The odd primary order of the commutator on low rank Lie groups

Let $G$ be a simply-connected, compact, simple Lie group of low rank relative to a fixed prime $p$. After localization at $p$, there is a space $A$ which "generates" $G$ in a certain sense. Assuming $G$ satisfies a homotopy nilpotency condition relative to $p$, we show that the Samelson product $\langle Id_G, Id_G\rangle$ of the identity of $G$ equals the order of the Samelson product $\langle\imath,\imath\rangle$ of the inclusion $\imath:A\to G$. Applying this result, we calculate the orders of $\langle Id_G,Id_G\rangle$ for all $p$-regular Lie groups and give bounds on the orders of $\langle Id_G,Id_G\rangle$ for certain quasi-$p$-regular Lie groups.