# 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
import warp as wp
from isaaclab.sensors.pva import BasePvaData
from isaaclab.utils.warp import ProxyArray
[docs]
class PvaData(BasePvaData):
"""Data container for the Newton PVA sensor."""
[docs]
def __init__(self):
self._pose_w: wp.array | None = None
self._pos_w: wp.array | None = None
self._quat_w: wp.array | None = None
self._projected_gravity_b: wp.array | None = None
self._lin_vel_b: wp.array | None = None
self._ang_vel_b: wp.array | None = None
self._lin_acc_b: wp.array | None = None
self._ang_acc_b: wp.array | None = None
# ProxyArray caches
self._pose_w_ta: ProxyArray | None = None
self._pos_w_ta: ProxyArray | None = None
self._quat_w_ta: ProxyArray | None = None
self._projected_gravity_b_ta: ProxyArray | None = None
self._lin_vel_b_ta: ProxyArray | None = None
self._ang_vel_b_ta: ProxyArray | None = None
self._lin_acc_b_ta: ProxyArray | None = None
self._ang_acc_b_ta: ProxyArray | None = None
@property
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.
``None`` before the simulation is initialized.
"""
if self._pose_w is None:
return None
if self._pose_w_ta is None:
self._pose_w_ta = ProxyArray(self._pose_w)
return self._pose_w_ta
@property
def pos_w(self) -> ProxyArray | None:
"""Position of the sensor origin in world frame [m].
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
``None`` before the simulation is initialized.
"""
if self._pos_w is None:
return None
if self._pos_w_ta is None:
self._pos_w_ta = ProxyArray(self._pos_w)
return self._pos_w_ta
@property
def quat_w(self) -> ProxyArray | None:
"""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.
``None`` before the simulation is initialized.
"""
if self._quat_w is None:
return None
if self._quat_w_ta is None:
self._quat_w_ta = ProxyArray(self._quat_w)
return self._quat_w_ta
@property
def projected_gravity_b(self) -> ProxyArray | None:
"""Gravity direction unit vector projected on the PVA frame [unitless].
Shape is (num_instances,), dtype = wp.vec3f. In torch this resolves to (num_instances, 3).
``None`` before the simulation is initialized.
"""
if self._projected_gravity_b is None:
return None
if self._projected_gravity_b_ta is None:
self._projected_gravity_b_ta = ProxyArray(self._projected_gravity_b)
return self._projected_gravity_b_ta
@property
def lin_vel_b(self) -> ProxyArray | None:
"""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).
``None`` before the simulation is initialized.
"""
if self._lin_vel_b is None:
return None
if self._lin_vel_b_ta is None:
self._lin_vel_b_ta = ProxyArray(self._lin_vel_b)
return self._lin_vel_b_ta
@property
def ang_vel_b(self) -> ProxyArray | None:
"""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).
``None`` before the simulation is initialized.
"""
if self._ang_vel_b is None:
return None
if self._ang_vel_b_ta is None:
self._ang_vel_b_ta = ProxyArray(self._ang_vel_b)
return self._ang_vel_b_ta
@property
def lin_acc_b(self) -> ProxyArray | None:
"""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).
``None`` before the simulation is initialized.
"""
if self._lin_acc_b is None:
return None
if self._lin_acc_b_ta is None:
self._lin_acc_b_ta = ProxyArray(self._lin_acc_b)
return self._lin_acc_b_ta
@property
def ang_acc_b(self) -> ProxyArray | None:
"""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).
``None`` before the simulation is initialized.
"""
if self._ang_acc_b is None:
return None
if self._ang_acc_b_ta is None:
self._ang_acc_b_ta = ProxyArray(self._ang_acc_b)
return self._ang_acc_b_ta
def create_buffers(self, num_envs: int, device: str) -> None:
"""Create internal buffers for sensor data.
Args:
num_envs: Number of environments.
device: Device for array storage.
"""
self._pose_w = wp.zeros(num_envs, dtype=wp.transformf, device=device)
self._pos_w = wp.zeros(num_envs, dtype=wp.vec3f, device=device)
self._quat_w = wp.zeros(num_envs, dtype=wp.quatf, device=device)
self._projected_gravity_b = wp.zeros(num_envs, dtype=wp.vec3f, device=device)
self._lin_vel_b = wp.zeros(num_envs, dtype=wp.vec3f, device=device)
self._ang_vel_b = wp.zeros(num_envs, dtype=wp.vec3f, device=device)
self._lin_acc_b = wp.zeros(num_envs, dtype=wp.vec3f, device=device)
self._ang_acc_b = wp.zeros(num_envs, dtype=wp.vec3f, device=device)
# Reset ProxyArray caches
self._pose_w_ta = None
self._pos_w_ta = None
self._quat_w_ta = None
self._projected_gravity_b_ta = None
self._lin_vel_b_ta = None
self._ang_vel_b_ta = None
self._lin_acc_b_ta = None
self._ang_acc_b_ta = None
