[Bug Report] Bug title Manipulator robot arm velocity_limit gets ingored

[hanlin-ga]

I tested the following command ./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Lift-Cube-Franka-v0 --num_envs for Franka lifting cube task, I modified the velocity_limit of franka.py under ~/IsaacLab/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets. I set the velocity_limit to be a very small value 0.0001, but when I run the command, franka still moves as fast as it can. It seems the velocity_limit is totally ignored.

actuators={ "panda_shoulder": ImplicitActuatorCfg( joint_names_expr=["panda_joint[1-4]"], effort_limit=87.0, velocity_limit=0.0001, stiffness=80.0, damping=4.0, ), "panda_forearm": ImplicitActuatorCfg( joint_names_expr=["panda_joint[5-7]"], effort_limit=12.0, velocity_limit=0.0001, stiffness=80.0, damping=4.0, ), "panda_hand": ImplicitActuatorCfg( joint_names_expr=["panda_finger_joint.*"], effort_limit=200.0, velocity_limit=0.2, stiffness=2e3, damping=1e2, ), },

[jsmith-bdai]

Yes, this is correct. The ImplicitActuator doesn't utilize the velocity_limit parameter. It is however used by other actuator types.

What are you trying to achieve? You can potential use the effort_limit to slow robot motion down if that's what you're after