Fix articulation wrench response assertion

Author: kellyguo11

source/isaaclab_newton/changelog.d/fix-articulation-wrench-response.skip

@@ -2591,8 +2591,8 @@ def test_external_force_on_multiple_bodies_at_position(sim, num_articulations, d
             articulation.update(sim.cfg.dt)
         # check condition
         for i in range(num_articulations):
-            # since there is a moment applied on the articulation, the articulation should rotate
-            assert torch.abs(articulation.data.root_ang_vel_w.torch[i, 2]).item() > 0.1
+            # the response axis depends on the link frames, so check that the articulation rotates
+            assert torch.linalg.vector_norm(articulation.data.root_ang_vel_w.torch[i]).item() > 0.1
 
 
 @pytest.mark.parametrize("num_articulations", [2])

source/isaaclab_newton/test/assets/test_articulation.py

@@ -2344,8 +2344,8 @@ def test_external_force_on_multiple_bodies_at_position(sim, num_articulations, d
             articulation.update(sim.cfg.dt)
         # check condition
         for i in range(num_articulations):
-            # since there is a moment applied on the articulation, the articulation should rotate
-            assert torch.abs(articulation.data.root_ang_vel_w.torch[i, 2]).item() > 0.1
+            # the response axis depends on the link frames, so check that the articulation rotates
+            assert torch.linalg.vector_norm(articulation.data.root_ang_vel_w.torch[i]).item() > 0.1
 
 
 @pytest.mark.parametrize("num_articulations", [1, 2])

source/isaaclab_ov/changelog.d/fix-articulation-wrench-response.skip

@@ -1630,8 +1630,8 @@ def test_external_force_on_multiple_bodies_at_position(sim, num_articulations, d
             articulation.update(sim.cfg.dt)
         # check condition
         for i in range(num_articulations):
-            # since there is a moment applied on the articulation, the articulation should rotate
-            assert torch.abs(articulation.data.root_ang_vel_w.torch[i, 2]).item() > 0.1
+            # the response axis depends on the link frames, so check that the articulation rotates
+            assert torch.linalg.vector_norm(articulation.data.root_ang_vel_w.torch[i]).item() > 0.1
 
 
 @pytest.mark.parametrize("num_articulations", [1, 2])