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 

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## Type of change

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- 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

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---------

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>

Author: jtigue-bdai

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [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

@@ -1,6 +1,16 @@
 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 @@ def root_link_vel_w(self) -> torch.Tensor:
             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 @@ def body_link_vel_w(self) -> torch.Tensor:
             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 @@ def object_link_vel_w(self):
             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