[OVPHYSX] Add PVA sensor

source/isaaclab_ovphysx/changelog.d/antoiner-feat-ovphysx_pva.minor.rst

@@ -0,0 +1,18 @@
+Added
+^^^^^
+
+* Added :class:`~isaaclab_ovphysx.sensors.Pva` and
+  :class:`~isaaclab_ovphysx.sensors.PvaData` implementing the
+  :class:`~isaaclab.sensors.pva.BasePva` /
+  :class:`~isaaclab.sensors.pva.BasePvaData` contracts on the OVPhysX
+  backend. Reports world-frame pose, body-frame linear and angular
+  velocities, body-frame coordinate linear and angular accelerations,
+  and projected gravity using ovphysx tensor bindings on the rigid-body
+  ancestor of the sensor prim path. Linear and angular accelerations
+  are coordinate accelerations (zero at rest, ``-g`` in freefall) and
+  do not include the IMU's gravity bias — projected gravity is reported
+  separately as the unit gravity direction vector.
+* Added :meth:`~isaaclab_ovphysx.physics.OvPhysxManager.get_gravity`
+  classmethod mirroring PhysX's ``SimulationView.get_gravity()`` so
+  backend-agnostic sensor code can read scene gravity through a single
+  entry point.

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/__init__.pyi

@@ -9,7 +9,10 @@ __all__ = [
     "ContactSensorData",
     "Imu",
     "ImuData",
+    "Pva",
+    "PvaData",
 ]
 
 from .contact_sensor import ContactSensor, ContactSensorCfg, ContactSensorData
 from .imu import Imu, ImuData
+from .pva import Pva, PvaData

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/pva/__init__.py

@@ -0,0 +1,10 @@
+# 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
+
+"""Sub-module for OVPhysX PVA sensor."""
+
+from isaaclab.utils.module import lazy_export
+
+lazy_export()

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/pva/__init__.pyi

@@ -0,0 +1,12 @@
+# 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
+
+__all__ = [
+    "Pva",
+    "PvaData",
+]
+
+from .pva import Pva
+from .pva_data import PvaData

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/pva/kernels.py

@@ -0,0 +1,132 @@
+# 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
+
+import warp as wp
+
+
+@wp.kernel
+def pva_update_kernel(
+    # inputs
+    env_mask: wp.array(dtype=wp.bool),
+    transforms: wp.array(dtype=wp.transformf),
+    velocities: wp.array(dtype=wp.spatial_vectorf),
+    coms: wp.array(dtype=wp.transformf),
+    offset_pos_b: wp.array(dtype=wp.vec3f),
+    offset_quat_b: wp.array(dtype=wp.quatf),
+    gravity_vec_w: wp.array(dtype=wp.vec3f),
+    inv_dt: wp.float32,
+    timestamp: wp.array(dtype=wp.float32),
+    # inputs / outputs
+    prev_lin_vel_w: wp.array(dtype=wp.vec3f),
+    prev_ang_vel_w: wp.array(dtype=wp.vec3f),
+    # outputs
+    out_pos_w: wp.array(dtype=wp.vec3f),
+    out_quat_w: wp.array(dtype=wp.quatf),
+    out_lin_vel_b: wp.array(dtype=wp.vec3f),
+    out_ang_vel_b: wp.array(dtype=wp.vec3f),
+    out_lin_acc_b: wp.array(dtype=wp.vec3f),
+    out_ang_acc_b: wp.array(dtype=wp.vec3f),
+    out_projected_gravity_b: wp.array(dtype=wp.vec3f),
+):
+    """Update the PVA sensor data.
+
+    Args:
+        env_mask: Mask of environments to update.
+        transforms: Transforms of the bodies.
+        velocities: Velocities of the bodies.
+        coms: COMs of the bodies.
+        offset_pos_b: Offset positions of the sensors.
+        offset_quat_b: Offset quaternions of the sensors.
+        gravity_vec_w: Gravity direction unit vector in the world frame.
+        inv_dt: Inverse of the time step.
+        timestamp: Timestamp of the environment.
+        prev_lin_vel_w: Previous linear velocity in the world frame.
+        prev_ang_vel_w: Previous angular velocity in the world frame.
+        out_pos_w: Output position in the world frame.
+        out_quat_w: Output orientation in the world frame.
+        out_lin_vel_b: Output linear velocity in the body frame.
+        out_ang_vel_b: Output angular velocity in the body frame.
+        out_lin_acc_b: Output linear acceleration in the body frame.
+        out_ang_acc_b: Output angular acceleration in the body frame.
+        out_projected_gravity_b: Output projected gravity in the body frame.
+    """
+    idx = wp.tid()
+    if not env_mask[idx]:
+        return
+
+    # Skip envs that have not been stepped since their last reset: OVPhysX velocities still
+    # hold pre-reset values, so finite-difference acceleration would be spurious.
+    if timestamp[idx] == 0.0:
+        return
+
+    body_pos = wp.transform_get_translation(transforms[idx])
+    body_quat = wp.transform_get_rotation(transforms[idx])
+
+    sensor_pos = body_pos + wp.quat_rotate(body_quat, offset_pos_b[idx])
+    sensor_quat = body_quat * offset_quat_b[idx]
+
+    lin_vel_w = wp.spatial_top(velocities[idx])
+    ang_vel_w = wp.spatial_bottom(velocities[idx])
+
+    com_pos_b = wp.transform_get_translation(coms[idx])
+    lever_arm = wp.quat_rotate(body_quat, offset_pos_b[idx] - com_pos_b)
+    lin_vel_w = lin_vel_w + wp.cross(ang_vel_w, lever_arm)
+
+    lin_acc_w = (lin_vel_w - prev_lin_vel_w[idx]) * inv_dt
+    ang_acc_w = (ang_vel_w - prev_ang_vel_w[idx]) * inv_dt
+
+    out_pos_w[idx] = sensor_pos
+    out_quat_w[idx] = sensor_quat
+    out_lin_vel_b[idx] = wp.quat_rotate_inv(sensor_quat, lin_vel_w)
+    out_ang_vel_b[idx] = wp.quat_rotate_inv(sensor_quat, ang_vel_w)
+    out_lin_acc_b[idx] = wp.quat_rotate_inv(sensor_quat, lin_acc_w)
+    out_ang_acc_b[idx] = wp.quat_rotate_inv(sensor_quat, ang_acc_w)
+    out_projected_gravity_b[idx] = wp.quat_rotate_inv(sensor_quat, gravity_vec_w[idx])
+
+    # Update previous velocities.
+    prev_lin_vel_w[idx] = lin_vel_w
+    prev_ang_vel_w[idx] = ang_vel_w
+
+
+@wp.kernel
+def pva_reset_kernel(
+    env_mask: wp.array(dtype=wp.bool),
+    out_pos_w: wp.array(dtype=wp.vec3f),
+    out_quat_w: wp.array(dtype=wp.quatf),
+    out_lin_vel_b: wp.array(dtype=wp.vec3f),
+    out_ang_vel_b: wp.array(dtype=wp.vec3f),
+    out_lin_acc_b: wp.array(dtype=wp.vec3f),
+    out_ang_acc_b: wp.array(dtype=wp.vec3f),
+    out_projected_gravity_b: wp.array(dtype=wp.vec3f),
+    prev_lin_vel_w: wp.array(dtype=wp.vec3f),
+    prev_ang_vel_w: wp.array(dtype=wp.vec3f),
+):
+    """Reset the PVA sensor data.
+
+    Args:
+        env_mask: Mask of environments to reset.
+        out_pos_w: Output position in the world frame.
+        out_quat_w: Output orientation in the world frame.
+        out_lin_vel_b: Output linear velocity in the body frame.
+        out_ang_vel_b: Output angular velocity in the body frame.
+        out_lin_acc_b: Output linear acceleration in the body frame.
+        out_ang_acc_b: Output angular acceleration in the body frame.
+        out_projected_gravity_b: Output projected gravity in the body frame.
+        prev_lin_vel_w: Previous linear velocity in the world frame.
+        prev_ang_vel_w: Previous angular velocity in the world frame.
+    """
+    idx = wp.tid()
+    if not env_mask[idx]:
+        return
+
+    out_pos_w[idx] = wp.vec3f(0.0, 0.0, 0.0)
+    out_quat_w[idx] = wp.quatf(0.0, 0.0, 0.0, 1.0)
+    out_lin_vel_b[idx] = wp.vec3f(0.0, 0.0, 0.0)
+    out_ang_vel_b[idx] = wp.vec3f(0.0, 0.0, 0.0)
+    out_lin_acc_b[idx] = wp.vec3f(0.0, 0.0, 0.0)
+    out_ang_acc_b[idx] = wp.vec3f(0.0, 0.0, 0.0)
+    out_projected_gravity_b[idx] = wp.vec3f(0.0, 0.0, -1.0)
+    prev_lin_vel_w[idx] = wp.vec3f(0.0, 0.0, 0.0)
+    prev_ang_vel_w[idx] = wp.vec3f(0.0, 0.0, 0.0)