make new properties lazy buffers and clean up dep warning

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

@@ -12,7 +12,6 @@
 from collections.abc import Sequence
 from prettytable import PrettyTable
 from typing import TYPE_CHECKING
-import warnings
 
 import carb
 import omni.isaac.core.utils.stage as stage_utils
@@ -282,13 +281,7 @@ 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
-        dep_msg = (
-            """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."""
-        )
-        warnings.simplefilter("once")
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_warn(dep_msg)
+        carb.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.")
 
         # set into simulation
         self.write_root_pose_to_sim(root_state[:, :7], env_ids=env_ids)
@@ -332,13 +325,7 @@ def write_root_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence[int]
             env_ids: Environment indices. If None, then all indices are used.
         """
         # deprecation warning
-        dep_msg = (
-            """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."""
-        )
-        warnings.simplefilter("once")
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_warn(dep_msg)
+        carb.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.write_root_link_pose_to_sim(root_pose,env_ids)
 
@@ -401,13 +388,7 @@ def write_root_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids: Seque
             env_ids: Environment indices. If None, then all indices are used.
         """
         # deprecation warning
-        dep_msg = (
-            """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."""
-        )
-        warnings.simplefilter("once")
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_warn(dep_msg)
+        carb.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.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

@@ -5,7 +5,6 @@
 
 import carb
 import torch
-import warnings
 import weakref
 
 import omni.physics.tensors.impl.api as physx
@@ -14,10 +13,8 @@
 from omni.isaac.lab.utils.buffers import TimestampedBuffer
 
 def single_deprecation_warning(dep_msg: str):
-    """Singlue use deprecation warning"""
-    warnings.simplefilter("once")
-    warnings.warn(dep_msg, DeprecationWarning)
-    carb.log_warn(dep_msg)
+    """Single use deprecation warning"""
+    carb.log_warn("DeprecationWarning: " + dep_msg)
 
 class ArticulationData:
     """Data container for an articulation.
@@ -71,7 +68,11 @@ def __init__(self, root_physx_view: physx.ArticulationView, device: str):
 
         # Initialize the lazy buffers.
         self._root_state_w = TimestampedBuffer()
+        self._root_link_state_w = TimestampedBuffer()
+        self._root_com_state_w = TimestampedBuffer()
         self._body_state_w = TimestampedBuffer()
+        self._body_link_state_w = TimestampedBuffer()
+        self._body_com_state_w = TimestampedBuffer()
         self._body_acc_w = TimestampedBuffer()
         self._joint_pos = TimestampedBuffer()
         self._joint_acc = TimestampedBuffer()
@@ -261,8 +262,7 @@ def root_state_w(self):
         the linear and angular velocities are of the articulation root's center of mass frame.
         """
 
-        single_deprecation_warning("""root_state_w 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
@@ -281,13 +281,21 @@ def root_link_state_w(self):
         The position, quaternion, and linear/angular velocity are of the articulation root's actor frame relative to the
         world.
         """
-        state = self.root_state_w.clone()
-        quat = state[:, 3:7]
-        # adjust linear velocity to link
-        state[:, 7:10] += torch.linalg.cross(
-            state[:, 10:13], math_utils.quat_rotate(quat, -self.com_pos_b[:, 0, :]), dim=-1
-        )
-        return state
+        if self._root_link_state_w.timestamp < self._sim_timestamp:
+            # read data from simulation
+            pose = self._root_physx_view.get_root_transforms().clone()
+            pose[:, 3:7] = math_utils.convert_quat(pose[:, 3:7], to="wxyz")
+            velocity = self._root_physx_view.get_root_velocities()
+
+            # adjust linear velocity to link from center of mass
+            velocity[:, :3] += torch.linalg.cross(
+                velocity[:, 3:], math_utils.quat_rotate(pose[:, 3:7], -self.com_pos_b[:, 0, :]), dim=-1
+            )
+            # set the buffer data and timestamp
+            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 
 
     @property
     def root_com_state_w(self):
@@ -297,14 +305,22 @@ def root_com_state_w(self):
         relative to the world. Center of mass frame is assumed to be the same orientation as the link rather than the
         orientation of the principle inertia.
         """
-        state = self.root_state_w.clone()
-        # adjust pose to center of mass
-        pos, quat = math_utils.combine_frame_transforms(state[:,:3],
-                                                        state[:,3:7],
-                                                        self.com_pos_b[:,0,:],
-                                                        self.com_quat_b[:,0,:])           
-        state[:, :7] = torch.cat((pos,quat),dim=-1)
-        return state
+        if self._root_com_state_w.timestamp < self._sim_timestamp:
+            # read data from simulation (pose is of link)
+            pose = self._root_physx_view.get_root_transforms().clone()
+            pose[:, 3:7] = math_utils.convert_quat(pose[:, 3:7], to="wxyz")
+            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)
+            # 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 
 
     @property
     def body_state_w(self):
@@ -315,8 +331,7 @@ def body_state_w(self):
         velocities are of the articulation links's center of mass frame.
         """
 
-        single_deprecation_warning("""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
@@ -335,13 +350,21 @@ def body_link_state_w(self):
 
         The position, quaternion, and linear/angular velocity are of the body's link frame relative to the world.
         """
-        state = self.body_state_w.clone()
-        quat = state[..., 3:7]
-        # adjust linear velocity to link
-        state[..., 7:10] += torch.linalg.cross(
-            state[..., 10:13], math_utils.quat_rotate(quat, -self.com_pos_b), dim=-1
-        )
-        return state
+        if self._body_link_state_w.timestamp < self._sim_timestamp:
+            # read data from simulation
+            pose = self._root_physx_view.get_link_transforms().clone()
+            pose[..., 3:7] = math_utils.convert_quat(pose[..., 3:7], to="wxyz")
+            velocity = self._root_physx_view.get_link_velocities()
+
+            # adjust linear velocity to link from center of mass
+            velocity[..., :3] += torch.linalg.cross(
+                velocity[..., 3:], math_utils.quat_rotate(pose[..., 3:7], -self.com_pos_b), dim=-1
+            )
+            # 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
     def body_com_state_w(self):
@@ -352,14 +375,22 @@ def body_com_state_w(self):
         world. Center of mass frame is assumed to be the same orientation as the link rather than the orientation of the
         principle inertia.
         """
-        state = self.body_state_w.clone()
-        # adjust pose to center of mass
-        pos, quat = math_utils.combine_frame_transforms(state[...,:3],
-                                                        state[...,3:7],
-                                                        self.com_pos_b,
-                                                        self.com_quat_b)           
-        state[..., :7] = torch.cat((pos,quat),dim=-1)
-        return state
+        if self._body_com_state_w.timestamp < self._sim_timestamp:
+            # read data from simulation (pose is of link)
+            pose = self._root_physx_view.get_link_transforms().clone()
+            pose[..., 3:7] = math_utils.convert_quat(pose[..., 3:7], to="wxyz")
+            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)
+            # 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 
 
     @property
     def body_acc_w(self):

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

@@ -10,7 +10,6 @@
 from typing import TYPE_CHECKING
 
 import carb
-import warnings
 import omni.physics.tensors.impl.api as physx
 from pxr import UsdPhysics
 
@@ -159,13 +158,7 @@ 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
-        dep_msg = (
-            """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."""
-        )
-        warnings.simplefilter("once")
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_warn(dep_msg)
+        carb.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.")
 
         # set into simulation
         self.write_root_pose_to_sim(root_state[:, :7], env_ids=env_ids)
@@ -209,13 +202,7 @@ def write_root_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence[int]
             env_ids: Environment indices. If None, then all indices are used.
         """
         # deprecation warning
-        dep_msg = (
-            """RigidObject.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."""
-        )
-        warnings.simplefilter("once")
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_warn(dep_msg)
+        carb.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.write_root_link_pose_to_sim(root_pose,env_ids)
 
@@ -279,13 +266,7 @@ def write_root_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids: Seque
             env_ids: Environment indices. If None, then all indices are used.
         """
         # deprecation warning
-        dep_msg = (
-            """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."""
-        )
-        warnings.simplefilter("once")
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_warn(dep_msg)
+        carb.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.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

@@ -3,6 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import carb
 import torch
 import weakref
 
@@ -64,6 +65,8 @@ def __init__(self, root_physx_view: physx.RigidBodyView, device: str):
 
         # Initialize the lazy buffers.
         self._root_state_w = TimestampedBuffer()
+        self._root_link_state_w = TimestampedBuffer()
+        self._root_com_state_w = TimestampedBuffer()
         self._body_acc_w = TimestampedBuffer()
 
     def update(self, dt: float):
@@ -107,6 +110,9 @@ 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.
         """
+
+        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
             pose = self._root_physx_view.get_transforms().clone()
@@ -124,11 +130,21 @@ def root_link_state_w(self):
         The position, quaternion, and linear/angular velocity are of the rigid body root frame relative to the
         world.
         """
-        state = self.root_state_w.clone()
-        quat = state[:, 3:7]
-        # adjust linear velocity to link
-        state[:, 7:10] += torch.linalg.cross(state[:, 10:13], math_utils.quat_rotate(quat, -self.com_pos_b.squeeze(-2)), dim=-1)
-        return state
+        if self._root_link_state_w.timestamp < self._sim_timestamp:
+            # read data from simulation
+            pose = self._root_physx_view.get_transforms().clone()
+            pose[:, 3:7] = math_utils.convert_quat(pose[:, 3:7], to="wxyz")
+            velocity = self._root_physx_view.get_velocities()
+
+            # adjust linear velocity to link from center of mass
+            velocity[:, :3] += torch.linalg.cross(
+                velocity[:, 3:], math_utils.quat_rotate(pose[:, 3:7], -self.com_pos_b[:, 0, :]), dim=-1
+            )
+            # set the buffer data and timestamp
+            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 
 
     @property
     def root_com_state_w(self):
@@ -137,14 +153,22 @@ def root_com_state_w(self):
         The position, quaternion, and linear/angular velocity are of the rigid body's center of mass frame
         relative to the world. Center of mass frame is the orientation principle axes of inertia.
         """
-        state = self.root_state_w.clone()
-        # adjust pose to center of mass
-        pos, quat = math_utils.combine_frame_transforms(state[:,:3],
-                                                        state[:,3:7],
-                                                        self.com_pos_b.squeeze(-2),
-                                                        self.com_quat_b.squeeze(-2))           
-        state[:, :7] = torch.cat((pos,quat),dim=-1)
-        return state
+        if self._root_com_state_w.timestamp < self._sim_timestamp:
+            # read data from simulation (pose is of link)
+            pose = self._root_physx_view.get_transforms().clone()
+            pose[:, 3:7] = math_utils.convert_quat(pose[:, 3:7], to="wxyz")
+            velocity = self._root_physx_view.get_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)
+            # 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 
 
     @property
     def body_state_w(self):
@@ -153,6 +177,8 @@ def body_state_w(self):
         The position and orientation are of the rigid bodies' actor frame. Meanwhile, the linear and angular
         velocities are of the rigid bodies' 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.")
+
         return self.root_state_w.view(-1, 1, 13)
 
     @property

source/extensions/omni.isaac.lab/test/assets/test_articulation.py

@@ -10,7 +10,7 @@
 
 from omni.isaac.lab.app import AppLauncher, run_tests
 
-HEADLESS = False
+HEADLESS = True
 
 # launch omniverse app
 app_launcher = AppLauncher(headless=HEADLESS)