Name one removal release across all deprecation notices

docs/source/migration/migrating_to_isaaclab_3-0.rst

@@ -266,7 +266,7 @@ For the full design, see :ref:`schema-cfgs`.
 **Class moves and renames**
 
 The following 2.x class names are kept as deprecated aliases. They forward to
-the new location and will be removed in 4.0.
+the new location and will be removed in 3.1.
 
 .. list-table::
    :header-rows: 1
@@ -301,7 +301,7 @@ the new location and will be removed in 4.0.
 **Code migration**
 
 Existing 2.x code continues to work via the deprecation aliases (with a
-``DeprecationWarning``; removed in 4.0):
+``DeprecationWarning``; removed in 3.1):
 
 .. code-block:: python
 
@@ -350,7 +350,7 @@ scheduled for removal in 4.0.
      - :attr:`~isaaclab.sim.schemas.JointDriveBaseCfg.max_force`
      - ``drive:<axis>:physics:maxForce``
 
-Isaac Lab 2.x style still works (emits ``DeprecationWarning``; removed in 4.0):
+Isaac Lab 2.x style still works (emits ``DeprecationWarning``; removed in 3.1):
 
 .. code-block:: python
 
@@ -824,7 +824,7 @@ removed in a future release.
 
 Actuator configurations now use joint-qualified names for solver limits. Update active
 configurations to the canonical fields below. The former names remain accepted with a
-``DeprecationWarning`` through the 3.x release line and will be removed in 4.0.
+``DeprecationWarning`` through the 3.x release line and will be removed in 3.1.
 
 .. list-table:: Actuator limit migration
    :header-rows: 1

source/isaaclab/changelog.d/vidurv-sweep-removal-version.rst

@@ -0,0 +1,8 @@
+Changed
+^^^^^^^
+
+* Changed the announced removal release in deprecation warnings, docstrings and forwarding-shim
+  messages to ``3.1``, so every deprecated symbol names the same release. Some notices said
+  ``4.0`` and others ``5.0``, leftovers from earlier numbering, so a deprecated class and the
+  shim or alias forwarding to it could advertise different removals. No symbol was added,
+  renamed or removed.

source/isaaclab/isaaclab/actuators/_compat.py

@@ -72,7 +72,7 @@ def _resolve_limit_aliases(
         if warn_deprecated:
             warnings.warn(
                 f"Actuator group '{actuator_name}' uses deprecated '{old_name}'. Use "
-                f"'{new_name}' instead; '{old_name}' will be removed in 4.0.",
+                f"'{new_name}' instead; '{old_name}' will be removed in 3.1.",
                 DeprecationWarning,
                 stacklevel=3,
             )

source/isaaclab/isaaclab/actuators/actuator_base.py

@@ -197,7 +197,7 @@ def __init__(
         if effort_limit is not None:
             warnings.warn(
                 "The effort_limit constructor argument is deprecated. Use actuator_effort_limit instead; "
-                "effort_limit will be removed in 4.0.",
+                "effort_limit will be removed in 3.1.",
                 DeprecationWarning,
                 stacklevel=2,
             )
@@ -209,7 +209,7 @@ def __init__(
         if velocity_limit is not None:
             warnings.warn(
                 "The velocity_limit constructor argument is deprecated. Use actuator_velocity_limit instead; "
-                "velocity_limit will be removed in 4.0.",
+                "velocity_limit will be removed in 3.1.",
                 DeprecationWarning,
                 stacklevel=2,
             )
@@ -327,11 +327,11 @@ def effort_limit(self) -> torch.Tensor:
         """Deprecated actuator effort limit [N or N·m, depending on joint type].
 
         .. deprecated:: 3.0
-            Use :attr:`actuator_effort_limit` instead. This alias will be removed in 4.0.
+            Use :attr:`actuator_effort_limit` instead. This alias will be removed in 3.1.
         """
         warnings.warn(
             "ActuatorBase.effort_limit is deprecated. Use actuator_effort_limit instead; "
-            "effort_limit will be removed in 4.0.",
+            "effort_limit will be removed in 3.1.",
             DeprecationWarning,
             stacklevel=2,
         )
@@ -341,7 +341,7 @@ def effort_limit(self) -> torch.Tensor:
     def effort_limit(self, value: torch.Tensor) -> None:
         warnings.warn(
             "ActuatorBase.effort_limit is deprecated. Use actuator_effort_limit instead; "
-            "effort_limit will be removed in 4.0.",
+            "effort_limit will be removed in 3.1.",
             DeprecationWarning,
             stacklevel=2,
         )
@@ -352,11 +352,11 @@ def velocity_limit(self) -> torch.Tensor:
         """Deprecated actuator velocity limit [m/s or rad/s, depending on joint type].
 
         .. deprecated:: 3.0
-            Use :attr:`actuator_velocity_limit` instead. This alias will be removed in 4.0.
+            Use :attr:`actuator_velocity_limit` instead. This alias will be removed in 3.1.
         """
         warnings.warn(
             "ActuatorBase.velocity_limit is deprecated. Use actuator_velocity_limit instead; "
-            "velocity_limit will be removed in 4.0.",
+            "velocity_limit will be removed in 3.1.",
             DeprecationWarning,
             stacklevel=2,
         )
@@ -366,7 +366,7 @@ def velocity_limit(self) -> torch.Tensor:
     def velocity_limit(self, value: torch.Tensor) -> None:
         warnings.warn(
             "ActuatorBase.velocity_limit is deprecated. Use actuator_velocity_limit instead; "
-            "velocity_limit will be removed in 4.0.",
+            "velocity_limit will be removed in 3.1.",
             DeprecationWarning,
             stacklevel=2,
         )

source/isaaclab/isaaclab/actuators/actuator_base_cfg.py

@@ -87,14 +87,14 @@ class ActuatorBaseCfg:
     """Deprecated alias for :attr:`joint_effort_limit`.
 
     .. deprecated:: 3.0
-        Use :attr:`joint_effort_limit` instead. This alias will be removed in 4.0.
+        Use :attr:`joint_effort_limit` instead. This alias will be removed in 3.1.
     """
 
     velocity_limit_sim: dict[str, float] | float | None = None
     """Deprecated alias for :attr:`joint_velocity_limit`.
 
     .. deprecated:: 3.0
-        Use :attr:`joint_velocity_limit` instead. This alias will be removed in 4.0.
+        Use :attr:`joint_velocity_limit` instead. This alias will be removed in 3.1.
     """
 
     stiffness: dict[str, float] | float | None = MISSING
@@ -164,7 +164,7 @@ class ActuatorBaseCfg:
 
     .. deprecated:: 3.0
         For explicit actuators, use :attr:`actuator_effort_limit`. For implicit
-        actuators, use :attr:`joint_effort_limit`. This alias will be removed in 4.0.
+        actuators, use :attr:`joint_effort_limit`. This alias will be removed in 3.1.
     """
 
     velocity_limit: dict[str, float] | float | None = None
@@ -173,5 +173,5 @@ class ActuatorBaseCfg:
     .. deprecated:: 3.0
         Use :attr:`actuator_velocity_limit` for the actuator-model limit or
         :attr:`joint_velocity_limit` for the solver limit. This alias will be
-        removed in 4.0.
+        removed in 3.1.
     """

source/isaaclab/isaaclab/actuators/actuator_pd.py

@@ -86,7 +86,7 @@ def __init__(
         if effort_limit is not None:
             warnings.warn(
                 "The effort_limit constructor argument is deprecated. Use joint_effort_limit instead; "
-                "effort_limit will be removed in 4.0.",
+                "effort_limit will be removed in 3.1.",
                 DeprecationWarning,
                 stacklevel=2,
             )

source/isaaclab/isaaclab/assets/articulation/base_articulation.py

@@ -1687,7 +1687,7 @@ def _write_deprecated_native_actuator_gain(
         from isaaclab.actuators.newton import write_group_parameter  # noqa: PLC0415
 
         warnings.warn(
-            f"{writer_name} is deprecated in 3.x and will be removed in 4.0. Use "
+            f"{writer_name} is deprecated in 3.x and will be removed in 3.1. Use "
             "randomize_actuator_gains for managed randomization or "
             "isaaclab.actuators.newton.write_group_parameter for direct controller writes.",
             DeprecationWarning,

source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py

@@ -323,7 +323,7 @@ def __post_init__(self):
         Use :attr:`max_force` instead. The cfg field is renamed so its snake_case name maps
         identity-style to the USD camelCase attribute (``maxForce`` on ``UsdPhysics.DriveAPI``).
         The alias is forwarded to :attr:`max_force` in :meth:`__post_init__` and will be removed
-        in 4.0.
+        in 3.1.
     """
 
     stiffness: float | None = None
@@ -722,7 +722,7 @@ def __post_init__(self):
         Use :attr:`max_force` instead. The cfg field is renamed so its
         snake_case name maps identity-style to the USD camelCase attribute
         (``maxForce`` on ``UsdPhysics.DriveAPI``). The alias is forwarded to
-        :attr:`max_force` in :meth:`__post_init__` and will be removed in 4.0.
+        :attr:`max_force` in :meth:`__post_init__` and will be removed in 3.1.
     """
 
     stiffness: float | None = None
@@ -776,7 +776,7 @@ def __post_init__(self):
         Use :attr:`max_joint_velocity` instead. The cfg field is renamed so its
         snake_case name maps identity-style to the USD camelCase attribute
         (``physxJoint:maxJointVelocity``). The alias is forwarded to
-        :attr:`max_joint_velocity` in :meth:`__post_init__` and will be removed in 4.0.
+        :attr:`max_joint_velocity` in :meth:`__post_init__` and will be removed in 3.1.
     """
 
 
@@ -820,7 +820,7 @@ def __getattr__(self, name: str):
         """
         if name == "usd_api":
             warnings.warn(
-                "'usd_api' attribute is deprecated and will be removed in 4.0. Use class-level"
+                "'usd_api' attribute is deprecated and will be removed in 3.1. Use class-level"
                 " metadata via getattr(cfg, '_usd_applied_schema').",
                 DeprecationWarning,
                 stacklevel=2,
@@ -831,7 +831,7 @@ def __getattr__(self, name: str):
             return "MeshCollisionAPI" if schema is not None else None
         if name == "physx_api":
             warnings.warn(
-                "'physx_api' attribute is deprecated and will be removed in 4.0. Use class-level"
+                "'physx_api' attribute is deprecated and will be removed in 3.1. Use class-level"
                 " metadata via getattr(cfg, '_usd_applied_schema').",
                 DeprecationWarning,
                 stacklevel=2,

source/isaaclab/test/sim/test_schemas.py

@@ -353,7 +353,7 @@ def test_rigid_body_material_deprecation_alias(setup_simulation):
         RigidBodyMaterialCfg()
     deprecations = [w for w in caught if issubclass(w.category, DeprecationWarning)]
     assert len(deprecations) == 1, f"expected exactly one DeprecationWarning, got {len(deprecations)}"
-    assert "5.0" in str(deprecations[0].message)
+    assert "3.1" in str(deprecations[0].message)
 
 
 @pytest.mark.isaacsim_ci
@@ -459,7 +459,7 @@ def test_collision_deprecation_alias(setup_simulation):
         PhysxCollisionPropertiesCfgAlias()
     deprecations = [w for w in caught if issubclass(w.category, DeprecationWarning)]
     assert len(deprecations) == 1, f"expected exactly one DeprecationWarning, got {len(deprecations)}"
-    assert "5.0" in str(deprecations[0].message)
+    assert "3.1" in str(deprecations[0].message)
 
 
 @pytest.mark.isaacsim_ci
@@ -557,7 +557,7 @@ def test_articulation_root_deprecation_alias(setup_simulation):
         ArticulationRootDeprecatedAliasCfg()
     deprecations = [w for w in caught if issubclass(w.category, DeprecationWarning)]
     assert len(deprecations) == 1, f"expected exactly one DeprecationWarning, got {len(deprecations)}"
-    assert "5.0" in str(deprecations[0].message)
+    assert "3.1" in str(deprecations[0].message)
 
 
 @pytest.mark.isaacsim_ci
@@ -666,7 +666,7 @@ def test_mesh_collision_deprecation_aliases(setup_simulation, name):
         cls()
     deprecations = [w for w in caught if issubclass(w.category, DeprecationWarning)]
     assert len(deprecations) == 1, f"{name}: expected one DeprecationWarning, got {len(deprecations)}"
-    assert "5.0" in str(deprecations[0].message)
+    assert "3.1" in str(deprecations[0].message)
 
 
 @pytest.mark.isaacsim_ci
@@ -701,7 +701,7 @@ def test_fixed_tendon_deprecation_alias(setup_simulation):
         cls()
     deprecations = [w for w in caught if issubclass(w.category, DeprecationWarning)]
     assert len(deprecations) == 1, f"expected one DeprecationWarning, got {len(deprecations)}"
-    assert "5.0" in str(deprecations[0].message)
+    assert "3.1" in str(deprecations[0].message)
 
 
 @pytest.mark.isaacsim_ci
@@ -734,7 +734,7 @@ def test_spatial_tendon_deprecation_alias(setup_simulation):
         cls()
     deprecations = [w for w in caught if issubclass(w.category, DeprecationWarning)]
     assert len(deprecations) == 1, f"expected one DeprecationWarning, got {len(deprecations)}"
-    assert "5.0" in str(deprecations[0].message)
+    assert "3.1" in str(deprecations[0].message)
 
 
 @pytest.mark.isaacsim_ci

source/isaaclab/test/sim/test_schemas_shim.py

@@ -183,7 +183,7 @@ def test_deprecated_material_aliases_emit_deprecation_warning(name):
         getattr(materials, name)()
     deprecations = [w for w in caught if issubclass(w.category, DeprecationWarning)]
     assert len(deprecations) == 1, f"{name}: expected one DeprecationWarning, got {len(deprecations)}"
-    assert "5.0" in str(deprecations[0].message)
+    assert "3.1" in str(deprecations[0].message)
 
 
 def test_new_class_does_not_emit_deprecation_warning():

source/isaaclab_newton/changelog.d/vidurv-sweep-removal-version.rst

@@ -0,0 +1,8 @@
+Changed
+^^^^^^^
+
+* Changed the announced removal release in deprecation warnings, docstrings and forwarding-shim
+  messages to ``3.1``, so every deprecated symbol names the same release. Some notices said
+  ``4.0`` and others ``5.0``, leftovers from earlier numbering, so a deprecated class and the
+  shim or alias forwarding to it could advertise different removals. No symbol was added,
+  renamed or removed.

source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation.py

@@ -1714,7 +1714,7 @@ def write_actuator_stiffness_to_sim(
         .. deprecated:: 3.0
             Use :func:`isaaclab.envs.mdp.events.randomize_actuator_gains` for
             managed randomization. Direct controller-gain writes have no public
-            replacement. This method will be removed in 4.0.
+            replacement. This method will be removed in 3.1.
 
         Args:
             stiffness: Controller stiffness [N/m or N·m/rad, depending on joint type].
@@ -1737,7 +1737,7 @@ def write_actuator_damping_to_sim(
         .. deprecated:: 3.0
             Use :func:`isaaclab.envs.mdp.events.randomize_actuator_gains` for
             managed randomization. Direct controller-gain writes have no public
-            replacement. This method will be removed in 4.0.
+            replacement. This method will be removed in 3.1.
 
         Args:
             damping: Controller damping [N·s/m or N·m·s/rad, depending on joint type].

source/isaaclab_physx/changelog.d/vidurv-sweep-removal-version.rst

@@ -0,0 +1,8 @@
+Changed
+^^^^^^^
+
+* Changed the announced removal release in deprecation warnings, docstrings and forwarding-shim
+  messages to ``3.1``, so every deprecated symbol names the same release. Some notices said
+  ``4.0`` and others ``5.0``, leftovers from earlier numbering, so a deprecated class and the
+  shim or alias forwarding to it could advertise different removals. No symbol was added,
+  renamed or removed.

source/isaaclab_physx/isaaclab_physx/assets/articulation/articulation.py

@@ -1501,7 +1501,7 @@ def write_actuator_stiffness_to_sim(
         .. deprecated:: 3.0
             Use :func:`isaaclab.envs.mdp.events.randomize_actuator_gains` for
             managed randomization. Direct controller-gain writes have no public
-            replacement. This method will be removed in 4.0.
+            replacement. This method will be removed in 3.1.
 
         Args:
             stiffness: Controller stiffness [N/m or N·m/rad, depending on joint type].
@@ -1524,7 +1524,7 @@ def write_actuator_damping_to_sim(
         .. deprecated:: 3.0
             Use :func:`isaaclab.envs.mdp.events.randomize_actuator_gains` for
             managed randomization. Direct controller-gain writes have no public
-            replacement. This method will be removed in 4.0.
+            replacement. This method will be removed in 3.1.
 
         Args:
             damping: Controller damping [N·s/m or N·m·s/rad, depending on joint type].