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Fix articulation and schema documentation CI failures #7504

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Merged
kellyguo11 merged 2 commits into from
Sep 3, 2026
Merged

Fix articulation and schema documentation CI failures #7504

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084f478
Fix articulation wrench response assertion
kellyguo11 Sep 2, 2026
901b462
Fix duplicate schema documentation entries
kellyguo11 Sep 3, 2026
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Empty file added source/isaaclab_newton/changelog.d/fix-articulation-wrench-response.skip
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4 changes: 2 additions & 2 deletions source/isaaclab_newton/test/assets/test_articulation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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])
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Empty file added source/isaaclab_ov/changelog.d/fix-articulation-wrench-response.skip
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4 changes: 2 additions & 2 deletions source/isaaclab_ov/test/assets/test_articulation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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])
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Empty file added source/isaaclab_physx/changelog.d/fix-articulation-wrench-response.skip
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4 changes: 2 additions & 2 deletions source/isaaclab_physx/test/assets/test_articulation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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])
Expand Down
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