[Backport release/3.0.0] Fix articulation wrench response assertion (#7504)

[kellyguo11]

Description

Backports #7504 to release/3.0.0 by cherry-picking the actual merged commit, 541de9a7a91f9e7c24b24b923c0620475a00e051.

The automatic backport stopped during source validation because the documentation hunk from #7504 had already reached develop through #7493. GitHub therefore omitted that already-present hunk from #7504's squash commit, while the PR files API still reported the original seven-file change. The validator rejected the resulting six-file squash patch before attempting a cherry-pick.

This PR replays those six remaining files exactly. The overlapping documentation change is handled separately by #7508.

Failed automation: https://github.com/isaac-sim/IsaacLab/actions/runs/33710984910/job/100510198896

No runtime dependencies are added.

Type of change

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

Release backport

• This PR already targets the active release branch; do not backport it again.

Validation

• uv run --no-project python -m compileall -q on all three modified test modules
• uv run --no-project python tools/changelog/cli.py check codex-backport-pr-7504-base
• uvx --from pre-commit==4.6.2 pre-commit run --all-files with check-changelog-fragments skipped because that hook assumes origin/develop; the release-base check above passed
• .github/scripts/backport.py validate-candidate ... --exact_patch
• git diff --check upstream/release/3.0.0..HEAD
• The simulator-backed CUDA regression remains for Linux GPU CI

Checklist

• I have read and understood the contribution guidelines
• I have run the available pre-commit checks
• Documentation changes are not needed for this six-file backport
• My changes generate no new warnings
• The existing mirrored regression tests cover the fix
• Each touched package includes its original .skip changelog fragment
• My name already exists in CONTRIBUTORS.md

[kellyguo11]

run-ci

[isaaclab-review-bot]

Isaac Lab Review Bot

This backport consistently replaces the frame-dependent z-axis angular-velocity assertion with a rotation-magnitude assertion across the Newton, OV, and PhysX articulation regression tests, with matching .skip changelog fragments for each package.

• Design and architecture: The mirrored backend tests remain synchronized, and the revised assertion avoids encoding a backend- or link-frame-specific response axis while retaining the intended check that the applied wrench causes rotation.
• API: No production code, public API, configuration, export, or documented contract changes. The empty .skip fragments appropriately record a test-only change in each touched source package without adding release notes.
• Implementation: The new vector-norm assertion still rejects a non-rotating articulation. It is intentionally less axis-specific than the previous z-component assertion, so it would not detect rotation occurring around an unexpected axis, but that tradeoff matches the stated frame-dependent behavior being corrected.

No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.

Automated review; human maintainers own approval decisions.

[greptile-apps]

Greptile Summary

This backport corrects a frame-dependent articulation wrench regression test without changing runtime behavior.

• Replaces world-Z angular-velocity assertions with full-vector angular-velocity norms across the Newton, OV, and PhysX test suites.
• Adds matching changelog skip fragments for all three packages.

Confidence Score: 5/5

The PR appears safe to merge with no actionable correctness or security issues identified.

The updated assertions continue to reject absent rotational responses while avoiding an invalid assumption about which world-space axis carries rotation from a link-frame-dependent wrench.

Important Files Changed

Filename	Overview
source/isaaclab_newton/test/assets/test_articulation.py	Updates the Newton wrench-response test to verify rotation independently of link-frame orientation.
source/isaaclab_ov/test/assets/test_articulation.py	Applies the same frame-independent wrench-response assertion to the OV test mirror.
source/isaaclab_physx/test/assets/test_articulation.py	Applies the same frame-independent wrench-response assertion to the PhysX test mirror.

_{Reviews (1): Last reviewed commit: "Fix articulation and schema documentatio..." | Re-trigger Greptile}

[kellyguo11]

run-ci