Removes deprecation for root_state_w properties and setters

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 = "0.30.4"
+version = "0.30.5"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

@@ -1,6 +1,33 @@
 Changelog
 ---------
 
+0.30.5 (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.
+
+
 0.30.4 (2025-01-08)
 ~~~~~~~~~~~~~~~~~~~
 

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)
@@ -334,13 +322,6 @@ 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)
 
@@ -413,13 +394,6 @@ 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)
 

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

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

@@ -55,9 +55,6 @@ def __init__(self, cfg: RigidObjectCfg):
             cfg: A configuration instance.
         """
         super().__init__(cfg)
-        self._root_state_dep_warn = False
-        self._root_pose_dep_warn = False
-        self._root_vel_dep_warn = False
 
     """
     Properties
@@ -159,13 +156,6 @@ def write_root_state_to_sim(self, root_state: torch.Tensor, env_ids: Sequence[in
             root_state: Root state in simulation frame. Shape is (len(env_ids), 13).
             env_ids: Environment indices. If None, then all indices are used.
         """
-        # deprecation warning
-        if not self._root_state_dep_warn:
-            omni.log.warn(
-                "DeprecationWarning: RigidObject.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)
@@ -208,13 +198,6 @@ 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: RigidObject.write_root_pose_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)
 
@@ -282,13 +265,6 @@ 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: RigidObject.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)
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py

@@ -69,10 +69,6 @@ def __init__(self, root_physx_view: physx.RigidBodyView, device: str):
         self._root_com_state_w = TimestampedBuffer()
         self._body_acc_w = TimestampedBuffer()
 
-        # deprecation warning check
-        self._root_state_dep_warn = False
-        self._ignore_dep_warn = False
-
     def update(self, dt: float):
         """Updates the data for the rigid object.
 
@@ -121,12 +117,6 @@ def root_state_w(self):
         The position and orientation are of the rigid body's actor frame. Meanwhile, the linear and angular
         velocities are of the rigid body'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

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

@@ -105,10 +105,6 @@ def __init__(self, cfg: RigidObjectCollectionCfg):
 
         self._debug_vis_handle = None
 
-        self._root_state_dep_warn = False
-        self._root_pose_dep_warn = False
-        self._root_vel_dep_warn = False
-
     """
     Properties
     """
@@ -226,13 +222,6 @@ def write_object_state_to_sim(
             env_ids: Environment indices. If None, then all indices are used.
             object_ids: Object indices. If None, then all indices are used.
         """
-        # deprecation warning
-        if not self._root_state_dep_warn:
-            omni.log.warn(
-                "DeprecationWarning: RigidObjectCollection.write_object_state_to_sim will be removed in a future"
-                " release. Please use write_object_link_state_to_sim or write_object_com_state_to_sim instead."
-            )
-            self._root_state_dep_warn = True
 
         # set into simulation
         self.write_object_pose_to_sim(object_state[..., :7], env_ids=env_ids, object_ids=object_ids)
@@ -291,13 +280,6 @@ def write_object_pose_to_sim(
             env_ids: Environment indices. If None, then all indices are used.
             object_ids: Object indices. If None, then all indices are used.
         """
-        # deprecation warning
-        if not self._root_pose_dep_warn:
-            omni.log.warn(
-                "DeprecationWarning: RigidObjectCollection.write_object_pose_to_sim will be removed in a future"
-                " release. Please use write_object_link_pose_to_sim or write_object_com_pose_to_sim instead."
-            )
-            self._root_pose_dep_warn = True
 
         self.write_object_link_pose_to_sim(object_pose, env_ids, object_ids)
 
@@ -388,13 +370,6 @@ def write_object_velocity_to_sim(
             env_ids: Environment indices. If None, then all indices are used.
             object_ids: Object indices. If None, then all indices are used.
         """
-        # deprecation warning
-        if not self._root_vel_dep_warn:
-            omni.log.warn(
-                "DeprecationWarning: RigidObjectCollection.write_object_velocity_to_sim will be removed in a future"
-                " release. Please use write_object_link_velocity_to_sim or write_object_com_velocity_to_sim instead."
-            )
-            self._root_vel_dep_warn = True
 
         self.write_object_com_velocity_to_sim(object_velocity=object_velocity, env_ids=env_ids, object_ids=object_ids)