Fixes docstrings in Articulation Data that report wrong return dimens…

…ion (#1652)

# Description

Fixes docstring in Articulation data, where rigid body properties should
be of dimension (num_instances, num_bodies, x) instead of
(num_instances, 1, x).

Fixes #1651

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## Type of change

docstring fix.

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

**Before Change**

for the data
'''
body_link_pos_w
body_link_quat_w
body_link_vel_w
body_link_lin_vel_w
body_link_ang_vel_w
body_com_pos_w
body_com_quat_w
body_com_vel_w
body_com_lin_vel_w
body_com_ang_vel_w
'''

The actual dimension are (num_instances, num_bodies, x),

 but the docstring says (num_instances, 1, x)

**After Change**

docstring says (num_instances, num_bodies, x)


## Checklist

- [ ] 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
- [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

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---------

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

source/extensions/omni.isaac.lab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.30.3"
+version = "0.30.4"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.30.4 (2025-01-08)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* fixed docstring in articulation data :class:`omni.isaac.lab.assets.ArticulationData`.
+  In body properties sections, the second dimension should be num_bodies but was documented as 1.
+
+
 0.30.3 (2025-01-02)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py

@@ -747,7 +747,7 @@ def body_ang_acc_w(self) -> torch.Tensor:
 
     @property
     def body_link_pos_w(self) -> torch.Tensor:
-        """Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the position of the rigid bodies' actor frame relative to the world.
         """
@@ -760,7 +760,7 @@ def body_link_pos_w(self) -> torch.Tensor:
 
     @property
     def body_link_quat_w(self) -> torch.Tensor:
-        """Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4).
+        """Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 4).
 
         This quantity is the orientation of the rigid bodies' actor frame  relative to the world.
         """
@@ -774,7 +774,7 @@ def body_link_quat_w(self) -> torch.Tensor:
 
     @property
     def body_link_vel_w(self) -> torch.Tensor:
-        """Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).
+        """Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6).
 
         This quantity contains the linear and angular velocities of the rigid bodies' center of mass frame
         relative to the world.
@@ -783,15 +783,15 @@ def body_link_vel_w(self) -> torch.Tensor:
 
     @property
     def body_link_lin_vel_w(self) -> torch.Tensor:
-        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the linear velocity of the rigid bodies' center of mass frame relative to the world.
         """
         return self.body_link_state_w[..., 7:10]
 
     @property
     def body_link_ang_vel_w(self) -> torch.Tensor:
-        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the angular velocity of the rigid bodies' center of mass frame relative to the world.
         """
@@ -803,7 +803,7 @@ def body_link_ang_vel_w(self) -> torch.Tensor:
 
     @property
     def body_com_pos_w(self) -> torch.Tensor:
-        """Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the position of the rigid bodies' actor frame.
         """
@@ -813,13 +813,13 @@ def body_com_pos_w(self) -> torch.Tensor:
     def body_com_quat_w(self) -> torch.Tensor:
         """Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame.
 
-        Shape is (num_instances, 1, 4). This quantity is the orientation of the rigid bodies' actor frame.
+        Shape is (num_instances, num_bodies, 4). This quantity is the orientation of the rigid bodies' actor frame.
         """
         return self.body_com_state_w[..., 3:7]
 
     @property
     def body_com_vel_w(self) -> torch.Tensor:
-        """Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).
+        """Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6).
 
         This quantity contains the linear and angular velocities of the rigid bodies' center of mass frame.
         """
@@ -832,7 +832,7 @@ def body_com_vel_w(self) -> torch.Tensor:
 
     @property
     def body_com_lin_vel_w(self) -> torch.Tensor:
-        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the linear velocity of the rigid bodies' center of mass frame.
         """
@@ -845,7 +845,7 @@ def body_com_lin_vel_w(self) -> torch.Tensor:
 
     @property
     def body_com_ang_vel_w(self) -> torch.Tensor:
-        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the angular velocity of the rigid bodies' center of mass frame.
         """