[AntoineRichard]

Description

Before the 3.0 release, the domain owners need to review the "Migrating to 3.0" guide (docs/source/migration/migrating_to_isaaclab_3-0.rst and docs/source/migration/include/*) one section at a time. This PR assigns each section to likely reviewers and gives each one a concrete check. Reviewers come from .github/CODEOWNERS and from git log on the source the section describes, counting commits since 2025-10. Names are plain handles with no mentions, so nobody is pinged yet.

While preparing the checklist, I compared every Sphinx cross-reference and every from X import Y in the guide against the source tree. I fixed the statements that were clearly stale. No other content was rewritten.

Doc fixes in this PR

• Actuator limit aliases: the guide said they stay "through the 3.x release line and will be removed in 3.1". actuator_base_cfg.py says they are removed in 3.1, so the guide now says that.
• RayCasterCfg.attach_yaw_only: the guide called it deprecated, but it was removed (isaaclab CHANGELOG 4.6.11).
• isaaclab.utils.math.convert_quat: the guide said it was removed. It still exists and is still called by the HDF5 dataset handler and a contrib task, so the guide now says it is no longer needed for Isaac Lab data and is kept for external WXYZ data.
• Legacy write_*_to_sim(data, env_ids): the guide said these were removed. They are deprecated forwarders to the _index variants.
• MJCF importer: fix_base and link_density came out of the "Removed Settings" list. They were added back to MjcfConverterCfg in Updates URDF/MJCF importer to use the latest Isaac Sim importer #5394.
• MJCF collision_type example: replaced "default", which the Literal type does not accept, with values it does accept.
• Data Access and Math overview card: write_root_pose_to_sim_index(pose, env_ids) became write_root_pose_to_sim_index(root_pose=pose, env_ids=env_ids), since its arguments are keyword-only on every backend.
• XR teleop install: pip install isaacteleop~=1.0 --extra-index-url ... became uv sync --extra teleop --extra isaacsim. The teleop extra pins isaacteleop~=1.4.145, and uv is the only supported install method.

The skills/user/migrate-2x-to-3x/ skill does not repeat any of these claims, so it needs no change.

Per-section review checklist

Format: Section — reviewers — check. "Verified" means the symbol or path was found in develop. Each reviewer still needs to run the snippets in a real environment.

Isaac Lab 2.x → 3.0

• Installation — StafaH, kellyguo11, myurasov-nv — On a fresh checkout, run uv sync --extra isaacsim and the isaaclab train ... physics=isaacsim_physx command. Confirm that the isaacsim / ovphysx extras and the installation-method-uv reference still match pyproject.toml. Verified: isaaclab.sh / isaaclab.bat are gone.
• Multi-Backend Architecture and Presets (overview, Multi-Backend Architecture, New isaaclab_physx / isaaclab_newton Extensions, Backend-Neutral Imports, Newton Backend Implementations) — AntoineRichard, ooctipus, StafaH — Run the import snippets under the PhysX, Newton and OVPhysX presets. Confirm the factory still resolves backend classes by module path. Confirm that SurfaceGripper is only in isaaclab_physx, and that the list of Newton-backed classes is complete (deformables and other sensors). Verified: all referenced classes exist.
• Schema Configuration Class Refactor — vidurv-nvidia, ooctipus, mmichelis — For every row of the deprecated-class → fragment table, construct the deprecated class and compare its warning with the listed replacement set. Confirm that the three warnings.filterwarnings regexes still match the emitted messages (they match schemas_cfg.py today). Check the removal versions: classes go in 3.2, the max_effort / max_velocity field aliases in 4.0. The gravcomp note recommends MujocoRigidBodyPropertiesCfg, which is itself deprecated; decide whether it should point at MujocoRigidBodyCfg. Verified: all fragment classes and apply_* writers exist.
• Multi-Backend Support: PresetCfg Pattern — ooctipus, StafaH, AntoineRichard — Run --task Isaac-Open-Drawer-Franka-Direct physics=newton_mjwarp and the default launch. Check that the Reach "After" snippet still matches the Reach task source, and that the MJWarpSolverCfg parameter table matches the cfg fields. The first MyPhysicsCfg snippet uses PhysxCfg / NewtonCfg without importing them; decide whether to add the imports. Verified: isaaclab.physics.PhysxAutoCfg and isaaclab_tasks.utils.PresetCfg exist.
• Isaac Sim API Compatibility — kellyguo11, ooctipus, hujc7 — Compare the module rename table with the Isaac Sim 6.1 deprecation list. Run the enable_extension(...) + XformPrim snippet inside Kit. Verified: every listed isaaclab.sim.utils.{stage,prims,queries} function exists, PhysxManager / NewtonManager are exported, source/isaaclab/test/deps/isaacsim is gone, and no apps/*.kit contains extsDeprecated.
• PhysX Tensors API Module Path — AntoineRichard, ooctipus, kellyguo11 — Confirm on Isaac Sim 6.1 that omni.physics.tensors.api exposes the view types. Verified: source/ no longer imports omni.physics.tensors.impl.
• Renaming of XformPrimView to FrameView — ooctipus, AntoineRichard, StafaH — Confirm that the deprecated XformPrimView alias is still exported and warns, and that the FrameView factory dispatches to FabricFrameView (PhysX) and NewtonSiteFrameView (Newton). Verified: all five new classes exist.
• Actuator effort and joint-limit names — ooctipus, StafaH, AntoineRichard — Run an explicit-actuator task and confirm the behaviour change (the solver keeps joint_effort_limit). Confirm that the resolve_joint_parameter(...) call in the snippet matches its signature. Verified: every read and write target in the removed-group-property table exists, with dynamic friction only on PhysX and OVPhysX. Fixed: removal version.
• Actuator API Moves to ActuatorCollection — ooctipus, StafaH, AntoineRichard (LEAPP exception: frlai) — Run the before/after example. Confirm the set_*_index / _mask setters are keyword-only and that the LEAPP exception still holds. Verified: target_command, computed_effort and applied_effort exist, and ArticulationData.gear_ratio is gone.
• RigidObjectCollection API Renaming — AntoineRichard, ooctipus — The rename table and the "After" example point at write_body_state_to_sim and similar methods, which are themselves deprecated forwarders in 3.0. Decide whether to point at the _index / _mask variants instead. Confirm that every listed object_* property still forwards.
• Deformable Object API Changes + Migration of Deformables (include/deformables.rst) — mmichelis, ooctipus, AntoineRichard — Run examples/deformables.py on PhysX and Newton, and the volume before/after snippet. Confirm the removed-property table against PhysxDeformableBodyPropertiesCfg. Verified: every listed material and props cfg is exported from isaaclab_physx.sim / isaaclab_newton.sim, and linear_damping / settling_damping exist.
• IMU Sensor Renamed to PVA; New Lightweight IMU Sensor — AntoineRichard, ooctipus, StafaH — Check the gravity claims: PVA acceleration excludes gravity and IMU always includes it. Confirm that ImuData only exposes ang_vel_b / lin_acc_b. Verified: pva_orientation / pva_projected_gravity exist and gravity_bias is gone.
• Sensor Pose Properties Deprecation — ooctipus, AntoineRichard — Confirm that ContactSensorData.pose_w / pos_w / quat_w emit a deprecation warning on every backend, and run the FrameTransformer replacement snippet.
• Contact force property names — ooctipus, AntoineRichard, yufengsjtu — Check every row of the backend table on PhysX, OVPhysX and Newton: the warn paths and the NotImplementedError for net_friction_forces_w* on PhysX. Verified: every listed property exists on the base and backend data classes.
• Articulation Joint Wrench Data Moved to JointWrenchSensor — ooctipus, AntoineRichard, StafaH — Run both scene snippets. Confirm the body-ordering claim: PhysX includes the root link, Newton reports child bodies only. Verified: body_incoming_joint_wrench_b is gone, and mdp.body_incoming_wrench, body_names and find_bodies exist.
• Ray Caster Warp Backend — ooctipus, AntoineRichard, pascal-roth — Run the RayCasterCfg(ray_alignment="yaw") snippet. Verified: env_mask is the first kernel argument and RayCaster.meshes is keyed by (prim_path, device). Fixed: attach_yaw_only is removed, not deprecated.
• Quaternion Format / Quaternion Finder Tool / Runtime Quaternion Access Detector / Quaternion Utility API Changes / Quaternion Migration Checklist — AntoineRichard, StafaH — Run scripts/tools/find_quaternions.py with every documented flag (--path, --base, --check-identity, --likely-wxyz, --all-quats, --fix, --fix-identity-only, --dry-run, --force) and check the sample output format. Verified: WARN_ON_TORCH_QUATF_ACCESS exists in proxy_array.py. Fixed: convert_quat still exists.
• ProxyArray Backend for Asset and Sensor Data / ProxyArray Interop — AntoineRichard, StafaH, ooctipus — Confirm that the affected-classes table should also list the Newton and OVPhysX sensors. Run the torch.* bridge and confirm its one-time DeprecationWarning. Verified: the wp.to_torch shim, __torch_function__ and __cuda_array_interface__ all exist.
• Write Method Index/Mask Split — AntoineRichard — Confirm that every listed _index / _mask writer exists on Articulation, RigidObject and RigidObjectCollection for every backend. Fixed: the legacy writers are deprecated forwarders, not removed, and the Data Access and Math overview card now uses keyword arguments.
• Timestamped buffers — ooctipus, AntoineRichard — Run the TimestampedBuffer(wp.zeros(...)) snippet. Verified: TimestampedBufferWarp is gone.
• Reinforcement Learning CLI Entrypoints / Unified Checkpoint and Iteration Arguments — StafaH, ooctipus, kellyguo11 (RLinf rows: mingxueg-nv) — Run isaaclab train and isaaclab play for each of rsl_rl, rl_games, skrl, sb3 and rlinf, plus the torch.distributed.run command. Check the --checkpoint latest|best|pretrained support matrix and the RLinf --model_path / --checkpoint semantics. Verified: scripts/reinforcement_learning/train.py exists.
• Visualizer CLI and Headless Behavior — matthewtrepte, StafaH, kellyguo11 — Confirm that --headless is rejected, then check HEADLESS=1 with --viz kit (plus --enable_cameras) and with --viz newton_gl, and run --video viz:kit.
• Viewport Camera Configuration (ViewerCfg deprecated) — matthewtrepte, ooctipus — Confirm the viewer.* shim and the ViewportCameraController warning. Run the KitVisualizerCfg(origin_type="asset", origin_track_path=...) snippet. Check the custom-visualizer initialize(..., cameras=, stage=) paragraph against base_visualizer.py. Verified: resolve_camera_sources and get_visualized_env_ids exist.
• Streaming Camera View (tiled_cam_* fields removed) — matthewtrepte, ooctipus, pbarejko — Run the NewtonGLVisualizerCfg(streaming_*) snippet with a scene-declared camera. Confirm that the removed helpers are gone. Verified: resolve_streaming_envs and Camera.set_world_poses_from_view exist.
• Newton Visualizer Type Split — matthewtrepte, StafaH — Confirm that NewtonVisualizerCfg warns, that --viz newton aliases to newton_gl, and that visualizer:newton / viz:newton_gl work as video sources.
• Video Recording (gym.wrappers.RecordVideo replaced) — matthewtrepte, ooctipus — Run the VideoRecorderCfg(source="viz", ...) snippet. Confirm eye / lookat were removed and recording_hooks is gone. Verified: SimulationContext.add_render_callback exists.
• URDF Importer — kellyguo11, stevfeng, ooctipus — With the Isaac Sim 6.1 importer, run convert_urdf.py with the documented flags and the Python before/after snippet. Confirm that the deprecated settings warn and that the output path is {usd_dir}/{robot_name}/{robot_name}.usda. Verified: the CLI flags exist.
• MJCF Importer — kellyguo11, stevfeng — Run convert_mjcf.py with the documented flags and the Python snippet. The Python before/after example still drops fix_base, which is now supported again; decide whether to keep it. Fixed: fix_base / link_density are no longer listed as removed, and collision_type examples are valid values.
• Benchmark Workflows — AntoineRichard, StafaH, ooctipus — Run the runtime, training, play and startup commands and --benchmark_formatter schema,omniperf. The guide says the "transitional runtime, startup, training, and play scripts were removed", but scripts/benchmarks/{runtime,startup,training,play}.py still exist as supported launchers; clarify which scripts are meant. The PhysX micro-benchmarks now live under source/isaaclab_physx/benchmark/{assets,sensors}/. Verified: isaaclab.test.benchmark is gone and the formatter names match BenchmarkFormatter.
• XR Teleoperation: Isaac Capture Integration — rwiltz, hougantc-nvda, kellyguo11 — Run the pipeline-builder snippet against the pinned isaacteleop~=1.4. Confirm that the deprecated isaaclab.devices.openxr classes warn and that the import-mapping table is still accurate. Fixed: install command.
• Section overview cards (Assets, Actuators, and Sensors / Data Access and Math / Reinforcement Learning / Visualizers, Cameras, and Recording / Tools and Integrations) — ooctipus (Assets), AntoineRichard (Data Access), StafaH (Reinforcement Learning), matthewtrepte (Visualizers), kellyguo11 (Tools) — Check each 2.x/3.0 card against the detailed subsections below it, and run the 3.0 card snippets.
• Getting Help — AntoineRichard, kellyguo11 — Check the links. The CHANGELOG link points at main.

Isaac Gym / IsaacGymEnvs (include/from_isaacgymenvs.rst, include/comparing_simulation_isaacgym.rst)

• Migration from Isaac Gym and IsaacGymEnvs — StafaH, kellyguo11, ooctipus — Compare the snippets with source/isaaclab_tasks/isaaclab_tasks/core/cartpole, then run the training and inference commands. Verified: the referenced classes and the CARTPOLE_CFG import exist.
• Comparing Simulations Between Isaac Gym and Isaac Lab — kellyguo11, StafaH — Re-run the OmniPVD recording workflow with isaaclab benchmark runtime and the current kit args.

Cross-cutting

• Agent skills sync — StafaH, AntoineRichard — After the reviews above land, update skills/user/migrate-2x-to-3x/ and skills/user/migrate-from-isaac-gym/ to match, since the guide is their source of truth.

Validation

• Clean docs build (uv run --extra dev make -C docs current-docs, which runs sphinx-build -W --keep-going): succeeded with 0 warnings, and the changed passages render. Sphinx does not run in nitpicky mode, so unresolved py: cross-references would not fail this build. The symbol check below covers them.
• pre-commit run --files docs/source/migration/migrating_to_isaaclab_3-0.rst: all hooks passed.
• Static symbol check: a throwaway script, not committed, resolved every :class: / :func: / :meth: / :attr: / :mod: target and every from X import Y in the four migration files against source/. The only unresolved targets were intentional 2.x "before" snippets. I also used targeted greps for the CLI flags, file paths and deprecation messages listed above. I did not run any snippet in a simulator.
• Docs-only change outside source/<pkg>/, so no changelog fragment is needed.

Type of change

• Documentation update

Release backport

• Backport this pull request to the active release branch after it merges into develop

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with uv run isaaclab --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have validated the changed behavior with focused coverage and applied the test-audit criteria to any test changes
• I have added a changelog fragment under source/<pkg>/changelog.d/ for every touched package (do not edit CHANGELOG.rst or bump package versions — CI handles that)
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[isaaclab-review-bot]

Isaac Lab Review Bot

Needs attention: Style consistency (1). Other reviewed categories look good.

• PR description: The title promises per-section owners and checks, but the diff only corrects eight migration passages; retitle for the actual scope and move the long review checklist to a tracking issue.
• Design and architecture: Architecture looks good.
• Scope and over-engineering: No over-engineering issues.
• API: API changes look good.
• Compatibility and deprecation: No breaking changes identified.
• Implementation: Implementation looks good.
• Style consistency: The convert_quat passage labels its retained external-data example “OLD - No longer needed,” contradicting the new conditional guidance; relabel the example for external WXYZ input.
• Test quality: Test quality looks good.

Minor fixes needed. Posted 1 inline finding.

Automated review; human maintainers own approval decisions.

[isaaclab-review-bot]

🟡 Warning · Style Consistency — convert_quat guidance contradicts its example

The new text says Isaac Lab provides convert_quat and to keep it for external WXYZ data, but the snippet it introduces is still labeled # OLD - No longer needed and the next sentence says…

[greptile-apps]

Confidence Score: 4/5

[Low impact] Updates migration guide documentation text.

The PR appears safe to merge, with two non-blocking improvements to the migration advice.

Findings

1.  Some conversions are still needed ▶
2.  Installing teleoperation removes other extras ▶

Summary

Updates the 3.0 migration guide to match current APIs and installation commands.

• Corrects actuator alias lifetimes, ray alignment removal, indexed writes, and MJCF settings.
• Restores documentation of convert_quat and switches teleoperation installation to project extras.
• Two non-blocking documentation fixes remain: narrow the quaternion conversion advice and explain how to preserve existing extras.
• AntoineRichard acknowledged that the MJCF example still drops fix_base and deferred the decision to section reviewers.

_{Reviews (1) · Last reviewed commit: "Fix keyword-only write call and convert_..." · Reviewed by Greptile}

[greptile-apps]

Some conversions are still needed

The corrected paragraph still tells readers to remove conversions for all Isaac Lab data. Older Isaac Lab datasets use WXYZ, and generate_data.py still converts their action quaternions before replay. convert_quat also converts current XYZW data to WXYZ for external policies.

Limit the removal advice to conversions around current native XYZW data. Keep conversions for older datasets and external policies; removing them can silently produce wrong rotations.

Suggested change

	Since everything now uses XYZW natively, this function is no longer needed for Isaac Lab data.
	If you were using it, simply remove the conversion calls. Keep it only to convert external
	data that still uses WXYZ order.
	Current Isaac Lab APIs use XYZW natively, so remove conversions that only adapted native
	Isaac Lab data to the old WXYZ convention. Keep conversions when reading older WXYZ datasets
	or exchanging data with external tools and policies that use WXYZ.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

[greptile-apps]

Installing teleoperation removes other extras

Unlike the old additive install command, uv sync --extra teleop --extra isaacsim removes packages from other extras the user previously selected. Someone adding teleoperation to an environment with sb3 or rl-games can lose those integrations and break their training workflows.

Add a note to repeat existing compatible extras, as the installation guide already requires.

Suggested change

	uv sync --extra teleop --extra isaacsim
	uv sync --extra teleop --extra isaacsim
	Repeat any existing compatible ``--extra`` selections in this command; otherwise,
	``uv sync`` removes packages belonging to extras you omit.

[kellyguo11]

run-ci

[isaaclab-bot]

Backported to release/3.0.0 as 973bdf1.