[Bug Report] Multiple `wp.to_torch` wrappers are missing

[prina404]

Describe the bug

Given the data.* property type changes introduced in 3.0.0Beta, there are multiple instances throughout the codebase where property accesses are not wrapped with wp.to_torch.

Steps to reproduce

Create a ManagerBasedEnv with export_io_descriptors=True in its configuration. This will result in an error due to the io_descriptor generation code expecting the old data.* types.

System Info

Describe the characteristic of your environment:

• Commit: 06e4c91 (develop head)
• Isaac Sim Version: 6.0.0
• OS: [e.g. Ubuntu 24.04]
• GPU: [e.g. RTX 4080S]
• CUDA: [e.g. 12.8]
• GPU Driver: 590.48.01

Additional context

When running the wrap_warp_to_py.py script, it detects multiple missing wrappers:

Expand full output

$ python3 scripts/tools/wrap_warp_to_torch.py source/
DRY RUN (use --apply to modify files)

source/isaaclab/test/assets/check_external_force.py (4 changes)
  L99: robot.data.default_root_state
  L105: robot.data.default_joint_pos
  L105: robot.data.default_joint_vel
  L115: robot.data.default_joint_pos
  + import warp as wp
source/isaaclab/test/assets/check_ridgeback_franka.py (6 changes)
  L75: robot.data.default_joint_pos
  L90: robot.data.default_joint_pos
  L90: robot.data.default_joint_vel
  L95: robot.data.default_joint_pos
  L95: robot.data.default_joint_pos
  L133: robot.data.default_joint_pos
  + import warp as wp
source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py (2 changes)
  L167: balls.data.root_pose_w
  L168: balls.data.root_vel_w
  + import warp as wp
source/isaaclab/test/sensors/check_ray_caster.py (2 changes)
  L136: balls.data.root_pose_w
  L137: balls.data.root_vel_w
  + import warp as wp
source/isaaclab_physx/test/assets/test_deformable_object.py (4 changes)
  L156: cube_object.data.sim_element_deform_gradient_w
  L162: cube_object.data.sim_element_stress_w
  L168: cube_object.data.collision_element_deform_gradient_w
  L174: cube_object.data.collision_element_stress_w
source/isaaclab_physx/test/sensors/check_contact_sensor.py (3 changes)
  L151: robot.data.default_joint_pos
  L151: robot.data.default_joint_vel
  L159: robot.data.default_joint_pos
  + import warp as wp
source/isaaclab_physx/test/sensors/check_imu_sensor.py (2 changes)
  L147: balls.data.root_pos_w
  L148: balls.data.root_quat_w
  + import warp as wp
source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env.py (1 change)
  L165: self.robot._ALL_INDICES
source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_env.py (1 change)
  L151: self._cartpole._ALL_INDICES
source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env.py (1 change)
  L98: self.cartpole._ALL_INDICES
source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/humanoid_amp_env.py (4 changes)
  L123: self.robot._ALL_INDICES
  L124: self.robot._ALL_INDICES
  L149: self.robot.data.default_joint_pos
  L150: self.robot.data.default_joint_vel
source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/shadow_hand_over_env.py (1 change)
  L306: self.right_hand._ALL_INDICES
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/mdp/franka_stack_events.py (1 change)
  L46: asset.data.default_joint_pos
source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/cartpole/cartpole_warp_env.py (4 changes)
  L229: self.cartpole.data.joint_pos
  L230: self.cartpole.data.joint_vel
  L347: self.cartpole.data.default_joint_pos
  L348: self.cartpole.data.default_joint_vel
source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/inhand_manipulation/inhand_manipulation_warp_env.py (16 changes)
  L576: self.hand.data.joint_pos_limits_lower
  L577: self.hand.data.joint_pos_limits_upper
  L815: self.object.data.default_root_pose
  L822: self.object.data.root_link_pose_w
  L823: self.object.data.root_com_vel_w
  L833: self.hand.data.default_joint_pos
  L834: self.hand.data.default_joint_vel
  L842: self.hand.data.joint_pos
  L843: self.hand.data.joint_vel
  L903: self.hand.data.body_pos_w
  L904: self.hand.data.body_quat_w
  L905: self.hand.data.body_vel_w
  L908: self.object.data.root_link_pose_w
  L909: self.object.data.root_com_vel_w
  L953: self.hand.data.joint_pos
  L954: self.hand.data.joint_vel
source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/locomotion/locomotion_env_warp.py (9 changes)
  L362: self.robot.data.joint_pos
  L363: self.robot.data.joint_vel
  L364: self.robot.data.root_pose_w
  L365: self.robot.data.root_vel_w
  L366: self.robot.data.soft_joint_pos_limits
  L551: self.robot.data.default_root_pose
  L552: self.robot.data.default_root_vel
  L567: self.robot.data.default_joint_pos
  L568: self.robot.data.default_joint_vel

Summary: 61 wraps across 16 file(s), 6 import(s) added

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo