Source code for isaaclab.sensors.pva.base_pva

# 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 typing import TYPE_CHECKING

import warp as wp

from ..sensor_base import SensorBase
from .base_pva_data import BasePvaData

if TYPE_CHECKING:
    from .pva_cfg import PvaCfg




class BasePva(SensorBase):
    """The Pose Velocity Acceleration (PVA) sensor.

    The sensor can be attached to any prim path with a rigid ancestor in its tree and produces world-frame
    pose, body-frame velocities, body-frame coordinate accelerations, and projected gravity. This differs
    from the :class:`~isaaclab.sensors.imu.BaseImu` sensor, which reports proper acceleration.

    If the provided path is not a rigid body, the closest rigid-body ancestor is used for simulation queries.
    The fixed transform from that ancestor to the target prim is computed once during initialization and
    composed with the configured sensor offset.

    .. note::

        Depending on the backend, accelerations may be computed via numerical differentiation of velocities
        or read directly from the solver. For numerical backends, accuracy depends on the physics timestep;
        we recommend at least 200 Hz.

    .. note::

        The user can configure the sensor offset in the configuration file. The offset is applied relative to the
        rigid source prim. If the target prim is not a rigid body, the offset is composed with the fixed transform
        from the rigid ancestor to the target prim. The offset is applied in the body frame of the rigid source prim.
        The offset is defined as a position vector and a quaternion rotation, which
        are applied in the order: position, then rotation. The position is applied as a translation
        in the body frame of the rigid source prim, and the rotation is applied as a rotation
        in the body frame of the rigid source prim.

    """

    cfg: PvaCfg
    """The configuration parameters."""

    __backend_name__: str = "base"
    """The name of the backend for the PVA sensor."""



    def __init__(self, cfg: PvaCfg):
        """Initializes the PVA sensor.

        Args:
            cfg: The configuration parameters.
        """
        # initialize base class
        super().__init__(cfg)


    """
    Properties
    """

    @property
    @abstractmethod
    def data(self) -> BasePvaData:
        raise NotImplementedError

    """
    Implementation - Abstract methods to be implemented by backend-specific subclasses.
    """

    @abstractmethod
    def _initialize_impl(self):
        """Initializes the sensor handles and internal buffers.

        Subclasses should call ``super()._initialize_impl()`` first to initialize
        the common sensor infrastructure from :class:`SensorBase`.
        """
        super()._initialize_impl()

    @abstractmethod
    def _update_buffers_impl(self, env_mask: wp.array):
        raise NotImplementedError