Fixes deprecation overload for hanging quat_rotate calls in articulation and...

Fixes deprecation overload for hanging quat_rotate calls in articulation and rigid_object_collection (#2867)

# Description

Changes remaining quat_rotate calls to quat_apply calls.

Fixes #2859 

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
developed or added, and if a given feature
is demanded by more than one party. -->

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] 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
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.40.15"
+version = "0.40.16"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.40.16 (2025-07-08)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed hanging quat_rotate calls to point to quat_apply in :class:`~isaaclab.assets.articulation.ArticulationData` and
+  :class:`~isaaclab.assets.articulation.RigidObjectCollectionData`
+
+
 0.40.15 (2025-07-08)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/assets/articulation/articulation_data.py

@@ -406,7 +406,7 @@ class ArticulationData:
             vel = self.root_com_vel_w.clone()
             # adjust linear velocity to link from center of mass
             vel[:, :3] += torch.linalg.cross(
-                vel[:, 3:], math_utils.quat_rotate(self.root_link_quat_w, -self.body_com_pos_b[:, 0]), dim=-1
+                vel[:, 3:], math_utils.quat_apply(self.root_link_quat_w, -self.body_com_pos_b[:, 0]), dim=-1
             )
             # set the buffer data and timestamp
             self._root_link_vel_w.data = vel
@@ -522,7 +522,7 @@ class ArticulationData:
             velocities = self.body_com_vel_w.clone()
             # adjust linear velocity to link from center of mass
             velocities[..., :3] += torch.linalg.cross(
-                velocities[..., 3:], math_utils.quat_rotate(self.body_link_quat_w, -self.body_com_pos_b), dim=-1
+                velocities[..., 3:], math_utils.quat_apply(self.body_link_quat_w, -self.body_com_pos_b), dim=-1
             )
             # set the buffer data and timestamp
             self._body_link_vel_w.data = velocities

source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_data.py

@@ -152,7 +152,7 @@ class RigidObjectCollectionData:
             velocity = self.object_com_vel_w.clone()
             # adjust linear velocity to link from center of mass
             velocity[..., :3] += torch.linalg.cross(
-                velocity[..., 3:], math_utils.quat_rotate(self.object_link_quat_w, -self.object_com_pos_b), dim=-1
+                velocity[..., 3:], math_utils.quat_apply(self.object_link_quat_w, -self.object_com_pos_b), dim=-1
             )
             # set the buffer data and timestamp
             self._object_link_vel_w.data = velocity