# 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
"""Base class for PVA sensor data containers."""
from __future__ import annotations
from abc import ABC, abstractmethod
from isaaclab.utils.leapp import (
POSE7_ELEMENT_NAMES,
QUAT_XYZW_ELEMENT_NAMES,
XYZ_ELEMENT_NAMES,
InputKindEnum,
leapp_tensor_semantics,
)
from isaaclab.utils.warp import ProxyArray
[docs]
class BasePvaData(ABC):
"""Data container for the PVA sensor.
This base class defines the interface for PVA sensor data. Backend-specific
implementations should inherit from this class and provide the actual data storage.
"""
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSE, element_names=POSE7_ELEMENT_NAMES)
def pose_w(self) -> ProxyArray | None:
"""Pose of the sensor origin in world frame [m, unitless].
Shape is (num_instances,), dtype = wp.transformf. In torch this resolves to (num_instances, 7).
The pose is provided in (x, y, z, qx, qy, qz, qw) format.
"""
raise NotImplementedError
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_POSITION, element_names=XYZ_ELEMENT_NAMES)
def pos_w(self) -> ProxyArray:
"""Position of the sensor origin in world frame [m].
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
"""
raise NotImplementedError
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ROTATION, element_names=QUAT_XYZW_ELEMENT_NAMES)
def quat_w(self) -> ProxyArray:
"""Orientation of the sensor origin in world frame.
Shape is (num_instances,), dtype = wp.quatf. In torch this resolves to (num_instances, 4).
The orientation is provided in (x, y, z, w) format.
"""
raise NotImplementedError
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.VECTOR3D, element_names=XYZ_ELEMENT_NAMES)
def projected_gravity_b(self) -> ProxyArray:
"""Gravity direction unit vector projected on the PVA frame.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
"""
raise NotImplementedError
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def lin_vel_b(self) -> ProxyArray:
"""PVA frame linear velocity relative to the world expressed in PVA frame [m/s].
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
"""
raise NotImplementedError
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_VELOCITY, element_names=XYZ_ELEMENT_NAMES)
def ang_vel_b(self) -> ProxyArray:
"""PVA frame angular velocity relative to the world expressed in PVA frame [rad/s].
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
"""
raise NotImplementedError
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_LINEAR_ACCELERATION, element_names=XYZ_ELEMENT_NAMES)
def lin_acc_b(self) -> ProxyArray:
"""Linear acceleration (coordinate) in the PVA frame [m/s^2].
Equal to -g in freefall, zero at rest.
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
"""
raise NotImplementedError
@property
@abstractmethod
@leapp_tensor_semantics(kind=InputKindEnum.BODY_ANGULAR_ACCELERATION, element_names=XYZ_ELEMENT_NAMES)
def ang_acc_b(self) -> ProxyArray:
"""PVA frame angular acceleration relative to the world expressed in PVA frame [rad/s^2].
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
"""
raise NotImplementedError
