Remove obsolete warp-to-torch migration helper

[AntoineRichard]

Summary

• Removed scripts/tools/wrap_warp_to_torch.py, which is obsolete now that ProxyArray exposes explicit .torch access.
• Removed the ProxyArray static scanner exemption for the deleted helper.
• Added an isaaclab changelog fragment for the removal.

Test Plan

• ./isaaclab.sh -p -m pytest source/isaaclab/test/test_scripts_torcharray_patterns.py
• env PATH=/tmp/git-lfs-3.7.1/git-lfs-3.7.1:$PATH ./isaaclab.sh -f
• rg -n "wrap_warp_to_torch|wrap_warp_to_py" docs --glob '!core' returned no matches

Closes #5057

[greptile-apps]

Greptile Summary

This PR removes the now-obsolete scripts/tools/wrap_warp_to_torch.py migration helper that added wp.to_torch() wrappers around asset .data.* property accesses, and cleans up the ProxyArray hygiene test that had an explicit exclusion for that file.

• Deletion of scripts/tools/wrap_warp_to_torch.py: The 648-line AST-based migration script is removed, as ProxyArray now exposes a direct .torch accessor making the script unnecessary.
• Test cleanup in test_scripts_torcharray_patterns.py: Removes the _EXCLUDE set and its two guard checks that were skipping the now-deleted script from ProxyArray pattern scanning.
• Changelog fragment added: Documents the removal and points users to the .torch accessor as the modern replacement.

Confidence Score: 5/5

Straightforward removal of a standalone migration script with no call sites remaining in the codebase.

The deleted file is a standalone CLI tool with no imports from library code — removing it cannot break any runtime paths. The test cleanup correctly mirrors the deletion: the _EXCLUDE set only ever contained that one file, and the two pytest.skip guards were gated on that set, so dropping them is safe. The _EXCLUDE_PREFIXES guard and the rest of the scan logic are untouched.

No files require special attention.

Important Files Changed

Filename	Overview
scripts/tools/wrap_warp_to_torch.py	648-line migration helper deleted in full; obsoleted by ProxyArray.torch accessor.
source/isaaclab/test/test_scripts_torcharray_patterns.py	Removes _EXCLUDE set and two pytest.skip guards that were specific to the now-deleted script; remaining scan logic is intact.
source/isaaclab/changelog.d/issue-5057-remove-wrap-warp-to-torch.rst	New changelog fragment documenting the removal and pointing users to ProxyArray.torch.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["asset.data.field (returns ProxyArray)"]
    B["Old path: wp.to_torch(asset.data.field)"]
    C["New path: asset.data.field.torch"]
    D["wrap_warp_to_torch.py\n(DELETED)"]
    E["ProxyArray.torch accessor\n(modern replacement)"]

    A --> B
    A --> C
    B -.->|"automated via"| D
    C -->|"uses"| E
    D -.->|"removed — no longer needed"| X["❌"]

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_{Reviews (1): Last reviewed commit: "chore: Remove obsolete warp-to-torch hel..." | Re-trigger Greptile}

[isaaclab-review-bot]

🔍 Code Review Summary

Overall Assessment: ✅ Clean removal — low risk, well-scoped.

This PR correctly removes the obsolete wrap_warp_to_torch.py migration helper (648 lines) and cleans up its associated test exemption. The ProxyArray.torch accessor makes this utility redundant, and the author has verified no remaining references exist in the codebase.

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Findings

1. ℹ️ Verify Sphinx cross-reference resolves (Nit)

File: source/isaaclab/changelog.d/issue-5057-remove-wrap-warp-to-torch.rst:5

  :attr:`~isaaclab.utils.warp.ProxyArray.torch` when tensor interop is needed.

Ensure :attr:\~isaaclab.utils.warp.ProxyArray.torch`resolves in the docs build — the "Build Latest Docs" CI job (currently pending) will confirm this. IfProxyArray.torchis a@Property, :attr:is correct; if it was changed to a method,:meth:` would be needed instead.

2. ✅ Test exemption cleanup is correct

The removal of the _EXCLUDE set and its two usage sites in test_scripts_torcharray_patterns.py is clean:

• The variable is fully removed (no dangling references)
• _EXCLUDE_PREFIXES (for contrib scope exclusion) is correctly preserved
• Both test_no_wp_to_torch_on_torcharray_data and test_no_direct_proxyarray_data_methods now scan without special-casing, which strengthens regression coverage

3. ✅ No orphaned references

The author's rg search confirms no docs or source references remain to wrap_warp_to_torch. GitHub code search corroborates this.

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CI Status

Most checks are still pending at review time. The key ones to watch:

• "Build Latest Docs" — validates the changelog RST cross-reference (Finding 1)
• "isaaclab (core)" — runs the modified test file

Verdict

Approve-worthy once CI is green. The only actionable item is a minor documentation cross-reference verification (Finding 1) which CI will catch automatically if broken.

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Update (a6c0fd3): New commit is a rebase onto updated develop — no PR-scope changes. The actual PR diff (3 files) remains identical. Previous findings still apply; no new issues introduced.

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Update (33fd6d2): Another rebase onto updated develop (v6.3.0 release train: version bumps, changelog consolidation, lazy_export conversions, Newton physics config tweaks). No changes to the PR-scoped files. Previous findings still apply; no new issues.

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Update (dd4f273): New commit adds intersphinx fallback inventory for Isaac Sim docs in docs/conf.py. This is a sensible hardening measure — if the versioned 6.0.0/py/objects.inv temporarily 404s during docs publishing, Sphinx will fall back to latest/py/objects.inv. The tuple-based fallback syntax is correct per Sphinx 7.x intersphinx_mapping spec. This change also helps ensure Finding 1 (cross-reference resolution) passes reliably. ✅ No new issues.

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Update (7000979): Rebase onto updated develop (ovphysx pinned to 0.4.13, intersphinx fallback simplified, camera demo subtitle fix, version-specific comments generalized in ovphysx tests). No changes to the PR-scoped files (still the same 3-file removal). Previous findings still apply; no new issues.