change calls to deprecated properties to the appropriate link or com …

…properties

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_state_w` provides the state of all the
+the attribute :attr:`assets.ArticulationData.body_link_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/omni/isaac/lab/assets/articulation/articulation.py

@@ -351,9 +351,9 @@ def write_root_link_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence
             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()
+        self._data.root_link_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 = self._data.root_link_state_w[:, :7].clone()
         root_poses_xyzw[:, 3:] = math_utils.convert_quat(root_poses_xyzw[:, 3:], to="xyzw")
         # set into simulation
         self.root_physx_view.set_root_transforms(root_poses_xyzw, indices=physx_env_ids)
@@ -421,10 +421,10 @@ def write_root_com_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids: S
             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.root_com_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)
+        self.root_physx_view.set_root_velocities(self._data.root_com_state_w[:, 7:], indices=physx_env_ids)
 
     def write_root_link_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids: Sequence[int] | None = None):
         """Set the root link velocity over selected environment indices into the simulation.
@@ -441,7 +441,7 @@ def write_root_link_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids:
             local_env_ids = slice(None)
 
         root_com_velocity = root_velocity.clone()
-        quat = self.data.root_state_w[local_env_ids, 3:7]
+        quat = self.data.root_link_state_w[local_env_ids, 3:7]
         com_pos_b = self.data.com_pos_b[local_env_ids, 0, :]
         # transform given velocity to center of mass
         root_com_velocity[:, :3] += torch.linalg.cross(

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

@@ -3,21 +3,16 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import carb
 import torch
 import weakref
 
-import carb
 import omni.physics.tensors.impl.api as physx
 
 import omni.isaac.lab.utils.math as math_utils
 from omni.isaac.lab.utils.buffers import TimestampedBuffer
 
 
-def single_deprecation_warning(dep_msg: str):
-    """Single use deprecation warning"""
-    carb.log_warn("DeprecationWarning: " + dep_msg)
-
-
 class ArticulationData:
     """Data container for an articulation.
 
@@ -212,7 +207,7 @@ def update(self, dt: float):
     """Joint stiffness provided to simulation. Shape is (num_instances, num_joints)."""
 
     joint_damping: torch.Tensor = None
-    """Joint damping provided to simulation. Shape is (num_instanbody_state_wnstances, num_joints)."""
+    """Joint damping provided to simulation. Shape is (num_instances, num_joints)."""
 
     joint_limits: torch.Tensor = None
     """Joint limits provided to simulation. Shape is (num_instances, num_joints, 2)."""
@@ -264,10 +259,7 @@ def root_state_w(self):
         the linear and angular velocities are of the articulation root's center of mass frame.
         """
 
-        carb.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."
-        )
+        carb.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.")
 
         if self._root_state_w.timestamp < self._sim_timestamp:
             # read data from simulation
@@ -300,7 +292,7 @@ def root_link_state_w(self):
             self._root_link_state_w.data = torch.cat((pose, velocity), dim=-1)
             self._root_link_state_w.timestamp = self._sim_timestamp
 
-        return self._root_link_state_w.data
+        return self._root_link_state_w.data 
 
     @property
     def root_com_state_w(self):
@@ -317,14 +309,15 @@ def root_com_state_w(self):
             velocity = self._root_physx_view.get_root_velocities()
 
             # adjust pose to center of mass
-            pos, quat = math_utils.combine_frame_transforms(
-                pose[:, :3], pose[:, 3:7], self.com_pos_b[:, 0, :], self.com_quat_b[:, 0, :]
-            )
-            pose = torch.cat((pos, quat), dim=-1)
+            pos, quat = math_utils.combine_frame_transforms(pose[:,:3],
+                                                            pose[:,3:7],
+                                                            self.com_pos_b[:,0,:],
+                                                            self.com_quat_b[:,0,:])           
+            pose = torch.cat((pos,quat),dim=-1)
             # set the buffer data and timestamp
             self._root_com_state_w.data = torch.cat((pose, velocity), dim=-1)
             self._root_com_state_w.timestamp = self._sim_timestamp
-        return self._root_com_state_w.data
+        return self._root_com_state_w.data 
 
     @property
     def body_state_w(self):
@@ -335,11 +328,8 @@ def body_state_w(self):
         velocities are of the articulation links's center of mass frame.
         """
 
-        carb.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 bodt_com_state_w."
-        )
-
+        carb.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 bodt_com_state_w.")
+
         if self._body_state_w.timestamp < self._sim_timestamp:
             # read data from simulation
             poses = self._root_physx_view.get_link_transforms().clone()
@@ -370,7 +360,7 @@ def body_link_state_w(self):
             # set the buffer data and timestamp
             self._body_link_state_w.data = torch.cat((pose, velocity), dim=-1)
             self._body_link_state_w.timestamp = self._sim_timestamp
-
+    
         return self._body_link_state_w.data
 
     @property
@@ -389,14 +379,15 @@ def body_com_state_w(self):
             velocity = self._root_physx_view.get_link_velocities()
 
             # adjust pose to center of mass
-            pos, quat = math_utils.combine_frame_transforms(
-                pose[..., :3], pose[..., 3:7], self.com_pos_b, self.com_quat_b
-            )
-            pose = torch.cat((pos, quat), dim=-1)
+            pos, quat = math_utils.combine_frame_transforms(pose[...,:3],
+                                                            pose[...,3:7],
+                                                            self.com_pos_b,
+                                                            self.com_quat_b)           
+            pose = torch.cat((pos,quat),dim=-1)
             # set the buffer data and timestamp
             self._body_com_state_w.data = torch.cat((pose, velocity), dim=-1)
             self._body_com_state_w.timestamp = self._sim_timestamp
-        return self._body_com_state_w.data
+        return self._body_com_state_w.data 
 
     @property
     def body_acc_w(self):
@@ -414,7 +405,7 @@ def body_acc_w(self):
     @property
     def projected_gravity_b(self):
         """Projection of the gravity direction on base frame. Shape is (num_instances, 3)."""
-        return math_utils.quat_rotate_inverse(self.root_quat_w, self.GRAVITY_VEC_W)
+        return math_utils.quat_rotate_inverse(self.root_link_quat_w, self.GRAVITY_VEC_W)
 
     @property
     def heading_w(self):
@@ -424,7 +415,7 @@ def heading_w(self):
             This quantity is computed by assuming that the forward-direction of the base
             frame is along x-direction, i.e. :math:`(1, 0, 0)`.
         """
-        forward_w = math_utils.quat_apply(self.root_quat_w, self.FORWARD_VEC_B)
+        forward_w = math_utils.quat_apply(self.root_link_quat_w, self.FORWARD_VEC_B)
         return torch.atan2(forward_w[:, 1], forward_w[:, 0])
 
     @property
@@ -544,7 +535,7 @@ def root_link_quat_w(self) -> torch.Tensor:
     def root_link_vel_w(self) -> torch.Tensor:
         """Root link velocity in simulation world frame. Shape is (num_instances, 6).
 
-        This quantity contains the linear and angular velocities of the actor frame of the root
+        This quantity contains the linear and angular velocities of the actor frame of the root 
         rigid body relative to the world.
         """
         return self.root_link_state_w[:, 7:13]
@@ -582,10 +573,10 @@ def root_link_ang_vel_b(self) -> torch.Tensor:
         rigid body's actor frame.
         """
         return math_utils.quat_rotate_inverse(self.root_link_quat_w, self.root_link_ang_vel_w)
-
-    #
-    # Root Center of Mass state properties
-    #
+    
+#
+# Root Center of Mass state properties
+#  
 
     @property
     def root_com_pos_w(self) -> torch.Tensor:
@@ -702,9 +693,10 @@ def body_ang_acc_w(self) -> torch.Tensor:
         """
         return self.body_acc_w[..., 3:6]
 
-    #
-    # Link body properties
-    #
+
+#
+# Link body properties
+#
 
     @property
     def body_link_pos_w(self) -> torch.Tensor:
@@ -726,7 +718,7 @@ def body_link_quat_w(self) -> torch.Tensor:
     def body_link_vel_w(self) -> torch.Tensor:
         """Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).
 
-        This quantity contains the linear and angular velocities of the rigid bodies' center of mass frame
+        This quantity contains the linear and angular velocities of the rigid bodies' center of mass frame 
         relative to the world.
         """
         return self.body_link_state_w[..., 7:13]
@@ -746,10 +738,10 @@ def body_link_ang_vel_w(self) -> torch.Tensor:
         This quantity is the angular velocity of the rigid bodies' center of mass frame relative to the world.
         """
         return self.body_link_state_w[..., 10:13]
-
-    #
-    # Center of mass body properties
-    #
+    
+#
+# Center of mass body properties
+#
 
     @property
     def body_com_pos_w(self) -> torch.Tensor:
@@ -761,8 +753,8 @@ def body_com_pos_w(self) -> torch.Tensor:
 
     @property
     def body_com_quat_w(self) -> torch.Tensor:
-        """Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame.
-
+        """Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame. 
+        
         Shape is (num_instances, 1, 4). This quantity is the orientation of the rigid bodies' actor frame.
         """
         return self.body_com_state_w[..., 3:7]
@@ -794,16 +786,16 @@ def body_com_ang_vel_w(self) -> torch.Tensor:
     @property
     def com_pos_b(self) -> torch.Tensor:
         """Center of mass of all of the bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
-
+        
         This quantity is the center of mass location relative to its body frame.
         """
-        return self._root_physx_view.get_coms().to(self.device)[..., :3]
-
+        return self._root_physx_view.get_coms().to(self.device)[...,:3]
+    
     @property
     def com_quat_b(self) -> torch.Tensor:
         """Orientation (w,x,y,z) of the prinicple axies of inertia of all of the bodies in simulation world frame. Shape is (num_instances, num_bodies, 4).
-
+        
         This quantity is the orientation of the principles axes of inertia relative to its body frame.
         """
-        quat = self._root_physx_view.get_coms().to(self.device)[..., 3:7]
-        return math_utils.convert_quat(quat, to="wxyz")
+        quat = self._root_physx_view.get_coms().to(self.device)[...,3:7]
+        return math_utils.convert_quat(quat, to="wxyz")

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

@@ -227,9 +227,9 @@ def write_root_link_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence
             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()
+        self._data.root_link_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 = self._data.root_link_state_w[:, :7].clone()
         root_poses_xyzw[:, 3:] = math_utils.convert_quat(root_poses_xyzw[:, 3:], to="xyzw")
         # set into simulation
         self.root_physx_view.set_transforms(root_poses_xyzw, indices=physx_env_ids)
@@ -298,10 +298,10 @@ def write_root_com_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids: S
             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.root_com_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_velocities(self._data.root_state_w[:, 7:], indices=physx_env_ids)
+        self.root_physx_view.set_velocities(self._data.root_com_state_w[:, 7:], indices=physx_env_ids)
 
     def write_root_link_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids: Sequence[int] | None = None):
         """Set the root link velocity over selected environment indices into the simulation.
@@ -318,7 +318,7 @@ def write_root_link_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids:
             local_env_ids = slice(None)
 
         root_com_velocity = root_velocity.clone()
-        quat = self.data.root_state_w[local_env_ids, 3:7]
+        quat = self.data.root_link_state_w[local_env_ids, 3:7]
         com_pos_b = self.data.com_pos_b[local_env_ids, 0, :]
         # transform given velocity to center of mass
         root_com_velocity[:, :3] += torch.linalg.cross(

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

@@ -221,7 +221,7 @@ def body_acc_w(self):
     @property
     def projected_gravity_b(self):
         """Projection of the gravity direction on base frame. Shape is (num_instances, 3)."""
-        return math_utils.quat_rotate_inverse(self.root_quat_w, self.GRAVITY_VEC_W)
+        return math_utils.quat_rotate_inverse(self.root_link_quat_w, self.GRAVITY_VEC_W)
 
     @property
     def heading_w(self):
@@ -231,7 +231,7 @@ def heading_w(self):
             This quantity is computed by assuming that the forward-direction of the base
             frame is along x-direction, i.e. :math:`(1, 0, 0)`.
         """
-        forward_w = math_utils.quat_apply(self.root_quat_w, self.FORWARD_VEC_B)
+        forward_w = math_utils.quat_apply(self.root_link_quat_w, self.FORWARD_VEC_B)
         return torch.atan2(forward_w[:, 1], forward_w[:, 0])
 
     ##
@@ -285,7 +285,7 @@ def root_lin_vel_b(self) -> torch.Tensor:
         This quantity is the linear velocity of the root rigid body's center of mass frame with respect to the
         rigid body's actor frame.
         """
-        return math_utils.quat_rotate_inverse(self.root_quat_w, self.root_lin_vel_w)
+        return math_utils.quat_rotate_inverse(self.root_link_quat_w, self.root_lin_vel_w)
 
     @property
     def root_ang_vel_b(self) -> torch.Tensor:
@@ -294,7 +294,7 @@ def root_ang_vel_b(self) -> torch.Tensor:
         This quantity is the angular velocity of the root rigid body's center of mass frame with respect to the
         rigid body's actor frame.
         """
-        return math_utils.quat_rotate_inverse(self.root_quat_w, self.root_ang_vel_w)
+        return math_utils.quat_rotate_inverse(self.root_link_quat_w, self.root_ang_vel_w)
 
     @property
     def root_link_pos_w(self) -> torch.Tensor:

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/non_holonomic_actions.py

@@ -132,7 +132,7 @@ def process_actions(self, actions):
 
     def apply_actions(self):
         # obtain current heading
-        quat_w = self._asset.data.body_quat_w[:, self._body_idx]
+        quat_w = self._asset.data.body_link_quat_w[:, self._body_idx]
         yaw_w = euler_xyz_from_quat(quat_w)[2]
         # compute joint velocities targets
         self._joint_vel_command[:, 0] = torch.cos(yaw_w) * self.processed_actions[:, 0]  # x

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/task_space_actions.py

@@ -155,8 +155,8 @@ def _compute_frame_pose(self) -> tuple[torch.Tensor, torch.Tensor]:
             A tuple of the body's position and orientation in the root frame.
         """
         # obtain quantities from simulation
-        ee_pose_w = self._asset.data.body_state_w[:, self._body_idx, :7]
-        root_pose_w = self._asset.data.root_state_w[:, :7]
+        ee_pose_w = self._asset.data.body_link_state_w[:, self._body_idx, :7]
+        root_pose_w = self._asset.data.root_link_state_w[:, :7]
         # compute the pose of the body in the root frame
         ee_pose_b, ee_quat_b = math_utils.subtract_frame_transforms(
             root_pose_w[:, 0:3], root_pose_w[:, 3:7], ee_pose_w[:, 0:3], ee_pose_w[:, 3:7]