Source code for isaaclab.sensors.joint_wrench.joint_wrench_sensor

# 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 typing import TYPE_CHECKING

from isaaclab.utils.backend_utils import FactoryBase

from .base_joint_wrench_sensor import BaseJointWrenchSensor
from .base_joint_wrench_sensor_data import BaseJointWrenchSensorData

if TYPE_CHECKING:
    from isaaclab_newton.sensors.joint_wrench import JointWrenchSensor as NewtonJointWrenchSensor
    from isaaclab_newton.sensors.joint_wrench import JointWrenchSensorData as NewtonJointWrenchSensorData
    from isaaclab_ovphysx.sensors.joint_wrench import JointWrenchSensor as OvPhysxJointWrenchSensor
    from isaaclab_ovphysx.sensors.joint_wrench import JointWrenchSensorData as OvPhysxJointWrenchSensorData
    from isaaclab_physx.sensors.joint_wrench import JointWrenchSensor as PhysXJointWrenchSensor
    from isaaclab_physx.sensors.joint_wrench import JointWrenchSensorData as PhysXJointWrenchSensorData



[docs]
class JointWrenchSensor(FactoryBase, BaseJointWrenchSensor):
    """Factory for creating joint-wrench sensor instances."""

    data: (
        BaseJointWrenchSensorData
        | PhysXJointWrenchSensorData
        | NewtonJointWrenchSensorData
        | OvPhysxJointWrenchSensorData
    )


[docs]
    def __new__(
        cls, *args, **kwargs
    ) -> BaseJointWrenchSensor | PhysXJointWrenchSensor | NewtonJointWrenchSensor | OvPhysxJointWrenchSensor:
        """Create a new instance of a joint-wrench sensor based on the backend."""
        return super().__new__(cls, *args, **kwargs)