Reorganizes the deprecation to be on the base classes.

[AntoineRichard]

Description

Moves the deprecated methods to the base classes.

Type of change

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

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.

[greptile-apps]

Greptile Overview

Greptile Summary

This PR reorganizes deprecated properties and methods by moving them from PhysX-specific subclasses to their respective base classes. This refactoring ensures consistent deprecation warnings across all implementations and eliminates code duplication.

Key changes:

• Moved all deprecated properties (e.g., default_mass, default_inertia, root_pose_w, etc.) from PhysX subclasses to base classes
• Added proper super()._create_buffers() calls in all PhysX subclasses to initialize base class default value variables
• Fixed the root_physx_view deprecation warning to use warnings.warn() instead of incorrect logger.warning() call
• Moved deprecated methods like num_objects, object_names, write_object_state_to_sim to base classes
• All deprecation warnings properly use warnings.warn() with DeprecationWarning and stacklevel=2
• Updated version to 3.0.3 and added appropriate changelog entries

Previously reported issues - all fixed:

• Runtime error in logger.warning() with extra args - fixed to use warnings.warn()
• Incorrect num_objects deprecation message - fixed to correctly indicate num_objects is deprecated
• Missing spaces in string concatenation - all fixed
• Missing parentheses in super() call - fixed

The refactoring improves maintainability by centralizing deprecation logic in base classes while preserving backward compatibility.

Confidence Score: 5/5

• This PR is safe to merge with no identified issues
• All previously reported issues have been fixed, the refactoring follows proper OOP principles, deprecation warnings are correctly implemented, super() calls are in place, and all tests pass according to the PR checklist
• No files require special attention

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/assets/articulation/base_articulation_data.py	Added deprecated property implementations to base class with proper warnings, variable initialization, and lazy cloning patterns
source/isaaclab_physx/isaaclab_physx/assets/articulation/articulation_data.py	Removed deprecated properties from subclass (moved to base), added proper super() call in _create_buffers
source/isaaclab/isaaclab/assets/rigid_object_collection/base_rigid_object_collection_data.py	Added deprecated properties to base class with proper initialization and deprecation warnings
source/isaaclab_physx/isaaclab_physx/assets/rigid_object_collection/rigid_object_collection_data.py	Removed deprecated properties from subclass, added super() call (previously missing parentheses - now fixed)
source/isaaclab/isaaclab/assets/rigid_object_collection/base_rigid_object_collection.py	Added deprecated methods/properties (num_objects, object_names, write_object_state_to_sim) to base class with proper warnings
source/isaaclab_physx/isaaclab_physx/assets/rigid_object/rigid_object.py	Fixed root_physx_view deprecation warning to use warnings.warn() instead of incorrect logger.warning() call

Sequence Diagram

sequenceDiagram
    participant User as User Code
    participant PhysxSubclass as PhysX Subclass<br/>(ArticulationData, etc.)
    participant BaseClass as Base Class<br/>(BaseArticulationData, etc.)
    
    Note over User,BaseClass: Before PR: Deprecated properties in subclass
    User->>PhysxSubclass: Access deprecated property
    PhysxSubclass->>PhysxSubclass: Emit deprecation warning
    PhysxSubclass->>User: Return value
    
    Note over User,BaseClass: After PR: Deprecated properties in base class
    User->>PhysxSubclass: Access deprecated property
    PhysxSubclass->>BaseClass: Inherit property from base
    BaseClass->>BaseClass: Emit deprecation warning
    BaseClass->>BaseClass: Lazy initialize if needed
    BaseClass->>User: Return value
    
    Note over User,BaseClass: Initialization Flow
    PhysxSubclass->>PhysxSubclass: _create_buffers()
    PhysxSubclass->>BaseClass: super()._create_buffers()
    BaseClass->>BaseClass: Initialize default value variables<br/>(set to None for lazy loading)
    BaseClass-->>PhysxSubclass: Return
    PhysxSubclass->>PhysxSubclass: Initialize subclass-specific buffers

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[greptile-apps]

_{11 files reviewed, 2 comments}

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[greptile-apps]

Runtime error in warning

logger.warning(...) is being called with DeprecationWarning and stacklevel=2 as extra args (lines 696-700). The logging API treats extra positional args as % formatting parameters; since the message has no formatting placeholders, accessing root_physx_view will raise a TypeError at runtime. This should be warnings.warn(..., DeprecationWarning, stacklevel=2) (like Articulation.root_physx_view) or a plain logger.warning("...") without the extra args.

[AntoineRichard]

@greptile can you review again?

[greptile-apps]

_{4 files reviewed, 10 comments}

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[AntoineRichard]

@greptile Can you take another look?

[greptile-apps]

_{6 files reviewed, no comments}

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