Fix documentation for transformation matrix references

[mis0butter]

Updated description for correct frame transformation: T_AB = "from frame B to A" (old: "from frame A to B") .

Description

Updated docstring text for combine_frame_transformations and subtract_frame_transformations inside isaaclab.utils.math, specifically this misleading part:

where :math:T_{AB} is the homogeneous transformation matrix from frame A to B.

In the corrected description, A and B are swapped:

T_{AB} is the homogeneous transformation matrix from frame B to A.

Fixes #5772.

Type of change

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

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks 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

Left pre-commit, test, changelog, and CONTRIBUTORS.md boxes unchecked because this is a minor docstring text correction.

[greptile-apps]

Greptile Summary

This PR corrects docstring descriptions in combine_frame_transforms and subtract_frame_transforms inside isaaclab/utils/math.py. The subscript notation T_AB (e.g. T_{01}) consistently represents the pose of frame B expressed in frame A, which means it transforms a point from frame B coordinates to frame A coordinates — the old description had the direction reversed.

• combine_frame_transforms: description updated to reflect that T_{AB} transforms from frame B to A, consistent with the composition rule T_{02} = T_{01} × T_{12} and the parameter descriptions (t01 = position of frame 1 w.r.t. frame 0).
• subtract_frame_transforms: same description correction, consistent with T_{12} = T_{01}^{-1} × T_{02} and the function's return semantics (frame 2 relative to frame 1).

Confidence Score: 5/5

Documentation-only change with no effect on runtime behavior; both corrections are mathematically verified against the implementations.

The two changed lines fix docstring descriptions that were the inverse of what the code actually does. The corrected wording 'from frame B to A' matches the standard robotics pose convention used throughout the file (T_AB = pose of B in A), the composition formula T_02 = T_01 × T_12, and the explicit parameter descriptions. No logic or API surface is touched.

No files require special attention; the single changed file has a clean, minimal correction.

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/utils/math.py	Two docstring lines corrected: T_AB description changed from 'from frame A to B' to 'from frame B to A' — mathematically correct and consistent with the function implementations and parameter descriptions.

Sequence Diagram

sequenceDiagram
    participant F2 as Frame 2
    participant F1 as Frame 1
    participant F0 as Frame 0

    Note over F2,F0: combine_frame_transforms: T02 = T01 x T12
    F2->>F1: T12 (from frame 2 to frame 1)
    F1->>F0: T01 (from frame 1 to frame 0)
    Note over F2,F0: T_AB transforms a point FROM frame B TO frame A

    Note over F2,F0: subtract_frame_transforms: T12 = T01inv x T02
    F2->>F0: T02 (from frame 2 to frame 0)
    F0->>F1: T01inv (from frame 0 to frame 1)

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