Adds documentation on the frames for asset data #742
Merged
Conversation
This file contains 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
Dhoeller19
reviewed
Jul 30, 2024
source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py
Outdated
Show resolved
Hide resolved
Dhoeller19
reviewed
Jul 30, 2024
| world frame unless otherwise specified. | ||
|
|
||
| For a rigid body, there are two frames of reference that are used: | ||
|
|
||
| - Actor frame: The frame of reference of the actor that contains the rigid body. |
There was a problem hiding this comment.
Shall we mention that this coincides with the Xform on which the rigid body is attached?
I guess people do not necessarily know the concept of actors.
There was a problem hiding this comment.
I found xform frame in the docs to be a bit confusion. Left it as actor frame for now.
Co-authored-by: David Hoeller <dhoeller@nvidia.com> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
6 tasks
Dhoeller19
approved these changes
Aug 2, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
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Outdated suggestions cannot be applied.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
This MR adds docstrings in articulation and rigid object data to clarify the exact frames they are reported in. This was previously causing confusion as PhysX reports the transforms in actor frame and velocities in CoM frame. Right now, there is no mechanism to get all this data in the same frame, so the best we can do is document behavior.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there