# 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
import warnings
from abc import ABC, abstractmethod
import warp as wp
from isaaclab.utils.leapp import (
POSE6_ELEMENT_NAMES,
POSE7_ELEMENT_NAMES,
QUAT_XYZW_ELEMENT_NAMES,
XYZ_ELEMENT_NAMES,
InputKindEnum,
body_pose6_resolver,
body_pose_resolver,
body_quat_resolver,
body_xyz_resolver,
leapp_tensor_semantics,
)
from isaaclab.utils.warp import ProxyArray
from isaaclab.utils.warp.launch_cache import _WarpLaunchCache
[docs]
class BaseRigidObjectData(ABC):
"""Data container for a rigid object.
This class contains the data for a rigid object in the simulation. The data includes the state of
the root rigid body and the state of all the bodies in the object. The data is stored in the simulation
world frame unless otherwise specified.
For a rigid body, there are two frames of reference that are used:
- Actor frame: The frame of reference of the rigid body prim. This typically corresponds to the Xform prim
with the rigid body schema.
- Center of mass frame: The frame of reference of the center of mass of the rigid body.
Depending on the settings of the simulation, the actor frame and the center of mass frame may be the same.
This needs to be taken into account when interpreting the data.
The data is lazily updated, meaning that the data is only updated when it is accessed. This is useful
when the data is expensive to compute or retrieve. The data is updated when the timestamp of the buffer
is older than the current simulation timestamp. The timestamp is updated whenever the data is updated.
"""
[docs]
def __init__(self, root_view, device: str):
"""Initializes the rigid object data.
Args:
root_view: The root rigid body view.
device: The device used for processing.
"""
# Set the parameters
self.device = device
self._read_launch_cache = _WarpLaunchCache(device)
@abstractmethod
def update(self, dt: float) -> None:
"""Updates the data for the rigid object.
Args:
dt: The time step for the update. This must be a positive value.
"""
raise NotImplementedError()
@abstractmethod
def _reset_pose(self, from_link: bool = True) -> None:
"""Invalidate cached pose-dependent quantities after a pose write to the simulation.
Backends implement this to mark the affected pose buffers stale (and trigger any
forward-kinematics refresh) so the next read recomputes from the freshly written state.
Args:
from_link: Set ``True`` when the root link pose was written so the derived
center-of-mass pose (:attr:`root_com_pose_w`) is also invalidated; set ``False``
when the center-of-mass pose was written directly so it is not clobbered.
"""
raise NotImplementedError()
@abstractmethod
def _reset_velocity(self, from_com: bool = True) -> None:
"""Invalidate cached velocity-dependent quantities after a velocity write to the simulation.
Backends implement this to mark the affected velocity buffers stale (and trigger any
forward-kinematics refresh) so the next read recomputes from the freshly written state.
Args:
from_com: Set ``True`` when the root center-of-mass velocity was written so the derived
link velocity (:attr:`root_link_vel_w`) is also invalidated; set ``False`` when the
link velocity was written directly so it is not clobbered.
"""
raise NotImplementedError()
##
# Names.
##
body_names: list[str] | None = None
"""Body names in the order parsed by the simulation view."""
##
# Defaults.
##
@property
@abstractmethod
@leapp_tensor_semantics(const=True)
def default_root_pose(self) -> ProxyArray:
"""Default root pose ``[pos, quat]`` in local environment frame.
The position and quaternion are of the rigid body's actor frame.
Shape is (num_instances,), dtype = wp.transformf. In torch this resolves to (num_instances, 7).
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(const=True)
def default_root_vel(self) -> ProxyArray:
"""Default root velocity ``[lin_vel, ang_vel]`` in local environment frame.
The linear and angular velocities are of the rigid body's center of mass frame.
Shape is (num_instances,), dtype = wp.spatial_vectorf. In torch this resolves to (num_instances, 6).
"""
raise NotImplementedError()
@property
@abstractmethod
def default_root_state(self) -> ProxyArray:
"""Deprecated, same as :attr:`default_root_pose` and :attr:`default_root_vel`."""
raise NotImplementedError()
##
# Root state properties.
##
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSE, element_names=POSE7_ELEMENT_NAMES)
def root_link_pose_w(self) -> ProxyArray:
"""Root link pose ``[pos, quat]`` in simulation world frame.
Shape is (num_instances,), dtype = wp.transformf. In torch this resolves to (num_instances, 7).
This quantity is the pose of the actor frame of the root rigid body relative to the world.
The orientation is provided in (x, y, z, w) format.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_VEL, element_names=POSE6_ELEMENT_NAMES)
def root_link_vel_w(self) -> ProxyArray:
"""Root link velocity ``[lin_vel, ang_vel]`` in simulation world frame.
Shape is (num_instances,), dtype = wp.spatial_vectorf. In torch this resolves to (num_instances, 6).
This quantity contains the linear and angular velocities of the actor frame of the root
rigid body relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSE, element_names=POSE7_ELEMENT_NAMES)
def root_com_pose_w(self) -> ProxyArray:
"""Root center of mass pose ``[pos, quat]`` in simulation world frame.
Shape is (num_instances,), dtype = wp.transformf. In torch this resolves to (num_instances, 7).
This quantity is the pose of the center of mass frame of the root rigid body relative to the world.
The orientation is provided in (x, y, z, w) format.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_VEL, element_names=POSE6_ELEMENT_NAMES)
def root_com_vel_w(self) -> ProxyArray:
"""Root center of mass velocity ``[lin_vel, ang_vel]`` in simulation world frame.
Shape is (num_instances,), dtype = wp.spatial_vectorf. In torch this resolves to (num_instances, 6).
This quantity contains the linear and angular velocities of the root rigid body's center of mass frame
relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind="state/body/state")
def root_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`root_link_pose_w` and :attr:`root_com_vel_w`."""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind="state/body/link_state")
def root_link_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`root_link_pose_w` and :attr:`root_link_vel_w`."""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind="state/body/com_state")
def root_com_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`root_com_pose_w` and :attr:`root_com_vel_w`."""
raise NotImplementedError()
##
# Body state properties.
##
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSE, element_names_resolver=body_pose_resolver)
def body_link_pose_w(self) -> ProxyArray:
"""Body link pose ``[pos, quat]`` in simulation world frame.
Shape is (num_instances, 1), dtype = wp.transformf.
In torch this resolves to (num_instances, 1, 7).
This quantity is the pose of the actor frame of the rigid body relative to the world.
The orientation is provided in (x, y, z, w) format.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_VEL, element_names_resolver=body_pose6_resolver)
def body_link_vel_w(self) -> ProxyArray:
"""Body link velocity ``[lin_vel, ang_vel]`` in simulation world frame.
Shape is (num_instances, 1), dtype = wp.spatial_vectorf.
In torch this resolves to (num_instances, 1, 6).
This quantity contains the linear and angular velocities of the actor frame of the root
rigid body relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSE, element_names_resolver=body_pose_resolver)
def body_com_pose_w(self) -> ProxyArray:
"""Body center of mass pose ``[pos, quat]`` in simulation world frame.
Shape is (num_instances, 1), dtype = wp.transformf.
In torch this resolves to (num_instances, 1, 7).
This quantity is the pose of the center of mass frame of the rigid body relative to the world.
The orientation is provided in (x, y, z, w) format.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_VEL, element_names_resolver=body_pose6_resolver)
def body_com_vel_w(self) -> ProxyArray:
"""Body center of mass velocity ``[lin_vel, ang_vel]`` in simulation world frame.
Shape is (num_instances, 1), dtype = wp.spatial_vectorf.
In torch this resolves to (num_instances, 1, 6).
This quantity contains the linear and angular velocities of the root rigid body's center of mass frame
relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind="state/body/state")
def body_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`body_link_pose_w` and :attr:`body_com_vel_w`."""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind="state/body/link_state")
def body_link_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`body_link_pose_w` and :attr:`body_link_vel_w`."""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind="state/body/com_state")
def body_com_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`body_com_pose_w` and :attr:`body_com_vel_w`."""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ACC, element_names_resolver=body_pose6_resolver)
def body_com_acc_w(self) -> ProxyArray:
"""Acceleration of all bodies ``[lin_acc, ang_acc]`` in the simulation world frame.
Shape is (num_instances, 1), dtype = wp.spatial_vectorf.
In torch this resolves to (num_instances, 1, 6).
This quantity is the acceleration of the rigid bodies' center of mass frame relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSE, element_names_resolver=body_pose_resolver)
def body_com_pose_b(self) -> ProxyArray:
"""Center of mass pose ``[pos, quat]`` of all bodies in their respective body's link frames.
Shape is (num_instances, 1), dtype = wp.transformf.
In torch this resolves to (num_instances, 1, 7).
This quantity is the pose of the center of mass frame of the rigid body relative to the body's link frame.
The orientation is provided in (x, y, z, w) format.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(const=True)
def body_mass(self) -> ProxyArray:
"""Mass of all bodies in the simulation world frame.
Shape is (num_instances, 1), dtype = wp.float32.
In torch this resolves to (num_instances, 1).
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(const=True)
def body_inertia(self) -> ProxyArray:
"""Inertia of all bodies in the simulation world frame.
Shape is (num_instances, 1, 9), dtype = wp.float32.
In torch this resolves to (num_instances, 1, 9).
"""
raise NotImplementedError()
##
# Derived Properties.
##
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.VECTOR3D, element_names=XYZ_ELEMENT_NAMES)
def projected_gravity_b(self) -> ProxyArray:
"""Projection of the gravity direction on base frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind="state/body/heading")
def heading_w(self) -> ProxyArray:
"""Yaw heading of the base frame (in radians).
Shape is (num_instances,), dtype = wp.float32. In torch this resolves to (num_instances,).
.. note::
This quantity is computed by assuming that the forward-direction of the base
frame is along x-direction, i.e. :math:`(1, 0, 0)`.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_link_lin_vel_b(self) -> ProxyArray:
"""Root link linear velocity in base frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
This quantity is the linear velocity of the actor frame of the root rigid body frame with respect to the
rigid body's actor frame.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_link_ang_vel_b(self) -> ProxyArray:
"""Root link angular velocity in base frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
This quantity is the angular velocity of the actor frame of the root rigid body frame with respect to the
rigid body's actor frame.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_com_lin_vel_b(self) -> ProxyArray:
"""Root center of mass linear velocity in base frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
This quantity is the linear velocity of the root rigid body's center of mass frame with respect to the
rigid body's actor frame.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_com_ang_vel_b(self) -> ProxyArray:
"""Root center of mass angular velocity in base frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
This quantity is the angular velocity of the root rigid body's center of mass frame with respect to the
rigid body's actor frame.
"""
raise NotImplementedError()
##
# Sliced properties.
##
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSITION, element_names=XYZ_ELEMENT_NAMES)
def root_link_pos_w(self) -> ProxyArray:
"""Root link position in simulation world frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
This quantity is the position of the actor frame of the root rigid body relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ROTATION, element_names=QUAT_XYZW_ELEMENT_NAMES)
def root_link_quat_w(self) -> ProxyArray:
"""Root link orientation (x, y, z, w) in simulation world frame.
Shape is (num_instances,), dtype = wp.quatf. In torch this resolves to (num_instances, 4).
This quantity is the orientation of the actor frame of the root rigid body.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_link_lin_vel_w(self) -> ProxyArray:
"""Root linear velocity in simulation world frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
This quantity is the linear velocity of the root rigid body's actor frame relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_link_ang_vel_w(self) -> ProxyArray:
"""Root link angular velocity in simulation world frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
This quantity is the angular velocity of the actor frame of the root rigid body relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSITION, element_names=XYZ_ELEMENT_NAMES)
def root_com_pos_w(self) -> ProxyArray:
"""Root center of mass position in simulation world frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
This quantity is the position of the center of mass frame of the root rigid body relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ROTATION, element_names=QUAT_XYZW_ELEMENT_NAMES)
def root_com_quat_w(self) -> ProxyArray:
"""Root center of mass orientation (x, y, z, w) in simulation world frame.
Shape is (num_instances,), dtype = wp.quatf. In torch this resolves to (num_instances, 4).
This quantity is the orientation of the principal axes of inertia of the root rigid body relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_com_lin_vel_w(self) -> ProxyArray:
"""Root center of mass linear velocity in simulation world frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
This quantity is the linear velocity of the root rigid body's center of mass frame relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_com_ang_vel_w(self) -> ProxyArray:
"""Root center of mass angular velocity in simulation world frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
This quantity is the angular velocity of the root rigid body's center of mass frame relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSITION, element_names_resolver=body_xyz_resolver)
def body_link_pos_w(self) -> ProxyArray:
"""Positions of all bodies in simulation world frame.
Shape is (num_instances, 1), dtype = wp.vec3f. In torch this resolves to (num_instances, 1, 3).
This quantity is the position of the rigid bodies' actor frame relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ROTATION, element_names_resolver=body_quat_resolver)
def body_link_quat_w(self) -> ProxyArray:
"""Orientation (x, y, z, w) of all bodies in simulation world frame.
Shape is (num_instances, 1), dtype = wp.quatf. In torch this resolves to (num_instances, 1, 4).
This quantity is the orientation of the rigid bodies' actor frame relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_VELOCITY, element_names_resolver=body_xyz_resolver)
def body_link_lin_vel_w(self) -> ProxyArray:
"""Linear velocity of all bodies in simulation world frame.
Shape is (num_instances, 1), dtype = wp.vec3f. In torch this resolves to (num_instances, 1, 3).
This quantity is the linear velocity of the rigid bodies' actor frame relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_VELOCITY, element_names_resolver=body_xyz_resolver)
def body_link_ang_vel_w(self) -> ProxyArray:
"""Angular velocity of all bodies in simulation world frame.
Shape is (num_instances, 1), dtype = wp.vec3f. In torch this resolves to (num_instances, 1, 3).
This quantity is the angular velocity of the rigid bodies' actor frame relative to the world.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSITION, element_names_resolver=body_xyz_resolver)
def body_com_pos_w(self) -> ProxyArray:
"""Positions of all bodies' center of mass in simulation world frame.
Shape is (num_instances, 1), dtype = wp.vec3f. In torch this resolves to (num_instances, 1, 3).
This quantity is the position of the rigid bodies' center of mass frame.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ROTATION, element_names_resolver=body_quat_resolver)
def body_com_quat_w(self) -> ProxyArray:
"""Orientation (x, y, z, w) of the principal axes of inertia of all bodies in simulation world frame.
Shape is (num_instances, 1), dtype = wp.quatf. In torch this resolves to (num_instances, 1, 4).
This quantity is the orientation of the rigid bodies' principal axes of inertia.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_VELOCITY, element_names_resolver=body_xyz_resolver)
def body_com_lin_vel_w(self) -> ProxyArray:
"""Linear velocity of all bodies in simulation world frame.
Shape is (num_instances, 1), dtype = wp.vec3f. In torch this resolves to (num_instances, 1, 3).
This quantity is the linear velocity of the rigid bodies' center of mass frame.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_VELOCITY, element_names_resolver=body_xyz_resolver)
def body_com_ang_vel_w(self) -> ProxyArray:
"""Angular velocity of all bodies in simulation world frame.
Shape is (num_instances, 1), dtype = wp.vec3f. In torch this resolves to (num_instances, 1, 3).
This quantity is the angular velocity of the rigid bodies' center of mass frame.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_ACCELERATION, element_names_resolver=body_xyz_resolver)
def body_com_lin_acc_w(self) -> ProxyArray:
"""Linear acceleration of all bodies in simulation world frame.
Shape is (num_instances, 1), dtype = wp.vec3f. In torch this resolves to (num_instances, 1, 3).
This quantity is the linear acceleration of the rigid bodies' center of mass frame.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_ACCELERATION, element_names_resolver=body_xyz_resolver)
def body_com_ang_acc_w(self) -> ProxyArray:
"""Angular acceleration of all bodies in simulation world frame.
Shape is (num_instances, 1), dtype = wp.vec3f. In torch this resolves to (num_instances, 1, 3).
This quantity is the angular acceleration of the rigid bodies' center of mass frame.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSITION, element_names_resolver=body_xyz_resolver)
def body_com_pos_b(self) -> ProxyArray:
"""Center of mass position of all of the bodies in their respective link frames.
Shape is (num_instances, 1), dtype = wp.vec3f. In torch this resolves to (num_instances, 1, 3).
This quantity is the center of mass location relative to its body's link frame.
"""
raise NotImplementedError()
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ROTATION, element_names_resolver=body_quat_resolver)
def body_com_quat_b(self) -> ProxyArray:
"""Orientation (x, y, z, w) of the principal axes of inertia of all of the bodies in their
respective link frames.
Shape is (num_instances, 1), dtype = wp.quatf. In torch this resolves to (num_instances, 1, 4).
This quantity is the orientation of the principal axes of inertia relative to its body's link frame.
"""
raise NotImplementedError()
def _create_buffers(self) -> None:
self._read_launch_cache.clear()
# -- Default mass and inertia (Lazy allocation of default values)
self._default_mass = None
self._default_inertia = None
"""
Shorthands for commonly used properties.
"""
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSE, element_names=POSE7_ELEMENT_NAMES)
def root_pose_w(self) -> ProxyArray:
"""Shorthand for :attr:`root_link_pose_w`."""
return self.root_link_pose_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSITION, element_names=XYZ_ELEMENT_NAMES)
def root_pos_w(self) -> ProxyArray:
"""Shorthand for :attr:`root_link_pos_w`."""
return self.root_link_pos_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ROTATION, element_names=QUAT_XYZW_ELEMENT_NAMES)
def root_quat_w(self) -> ProxyArray:
"""Shorthand for :attr:`root_link_quat_w`."""
return self.root_link_quat_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_VEL, element_names=POSE6_ELEMENT_NAMES)
def root_vel_w(self) -> ProxyArray:
"""Shorthand for :attr:`root_com_vel_w`."""
return self.root_com_vel_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_lin_vel_w(self) -> ProxyArray:
"""Shorthand for :attr:`root_com_lin_vel_w`."""
return self.root_com_lin_vel_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_ang_vel_w(self) -> ProxyArray:
"""Shorthand for :attr:`root_com_ang_vel_w`."""
return self.root_com_ang_vel_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_lin_vel_b(self) -> ProxyArray:
"""Shorthand for :attr:`root_com_lin_vel_b`."""
return self.root_com_lin_vel_b
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def root_ang_vel_b(self) -> ProxyArray:
"""Shorthand for :attr:`root_com_ang_vel_b`."""
return self.root_com_ang_vel_b
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSE, element_names_resolver=body_pose_resolver)
def body_pose_w(self) -> ProxyArray:
"""Shorthand for :attr:`body_link_pose_w`."""
return self.body_link_pose_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSITION, element_names_resolver=body_xyz_resolver)
def body_pos_w(self) -> ProxyArray:
"""Shorthand for :attr:`body_link_pos_w`."""
return self.body_link_pos_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ROTATION, element_names_resolver=body_quat_resolver)
def body_quat_w(self) -> ProxyArray:
"""Shorthand for :attr:`body_link_quat_w`."""
return self.body_link_quat_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_VEL, element_names_resolver=body_pose6_resolver)
def body_vel_w(self) -> ProxyArray:
"""Shorthand for :attr:`body_com_vel_w`."""
return self.body_com_vel_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_VELOCITY, element_names_resolver=body_xyz_resolver)
def body_lin_vel_w(self) -> ProxyArray:
"""Shorthand for :attr:`body_com_lin_vel_w`."""
return self.body_com_lin_vel_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_VELOCITY, element_names_resolver=body_xyz_resolver)
def body_ang_vel_w(self) -> ProxyArray:
"""Shorthand for :attr:`body_com_ang_vel_w`."""
return self.body_com_ang_vel_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ACC, element_names_resolver=body_pose6_resolver)
def body_acc_w(self) -> ProxyArray:
"""Shorthand for :attr:`body_com_acc_w`."""
return self.body_com_acc_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_ACCELERATION, element_names_resolver=body_xyz_resolver)
def body_lin_acc_w(self) -> ProxyArray:
"""Shorthand for :attr:`body_com_lin_acc_w`."""
return self.body_com_lin_acc_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_ACCELERATION, element_names_resolver=body_xyz_resolver)
def body_ang_acc_w(self) -> ProxyArray:
"""Shorthand for :attr:`body_com_ang_acc_w`."""
return self.body_com_ang_acc_w
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSITION, element_names_resolver=body_xyz_resolver)
def com_pos_b(self) -> ProxyArray:
"""Shorthand for :attr:`body_com_pos_b`."""
return self.body_com_pos_b
@property
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ROTATION, element_names_resolver=body_quat_resolver)
def com_quat_b(self) -> ProxyArray:
"""Shorthand for :attr:`body_com_quat_b`."""
return self.body_com_quat_b
"""
Removed - Default values are no longer stored.
"""
@property
@leapp_tensor_semantics(const=True)
def default_mass(self) -> ProxyArray:
"""Deprecated property. Please use :attr:`body_mass` instead and manage the default mass manually."""
warnings.warn(
"The `default_mass` property will be deprecated in a IsaacLab 4.0. Please use `body_mass` instead. "
"The default value will need to be managed manually.",
DeprecationWarning,
stacklevel=2,
)
if self._default_mass is None:
self._default_mass = wp.clone(self.body_mass.warp, self.device)
return ProxyArray(self._default_mass)
@property
@leapp_tensor_semantics(const=True)
def default_inertia(self) -> ProxyArray:
"""Deprecated property. Please use :attr:`body_inertia` instead and manage the default inertia manually."""
warnings.warn(
"The `default_inertia` property will be deprecated in a IsaacLab 4.0. Please use `body_inertia` instead. "
"The default value will need to be managed manually.",
DeprecationWarning,
stacklevel=2,
)
if self._default_inertia is None:
self._default_inertia = wp.clone(self.body_inertia.warp, self.device)
return ProxyArray(self._default_inertia)
