Clarifies asset classes' default_inertia tensor coordinate frame #3405
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
preist-nvidia
requested review from
Mayankm96,
jtigue-bdai and
kellyguo11
as code owners
Mayankm96
approved these changes
Sep 9, 2025
kellyguo11
pushed a commit
that referenced
this pull request
Sep 9, 2025
# Description The default_inertia attributes of the Articulation, RigidObjectCollection, and RigidObject data asset classes did not specify in what coordinate frame the tensors should be provided. This PR addresses this, and addresses some minor inconsistencies across the default_inertia docstrings. ## Type of change - This change requires a documentation update ## Screenshots ArticulationData | Before | After | | ------ | ----- | | <img width="731" height="162" alt="image" src="https://github.com/user-attachments/assets/7e2a6973-6264-4ba0-89d7-fd903e3bee6d" />| <img width="750" height="262" alt="image" src="https://github.com/user-attachments/assets/470832e6-0164-4402-b4c7-6a5ac5e599a1" />| RigidObjectCollectionData | Before | After | | ------ | ----- | | <img width="731" height="181" alt="image" src="https://github.com/user-attachments/assets/7d6bd039-b7f5-40e2-9180-33d0748694a8" /> | <img width="733" height="276" alt="image" src="https://github.com/user-attachments/assets/07bb32ca-628c-4132-8009-1db1c279d653" /> | RigidObjectData | Before | After | | ------ | ----- | | <img width="732" height="160" alt="image" src="https://github.com/user-attachments/assets/43b29f1c-3e92-4b96-925f-88cdf7ef3fc3" /> | <img width="733" height="276" alt="image" src="https://github.com/user-attachments/assets/d16bbc57-3939-4f2e-84cb-9ec135dcbe7e" /> | ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
The default_inertia attributes of the Articulation, RigidObjectCollection, and RigidObject data asset classes did not specify in what coordinate frame the tensors should be provided. This PR addresses this, and addresses some minor inconsistencies across the default_inertia docstrings.
Type of change
Screenshots
ArticulationData
RigidObjectCollectionData
RigidObjectData
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there