# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
from abc import abstractmethod
from collections.abc import Sequence
from typing import TYPE_CHECKING
import torch
import warp as wp
from isaaclab.assets.asset_base import AssetBase
from isaaclab.utils.warp import ProxyArray
if TYPE_CHECKING:
from .base_cable_object_data import BaseCableObjectData
from .cable_object_cfg import CableObjectCfg
[docs]
class BaseCableObject(AssetBase):
"""Abstract base class for cable object assets.
Cable objects expose the world-frame pose and velocity of each simulated segment.
"""
cfg: CableObjectCfg
"""Configuration instance for the cable object."""
__backend_name__: str = "base"
"""The name of the backend for the cable object."""
[docs]
def __init__(self, cfg: CableObjectCfg) -> None:
"""Initialize the cable object.
Args:
cfg: A configuration instance.
"""
super().__init__(cfg)
@property
@abstractmethod
def data(self) -> BaseCableObjectData:
"""Data container for the cable object."""
raise NotImplementedError()
@property
@abstractmethod
def num_instances(self) -> int:
"""Number of cable instances."""
raise NotImplementedError()
@property
@abstractmethod
def num_segments(self) -> int:
"""Number of rigid segments per cable."""
raise NotImplementedError()
@property
@abstractmethod
def root_view(self):
"""Root articulation view for the cable object.
.. note::
Use this view with caution. It requires handling tensors in a backend-specific way.
"""
raise NotImplementedError()
[docs]
@abstractmethod
def reset(self, env_ids: Sequence[int] | None = None) -> None:
"""Reset the cable object.
Args:
env_ids: Environment indices. If None, all instances are used.
"""
raise NotImplementedError()
[docs]
@abstractmethod
def write_data_to_sim(self) -> None:
"""Write buffered commands to the simulation."""
raise NotImplementedError()
[docs]
@abstractmethod
def update(self, dt: float) -> None:
"""Update the cable data.
Args:
dt: The time step for the update [s].
"""
raise NotImplementedError()
[docs]
@abstractmethod
def write_segment_pose_to_sim_index(
self,
*,
segment_pose: torch.Tensor | wp.array(dtype=wp.transformf) | ProxyArray,
env_ids: Sequence[int] | torch.Tensor | wp.array(dtype=wp.int32) | None = None,
) -> None:
"""Set segment poses for selected environments.
Args:
segment_pose: Segment actor-frame poses in simulation world frame. The Torch shape is
(len(env_ids), num_segments, 7), with position ``(x, y, z)`` [m] followed by quaternion
``(x, y, z, w)``. The Warp shape is (len(env_ids), num_segments), dtype ``wp.transformf``.
env_ids: Environment indices. If None, all instances are used.
"""
raise NotImplementedError()
[docs]
@abstractmethod
def write_segment_pose_to_sim_mask(
self,
*,
segment_pose: torch.Tensor | wp.array(dtype=wp.transformf) | ProxyArray,
env_mask: wp.array(dtype=wp.bool) | None = None,
) -> None:
"""Set segment poses using an environment mask.
Args:
segment_pose: Segment actor-frame poses in simulation world frame. The Torch shape is
(num_instances, num_segments, 7), with position (x, y, z) [m] followed by quaternion
(x, y, z, w). The Warp shape is (num_instances, num_segments), dtype wp.transformf.
env_mask: Environment mask. If None, all instances are used.
"""
raise NotImplementedError()
[docs]
@abstractmethod
def write_segment_velocity_to_sim_index(
self,
*,
segment_velocity: torch.Tensor | wp.array(dtype=wp.spatial_vectorf) | ProxyArray,
env_ids: Sequence[int] | torch.Tensor | wp.array(dtype=wp.int32) | None = None,
) -> None:
"""Set segment velocities for selected environments.
Args:
segment_velocity: Segment center-of-mass velocities in simulation world frame. The Torch shape is
(len(env_ids), num_segments, 6), with linear ``(x, y, z)`` [m/s] followed by angular
``(x, y, z)`` [rad/s] velocity. The Warp shape is (len(env_ids), num_segments), dtype
``wp.spatial_vectorf``.
env_ids: Environment indices. If None, all instances are used.
"""
raise NotImplementedError()
[docs]
@abstractmethod
def write_segment_velocity_to_sim_mask(
self,
*,
segment_velocity: torch.Tensor | wp.array(dtype=wp.spatial_vectorf) | ProxyArray,
env_mask: wp.array(dtype=wp.bool) | None = None,
) -> None:
"""Set segment velocities using an environment mask.
Args:
segment_velocity: Segment center-of-mass velocities in simulation world frame. The Torch shape is
(num_instances, num_segments, 6), with linear (x, y, z) [m/s] followed by angular
(x, y, z) [rad/s] velocity. The Warp shape is (num_instances, num_segments), dtype
wp.spatial_vectorf.
env_mask: Environment mask. If None, all instances are used.
"""
raise NotImplementedError()
