Update changelog fragments for the data-layer migration

- isaaclab: replace get_jacobians / get_mass_matrix /
  get_gravity_compensation_forces method entries with the new
  body_link_jacobian_w / body_com_jacobian_w / mass_matrix /
  gravity_compensation_forces properties on BaseArticulationData.
- isaaclab_physx: rephrase the Fixed entry to describe the latent
  frame mismatch the new link-origin Jacobian closes (without
  marking the entry **Breaking** in a minor fragment, since the
  old methods were never released).
- isaaclab_newton / isaaclab_ovphysx / isaaclab_tasks: align
  references to the new data-layer property names.

Author: hujc7

source/isaaclab/changelog.d/jichuanh-ik-newton-compat-mvp.minor.rst

@@ -1,20 +1,26 @@
 Added
 ^^^^^
 
-* Added :meth:`~isaaclab.assets.BaseArticulation.get_jacobians`,
-  :meth:`~isaaclab.assets.BaseArticulation.get_mass_matrix`, and
-  :meth:`~isaaclab.assets.BaseArticulation.get_gravity_compensation_forces`
-  abstract methods, so task-space controllers no longer call PhysX-only
-  ``root_view`` accessors directly. Backends without a native
-  primitive raise :class:`NotImplementedError`.
+* Added :attr:`~isaaclab.assets.BaseArticulationData.body_link_jacobian_w` and
+  :attr:`~isaaclab.assets.BaseArticulationData.body_com_jacobian_w` properties,
+  exposing the per-body geometric Jacobian referenced at the link origin and
+  body center of mass respectively. The pair mirrors the existing
+  :attr:`~isaaclab.assets.BaseArticulationData.body_link_pose_w` /
+  :attr:`~isaaclab.assets.BaseArticulationData.body_com_pose_w` and
+  :attr:`~isaaclab.assets.BaseArticulationData.body_link_vel_w` /
+  :attr:`~isaaclab.assets.BaseArticulationData.body_com_vel_w` exposure pattern.
+  Backends without a native primitive raise :class:`NotImplementedError`.
+* Added :attr:`~isaaclab.assets.BaseArticulationData.mass_matrix` property,
+  exposing the joint-space generalized mass matrix ``M(q)``.
+* Added :attr:`~isaaclab.assets.BaseArticulationData.gravity_compensation_forces`
+  property, exposing the joint-space gravity-loading torque vector ``g(q)``.
 * Added :attr:`~isaaclab.assets.BaseArticulation.joint_to_jacobi_offset`
-  property: the offset added to a state-space joint index to get the
-  matching Jacobian column index. Concrete with
-  :class:`NotImplementedError` on the base class so backends declare
-  their own convention explicitly. Returns 0 on backends whose
-  Jacobian counts the same DoFs as joint-state buffers, and 6 on
-  PhysX floating-base where the Jacobian prepends 6 floating-base
-  DoFs.
+  property: the offset added to a state-space joint index to get the matching
+  Jacobian column index. Concrete with :class:`NotImplementedError` on the
+  base class so backends declare their own convention explicitly. Returns
+  ``0`` on backends whose Jacobian counts the same DoFs as joint-state
+  buffers, and ``6`` on PhysX floating-base where the Jacobian prepends
+  6 floating-base DoFs.
 
 Changed
 ^^^^^^^
@@ -23,7 +29,7 @@ Changed
   :class:`~isaaclab.envs.mdp.actions.task_space_actions.OperationalSpaceControllerAction`,
   and :class:`~isaaclab.envs.mdp.actions.rmpflow_task_space_actions.RMPFlowAction`
   to fetch dynamic quantities through the new
-  :class:`~isaaclab.assets.BaseArticulation` accessors instead of the
+  :class:`~isaaclab.assets.BaseArticulationData` properties instead of the
   PhysX-only ``root_view``. The OSC action term now also gates the
   per-step mass-matrix and gravity-compensation fetches behind the
   controller cfg's :attr:`inertial_dynamics_decoupling`,
@@ -35,3 +41,12 @@ Changed
   :attr:`~isaaclab.assets.BaseArticulation.joint_to_jacobi_offset`
   property, so backends with different floating-base joint-axis
   conventions work without changes to the action terms.
+* PhysX backend's :attr:`body_link_jacobian_w` applies the COM→origin shift to
+  PhysX's natively COM-referenced Jacobian. The previously-exposed
+  ``Articulation.get_jacobians()`` was a passthrough that returned the raw
+  COM-referenced Jacobian, while IK / OSC consumers also read
+  :attr:`body_link_pose_w` as the EE pose setpoint — a frame mismatch that
+  produced a ``ω × r_com_w`` per-body bias in tracking. The new property
+  reads the same engine buffer and applies the shift so ``J · q_dot`` matches
+  ``body_link_lin_vel_w``. Consumers that intentionally want the raw
+  COM-referenced form can read :attr:`body_com_jacobian_w`.

source/isaaclab_newton/changelog.d/jichuanh-ik-newton-compat-mvp.minor.rst

@@ -2,36 +2,39 @@ Added
 ^^^^^
 
 * Added :attr:`~isaaclab_newton.assets.Articulation.joint_to_jacobi_offset`
-  override returning ``0``. Newton's
-  ``ArticulationView.joint_dof_count`` already counts the 6
-  floating-base DoFs on floating-base assets, so a state-space
-  joint index is also the matching Jacobian column index without
-  any shift.
-* Added :meth:`~isaaclab_newton.assets.Articulation.get_jacobians`
-  and :meth:`~isaaclab_newton.assets.Articulation.get_mass_matrix`
-  wrapping ``ArticulationView.eval_jacobian`` and
-  ``ArticulationView.eval_mass_matrix`` and returning view-sized
-  arrays matching the PhysX shape contract. Per-step behavior is
-  allocation-free and safe under CUDA graph capture: source / scratch
-  / output buffers are pre-allocated in ``_create_buffers``, and new
+  override returning ``0``. Newton's ``ArticulationView.joint_dof_count``
+  already counts the 6 floating-base DoFs on floating-base assets, so a
+  state-space joint index is also the matching Jacobian column index
+  without any shift.
+* Added Newton implementations of
+  :attr:`~isaaclab.assets.BaseArticulationData.body_link_jacobian_w`,
+  :attr:`~isaaclab.assets.BaseArticulationData.body_com_jacobian_w`, and
+  :attr:`~isaaclab.assets.BaseArticulationData.mass_matrix` on
+  :class:`~isaaclab_newton.assets.ArticulationData`. The properties wrap
+  ``ArticulationView.eval_jacobian`` and ``ArticulationView.eval_mass_matrix``
+  with view-sized output buffers cached via the standard timestamped-buffer
+  pattern. Per-step behavior is allocation-free and safe under CUDA-graph
+  capture: source / scratch / output buffers are pre-allocated in
+  ``_create_buffers``, and
   :func:`~isaaclab_newton.assets.articulation.kernels.gather_jacobian_rows`
   and :func:`~isaaclab_newton.assets.articulation.kernels.gather_mass_matrix_rows`
-  Warp kernels gather just this view's rows from the model-sized
-  buffers Newton populates.
-* Added a new
+  Warp kernels gather just this view's rows from the model-sized buffers
+  Newton populates.
+* Added the
   :func:`~isaaclab_newton.assets.articulation.kernels.shift_jacobian_com_to_origin`
-  Warp kernel that applies the
+  Warp kernel applying the
   ``v_origin = v_com - omega x (R · body_com_pos_b)`` shift to the
-  linear-velocity rows of the gathered, view-sized Jacobian, so the
-  returned Jacobian's linear rows reference the link origin in world
-  frame -- matching the cross-backend
-  :meth:`~isaaclab.assets.BaseArticulation.get_jacobians` contract.
+  linear-velocity rows of the gathered, view-sized Jacobian, so the link-
+  origin form matches the cross-backend
+  :attr:`~isaaclab.assets.BaseArticulationData.body_link_jacobian_w`
+  contract.
 
 Fixed
 ^^^^^
 
-* Fixed :meth:`~isaaclab_newton.assets.Articulation.get_jacobians` and
-  :meth:`~isaaclab_newton.assets.Articulation.get_mass_matrix` returning
+* Fixed
+  :attr:`~isaaclab_newton.assets.ArticulationData.body_link_jacobian_w`
+  and :attr:`~isaaclab_newton.assets.ArticulationData.mass_matrix` returning
   the wrong DoF columns for floating-base articulations. The IsaacLab
   Newton view is constructed with ``exclude_joint_types=[FREE, FIXED]``
   so its joint count excludes the free-root joint, but Newton's
@@ -47,7 +50,7 @@ Fixed
 Changed
 ^^^^^^^
 
-* :meth:`~isaaclab_newton.assets.Articulation.get_gravity_compensation_forces`
+* :attr:`~isaaclab_newton.assets.ArticulationData.gravity_compensation_forces`
   raises :class:`NotImplementedError` with a message pointing at the
   upstream gap. Newton's ``ArticulationView`` does not expose an
   inverse-dynamics primitive yet (upstream Newton issues

source/isaaclab_ovphysx/changelog.d/jichuanh-ik-newton-compat-mvp.rst

@@ -1,9 +1,12 @@
-Added
-^^^^^
+Changed
+^^^^^^^
 
-* Added concrete-with-:class:`NotImplementedError` stubs for the new
-  :meth:`~isaaclab.assets.BaseArticulation.get_jacobians`,
-  :meth:`~isaaclab.assets.BaseArticulation.get_mass_matrix`, and
-  :meth:`~isaaclab.assets.BaseArticulation.get_gravity_compensation_forces`
-  abstract methods, so the ovphysx ``Articulation`` class remains
-  instantiable.
+* Inherits the base
+  :attr:`~isaaclab.assets.BaseArticulationData.body_link_jacobian_w`,
+  :attr:`~isaaclab.assets.BaseArticulationData.body_com_jacobian_w`,
+  :attr:`~isaaclab.assets.BaseArticulationData.mass_matrix`, and
+  :attr:`~isaaclab.assets.BaseArticulationData.gravity_compensation_forces`
+  :class:`NotImplementedError` defaults — ovphysx's OmniGraph-based view
+  does not expose articulation Jacobians, mass matrices, or gravity
+  compensation. Use the PhysX or Newton backends for task-space
+  controllers.

source/isaaclab_physx/changelog.d/jichuanh-ik-newton-compat-mvp.rst

@@ -2,12 +2,28 @@ Added
 ^^^^^
 
 * Added PhysX implementations of
-  :meth:`~isaaclab.assets.BaseArticulation.get_jacobians`,
-  :meth:`~isaaclab.assets.BaseArticulation.get_mass_matrix`, and
-  :meth:`~isaaclab.assets.BaseArticulation.get_gravity_compensation_forces`
-  as one-line passthroughs to the corresponding
-  ``physx.ArticulationView`` methods, plus the
-  :attr:`~isaaclab_physx.assets.Articulation.joint_to_jacobi_offset`
-  override that returns ``6`` for floating-base articulations
-  (PhysX prepends 6 floating-base DoFs to the Jacobian's joint
-  axis) and ``0`` for fixed-base.
+  :attr:`~isaaclab.assets.BaseArticulationData.body_link_jacobian_w`,
+  :attr:`~isaaclab.assets.BaseArticulationData.body_com_jacobian_w`,
+  :attr:`~isaaclab.assets.BaseArticulationData.mass_matrix`, and
+  :attr:`~isaaclab.assets.BaseArticulationData.gravity_compensation_forces`
+  on :class:`~isaaclab_physx.assets.ArticulationData`. The COM
+  variant is a passthrough to ``physx.ArticulationView.get_jacobians``;
+  the link-origin variant applies a new
+  :func:`~isaaclab_physx.assets.articulation.kernels.shift_jacobian_com_to_origin`
+  Warp kernel to convert the COM-referenced linear-velocity rows to
+  link-origin references using each body's pose and COM offset.
+* Added :attr:`~isaaclab_physx.assets.Articulation.joint_to_jacobi_offset`
+  override returning ``6`` for floating-base articulations (PhysX prepends
+  6 floating-base DoFs to the Jacobian's joint axis) and ``0`` for fixed-base.
+
+Fixed
+^^^^^
+
+* Fixed a latent correctness bug in IK / OSC controllers on the PhysX
+  backend, where the previously-exposed Jacobian was COM-referenced but
+  the controllers used :attr:`~isaaclab_physx.assets.ArticulationData.body_link_pose_w`
+  as the EE pose setpoint. The frame mismatch caused tracking error on
+  bodies whose COM offset is non-trivial. The new
+  :attr:`~isaaclab.assets.BaseArticulationData.body_link_jacobian_w`
+  applies the COM→origin shift so the Jacobian and pose share a
+  reference point.

source/isaaclab_tasks/changelog.d/jichuanh-ik-newton-compat-mvp.rst

@@ -9,4 +9,5 @@ Changed
   the default in ``ReachPhysicsCfg``. Direct-workflow callers in
   ``automate``, ``factory``, and the deploy MDP events module were
   migrated to the new
-  :class:`~isaaclab.assets.BaseArticulation` accessors.
+  :class:`~isaaclab.assets.BaseArticulationData` properties
+  (:attr:`body_link_jacobian_w`, :attr:`mass_matrix`).