test: cover Go2 calf actuator limits

Author: sylvesterkaczmarek

source/isaaclab_assets/test/test_unitree.py

@@ -0,0 +1,20 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Tests for predefined Unitree robot configurations."""
+
+from isaaclab_assets.robots.unitree import UNITREE_GO2_CFG
+
+
+def test_go2_calves_use_reduced_joint_limits():
+    """Verify the Go2 calf actuator reflects the knee reduction."""
+    base_legs = UNITREE_GO2_CFG.actuators["base_legs"]
+    calves = UNITREE_GO2_CFG.actuators["calves"]
+
+    assert base_legs.joint_names_expr == [".*_hip_joint", ".*_thigh_joint"]
+    assert calves.joint_names_expr == [".*_calf_joint"]
+    assert calves.actuator_effort_limit == 45.05
+    assert calves.saturation_effort == 45.05
+    assert calves.actuator_velocity_limit == 15.65