isaaclab.sensors.frame_transformer.frame_transformer_data — Isaac Lab Documentation (original) (raw)

Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).

All rights reserved.

SPDX-License-Identifier: BSD-3-Clause

Copyright (c) 2022-2025, The Isaac Lab Project Developers.

All rights reserved.

SPDX-License-Identifier: BSD-3-Clause

import torch from dataclasses import dataclass

[docs]@dataclass class FrameTransformerData: """Data container for the frame transformer sensor."""

target_frame_names: list[str] = None
"""Target frame names (this denotes the order in which that frame data is ordered).

The frame names are resolved from the :attr:`FrameTransformerCfg.FrameCfg.name` field.
This does not necessarily follow the order in which the frames are defined in the config due to
the regex matching.
"""

target_pos_source: torch.Tensor = None
"""Position of the target frame(s) relative to source frame.

Shape is (N, M, 3), where N is the number of environments, and M is the number of target frames.
"""

target_quat_source: torch.Tensor = None
"""Orientation of the target frame(s) relative to source frame quaternion (w, x, y, z).

Shape is (N, M, 4), where N is the number of environments, and M is the number of target frames.
"""

target_pos_w: torch.Tensor = None
"""Position of the target frame(s) after offset (in world frame).

Shape is (N, M, 3), where N is the number of environments, and M is the number of target frames.
"""

target_quat_w: torch.Tensor = None
"""Orientation of the target frame(s) after offset (in world frame) quaternion (w, x, y, z).

Shape is (N, M, 4), where N is the number of environments, and M is the number of target frames.
"""

source_pos_w: torch.Tensor = None
"""Position of the source frame after offset (in world frame).

Shape is (N, 3), where N is the number of environments.
"""

source_quat_w: torch.Tensor = None
"""Orientation of the source frame after offset (in world frame) quaternion (w, x, y, z).

Shape is (N, 4), where N is the number of environments.
"""