diff --git a/docs/source/api/lab/isaaclab.sim.rst b/docs/source/api/lab/isaaclab.sim.rst
index 06c7546d63da..e3483544510f 100644
--- a/docs/source/api/lab/isaaclab.sim.rst
+++ b/docs/source/api/lab/isaaclab.sim.rst
@@ -74,52 +74,66 @@ The following classes are part of the public :mod:`isaaclab.sim` API.
    UsdPhysicsRigidBodyCfg
 
 .. autoclass:: ArticulationRootFragment
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: CollisionFragment
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: FixedTendonFragment
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: JointDriveFragment
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: MassCfg
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: MassFragment
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: MeshCollisionFragment
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: MjcfFileCfg
    :show-inheritance:
 
 .. autoclass:: RigidBodyFragment
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: SchemaFragment
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: SensorFrameCfg
    :show-inheritance:
 
 .. autoclass:: SpatialTendonFragment
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: UsdFileWithCompliantContactCfg
    :show-inheritance:
 
 .. autoclass:: UsdPhysicsCollisionCfg
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: UsdPhysicsDriveCfg
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: UsdPhysicsMeshCollisionCfg
+   :no-index:
    :show-inheritance:
 
 .. autoclass:: UsdPhysicsRigidBodyCfg
+   :no-index:
    :show-inheritance:
diff --git a/source/isaaclab_newton/changelog.d/fix-articulation-wrench-response.skip b/source/isaaclab_newton/changelog.d/fix-articulation-wrench-response.skip
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/source/isaaclab_newton/test/assets/test_articulation.py b/source/isaaclab_newton/test/assets/test_articulation.py
index e45d1e96b1de..cc70cf19adad 100644
--- a/source/isaaclab_newton/test/assets/test_articulation.py
+++ b/source/isaaclab_newton/test/assets/test_articulation.py
@@ -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])
diff --git a/source/isaaclab_ov/changelog.d/fix-articulation-wrench-response.skip b/source/isaaclab_ov/changelog.d/fix-articulation-wrench-response.skip
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/source/isaaclab_ov/test/assets/test_articulation.py b/source/isaaclab_ov/test/assets/test_articulation.py
index 39dba43270a7..9c9662d94cdd 100644
--- a/source/isaaclab_ov/test/assets/test_articulation.py
+++ b/source/isaaclab_ov/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])
diff --git a/source/isaaclab_physx/changelog.d/fix-articulation-wrench-response.skip b/source/isaaclab_physx/changelog.d/fix-articulation-wrench-response.skip
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/source/isaaclab_physx/test/assets/test_articulation.py b/source/isaaclab_physx/test/assets/test_articulation.py
index 6263ce09eb84..8fec86b67ca7 100644
--- a/source/isaaclab_physx/test/assets/test_articulation.py
+++ b/source/isaaclab_physx/test/assets/test_articulation.py
@@ -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])