Move external wrench frame selection into WrenchComposer - #7536

Draft

AntoineRichard wants to merge 8 commits into

isaac-sim:developfrom

AntoineRichard:antoiner/wrench-submission-plan

Commits on Sep 3, 2026

Add composer-owned wrench submission plan
AntoineRichard
committed
7e33450
Submit PhysX external wrenches through the composer submission plan
AntoineRichard
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3ff05b4
Submit Newton external wrenches through the composer submission plan
AntoineRichard
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6c0846e
Submit OvPhysX external wrenches through the composer submission plan
AntoineRichard
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f21a3c9
Fix RNG leak in OvPhysX wrench submission-frame test
AntoineRichard
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328af69
Verify submitted wrench matches the composed wrench across backends
AntoineRichard
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dc436ac
Add non-zero torque to submission equivalence test to cover WORLD_AT_COM torque path
AntoineRichard
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1ca43ee
Fix wrench submission review gaps in tests and benchmark fixture
AntoineRichard
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3aef08f