Removes deprecation for root_state_w properties and setters (#1695)

…ection root and base states

# Description

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This PR removes the deprecation of root_state_w setters and properties
due to significant regression in training speed. It leaves it the
root_link_* and root_com_* properties and setters but does not force
them on examples and tests.

Fixes #1699 

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## Type of change

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

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] 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>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

docs/source/migration/migrating_from_isaacgymenvs.rst

@@ -814,9 +814,9 @@ The ``progress_buf`` variable has also been renamed to ``episode_length_buf``.
 |                                                                       |                                                                           |
 |                                                                       |     self.joint_pos[env_ids] = joint_pos                                   |
 |                                                                       |                                                                           |
-|                                                                       |     self.cartpole.write_root_link_pose_to_sim(                            |
+|                                                                       |     self.cartpole.write_root_pose_to_sim(                                 |
 |                                                                       |         default_root_state[:, :7], env_ids)                               |
-|                                                                       |     self.cartpole.write_root_com_velocity_to_sim(                         |
+|                                                                       |     self.cartpole.write_root_velocity_to_sim(                             |
 |                                                                       |         default_root_state[:, 7:], env_ids)                               |
 |                                                                       |     self.cartpole.write_joint_state_to_sim(                               |
 |                                                                       |         joint_pos, joint_vel, None, env_ids)                              |

docs/source/migration/migrating_from_omniisaacgymenvs.rst

@@ -364,8 +364,8 @@ In Isaac Lab, ``root_pose`` and ``root_velocity`` have been combined into single
 
 .. code-block::python
 
-    self.cartpole.write_root_link_pose_to_sim(default_root_state[:, :7], env_ids)
-    self.cartpole.write_root_com_velocity_to_sim(default_root_state[:, 7:], env_ids)
+    self.cartpole.write_root_pose_to_sim(default_root_state[:, :7], env_ids)
+    self.cartpole.write_root_velocity_to_sim(default_root_state[:, 7:], env_ids)
 
 
 Creating a New Environment
@@ -738,9 +738,9 @@ reset the ``episode_length_buf`` buffer.
 |       1.0 - 2.0 * torch.rand(num_resets, device=self._device))   |     self.joint_pos[env_ids] = joint_pos                                  |
 |                                                                  |     self.joint_vel[env_ids] = joint_vel                                  |
 |   # apply resets                                                 |                                                                          |
-|   indices = env_ids.to(dtype=torch.int32)                        |     self.cartpole.write_root_link_pose_to_sim(                           |
+|   indices = env_ids.to(dtype=torch.int32)                        |     self.cartpole.write_root_pose_to_sim(                                |
 |   self._cartpoles.set_joint_positions(dof_pos, indices=indices)  |         default_root_state[:, :7], env_ids)                              |
-|   self._cartpoles.set_joint_velocities(dof_vel, indices=indices) |     self.cartpole.write_root_com_velocity_to_sim(                        |
+|   self._cartpoles.set_joint_velocities(dof_vel, indices=indices) |     self.cartpole.write_root_velocity_to_sim(                            |
 |                                                                  |         default_root_state[:, 7:], env_ids)                              |
 |   # bookkeeping                                                  |     self.cartpole.write_joint_state_to_sim(                              |
 |   self.reset_buf[env_ids] = 0                                    |         joint_pos, joint_vel, None, env_ids)                             |

docs/source/tutorials/01_assets/run_articulation.rst

@@ -66,7 +66,7 @@ Similar to a rigid object, an articulation also has a root state. This state cor
 articulation tree. On top of the root state, an articulation also has joint states. These states correspond to the
 joint positions and velocities.
 
-To reset the articulation, we first set the root state by calling the :meth:`Articulation.write_root_link_pose_to_sim` and :meth:`Articulation.write_root_com_velocity_to_sim`
+To reset the articulation, we first set the root state by calling the :meth:`Articulation.write_root_pose_to_sim` and :meth:`Articulation.write_root_velocity_to_sim`
 methods. Similarly, we set the joint states by calling the :meth:`Articulation.write_joint_state_to_sim` method.
 Finally, we call the :meth:`Articulation.reset` method to reset any internal buffers and caches.
 

docs/source/tutorials/01_assets/run_deformable_object.rst

@@ -149,7 +149,7 @@ the average position of all the nodes in the mesh.
 .. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_deformable_object.py
    :language: python
    :start-at: # update buffers
-   :end-at: print(f"Root position (in world): {cube_object.data.root_link_pos_w[:, :3]}")
+   :end-at: print(f"Root position (in world): {cube_object.data.root_pos_w[:, :3]}")
 
 
 The Code Execution

docs/source/tutorials/01_assets/run_rigid_object.rst

@@ -96,7 +96,7 @@ desired state of the rigid object prim into the world frame before setting it.
 We use the :attr:`assets.RigidObject.data.default_root_state` attribute to get the default root state of the
 spawned rigid object prims. This default state can be configured from the :attr:`assets.RigidObjectCfg.init_state`
 attribute, which we left as identity in this tutorial. We then randomize the translation of the root state and
-set the desired state of the rigid object prim using the :meth:`assets.RigidObject.write_root_link_pose_to_sim` and :meth:`assets.RigidObject.write_root_com_velocity_to_sim` methods.
+set the desired state of the rigid object prim using the :meth:`assets.RigidObject.write_root_pose_to_sim` and :meth:`assets.RigidObject.write_root_velocity_to_sim` methods.
 As the name suggests, this method writes the root state of the rigid object prim into the simulation buffer.
 
 .. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_rigid_object.py

docs/source/tutorials/05_controllers/run_diff_ik.rst

@@ -79,7 +79,7 @@ joint positions, current end-effector pose, and the Jacobian matrix.
 
 While the attribute :attr:`assets.ArticulationData.joint_pos` provides the joint positions,
 we only want the joint positions of the robot's arm, and not the gripper. Similarly, while
-the attribute :attr:`assets.ArticulationData.body_link_state_w` provides the state of all the
+the attribute :attr:`assets.Articulationdata.body_state_w` provides the state of all the
 robot's bodies, we only want the state of the robot's end-effector. Thus, we need to
 index into these arrays to obtain the desired quantities.
 

source/extensions/omni.isaac.lab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.30.5"
+version = "0.30.6"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -1,6 +1,35 @@
 Changelog
 ---------
 
+0.30.6 (2025-01-17)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* removed deprecation of :attr:`omni.isaac.lab.assets.ArticulationData.root_state_w` and
+  :attr:`omni.isaac.lab.assets.ArticulationData.body_state_w` derived properties.
+* removed deprecation of :meth:`omni.isaac.lab.assets.Articulation.write_root_state_to_sim`.
+* replaced calls to :attr:`omni.isaac.lab.assets.ArticulationData.root_com_state_w` and
+  :attr:`omni.isaac.lab.assets.ArticulationData.root_link_state_w` with corresponding calls to
+  :attr:`omni.isaac.lab.assets.ArticulationData.root_state_w`.
+* replaced calls to :attr:`omni.isaac.lab.assets.ArticulationData.body_com_state_w` and
+  :attr:`omni.isaac.lab.assets.ArticulationData.body_link_state_w` properties with corresponding calls to
+  :attr:`omni.isaac.lab.assets.ArticulationData.body_state_w` properties.
+* removed deprecation of :attr:`omni.isaac.lab.assets.RigidObjectData.root_state_w` derived properties  .
+* removed deprecation of :meth:`omni.isaac.lab.assets.RigidObject.write_root_state_to_sim`.
+* replaced calls to :attr:`omni.isaac.lab.assets.RigidObjectData.root_com_state_w` and
+  :attr:`omni.isaac.lab.assets.RigidObjectData.root_link_state_w` properties with corresponding calls to
+  :attr:`omni.isaac.lab.assets.RigidObjectData.root_state_w` properties.
+* removed deprecation of :attr:`omni.isaac.lab.assets.RigidObjectCollectionData.root_state_w` derived properties.
+* removed deprecation of :meth:`omni.isaac.lab.assets.RigidObjectCollection.write_root_state_to_sim`.
+* replaced calls to :attr:`omni.isaac.lab.assets.RigidObjectCollectionData.root_com_state_w` and
+  :attr:`omni.isaac.lab.assets.RigidObjectData.root_link_state_w` properties with corresponding calls to
+  :attr:`omni.isaac.lab.assets.RigidObjectData.root_state_w` properties.
+* fixed indexing issue in ``write_root_link_velocity_to_sim`` in :class:`omni.isaac.lab.assets.RigidObject`
+* fixed index broadcasting in ``write_object_link_velocity_to_sim`` and ``write_object_com_pose_to_sim`` in :class:`omni.isaac.lab.assets.RigidObjectCollection`
+
+
 0.30.5 (2025-01-14)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py

@@ -98,10 +98,6 @@ def __init__(self, cfg: ArticulationCfg):
         """
         super().__init__(cfg)
 
-        self._root_state_dep_warn = False
-        self._root_pose_dep_warn = False
-        self._root_vel_dep_warn = False
-
     """
     Properties
     """
@@ -285,14 +281,6 @@ def write_root_state_to_sim(self, root_state: torch.Tensor, env_ids: Sequence[in
             env_ids: Environment indices. If None, then all indices are used.
         """
 
-        # deprecation warning
-        if not self._root_state_dep_warn:
-            omni.log.warn(
-                "DeprecationWarning: Articluation.write_root_state_to_sim will be removed in a future release. Please"
-                " use write_root_link_state_to_sim or write_root_com_state_to_sim instead."
-            )
-            self._root_state_dep_warn = True
-
         # set into simulation
         self.write_root_pose_to_sim(root_state[:, :7], env_ids=env_ids)
         self.write_root_velocity_to_sim(root_state[:, 7:], env_ids=env_ids)
@@ -334,15 +322,21 @@ def write_root_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence[int]
             root_pose: Root poses in simulation frame. Shape is (len(env_ids), 7).
             env_ids: Environment indices. If None, then all indices are used.
         """
-        # deprecation warning
-        if not self._root_pose_dep_warn:
-            omni.log.warn(
-                "DeprecationWarning: Articluation.write_root_pos_to_sim will be removed in a future release. Please use"
-                " write_root_link_pose_to_sim or write_root_com_pose_to_sim instead."
-            )
-            self._root_pose_dep_warn = True
-
-        self.write_root_link_pose_to_sim(root_pose, env_ids)
+        # resolve all indices
+        physx_env_ids = env_ids
+        if env_ids is None:
+            env_ids = slice(None)
+            physx_env_ids = self._ALL_INDICES
+        # note: we need to do this here since tensors are not set into simulation until step.
+        # set into internal buffers
+        self._data.root_state_w[env_ids, :7] = root_pose.clone()
+        # convert root quaternion from wxyz to xyzw
+        root_poses_xyzw = self._data.root_state_w[:, :7].clone()
+        root_poses_xyzw[:, 3:] = math_utils.convert_quat(root_poses_xyzw[:, 3:], to="xyzw")
+        # Need to invalidate the buffer to trigger the update with the new root pose.
+        self._data._body_state_w.timestamp = -1.0
+        # set into simulation
+        self.root_physx_view.set_root_transforms(root_poses_xyzw, indices=physx_env_ids)
 
     def write_root_link_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence[int] | None = None):
         """Set the root link pose over selected environment indices into the simulation.
@@ -361,9 +355,7 @@ def write_root_link_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence
         # note: we need to do this here since tensors are not set into simulation until step.
         # set into internal buffers
         self._data.root_link_state_w[env_ids, :7] = root_pose.clone()
-        self._data._ignore_dep_warn = True
         self._data.root_state_w[env_ids, :7] = self._data.root_link_state_w[env_ids, :7]
-        self._data._ignore_dep_warn = False
         # convert root quaternion from wxyz to xyzw
         root_poses_xyzw = self._data.root_link_state_w[:, :7].clone()
         root_poses_xyzw[:, 3:] = math_utils.convert_quat(root_poses_xyzw[:, 3:], to="xyzw")
@@ -413,15 +405,17 @@ def write_root_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids: Seque
             root_velocity: Root center of mass velocities in simulation world frame. Shape is (len(env_ids), 6).
             env_ids: Environment indices. If None, then all indices are used.
         """
-        # deprecation warning
-        if not self._root_vel_dep_warn:
-            omni.log.warn(
-                "DeprecationWarning: Articluation.write_root_velocity_to_sim will be removed in a future release."
-                " Please use write_root_link_velocity_to_sim or write_root_com_velocity_to_sim instead."
-            )
-            self._root_vel_dep_warn = True
-
-        self.write_root_com_velocity_to_sim(root_velocity=root_velocity, env_ids=env_ids)
+        # resolve all indices
+        physx_env_ids = env_ids
+        if env_ids is None:
+            env_ids = slice(None)
+            physx_env_ids = self._ALL_INDICES
+        # note: we need to do this here since tensors are not set into simulation until step.
+        # set into internal buffers
+        self._data.root_state_w[env_ids, 7:] = root_velocity.clone()
+        self._data.body_acc_w[env_ids] = 0.0
+        # set into simulation
+        self.root_physx_view.set_root_velocities(self._data.root_state_w[:, 7:], indices=physx_env_ids)
 
     def write_root_com_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids: Sequence[int] | None = None):
         """Set the root center of mass velocity over selected environment indices into the simulation.
@@ -442,9 +436,7 @@ def write_root_com_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids: S
         # note: we need to do this here since tensors are not set into simulation until step.
         # set into internal buffers
         self._data.root_com_state_w[env_ids, 7:] = root_velocity.clone()
-        self._data._ignore_dep_warn = True
         self._data.root_state_w[env_ids, 7:] = self._data.root_com_state_w[env_ids, 7:]
-        self._data._ignore_dep_warn = False
         self._data.body_acc_w[env_ids] = 0.0
         # set into simulation
         self.root_physx_view.set_root_velocities(self._data.root_com_state_w[:, 7:], indices=physx_env_ids)
@@ -507,8 +499,8 @@ def write_joint_state_to_sim(
         self._data.joint_acc[env_ids, joint_ids] = 0.0
         # Need to invalidate the buffer to trigger the update with the new root pose.
         self._data._body_state_w.timestamp = -1.0
-        self._data._body_link_state_w.timestamp = -1.0
-        self._data._body_com_state_w.timestamp = -1.0
+        # self._data._body_link_state_w.timestamp = -1.0
+        # self._data._body_com_state_w.timestamp = -1.0
         # set into simulation
         self.root_physx_view.set_dof_positions(self._data.joint_pos, indices=physx_env_ids)
         self.root_physx_view.set_dof_velocities(self._data.joint_vel, indices=physx_env_ids)

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py

@@ -6,7 +6,6 @@
 import torch
 import weakref
 
-import omni.log
 import omni.physics.tensors.impl.api as physx
 
 import omni.isaac.lab.utils.math as math_utils
@@ -75,11 +74,6 @@ def __init__(self, root_physx_view: physx.ArticulationView, device: str):
         self._joint_acc = TimestampedBuffer()
         self._joint_vel = TimestampedBuffer()
 
-        # deprecation warning check
-        self._root_state_dep_warn = False
-        self._body_state_dep_warn = False
-        self._ignore_dep_warn = False
-
     def update(self, dt: float):
         # update the simulation timestamp
         self._sim_timestamp += dt
@@ -274,13 +268,6 @@ def root_state_w(self):
         the linear and angular velocities are of the articulation root's center of mass frame.
         """
 
-        if not self._root_state_dep_warn and not self._ignore_dep_warn:
-            omni.log.warn(
-                "DeprecationWarning: root_state_w and it's derived properties will be deprecated in a future release."
-                " Please use root_link_state_w or root_com_state_w."
-            )
-            self._root_state_dep_warn = True
-
         if self._root_state_w.timestamp < self._sim_timestamp:
             # read data from simulation
             pose = self._root_physx_view.get_root_transforms().clone()
@@ -347,13 +334,6 @@ def body_state_w(self):
         velocities are of the articulation links's center of mass frame.
         """
 
-        if not self._body_state_dep_warn and not self._ignore_dep_warn:
-            omni.log.warn(
-                "DeprecationWarning: body_state_w and it's derived properties will be deprecated in a future release."
-                " Please use body_link_state_w or body_com_state_w."
-            )
-            self._body_state_dep_warn = True
-
         if self._body_state_w.timestamp < self._sim_timestamp:
             self._physics_sim_view.update_articulations_kinematic()
             # read data from simulation