Fixed the Unitree Go1 and Go2 leg actuator limits ignoring the knee reduction. Both robots applied the hip and thigh limits to the calf joints, which capped calf torque well below its rated value and let the torque-speed curve keep motoring past its rated speed. The calf joints now use the limits authored in
go1.usdandgo2.usd(Go1: 35.55 N·m, 20.06 rad/s; Go2: 45.43 N·m, 15.70 rad/s), and the hip and thigh limits were aligned with the same assets (23.7 N·m, 30.1 rad/s).These robots now produce more calf torque at lower calf speeds, so policies trained on the previous configuration should be retrained rather than reused directly.