g1_29dof ankle effort/velocity limits in robot.py don't match URDF

[maedmatt]

Issue

The g1_29dof config in src/holosoma/holosoma/config_values/robot.py has ankle effort and velocity limits that differ from the URDF (g1_29dof.urdf):

The effort=50 value appears to come from the MuJoCo XML (g1_29dof.xml) (actuatorfrcrange="-50 50"), which is in discrepancy with the URDF. The URDF specifies effort=35, which should be the authoritative source for hardware limits.

Similarly, the velocity limits use 37 in the config but 30 in the URDF.

Question

Which values are correct for the real hardware? Is the URDF (35 Nm) or the XML (50 Nm) the authoritative source? Or is the actual motor capable of 50 Nm and the URDF is conservative? How is this going to affect sim2real? Anything else that I should take into consideration?

Extra

Separately: we're working on G1 23dof locomotion using this framework. If there's any existing work or plans for that variant we should be aware of, happy to coordinate!

[samuelgundry]

Hi @maedmatt, quick response regarding additional robots. Our plans are to improve the Holosom-Extensions interface and then help facilitate adding community-supported robots to the extensions repository. There's the T1 23dof PR with the same response. We are still preparing the changes internally. We'll report back once we have something published.