Adds `is_global` flag for setting external wrenches on rigid bodies (#3052)

# Description

Added a new argument: is_global to the set_external_force_and_torque
methods of the articulation and rigid body assets. This allows to set
external wrenches in the global frame directly from the method call
rather than having to set the frame in the configuration.

## Type of change

- New feature (non-breaking change which adds functionality)

## 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
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] 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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.41.3 (2025-07-30)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added a new argument ``is_global`` to :meth:`~isaaclab.assets.Articulation.set_external_force_and_torque`,
+  :meth:`~isaaclab.assets.RigidObject.set_external_force_and_torque`, and
+  :meth:`~isaaclab.assets.RigidObjectCollection.set_external_force_and_torque` allowing to set external wrenches
+  in the global frame directly from the method call rather than having to set the frame in the configuration.
+
+Removed
+^^^^^^^^
+
+* Removed :attr:`xxx_external_wrench_frame` flag from asset configuration classes in favor of direct argument
+  passed to the :meth:`set_external_force_and_torque` function.
+
 
 0.41.2 (2025-07-28)
 ~~~~~~~~~~~~~~~~~~~~

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

@@ -842,6 +842,7 @@ class Articulation(AssetBase):
         positions: torch.Tensor | None = None,
         body_ids: Sequence[int] | slice | None = None,
         env_ids: Sequence[int] | None = None,
+        is_global: bool = False,
     ):
         """Set external force and torque to apply on the asset's bodies in their local frame.
 
@@ -859,6 +860,17 @@ class Articulation(AssetBase):
                 # example of disabling external wrench
                 asset.set_external_force_and_torque(forces=torch.zeros(0, 3), torques=torch.zeros(0, 3))
 
+        .. caution::
+            If the function is called consecutively with and with different values for ``is_global``, then the
+            all the external wrenches will be applied in the frame specified by the last call.
+
+            .. code-block:: python
+                # example of setting external wrench in the global frame
+                asset.set_external_force_and_torque(forces=torch.ones(1, 1, 3), env_ids=[0], is_global=True)
+                # example of setting external wrench in the link frame
+                asset.set_external_force_and_torque(forces=torch.ones(1, 1, 3), env_ids=[1], is_global=False)
+                # Both environments will have the external wrenches applied in the link frame
+
         .. note::
             This function does not apply the external wrench to the simulation. It only fills the buffers with
             the desired values. To apply the external wrench, call the :meth:`write_data_to_sim` function
@@ -870,6 +882,8 @@ class Articulation(AssetBase):
             positions: Positions to apply external wrench. Shape is (len(env_ids), len(body_ids), 3). Defaults to None.
             body_ids: Body indices to apply external wrench to. Defaults to None (all bodies).
             env_ids: Environment indices to apply external wrench to. Defaults to None (all instances).
+            is_global: Whether to apply the external wrench in the global frame. Defaults to False. If set to False,
+                the external wrench is applied in the link frame of the articulations' bodies.
         """
         if forces.any() or torques.any():
             self.has_external_wrench = True
@@ -900,6 +914,13 @@ class Articulation(AssetBase):
         self._external_force_b.flatten(0, 1)[indices] = forces.flatten(0, 1)
         self._external_torque_b.flatten(0, 1)[indices] = torques.flatten(0, 1)
 
+        if is_global != self._use_global_wrench_frame:
+            omni.log.warn(
+                f"The external wrench frame has been changed from {self._use_global_wrench_frame} to {is_global}. This"
+                " may lead to unexpected behavior."
+            )
+            self._use_global_wrench_frame = is_global
+
         # If the positions are not provided, the behavior and performance of the simulation should not be affected.
         if positions is not None:
             # Generates a flag that is set for a full simulation step. This is done to avoid discarding
@@ -1257,6 +1278,7 @@ class Articulation(AssetBase):
         self._external_force_b = torch.zeros((self.num_instances, self.num_bodies, 3), device=self.device)
         self._external_torque_b = torch.zeros_like(self._external_force_b)
         self._external_wrench_positions_b = torch.zeros_like(self._external_force_b)
+        self._use_global_wrench_frame = False
 
         # asset named data
         self._data.joint_names = self.joint_names
@@ -1324,15 +1346,6 @@ class Articulation(AssetBase):
         default_root_state = torch.tensor(default_root_state, dtype=torch.float, device=self.device)
         self._data.default_root_state = default_root_state.repeat(self.num_instances, 1)
 
-        # -- external wrench
-        external_wrench_frame = self.cfg.articulation_external_wrench_frame
-        if external_wrench_frame == "local":
-            self._use_global_wrench_frame = False
-        elif external_wrench_frame == "world":
-            self._use_global_wrench_frame = True
-        else:
-            raise ValueError(f"Invalid external wrench frame: {external_wrench_frame}. Must be 'local' or 'world'.")
-
         # -- joint state
         self._data.default_joint_pos = torch.zeros(self.num_instances, self.num_joints, device=self.device)
         self._data.default_joint_vel = torch.zeros_like(self._data.default_joint_pos)

source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py

@@ -44,13 +44,6 @@ class ArticulationCfg(AssetBaseCfg):
     If not provided will search for a prim with the ArticulationRootAPI. Should start with a slash.
     """
 
-    articulation_external_wrench_frame: str = "local"
-    """Frame in which external wrenches are applied. Defaults to "local".
-
-    If "local", the external wrenches are applied in the local frame of the articulation root.
-    If "world", the external wrenches are applied in the world frame.
-    """
-
     init_state: InitialStateCfg = InitialStateCfg()
     """Initial state of the articulated object. Defaults to identity pose with zero velocity and zero joint state."""
 

source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py

@@ -370,6 +370,7 @@ class RigidObject(AssetBase):
         positions: torch.Tensor | None = None,
         body_ids: Sequence[int] | slice | None = None,
         env_ids: Sequence[int] | None = None,
+        is_global: bool = False,
     ):
         """Set external force and torque to apply on the asset's bodies in their local frame.
 
@@ -387,6 +388,17 @@ class RigidObject(AssetBase):
                 # example of disabling external wrench
                 asset.set_external_force_and_torque(forces=torch.zeros(0, 3), torques=torch.zeros(0, 3))
 
+        .. caution::
+            If the function is called consecutively with and with different values for ``is_global``, then the
+            all the external wrenches will be applied in the frame specified by the last call.
+
+            .. code-block:: python
+                # example of setting external wrench in the global frame
+                asset.set_external_force_and_torque(forces=torch.ones(1, 1, 3), env_ids=[0], is_global=True)
+                # example of setting external wrench in the link frame
+                asset.set_external_force_and_torque(forces=torch.ones(1, 1, 3), env_ids=[1], is_global=False)
+                # Both environments will have the external wrenches applied in the link frame
+
         .. note::
             This function does not apply the external wrench to the simulation. It only fills the buffers with
             the desired values. To apply the external wrench, call the :meth:`write_data_to_sim` function
@@ -398,6 +410,8 @@ class RigidObject(AssetBase):
             positions: External wrench positions in bodies' local frame. Shape is (len(env_ids), len(body_ids), 3). Defaults to None.
             body_ids: Body indices to apply external wrench to. Defaults to None (all bodies).
             env_ids: Environment indices to apply external wrench to. Defaults to None (all instances).
+            is_global: Whether to apply the external wrench in the global frame. Defaults to False. If set to False,
+                the external wrench is applied in the link frame of the bodies.
         """
         if forces.any() or torques.any():
             self.has_external_wrench = True
@@ -420,6 +434,13 @@ class RigidObject(AssetBase):
         self._external_force_b[env_ids, body_ids] = forces
         self._external_torque_b[env_ids, body_ids] = torques
 
+        if is_global != self._use_global_wrench_frame:
+            omni.log.warn(
+                f"The external wrench frame has been changed from {self._use_global_wrench_frame} to {is_global}. This"
+                " may lead to unexpected behavior."
+            )
+            self._use_global_wrench_frame = is_global
+
         if positions is not None:
             self.uses_external_wrench_positions = True
             self._external_wrench_positions_b[env_ids, body_ids] = positions
@@ -505,6 +526,7 @@ class RigidObject(AssetBase):
         self._external_torque_b = torch.zeros_like(self._external_force_b)
         self.uses_external_wrench_positions = False
         self._external_wrench_positions_b = torch.zeros_like(self._external_force_b)
+        self._use_global_wrench_frame = False
 
         # set information about rigid body into data
         self._data.body_names = self.body_names
@@ -525,15 +547,6 @@ class RigidObject(AssetBase):
         default_root_state = torch.tensor(default_root_state, dtype=torch.float, device=self.device)
         self._data.default_root_state = default_root_state.repeat(self.num_instances, 1)
 
-        # -- external wrench
-        external_wrench_frame = self.cfg.object_external_wrench_frame
-        if external_wrench_frame == "local":
-            self._use_global_wrench_frame = False
-        elif external_wrench_frame == "world":
-            self._use_global_wrench_frame = True
-        else:
-            raise ValueError(f"Invalid external wrench frame: {external_wrench_frame}. Must be 'local' or 'world'.")
-
     """
     Internal simulation callbacks.
     """

source/isaaclab/isaaclab/assets/rigid_object/rigid_object_cfg.py

@@ -30,10 +30,3 @@ class RigidObjectCfg(AssetBaseCfg):
 
     init_state: InitialStateCfg = InitialStateCfg()
     """Initial state of the rigid object. Defaults to identity pose with zero velocity."""
-
-    object_external_wrench_frame: str = "local"
-    """Frame in which external wrenches are applied. Defaults to "local".
-
-    If "local", the external wrenches are applied in the local frame of the articulation root.
-    If "world", the external wrenches are applied in the world frame.
-    """

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

@@ -499,6 +499,7 @@ class RigidObjectCollection(AssetBase):
         positions: torch.Tensor | None = None,
         object_ids: slice | torch.Tensor | None = None,
         env_ids: torch.Tensor | None = None,
+        is_global: bool = False,
     ):
         """Set external force and torque to apply on the objects' bodies in their local frame.
 
@@ -515,6 +516,17 @@ class RigidObjectCollection(AssetBase):
                 # example of disabling external wrench
                 asset.set_external_force_and_torque(forces=torch.zeros(0, 0, 3), torques=torch.zeros(0, 0, 3))
 
+        .. caution::
+            If the function is called consecutively with and with different values for ``is_global``, then the
+            all the external wrenches will be applied in the frame specified by the last call.
+
+            .. code-block:: python
+                # example of setting external wrench in the global frame
+                asset.set_external_force_and_torque(forces=torch.ones(1, 1, 3), env_ids=[0], is_global=True)
+                # example of setting external wrench in the link frame
+                asset.set_external_force_and_torque(forces=torch.ones(1, 1, 3), env_ids=[1], is_global=False)
+                # Both environments will have the external wrenches applied in the link frame
+
         .. note::
             This function does not apply the external wrench to the simulation. It only fills the buffers with
             the desired values. To apply the external wrench, call the :meth:`write_data_to_sim` function
@@ -526,6 +538,8 @@ class RigidObjectCollection(AssetBase):
             positions: External wrench positions in bodies' local frame. Shape is (len(env_ids), len(object_ids), 3).
             object_ids: Object indices to apply external wrench to. Defaults to None (all objects).
             env_ids: Environment indices to apply external wrench to. Defaults to None (all instances).
+            is_global: Whether to apply the external wrench in the global frame. Defaults to False. If set to False,
+                the external wrench is applied in the link frame of the bodies.
         """
         if forces.any() or torques.any():
             self.has_external_wrench = True
@@ -544,6 +558,14 @@ class RigidObjectCollection(AssetBase):
         # set into internal buffers
         self._external_force_b[env_ids[:, None], object_ids] = forces
         self._external_torque_b[env_ids[:, None], object_ids] = torques
+
+        if is_global != self._use_global_wrench_frame:
+            omni.log.warn(
+                f"The external wrench frame has been changed from {self._use_global_wrench_frame} to {is_global}. This"
+                " may lead to unexpected behavior."
+            )
+            self._use_global_wrench_frame = is_global
+
         if positions is not None:
             self.uses_external_wrench_positions = True
             self._external_wrench_positions_b[env_ids[:, None], object_ids] = positions
@@ -663,6 +685,7 @@ class RigidObjectCollection(AssetBase):
         self._external_torque_b = torch.zeros_like(self._external_force_b)
         self._external_wrench_positions_b = torch.zeros_like(self._external_force_b)
         self.uses_external_wrench_positions = False
+        self._use_global_wrench_frame = False
 
         # set information about rigid body into data
         self._data.object_names = self.object_names
@@ -691,15 +714,6 @@ class RigidObjectCollection(AssetBase):
         default_object_states = torch.cat(default_object_states, dim=1)
         self._data.default_object_state = default_object_states
 
-        # -- external wrench
-        external_wrench_frame = self.cfg.objects_external_wrench_frame
-        if external_wrench_frame == "local":
-            self._use_global_wrench_frame = False
-        elif external_wrench_frame == "world":
-            self._use_global_wrench_frame = True
-        else:
-            raise ValueError(f"Invalid external wrench frame: {external_wrench_frame}. Must be 'local' or 'world'.")
-
     def _env_obj_ids_to_view_ids(
         self, env_ids: torch.Tensor, object_ids: Sequence[int] | slice | torch.Tensor
     ) -> torch.Tensor:

source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_cfg.py

@@ -26,10 +26,3 @@ class RigidObjectCollectionCfg:
 
     The keys are the names for the objects, which are used as unique identifiers throughout the code.
     """
-
-    objects_external_wrench_frame: str = "local"
-    """Frame in which external wrenches are applied. Defaults to "local".
-
-    If "local", the external wrenches are applied in the local frame of the articulation root.
-    If "world", the external wrenches are applied in the world frame.
-    """

source/isaaclab/test/assets/test_articulation.py

@@ -775,10 +775,14 @@ def test_external_force_buffer(sim, num_articulations, device):
                 external_wrench_b[..., 3:],
                 body_ids=body_ids,
                 positions=external_wrench_positions_b,
+                is_global=True,
             )
         else:
             articulation.set_external_force_and_torque(
-                external_wrench_b[..., :3], external_wrench_b[..., 3:], body_ids=body_ids
+                external_wrench_b[..., :3],
+                external_wrench_b[..., 3:],
+                body_ids=body_ids,
+                is_global=False,
             )
 
         # check if the articulation's force and torque buffers are correctly updated
@@ -786,6 +790,7 @@ def test_external_force_buffer(sim, num_articulations, device):
             assert articulation._external_force_b[i, 0, 0].item() == force
             assert articulation._external_torque_b[i, 0, 0].item() == force
             assert articulation._external_wrench_positions_b[i, 0, 0].item() == position
+            assert articulation._use_global_wrench_frame == (step == 0 or step == 3)
 
         # apply action to the articulation
         articulation.set_joint_position_target(articulation.data.default_joint_pos.clone())

source/isaaclab/test/assets/test_rigid_object.py

@@ -230,10 +230,12 @@ def test_external_force_buffer(device):
                 # set a non-zero force
                 force = 1
                 position = 1
+                is_global = True
             else:
                 # set a zero force
                 force = 0
                 position = 0
+                is_global = False
 
             # set force value
             external_wrench_b[:, :, 0] = force
@@ -247,16 +249,21 @@ def test_external_force_buffer(device):
                     external_wrench_b[..., 3:],
                     body_ids=body_ids,
                     positions=external_wrench_positions_b,
+                    is_global=is_global,
                 )
             else:
                 cube_object.set_external_force_and_torque(
-                    external_wrench_b[..., :3], external_wrench_b[..., 3:], body_ids=body_ids
+                    external_wrench_b[..., :3],
+                    external_wrench_b[..., 3:],
+                    body_ids=body_ids,
+                    is_global=is_global,
                 )
 
             # check if the cube's force and torque buffers are correctly updated
             assert cube_object._external_force_b[0, 0, 0].item() == force
             assert cube_object._external_torque_b[0, 0, 0].item() == force
             assert cube_object._external_wrench_positions_b[0, 0, 0].item() == position
+            assert cube_object._use_global_wrench_frame == (step == 0 or step == 3)
 
             # apply action to the object
             cube_object.write_data_to_sim()

source/isaaclab/test/assets/test_rigid_object_collection.py

@@ -241,9 +241,11 @@ def test_external_force_buffer(sim, device):
         if step == 0 or step == 3:
             force = 1.0
             position = 1.0
+            is_global = True
         else:
             force = 0.0
             position = 0.0
+            is_global = False
 
         # apply force to the object
         external_wrench_b[:, :, 0] = force
@@ -255,6 +257,7 @@ def test_external_force_buffer(sim, device):
             external_wrench_b[..., 3:],
             object_ids=object_ids,
             positions=external_wrench_positions_b,
+            is_global=is_global,
         )
 
         # check if the object collection's force and torque buffers are correctly updated
@@ -262,6 +265,7 @@ def test_external_force_buffer(sim, device):
             assert object_collection._external_force_b[i, 0, 0].item() == force
             assert object_collection._external_torque_b[i, 0, 0].item() == force
             assert object_collection._external_wrench_positions_b[i, 0, 0].item() == position
+            assert object_collection._use_global_wrench_frame == (step == 0 or step == 3)
 
         # apply action to the object collection
         object_collection.write_data_to_sim()