[Question] Clarification on effort_limit and velocity_limit Units, and Setting Hard Limits for Joints

[Fuhua-Bot]

Description:

In the following ImplicitActuatorCfg configuration:

actuators = {
    "wheels": ImplicitActuatorCfg(
        joint_names_expr=["LeftWheel", "RightWheel"],
        effort_limit=3.5,
        velocity_limit=40.0,
        stiffness=100000.0,
        damping=10000.0,
        friction=0.0,
    ),
}

I have two specific questions:

Regarding units:

What are the exact units of effort_limit and velocity_limit?
My assumption is that effort_limit is in N (Newtons) and Nm (Newton-meters), depending on the type revolute/prismtic, and velocity_limit is in rad/s (radians per second). Could you please confirm?

Setting hard limits for joints:

I noticed that there are configurations related to soft limits. However, I couldn't find any parameters for setting hard limits (e.g., directly restricting joint position or angle bounds) neither in ActuatorBaseCfg nor in Env_Cfg . Could you clarify how to configure hard limits for joints? Is there a separate configuration for this?

What I've tried: I reviewed the documentation related to ActuatorBaseCfg and ImplicitActuatorCfg, but couldn't find specific details about these two points. If there is relevant documentation or examples, I'd appreciate if you could point me in the right direction.

Thank you for your support!

[RandomOakForest]

Thank you for posting this. Your assumption should be correct. effort_limit is in Newton-meters (Nm) for revolute joints, and in Newton (N) for prismatic joints, while velocity_limit is in rad/s for revolute joints, or meters/s for prismatic joints.