# 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 logging
import warnings
import weakref
from typing import TYPE_CHECKING
import torch
import warp as wp
from isaaclab.assets.rigid_object.base_rigid_object_data import BaseRigidObjectData
from isaaclab.utils.buffers import TimestampedBufferWarp as TimestampedBuffer
from isaaclab.utils.math import normalize
from isaaclab.utils.warp import ProxyArray
from isaaclab_physx.assets import kernels as shared_kernels
from isaaclab_physx.physics import PhysxManager as SimulationManager
if TYPE_CHECKING:
import omni.physics.tensors.api as physx
# import logger
logger = logging.getLogger(__name__)
[docs]
class RigidObjectData(BaseRigidObjectData):
"""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.
.. note::
**Pull-to-refresh model.** Properties pull fresh data from the PhysX tensor API on first
access per timestamp and cache the result. This differs from Newton, where buffers are
refreshed automatically by the simulation.
.. note::
**ProxyArray pointer stability.** Each :class:`ProxyArray` wrapper is created once and
reused because the PhysX tensor API returns views into stable, pre-allocated GPU buffers
whose device pointer does not change across simulation steps.
"""
__backend_name__: str = "physx"
"""The name of the backend for the rigid object data."""
def __init__(self, root_view: physx.RigidBodyView, device: str):
"""Initializes the rigid object data.
Args:
root_view: The root rigid body view.
device: The device used for processing.
"""
super().__init__(root_view, device)
# Set the root rigid body view
# note: this is stored as a weak reference to avoid circular references between the asset class
# and the data container. This is important to avoid memory leaks.
self._root_view: physx.RigidBodyView = weakref.proxy(root_view)
# Set initial time stamp
self._sim_timestamp = 0.0
self._is_primed = False
self._num_instances = self._root_view.count
# Obtain global physics sim view
self._physics_sim_view = SimulationManager.get_physics_sim_view()
gravity = self._physics_sim_view.get_gravity()
# Convert to direction vector
gravity_dir = torch.tensor((gravity[0], gravity[1], gravity[2]), device=self.device)
gravity_dir = normalize(gravity_dir.unsqueeze(0)).squeeze(0)
gravity_dir = gravity_dir.repeat(self._root_view.count, 1)
forward_vec = torch.tensor((1.0, 0.0, 0.0), device=self.device).repeat(self._root_view.count, 1)
# Initialize constants
self.GRAVITY_VEC_W = ProxyArray(wp.from_torch(gravity_dir, dtype=wp.vec3f))
self.FORWARD_VEC_B = ProxyArray(wp.from_torch(forward_vec, dtype=wp.vec3f))
self._create_buffers()
@property
def is_primed(self) -> bool:
"""Whether the rigid object data is fully instantiated and ready to use."""
return self._is_primed
@is_primed.setter
def is_primed(self, value: bool) -> None:
"""Set whether the rigid object data is fully instantiated and ready to use.
.. note::
Once this quantity is set to True, it cannot be changed.
Args:
value: The primed state.
Raises:
ValueError: If the rigid object data is already primed.
"""
if self._is_primed:
raise ValueError("The rigid object data is already primed.")
self._is_primed = value
[docs]
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.
"""
# update the simulation timestamp
self._sim_timestamp += dt
"""
Names.
"""
body_names: list[str] = None
"""Body names in the order parsed by the simulation view."""
"""
Defaults.
"""
@property
def default_root_pose(self) -> ProxyArray:
"""Default root pose ``[pos, quat]`` in local environment frame.
Shape is (num_instances,), dtype = wp.transformf. In torch this resolves to (num_instances, 7).
The position and quaternion are of the rigid body's actor frame.
"""
if self._default_root_pose_ta is None:
self._default_root_pose_ta = ProxyArray(self._default_root_pose)
return self._default_root_pose_ta
@default_root_pose.setter
def default_root_pose(self, value: wp.array) -> None:
"""Set the default root pose.
Args:
value: The default root pose. Shape is (num_instances, 7).
Raises:
ValueError: If the rigid object data is already primed.
"""
if self._is_primed:
raise ValueError("The rigid object data is already primed.")
self._default_root_pose.assign(value)
@property
def default_root_vel(self) -> ProxyArray:
"""Default root velocity ``[lin_vel, ang_vel]`` in local environment frame.
Shape is (num_instances,), dtype = wp.spatial_vectorf. In torch this resolves to (num_instances, 6).
The linear and angular velocities are of the rigid body's center of mass frame.
"""
if self._default_root_vel_ta is None:
self._default_root_vel_ta = ProxyArray(self._default_root_vel)
return self._default_root_vel_ta
@default_root_vel.setter
def default_root_vel(self, value: wp.array) -> None:
"""Set the default root velocity.
Args:
value: The default root velocity. Shape is (num_instances, 6).
Raises:
ValueError: If the rigid object data is already primed.
"""
if self._is_primed:
raise ValueError("The rigid object data is already primed.")
self._default_root_vel.assign(value)
"""
Root state properties.
"""
@property
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.
"""
if self._root_link_pose_w.timestamp < self._sim_timestamp:
# read data from simulation
self._root_link_pose_w.data = self._root_view.get_transforms().view(wp.transformf)
self._root_link_pose_w.timestamp = self._sim_timestamp
if self._root_link_pose_w_ta is None:
self._root_link_pose_w_ta = ProxyArray(self._root_link_pose_w.data)
return self._root_link_pose_w_ta
@property
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.
"""
if self._root_link_vel_w.timestamp < self._sim_timestamp:
# read the CoM velocity and compute link velocity
wp.launch(
shared_kernels.get_root_link_vel_from_root_com_vel,
dim=self._num_instances,
inputs=[
self.root_com_vel_w,
self.root_link_pose_w,
self.body_com_pose_b,
],
outputs=[
self._root_link_vel_w.data,
],
device=self.device,
)
self._root_link_vel_w.timestamp = self._sim_timestamp
if self._root_link_vel_w_ta is None:
self._root_link_vel_w_ta = ProxyArray(self._root_link_vel_w.data)
return self._root_link_vel_w_ta
@property
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.
"""
if self._root_com_pose_w.timestamp < self._sim_timestamp:
# apply local transform to center of mass frame
wp.launch(
shared_kernels.get_root_com_pose_from_root_link_pose,
dim=self._num_instances,
inputs=[
self.root_link_pose_w,
self.body_com_pose_b,
],
outputs=[
self._root_com_pose_w.data,
],
device=self.device,
)
self._root_com_pose_w.timestamp = self._sim_timestamp
if self._root_com_pose_w_ta is None:
self._root_com_pose_w_ta = ProxyArray(self._root_com_pose_w.data)
return self._root_com_pose_w_ta
@property
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.
"""
if self._root_com_vel_w.timestamp < self._sim_timestamp:
self._root_com_vel_w.data = self._root_view.get_velocities().view(wp.spatial_vectorf)
self._root_com_vel_w.timestamp = self._sim_timestamp
if self._root_com_vel_w_ta is None:
self._root_com_vel_w_ta = ProxyArray(self._root_com_vel_w.data)
return self._root_com_vel_w_ta
"""
Body state properties.
"""
@property
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).
"""
if self._body_mass_ta is None:
self._body_mass_ta = ProxyArray(self._body_mass)
return self._body_mass_ta
@property
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).
"""
if self._body_inertia_ta is None:
self._body_inertia_ta = ProxyArray(self._body_inertia)
return self._body_inertia_ta
@property
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.
"""
parent = self.root_link_pose_w
if self._body_link_pose_w_ta is None:
self._body_link_pose_w_ta = ProxyArray(parent.warp.reshape((self._num_instances, 1)))
return self._body_link_pose_w_ta
@property
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.
"""
parent = self.root_link_vel_w
if self._body_link_vel_w_ta is None:
self._body_link_vel_w_ta = ProxyArray(parent.warp.reshape((self._num_instances, 1)))
return self._body_link_vel_w_ta
@property
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.
"""
parent = self.root_com_pose_w
if self._body_com_pose_w_ta is None:
self._body_com_pose_w_ta = ProxyArray(parent.warp.reshape((self._num_instances, 1)))
return self._body_com_pose_w_ta
@property
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.
"""
parent = self.root_com_vel_w
if self._body_com_vel_w_ta is None:
self._body_com_vel_w_ta = ProxyArray(parent.warp.reshape((self._num_instances, 1)))
return self._body_com_vel_w_ta
@property
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.
"""
if self._body_com_acc_w.timestamp < self._sim_timestamp:
self._body_com_acc_w.data = (
self._root_view.get_accelerations().view(wp.spatial_vectorf).reshape((self._num_instances, 1))
)
self._body_com_acc_w.timestamp = self._sim_timestamp
if self._body_com_acc_w_ta is None:
self._body_com_acc_w_ta = ProxyArray(self._body_com_acc_w.data)
return self._body_com_acc_w_ta
@property
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.
"""
if self._body_com_pose_b.timestamp < self._sim_timestamp:
# read data from simulation
self._body_com_pose_b.data.assign(
self._root_view.get_coms().view(wp.transformf).reshape((self._num_instances, 1))
)
self._body_com_pose_b.timestamp = self._sim_timestamp
if self._body_com_pose_b_ta is None:
self._body_com_pose_b_ta = ProxyArray(self._body_com_pose_b.data)
return self._body_com_pose_b_ta
"""
Derived Properties.
"""
@property
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).
"""
if self._projected_gravity_b.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.quat_apply_inverse_1D_kernel,
dim=self._num_instances,
inputs=[self.GRAVITY_VEC_W, self.root_link_quat_w],
outputs=[self._projected_gravity_b.data],
device=self.device,
)
self._projected_gravity_b.timestamp = self._sim_timestamp
if self._projected_gravity_b_ta is None:
self._projected_gravity_b_ta = ProxyArray(self._projected_gravity_b.data)
return self._projected_gravity_b_ta
@property
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)`.
"""
if self._heading_w.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.root_heading_w,
dim=self._num_instances,
inputs=[self.FORWARD_VEC_B, self.root_link_quat_w],
outputs=[self._heading_w.data],
device=self.device,
)
self._heading_w.timestamp = self._sim_timestamp
if self._heading_w_ta is None:
self._heading_w_ta = ProxyArray(self._heading_w.data)
return self._heading_w_ta
@property
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.
"""
if self._root_link_lin_vel_b.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.quat_apply_inverse_1D_kernel,
dim=self._num_instances,
inputs=[self.root_link_lin_vel_w, self.root_link_quat_w],
outputs=[self._root_link_lin_vel_b.data],
device=self.device,
)
self._root_link_lin_vel_b.timestamp = self._sim_timestamp
if self._root_link_lin_vel_b_ta is None:
self._root_link_lin_vel_b_ta = ProxyArray(self._root_link_lin_vel_b.data)
return self._root_link_lin_vel_b_ta
@property
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.
"""
if self._root_link_ang_vel_b.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.quat_apply_inverse_1D_kernel,
dim=self._num_instances,
inputs=[self.root_link_ang_vel_w, self.root_link_quat_w],
outputs=[self._root_link_ang_vel_b.data],
device=self.device,
)
self._root_link_ang_vel_b.timestamp = self._sim_timestamp
if self._root_link_ang_vel_b_ta is None:
self._root_link_ang_vel_b_ta = ProxyArray(self._root_link_ang_vel_b.data)
return self._root_link_ang_vel_b_ta
@property
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.
"""
if self._root_com_lin_vel_b.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.quat_apply_inverse_1D_kernel,
dim=self._num_instances,
inputs=[self.root_com_lin_vel_w, self.root_link_quat_w],
outputs=[self._root_com_lin_vel_b.data],
device=self.device,
)
self._root_com_lin_vel_b.timestamp = self._sim_timestamp
if self._root_com_lin_vel_b_ta is None:
self._root_com_lin_vel_b_ta = ProxyArray(self._root_com_lin_vel_b.data)
return self._root_com_lin_vel_b_ta
@property
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.
"""
if self._root_com_ang_vel_b.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.quat_apply_inverse_1D_kernel,
dim=self._num_instances,
inputs=[self.root_com_ang_vel_w, self.root_link_quat_w],
outputs=[self._root_com_ang_vel_b.data],
device=self.device,
)
self._root_com_ang_vel_b.timestamp = self._sim_timestamp
if self._root_com_ang_vel_b_ta is None:
self._root_com_ang_vel_b_ta = ProxyArray(self._root_com_ang_vel_b.data)
return self._root_com_ang_vel_b_ta
"""
Sliced properties.
"""
@property
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.
"""
parent = self.root_link_pose_w
if self._root_link_pos_w_ta is None:
self._root_link_pos_w_ta = ProxyArray(self._get_pos_from_transform(parent.warp))
return self._root_link_pos_w_ta
@property
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.
"""
parent = self.root_link_pose_w
if self._root_link_quat_w_ta is None:
self._root_link_quat_w_ta = ProxyArray(self._get_quat_from_transform(parent.warp))
return self._root_link_quat_w_ta
@property
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.
"""
parent = self.root_link_vel_w
if self._root_link_lin_vel_w_ta is None:
self._root_link_lin_vel_w_ta = ProxyArray(self._get_lin_vel_from_spatial_vector(parent.warp))
return self._root_link_lin_vel_w_ta
@property
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.
"""
parent = self.root_link_vel_w
if self._root_link_ang_vel_w_ta is None:
self._root_link_ang_vel_w_ta = ProxyArray(self._get_ang_vel_from_spatial_vector(parent.warp))
return self._root_link_ang_vel_w_ta
@property
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.
"""
parent = self.root_com_pose_w
if self._root_com_pos_w_ta is None:
self._root_com_pos_w_ta = ProxyArray(self._get_pos_from_transform(parent.warp))
return self._root_com_pos_w_ta
@property
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.
"""
parent = self.root_com_pose_w
if self._root_com_quat_w_ta is None:
self._root_com_quat_w_ta = ProxyArray(self._get_quat_from_transform(parent.warp))
return self._root_com_quat_w_ta
@property
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.
"""
parent = self.root_com_vel_w
if self._root_com_lin_vel_w_ta is None:
self._root_com_lin_vel_w_ta = ProxyArray(self._get_lin_vel_from_spatial_vector(parent.warp))
return self._root_com_lin_vel_w_ta
@property
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.
"""
parent = self.root_com_vel_w
if self._root_com_ang_vel_w_ta is None:
self._root_com_ang_vel_w_ta = ProxyArray(self._get_ang_vel_from_spatial_vector(parent.warp))
return self._root_com_ang_vel_w_ta
@property
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.
"""
parent = self.body_link_pose_w
if self._body_link_pos_w_ta is None:
self._body_link_pos_w_ta = ProxyArray(self._get_pos_from_transform(parent.warp))
return self._body_link_pos_w_ta
@property
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.
"""
parent = self.body_link_pose_w
if self._body_link_quat_w_ta is None:
self._body_link_quat_w_ta = ProxyArray(self._get_quat_from_transform(parent.warp))
return self._body_link_quat_w_ta
@property
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.
"""
parent = self.body_link_vel_w
if self._body_link_lin_vel_w_ta is None:
self._body_link_lin_vel_w_ta = ProxyArray(self._get_lin_vel_from_spatial_vector(parent.warp))
return self._body_link_lin_vel_w_ta
@property
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.
"""
parent = self.body_link_vel_w
if self._body_link_ang_vel_w_ta is None:
self._body_link_ang_vel_w_ta = ProxyArray(self._get_ang_vel_from_spatial_vector(parent.warp))
return self._body_link_ang_vel_w_ta
@property
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.
"""
parent = self.body_com_pose_w
if self._body_com_pos_w_ta is None:
self._body_com_pos_w_ta = ProxyArray(self._get_pos_from_transform(parent.warp))
return self._body_com_pos_w_ta
@property
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 principal axes of inertia of the rigid bodies.
"""
parent = self.body_com_pose_w
if self._body_com_quat_w_ta is None:
self._body_com_quat_w_ta = ProxyArray(self._get_quat_from_transform(parent.warp))
return self._body_com_quat_w_ta
@property
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.
"""
parent = self.body_com_vel_w
if self._body_com_lin_vel_w_ta is None:
self._body_com_lin_vel_w_ta = ProxyArray(self._get_lin_vel_from_spatial_vector(parent.warp))
return self._body_com_lin_vel_w_ta
@property
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.
"""
parent = self.body_com_vel_w
if self._body_com_ang_vel_w_ta is None:
self._body_com_ang_vel_w_ta = ProxyArray(self._get_ang_vel_from_spatial_vector(parent.warp))
return self._body_com_ang_vel_w_ta
@property
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.
"""
parent = self.body_com_acc_w
if self._body_com_lin_acc_w_ta is None:
self._body_com_lin_acc_w_ta = ProxyArray(self._get_lin_vel_from_spatial_vector(parent.warp))
return self._body_com_lin_acc_w_ta
@property
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.
"""
parent = self.body_com_acc_w
if self._body_com_ang_acc_w_ta is None:
self._body_com_ang_acc_w_ta = ProxyArray(self._get_ang_vel_from_spatial_vector(parent.warp))
return self._body_com_ang_acc_w_ta
@property
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.
"""
parent = self.body_com_pose_b
if self._body_com_pos_b_ta is None:
self._body_com_pos_b_ta = ProxyArray(self._get_pos_from_transform(parent.warp))
return self._body_com_pos_b_ta
@property
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.
"""
parent = self.body_com_pose_b
if self._body_com_quat_b_ta is None:
self._body_com_quat_b_ta = ProxyArray(self._get_quat_from_transform(parent.warp))
return self._body_com_quat_b_ta
def _create_buffers(self) -> None:
super()._create_buffers()
# Initialize the lazy buffers.
# -- link frame w.r.t. world frame
self._root_link_pose_w = TimestampedBuffer((self._num_instances), self.device, wp.transformf)
self._root_link_vel_w = TimestampedBuffer((self._num_instances), self.device, wp.spatial_vectorf)
# -- com frame w.r.t. link frame
self._body_com_pose_b = TimestampedBuffer((self._num_instances, 1), self.device, wp.transformf)
# -- com frame w.r.t. world frame
self._root_com_pose_w = TimestampedBuffer((self._num_instances), self.device, wp.transformf)
self._root_com_vel_w = TimestampedBuffer((self._num_instances), self.device, wp.spatial_vectorf)
self._body_com_acc_w = TimestampedBuffer((self._num_instances, 1), self.device, wp.spatial_vectorf)
# -- combined state (these are cached as they concatenate)
self._root_state_w = TimestampedBuffer((self._num_instances), self.device, shared_kernels.vec13f)
self._root_link_state_w = TimestampedBuffer((self._num_instances), self.device, shared_kernels.vec13f)
self._root_com_state_w = TimestampedBuffer((self._num_instances), self.device, shared_kernels.vec13f)
# -- derived properties (these are cached to avoid repeated memory allocations)
self._projected_gravity_b = TimestampedBuffer((self._num_instances), self.device, wp.vec3f)
self._heading_w = TimestampedBuffer((self._num_instances), self.device, wp.float32)
self._root_link_lin_vel_b = TimestampedBuffer((self._num_instances), self.device, wp.vec3f)
self._root_link_ang_vel_b = TimestampedBuffer((self._num_instances), self.device, wp.vec3f)
self._root_com_lin_vel_b = TimestampedBuffer((self._num_instances), self.device, wp.vec3f)
self._root_com_ang_vel_b = TimestampedBuffer((self._num_instances), self.device, wp.vec3f)
# -- Default state
self._default_root_pose = wp.zeros((self._num_instances), dtype=wp.transformf, device=self.device)
self._default_root_vel = wp.zeros((self._num_instances), dtype=wp.spatial_vectorf, device=self.device)
self._default_root_state = None
# -- Body properties
self._body_mass = wp.clone(self._root_view.get_masses(), device=self.device)
self._body_inertia = wp.clone(self._root_view.get_inertias(), device=self.device).reshape(
(self._num_instances, 1, 9)
)
# Initialize ProxyArray wrappers
self._pin_proxy_arrays()
def _pin_proxy_arrays(self) -> None:
"""Create pinned ProxyArray wrappers for all data buffers.
This is called once from :meth:`_create_buffers` during initialization.
PhysX tensor API buffers have stable GPU pointers across simulation steps,
so no rebinding is needed (unlike Newton).
"""
# -- Pinned ProxyArray cache (one per read property, lazily created on first access)
# Defaults
self._default_root_pose_ta: ProxyArray | None = None
self._default_root_vel_ta: ProxyArray | None = None
# Root state (timestamped)
self._root_link_pose_w_ta: ProxyArray | None = None
self._root_link_vel_w_ta: ProxyArray | None = None
self._root_com_pose_w_ta: ProxyArray | None = None
self._root_com_vel_w_ta: ProxyArray | None = None
# Body properties
self._body_mass_ta: ProxyArray | None = None
self._body_inertia_ta: ProxyArray | None = None
# Body state (reshaped from root)
self._body_link_pose_w_ta: ProxyArray | None = None
self._body_link_vel_w_ta: ProxyArray | None = None
self._body_com_pose_w_ta: ProxyArray | None = None
self._body_com_vel_w_ta: ProxyArray | None = None
self._body_com_acc_w_ta: ProxyArray | None = None
self._body_com_pose_b_ta: ProxyArray | None = None
# Derived properties (timestamped)
self._projected_gravity_b_ta: ProxyArray | None = None
self._heading_w_ta: ProxyArray | None = None
self._root_link_lin_vel_b_ta: ProxyArray | None = None
self._root_link_ang_vel_b_ta: ProxyArray | None = None
self._root_com_lin_vel_b_ta: ProxyArray | None = None
self._root_com_ang_vel_b_ta: ProxyArray | None = None
# Sliced properties (root link)
self._root_link_pos_w_ta: ProxyArray | None = None
self._root_link_quat_w_ta: ProxyArray | None = None
self._root_link_lin_vel_w_ta: ProxyArray | None = None
self._root_link_ang_vel_w_ta: ProxyArray | None = None
# Sliced properties (root com)
self._root_com_pos_w_ta: ProxyArray | None = None
self._root_com_quat_w_ta: ProxyArray | None = None
self._root_com_lin_vel_w_ta: ProxyArray | None = None
self._root_com_ang_vel_w_ta: ProxyArray | None = None
# Sliced properties (body link)
self._body_link_pos_w_ta: ProxyArray | None = None
self._body_link_quat_w_ta: ProxyArray | None = None
self._body_link_lin_vel_w_ta: ProxyArray | None = None
self._body_link_ang_vel_w_ta: ProxyArray | None = None
# Sliced properties (body com)
self._body_com_pos_w_ta: ProxyArray | None = None
self._body_com_quat_w_ta: ProxyArray | None = None
self._body_com_lin_vel_w_ta: ProxyArray | None = None
self._body_com_ang_vel_w_ta: ProxyArray | None = None
self._body_com_lin_acc_w_ta: ProxyArray | None = None
self._body_com_ang_acc_w_ta: ProxyArray | None = None
# Sliced properties (body com in body frame)
self._body_com_pos_b_ta: ProxyArray | None = None
self._body_com_quat_b_ta: ProxyArray | None = None
# Deprecated state-concat properties
self._default_root_state_ta: ProxyArray | None = None
self._root_state_w_ta: ProxyArray | None = None
self._root_link_state_w_ta: ProxyArray | None = None
self._root_com_state_w_ta: ProxyArray | None = None
self._body_state_w_ta: ProxyArray | None = None
self._body_link_state_w_ta: ProxyArray | None = None
self._body_com_state_w_ta: ProxyArray | None = None
"""
Internal helpers.
"""
def _get_pos_from_transform(self, transform: wp.array) -> ProxyArray:
"""Generates a position array from a transform array."""
return wp.array(
ptr=transform.ptr,
shape=transform.shape,
dtype=wp.vec3f,
strides=transform.strides,
device=self.device,
)
def _get_quat_from_transform(self, transform: wp.array) -> ProxyArray:
"""Generates a quaternion array from a transform array."""
return wp.array(
ptr=transform.ptr + 3 * 4,
shape=transform.shape,
dtype=wp.quatf,
strides=transform.strides,
device=self.device,
)
def _get_lin_vel_from_spatial_vector(self, spatial_vector: wp.array) -> ProxyArray:
"""Generates a linear velocity array from a spatial vector array."""
return wp.array(
ptr=spatial_vector.ptr,
shape=spatial_vector.shape,
dtype=wp.vec3f,
strides=spatial_vector.strides,
device=self.device,
)
def _get_ang_vel_from_spatial_vector(self, spatial_vector: wp.array) -> ProxyArray:
"""Generates an angular velocity array from a spatial vector array."""
return wp.array(
ptr=spatial_vector.ptr + 3 * 4,
shape=spatial_vector.shape,
dtype=wp.vec3f,
strides=spatial_vector.strides,
device=self.device,
)
"""
Deprecated properties.
"""
@property
def default_root_state(self) -> ProxyArray:
"""Default root state ``[pos, quat, lin_vel, ang_vel]`` in local environment frame.
The position and quaternion are of the rigid body's actor frame. Meanwhile, the linear and angular velocities
are of the center of mass frame. Shape is (num_instances, 13).
"""
warnings.warn(
"Reading the root state directly is deprecated since IsaacLab 3.0 and will be removed in a future version. "
"Please use the default_root_pose and default_root_vel properties instead.",
DeprecationWarning,
stacklevel=2,
)
if self._default_root_state is None:
self._default_root_state = wp.zeros((self._num_instances), dtype=shared_kernels.vec13f, device=self.device)
wp.launch(
shared_kernels.concat_root_pose_and_vel_to_state,
dim=self._num_instances,
inputs=[
self._default_root_pose,
self._default_root_vel,
],
outputs=[
self._default_root_state,
],
device=self.device,
)
if self._default_root_state_ta is None:
self._default_root_state_ta = ProxyArray(self._default_root_state)
return self._default_root_state_ta
@property
def root_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`root_link_pose_w` and :attr:`root_com_vel_w`."""
warnings.warn(
"The `root_state_w` property will be deprecated in IsaacLab 4.0. Please use `root_link_pose_w` and "
"`root_com_vel_w` instead.",
DeprecationWarning,
stacklevel=2,
)
if self._root_state_w.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.concat_root_pose_and_vel_to_state,
dim=self._num_instances,
inputs=[
self.root_link_pose_w,
self.root_com_vel_w,
],
outputs=[
self._root_state_w.data,
],
device=self.device,
)
self._root_state_w.timestamp = self._sim_timestamp
if self._root_state_w_ta is None:
self._root_state_w_ta = ProxyArray(self._root_state_w.data)
return self._root_state_w_ta
@property
def root_link_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`root_link_pose_w` and :attr:`root_link_vel_w`."""
warnings.warn(
"The `root_link_state_w` property will be deprecated in IsaacLab 4.0. Please use `root_link_pose_w` and "
"`root_link_vel_w` instead.",
DeprecationWarning,
stacklevel=2,
)
if self._root_link_state_w.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.concat_root_pose_and_vel_to_state,
dim=self._num_instances,
inputs=[
self.root_link_pose_w,
self.root_link_vel_w,
],
outputs=[
self._root_link_state_w.data,
],
device=self.device,
)
self._root_link_state_w.timestamp = self._sim_timestamp
if self._root_link_state_w_ta is None:
self._root_link_state_w_ta = ProxyArray(self._root_link_state_w.data)
return self._root_link_state_w_ta
@property
def root_com_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`root_com_pose_w` and :attr:`root_com_vel_w`."""
warnings.warn(
"The `root_com_state_w` property will be deprecated in IsaacLab 4.0. Please use `root_com_pose_w` and "
"`root_com_vel_w` instead.",
DeprecationWarning,
stacklevel=2,
)
if self._root_com_state_w.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.concat_root_pose_and_vel_to_state,
dim=self._num_instances,
inputs=[
self.root_com_pose_w,
self.root_com_vel_w,
],
outputs=[
self._root_com_state_w.data,
],
device=self.device,
)
self._root_com_state_w.timestamp = self._sim_timestamp
if self._root_com_state_w_ta is None:
self._root_com_state_w_ta = ProxyArray(self._root_com_state_w.data)
return self._root_com_state_w_ta
@property
def body_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`body_link_pose_w` and :attr:`body_com_vel_w`."""
warnings.warn(
"The `body_state_w` property will be deprecated in IsaacLab 4.0. Please use `body_link_pose_w` and "
"`body_com_vel_w` instead.",
DeprecationWarning,
stacklevel=2,
)
# Access internal buffer directly to avoid cascading deprecation warnings from root_state_w
if self._root_state_w.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.concat_root_pose_and_vel_to_state,
dim=self._num_instances,
inputs=[
self.root_link_pose_w,
self.root_com_vel_w,
],
outputs=[
self._root_state_w.data,
],
device=self.device,
)
self._root_state_w.timestamp = self._sim_timestamp
if self._body_state_w_ta is None:
self._body_state_w_ta = ProxyArray(self._root_state_w.data.reshape((self._num_instances, 1)))
return self._body_state_w_ta
@property
def body_link_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`body_link_pose_w` and :attr:`body_link_vel_w`."""
warnings.warn(
"The `body_link_state_w` property will be deprecated in IsaacLab 4.0. Please use `body_link_pose_w` and "
"`body_link_vel_w` instead.",
DeprecationWarning,
stacklevel=2,
)
# Access internal buffer directly to avoid cascading deprecation warnings from root_link_state_w
if self._root_link_state_w.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.concat_root_pose_and_vel_to_state,
dim=self._num_instances,
inputs=[
self.root_link_pose_w,
self.root_link_vel_w,
],
outputs=[
self._root_link_state_w.data,
],
device=self.device,
)
self._root_link_state_w.timestamp = self._sim_timestamp
if self._body_link_state_w_ta is None:
self._body_link_state_w_ta = ProxyArray(self._root_link_state_w.data.reshape((self._num_instances, 1)))
return self._body_link_state_w_ta
@property
def body_com_state_w(self) -> ProxyArray:
"""Deprecated, same as :attr:`body_com_pose_w` and :attr:`body_com_vel_w`."""
warnings.warn(
"The `body_com_state_w` property will be deprecated in IsaacLab 4.0. Please use `body_com_pose_w` and "
"`body_com_vel_w` instead.",
DeprecationWarning,
stacklevel=2,
)
# Access internal buffer directly to avoid cascading deprecation warnings from root_com_state_w
if self._root_com_state_w.timestamp < self._sim_timestamp:
wp.launch(
shared_kernels.concat_root_pose_and_vel_to_state,
dim=self._num_instances,
inputs=[
self.root_com_pose_w,
self.root_com_vel_w,
],
outputs=[
self._root_com_state_w.data,
],
device=self.device,
)
self._root_com_state_w.timestamp = self._sim_timestamp
if self._body_com_state_w_ta is None:
self._body_com_state_w_ta = ProxyArray(self._root_com_state_w.data.reshape((self._num_instances, 1)))
return self._body_com_state_w_ta
