Adds documentation on the frames for asset data #742
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Dhoeller19
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Jul 30, 2024
source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py
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Dhoeller19
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| world frame unless otherwise specified. | ||
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| For a rigid body, there are two frames of reference that are used: | ||
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| - Actor frame: The frame of reference of the actor that contains the rigid body. |
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Shall we mention that this coincides with the Xform on which the rigid body is attached?
I guess people do not necessarily know the concept of actors.
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I found xform frame in the docs to be a bit confusion. Left it as actor frame for now.
Co-authored-by: David Hoeller <dhoeller@nvidia.com> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
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Dhoeller19
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iamdrfly
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# Description This MR adds docstrings in articulation and rigid object data to clarify the exact frames they are reported in. This was previously causing confusion as PhysX reports the transforms in actor frame and velocities in CoM frame. Right now, there is no mechanism to get all this data in the same frame, so the best we can do is document behavior. ## Type of change - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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Description
This MR adds docstrings in articulation and rigid object data to clarify the exact frames they are reported in. This was previously causing confusion as PhysX reports the transforms in actor frame and velocities in CoM frame. Right now, there is no mechanism to get all this data in the same frame, so the best we can do is document behavior.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there