Go2 URDF torque limits

[YoucefAouf]

Hi,

In the Go2 const.xacro, the joint torque limits are: 23.7 / 35.55 N.m.
However, It was advertized that the peak joint torque is around 45 N.m for the largest joint which doesn't appear in the URDF.
Does 45 N.m refer to a theoretical peak, or is it achievable by some joints?
Could you calrify wether joint torque limits in URDF represent continuous torque, safety limits, or some other constraint?

Thanks!