From the v3.0 beta release notes, it states:
Quaternion Format: WXYZ → XYZW
All quaternions throughout Isaac Lab now use XYZW ordering to align with Warp, PhysX, and Newton conventions. Hard-coded quaternion values must be updated. A quaternion finder tool is provided to help locate and fix quaternions.
Introducing such a significant change in a large project like Isaac Lab is somewhat concerning. I am interested in understanding the rationale behind this decision.
Specifically, what motivated the shift in quaternion ordering and why it was deemed necessary despite the potential impact on existing codebases?
From the v3.0 beta release notes, it states:
Introducing such a significant change in a large project like Isaac Lab is somewhat concerning. I am interested in understanding the rationale behind this decision.
Specifically, what motivated the shift in quaternion ordering and why it was deemed necessary despite the potential impact on existing codebases?