 @@ G1_CFG = ArticulationCfg(
             },
         ),
         "feet": ImplicitActuatorCfg(
-            effort_limit=20,
+            effort_limit_sim=20,
             joint_names_expr=[".*_ankle_pitch_joint", ".*_ankle_roll_joint"],
             stiffness=20.0,
             damping=2.0,
@@ -359,8 +355,7 @@ G1_CFG = ArticulationCfg(
                 ".*_one_joint",
                 ".*_two_joint",
             ],
-            effort_limit=300,
-            velocity_limit=100.0,
+            effort_limit_sim=300,
             stiffness=40.0,
             damping=10.0,
             armature={

source/isaaclab_assets/isaaclab_assets/robots/universal_robots.py

@@ -44,8 +44,7 @@ UR10_CFG = ArticulationCfg(
     actuators={
         "arm": ImplicitActuatorCfg(
             joint_names_expr=[".*"],
-            velocity_limit=100.0,
-            effort_limit=87.0,
+            effort_limit_sim=87.0,
             stiffness=800.0,
             damping=40.0,
         ),

source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_env_cfg.py

@@ -163,8 +163,7 @@ class FactoryEnvCfg(DirectRLEnvCfg):
                 damping=0.0,
                 friction=0.0,
                 armature=0.0,
-                effort_limit=87,
-                velocity_limit=124.6,
+                effort_limit_sim=87,
             ),
             "panda_arm2": ImplicitActuatorCfg(
                 joint_names_expr=["panda_joint[5-7]"],
@@ -172,13 +171,11 @@ class FactoryEnvCfg(DirectRLEnvCfg):
                 damping=0.0,
                 friction=0.0,
                 armature=0.0,
-                effort_limit=12,
-                velocity_limit=149.5,
+                effort_limit_sim=12,
             ),
             "panda_hand": ImplicitActuatorCfg(
                 joint_names_expr=["panda_finger_joint[1-2]"],
-                effort_limit=40.0,
-                velocity_limit=0.04,
+                effort_limit_sim=40.0,
                 stiffness=7500.0,
                 damping=173.0,
                 friction=0.1,

source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env.py

@@ -81,22 +81,19 @@ class FrankaCabinetEnvCfg(DirectRLEnvCfg):
         actuators={
             "panda_shoulder": ImplicitActuatorCfg(
                 joint_names_expr=["panda_joint[1-4]"],
-                effort_limit=87.0,
-                velocity_limit=2.175,
+                effort_limit_sim=87.0,
                 stiffness=80.0,
                 damping=4.0,
             ),
             "panda_forearm": ImplicitActuatorCfg(
                 joint_names_expr=["panda_joint[5-7]"],
-                effort_limit=12.0,
-                velocity_limit=2.61,
+                effort_limit_sim=12.0,
                 stiffness=80.0,
                 damping=4.0,
             ),
             "panda_hand": ImplicitActuatorCfg(
                 joint_names_expr=["panda_finger_joint.*"],
-                effort_limit=200.0,
-                velocity_limit=0.2,
+                effort_limit_sim=200.0,
                 stiffness=2e3,
                 damping=1e2,
             ),
@@ -123,15 +120,13 @@ class FrankaCabinetEnvCfg(DirectRLEnvCfg):
         actuators={
             "drawers": ImplicitActuatorCfg(
                 joint_names_expr=["drawer_top_joint", "drawer_bottom_joint"],
-                effort_limit=87.0,
-                velocity_limit=100.0,
+                effort_limit_sim=87.0,
                 stiffness=10.0,
                 damping=1.0,
             ),
             "doors": ImplicitActuatorCfg(
                 joint_names_expr=["door_left_joint", "door_right_joint"],
-                effort_limit=87.0,
-                velocity_limit=100.0,
+                effort_limit_sim=87.0,
                 stiffness=10.0,
                 damping=2.5,
             ),

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/cabinet_env_cfg.py

@@ -71,15 +71,13 @@ class CabinetSceneCfg(InteractiveSceneCfg):
         actuators={
             "drawers": ImplicitActuatorCfg(
                 joint_names_expr=["drawer_top_joint", "drawer_bottom_joint"],
-                effort_limit=87.0,
-                velocity_limit=100.0,
+                effort_limit_sim=87.0,
                 stiffness=10.0,
                 damping=1.0,
             ),
             "doors": ImplicitActuatorCfg(
                 joint_names_expr=["door_left_joint", "door_right_joint"],
-                effort_limit=87.0,
-                velocity_limit=100.0,
+                effort_limit_sim=87.0,
                 stiffness=10.0,
                 damping=2.5,
             ),