Adds math tests for transforms, rotations, and conversions (#103) (#2801)

# Description

this PR adds tests for:

- scale_transform
- unscale_transform
- saturate
- normalize
- copysign
- convert_quat
- quat_conjugate
- quat_from_euler_xyz
- quat_from_matrix
- euler_xyz_from_quat
- matrix_from_euler
- quat_from_angle_axis
- axis_angle_from_quat
- skew_symmetric_matrix
- combine_transform
- subtract_transform
- compute_pose_error

Fixes # (issue)

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

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

Author: jtigue-bdai

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.40.16"
+version = "0.40.17"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,37 @@
 Changelog
 ---------
 
+0.40.17 (2025-07-10)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added unit tests for multiple math functions:
+  :func:`~isaaclab.utils.math.scale_transform`.
+  :func:`~isaaclab.utils.math.unscale_transform`.
+  :func:`~isaaclab.utils.math.saturate`.
+  :func:`~isaaclab.utils.math.normalize`.
+  :func:`~isaaclab.utils.math.copysign`.
+  :func:`~isaaclab.utils.math.convert_quat`.
+  :func:`~isaaclab.utils.math.quat_conjugate`.
+  :func:`~isaaclab.utils.math.quat_from_euler_xyz`.
+  :func:`~isaaclab.utils.math.quat_from_matrix`.
+  :func:`~isaaclab.utils.math.euler_xyz_from_quat`.
+  :func:`~isaaclab.utils.math.matrix_from_euler`.
+  :func:`~isaaclab.utils.math.quat_from_angle_axis`.
+  :func:`~isaaclab.utils.math.axis_angle_from_quat`.
+  :func:`~isaaclab.utils.math.skew_symmetric_matrix`.
+  :func:`~isaaclab.utils.math.combine_transform`.
+  :func:`~isaaclab.utils.math.subtract_transform`.
+  :func:`~isaaclab.utils.math.compute_pose_error`.
+
+Changed
+^^^^^^^
+
+* Changed the implementation of :func:`~isaaclab.utils.math.copysign` to better reflect the documented functionality.
+
+
 0.40.16 (2025-07-08)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/utils/math.py

@@ -133,8 +133,8 @@ def copysign(mag: float, other: torch.Tensor) -> torch.Tensor:
     Returns:
         The output tensor.
     """
-    mag_torch = torch.tensor(mag, device=other.device, dtype=torch.float).repeat(other.shape[0])
-    return torch.abs(mag_torch) * torch.sign(other)
+    mag_torch = abs(mag) * torch.ones_like(other)
+    return torch.copysign(mag_torch, other)
 
 
 """
@@ -250,7 +250,7 @@ def quat_conjugate(q: torch.Tensor) -> torch.Tensor:
     """
     shape = q.shape
     q = q.reshape(-1, 4)
-    return torch.cat((q[:, 0:1], -q[:, 1:]), dim=-1).view(shape)
+    return torch.cat((q[..., 0:1], -q[..., 1:]), dim=-1).view(shape)
 
 
 @torch.jit.script
@@ -401,7 +401,7 @@ def _axis_angle_rotation(axis: Literal["X", "Y", "Z"], angle: torch.Tensor) -> t
 
 def matrix_from_euler(euler_angles: torch.Tensor, convention: str) -> torch.Tensor:
     """
-    Convert rotations given as Euler angles in radians to rotation matrices.
+    Convert rotations given as Euler angles (intrinsic) in radians to rotation matrices.
 
     Args:
         euler_angles: Euler angles in radians. Shape is (..., 3).
@@ -436,7 +436,7 @@ def euler_xyz_from_quat(
     """Convert rotations given as quaternions to Euler angles in radians.
 
     Note:
-        The euler angles are assumed in XYZ convention.
+        The euler angles are assumed in XYZ extrinsic convention.
 
     Args:
         quat: The quaternion orientation in (w, x, y, z). Shape is (N, 4).