Switching the wrench compose to rely on two buffers (local and global)

source/isaaclab/docs/CHANGELOG.rst

@@ -4,12 +4,38 @@ Changelog
 0.54.4 (2026-02-13)
 ~~~~~~~~~~~~~~~~~~~
 
+Changed
+^^^^^^^
+
+* Refactored :class:`~isaaclab.utils.wrench_composer.WrenchComposer` to a dual-buffer architecture with separate
+  global (world-frame) and local (body-frame) buffers. A new
+  :meth:`~isaaclab.utils.wrench_composer.WrenchComposer.compose_to_body_frame` method rotates global forces/torques into
+  the body frame at apply time using the current body orientation, then sums with local forces/torques. Composed
+  wrenches are now applied to PhysX with ``is_global=False``.
+* Replaced the ``add_forces_and_torques_at_position`` and ``set_forces_and_torques_at_position`` warp kernels with
+  ``set_forces_to_dual_buffers``, ``add_forces_to_dual_buffers``, ``add_raw_wrench_buffers``, and
+  ``compose_wrench_to_body_frame``.
+
 Fixed
 ^^^^^
 
-* Fixed :class:`~isaaclab.utils.wrench_composer.WrenchComposer` to correctly handle composed wrenches when link poses
-  change during simulation. Forces and torques are composed and stored in "mixed" frame representation (global frame
-  orientation, link frame position) and passed to Physx  with `is_global=True`.
+* Fixed :class:`~isaaclab.utils.wrench_composer.WrenchComposer` not correctly updating the composed torque from global
+  positional forces when the body moves. Global positional torques are now stored as ``cross(P, F)`` about the world
+  origin and corrected at compose time via ``-cross(link_pos, F)`` to produce torque about the current CoM.
+* Fixed :meth:`~isaaclab.utils.wrench_composer.WrenchComposer.reset` not clearing the ``_active`` flag when called
+  with ``slice(None)`` (the path taken by all asset reset methods). Added a ``ValueError`` for unsupported arbitrary
+  slices.
+* Fixed :class:`~isaaclab.utils.wrench_composer.WrenchComposer` producing spurious torque when global forces are
+  applied without explicit positions. Previously, the compose kernel always applied the ``-cross(link_pos, F)``
+  correction, causing torque proportional to the body's distance from the world origin. Global forces without
+  positions are now routed to a separate ``global_force_at_com_w`` buffer that bypasses the positional torque
+  correction, correctly applying the force at the body's center of mass.
+
+Added
+^^^^^
+
+* Added integration tests for :class:`~isaaclab.utils.wrench_composer.WrenchComposer` that validate global and local
+  force/torque behavior with a full physics simulation in the loop.
 
 
 0.54.3 (2026-02-04)

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

@@ -228,30 +228,23 @@ def write_data_to_sim(self):
         # write external wrench
         if self._instantaneous_wrench_composer.active or self._permanent_wrench_composer.active:
             if self._instantaneous_wrench_composer.active:
-                # Compose instantaneous wrench with permanent wrench
-                self._instantaneous_wrench_composer.add_forces_and_torques(
-                    forces=self._permanent_wrench_composer.composed_force,
-                    torques=self._permanent_wrench_composer.composed_torque,
-                    body_ids=self._ALL_BODY_INDICES_WP,
-                    env_ids=self._ALL_INDICES_WP,
-                    is_global=True,
-                )
-                # Apply both instantaneous and permanent wrench to the simulation
+                self._instantaneous_wrench_composer.add_raw_buffers_from(self._permanent_wrench_composer)
+                self._instantaneous_wrench_composer.compose_to_body_frame()
                 self.root_physx_view.apply_forces_and_torques_at_position(
-                    force_data=self._instantaneous_wrench_composer.composed_force_as_torch.view(-1, 3),
-                    torque_data=self._instantaneous_wrench_composer.composed_torque_as_torch.view(-1, 3),
+                    force_data=self._instantaneous_wrench_composer.out_force_b_as_torch.view(-1, 3),
+                    torque_data=self._instantaneous_wrench_composer.out_torque_b_as_torch.view(-1, 3),
                     position_data=None,
                     indices=self._ALL_INDICES,
-                    is_global=True,
+                    is_global=False,
                 )
             else:
-                # Apply permanent wrench to the simulation
+                self._permanent_wrench_composer.compose_to_body_frame()
                 self.root_physx_view.apply_forces_and_torques_at_position(
-                    force_data=self._permanent_wrench_composer.composed_force_as_torch.view(-1, 3),
-                    torque_data=self._permanent_wrench_composer.composed_torque_as_torch.view(-1, 3),
+                    force_data=self._permanent_wrench_composer.out_force_b_as_torch.view(-1, 3),
+                    torque_data=self._permanent_wrench_composer.out_torque_b_as_torch.view(-1, 3),
                     position_data=None,
                     indices=self._ALL_INDICES,
-                    is_global=True,
+                    is_global=False,
                 )
         self._instantaneous_wrench_composer.reset()
 
@@ -1018,27 +1011,30 @@ def set_external_force_and_torque(
         external wrench at (in the local link frame of the bodies).
 
         .. caution::
-            If the function is called with empty forces and torques, then this function disables the application
-            of external wrench to the simulation.
-
-            .. code-block:: python
-
-                # example of disabling external wrench
-                asset.set_external_force_and_torque(forces=torch.zeros(0, 3), torques=torch.zeros(0, 3))
+            This method clears **all** internal wrench buffers before writing the provided values.
+            Any previously set forces or torques (local or global) are discarded. To accumulate
+            on top of existing values, use ``permanent_wrench_composer.add_forces_and_torques`` instead.
 
         .. 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
             right before the simulation step.
 
         Args:
-            forces: External forces in bodies' local frame. Shape is (len(env_ids), len(body_ids), 3).
-            torques: External torques in bodies' local frame. Shape is (len(env_ids), len(body_ids), 3).
-            positions: Positions to apply external wrench. Shape is (len(env_ids), len(body_ids), 3). Defaults to None.
+            forces: External forces. Shape is (len(env_ids), len(body_ids), 3).
+                When ``is_global=False``, forces are in the bodies' local frame.
+                When ``is_global=True``, forces are in the world frame.
+            torques: External torques. Shape is (len(env_ids), len(body_ids), 3).
+                When ``is_global=False``, torques are in the bodies' local frame.
+                When ``is_global=True``, torques are in the world frame.
+            positions: Application points for forces. Shape is (len(env_ids), len(body_ids), 3).
+                Defaults to None.
+                When ``is_global=False``, positions are local offsets from the link frame.
+                When ``is_global=True``, positions are world-frame coordinates. If None,
+                forces are applied at the body's center of mass (no positional torque).
             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.
+            is_global: Whether forces and torques are in the global (world) frame. Defaults to False.
         """
         logger.warning(
             "The function 'set_external_force_and_torque' will be deprecated in a future release. Please"

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

@@ -141,30 +141,23 @@ def write_data_to_sim(self):
         # write external wrench
         if self._instantaneous_wrench_composer.active or self._permanent_wrench_composer.active:
             if self._instantaneous_wrench_composer.active:
-                # Compose instantaneous wrench with permanent wrench
-                self._instantaneous_wrench_composer.add_forces_and_torques(
-                    forces=self._permanent_wrench_composer.composed_force,
-                    torques=self._permanent_wrench_composer.composed_torque,
-                    body_ids=self._ALL_BODY_INDICES_WP,
-                    env_ids=self._ALL_INDICES_WP,
-                    is_global=True,
-                )
-                # Apply both instantaneous and permanent wrench to the simulation
+                self._instantaneous_wrench_composer.add_raw_buffers_from(self._permanent_wrench_composer)
+                self._instantaneous_wrench_composer.compose_to_body_frame()
                 self.root_physx_view.apply_forces_and_torques_at_position(
-                    force_data=self._instantaneous_wrench_composer.composed_force_as_torch.view(-1, 3),
-                    torque_data=self._instantaneous_wrench_composer.composed_torque_as_torch.view(-1, 3),
+                    force_data=self._instantaneous_wrench_composer.out_force_b_as_torch.view(-1, 3),
+                    torque_data=self._instantaneous_wrench_composer.out_torque_b_as_torch.view(-1, 3),
                     position_data=None,
                     indices=self._ALL_INDICES,
-                    is_global=True,
+                    is_global=False,
                 )
             else:
-                # Apply permanent wrench to the simulation
+                self._permanent_wrench_composer.compose_to_body_frame()
                 self.root_physx_view.apply_forces_and_torques_at_position(
-                    force_data=self._permanent_wrench_composer.composed_force_as_torch.view(-1, 3),
-                    torque_data=self._permanent_wrench_composer.composed_torque_as_torch.view(-1, 3),
+                    force_data=self._permanent_wrench_composer.out_force_b_as_torch.view(-1, 3),
+                    torque_data=self._permanent_wrench_composer.out_torque_b_as_torch.view(-1, 3),
                     position_data=None,
                     indices=self._ALL_INDICES,
-                    is_global=True,
+                    is_global=False,
                 )
         self._instantaneous_wrench_composer.reset()
 
@@ -417,28 +410,30 @@ def set_external_force_and_torque(
         external wrench at (in the local link frame of the bodies).
 
         .. caution::
-            If the function is called with empty forces and torques, then this function disables the application
-            of external wrench to the simulation.
-
-            .. code-block:: python
-
-                # example of disabling external wrench
-                asset.set_external_force_and_torque(forces=torch.zeros(0, 3), torques=torch.zeros(0, 3))
+            This method clears **all** internal wrench buffers before writing the provided values.
+            Any previously set forces or torques (local or global) are discarded. To accumulate
+            on top of existing values, use ``permanent_wrench_composer.add_forces_and_torques`` instead.
 
         .. 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
             right before the simulation step.
 
         Args:
-            forces: External forces in bodies' local frame. Shape is (len(env_ids), len(body_ids), 3).
-            torques: External torques in bodies' local frame. Shape is (len(env_ids), len(body_ids), 3).
-            positions: External wrench positions in bodies' local frame. Shape is (len(env_ids), len(body_ids), 3).
+            forces: External forces. Shape is (len(env_ids), len(body_ids), 3).
+                When ``is_global=False``, forces are in the bodies' local frame.
+                When ``is_global=True``, forces are in the world frame.
+            torques: External torques. Shape is (len(env_ids), len(body_ids), 3).
+                When ``is_global=False``, torques are in the bodies' local frame.
+                When ``is_global=True``, torques are in the world frame.
+            positions: Application points for forces. Shape is (len(env_ids), len(body_ids), 3).
                 Defaults to None.
+                When ``is_global=False``, positions are local offsets from the link frame.
+                When ``is_global=True``, positions are world-frame coordinates. If None,
+                forces are applied at the body's center of mass (no positional torque).
             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.
+            is_global: Whether forces and torques are in the global (world) frame. Defaults to False.
         """
         logger.warning(
             "The function 'set_external_force_and_torque' will be deprecated in a future release. Please"

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

@@ -185,30 +185,23 @@ def write_data_to_sim(self):
         # write external wrench
         if self._instantaneous_wrench_composer.active or self._permanent_wrench_composer.active:
             if self._instantaneous_wrench_composer.active:
-                # Compose instantaneous wrench with permanent wrench
-                self._instantaneous_wrench_composer.add_forces_and_torques(
-                    forces=self._permanent_wrench_composer.composed_force,
-                    torques=self._permanent_wrench_composer.composed_torque,
-                    body_ids=self._ALL_OBJ_INDICES_WP,
-                    env_ids=self._ALL_ENV_INDICES_WP,
-                    is_global=True,
-                )
-                # Apply both instantaneous and permanent wrench to the simulation
+                self._instantaneous_wrench_composer.add_raw_buffers_from(self._permanent_wrench_composer)
+                self._instantaneous_wrench_composer.compose_to_body_frame()
                 self.root_physx_view.apply_forces_and_torques_at_position(
-                    force_data=self.reshape_data_to_view(self._instantaneous_wrench_composer.composed_force_as_torch),
-                    torque_data=self.reshape_data_to_view(self._instantaneous_wrench_composer.composed_torque_as_torch),
+                    force_data=self.reshape_data_to_view(self._instantaneous_wrench_composer.out_force_b_as_torch),
+                    torque_data=self.reshape_data_to_view(self._instantaneous_wrench_composer.out_torque_b_as_torch),
                     position_data=None,
                     indices=self._env_obj_ids_to_view_ids(self._ALL_ENV_INDICES, self._ALL_OBJ_INDICES),
-                    is_global=True,
+                    is_global=False,
                 )
             else:
-                # Apply permanent wrench to the simulation
+                self._permanent_wrench_composer.compose_to_body_frame()
                 self.root_physx_view.apply_forces_and_torques_at_position(
-                    force_data=self.reshape_data_to_view(self._permanent_wrench_composer.composed_force_as_torch),
-                    torque_data=self.reshape_data_to_view(self._permanent_wrench_composer.composed_torque_as_torch),
+                    force_data=self.reshape_data_to_view(self._permanent_wrench_composer.out_force_b_as_torch),
+                    torque_data=self.reshape_data_to_view(self._permanent_wrench_composer.out_torque_b_as_torch),
                     position_data=None,
                     indices=self._env_obj_ids_to_view_ids(self._ALL_ENV_INDICES, self._ALL_OBJ_INDICES),
-                    is_global=True,
+                    is_global=False,
                 )
         self._instantaneous_wrench_composer.reset()
 
@@ -527,27 +520,30 @@ def set_external_force_and_torque(
         into buffers which are then applied to the simulation at every step.
 
         .. caution::
-            If the function is called with empty forces and torques, then this function disables the application
-            of external wrench to the simulation.
-
-            .. code-block:: python
-
-                # example of disabling external wrench
-                asset.set_external_force_and_torque(forces=torch.zeros(0, 0, 3), torques=torch.zeros(0, 0, 3))
+            This method clears **all** internal wrench buffers before writing the provided values.
+            Any previously set forces or torques (local or global) are discarded. To accumulate
+            on top of existing values, use ``permanent_wrench_composer.add_forces_and_torques`` instead.
 
         .. 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
             right before the simulation step.
 
         Args:
-            forces: External forces in bodies' local frame. Shape is (len(env_ids), len(object_ids), 3).
-            torques: External torques in bodies' local frame. Shape is (len(env_ids), len(object_ids), 3).
-            positions: External wrench positions in bodies' local frame. Shape is (len(env_ids), len(object_ids), 3).
+            forces: External forces. Shape is (len(env_ids), len(object_ids), 3).
+                When ``is_global=False``, forces are in the bodies' local frame.
+                When ``is_global=True``, forces are in the world frame.
+            torques: External torques. Shape is (len(env_ids), len(object_ids), 3).
+                When ``is_global=False``, torques are in the bodies' local frame.
+                When ``is_global=True``, torques are in the world frame.
+            positions: Application points for forces. Shape is (len(env_ids), len(object_ids), 3).
+                Defaults to None.
+                When ``is_global=False``, positions are local offsets from the link frame.
+                When ``is_global=True``, positions are world-frame coordinates. If None,
+                forces are applied at the body's center of mass (no positional torque).
             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.
+            is_global: Whether forces and torques are in the global (world) frame. Defaults to False.
         """
         logger.warning(
             "The function 'set_external_force_and_torque' will be deprecated in a future release. Please"