Scene Data Provider Update

docs/source/api/index.rst

@@ -25,6 +25,7 @@ The following modules are available in the ``isaaclab`` extension:
    physics
    renderers
    scene
+   scene_data
    sensors
    sim
    terrains

docs/source/api/lab/isaaclab.scene_data.rst

@@ -0,0 +1,33 @@
+isaaclab.scene_data
+===================
+
+.. automodule:: isaaclab.scene_data
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    SceneDataProvider
+    SceneDataBackend
+    SceneDataFormat
+
+Scene Data Provider
+-------------------
+
+.. autoclass:: SceneDataProvider
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+Scene Data Backend
+------------------
+
+.. autoclass:: SceneDataBackend
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. autoclass:: SceneDataFormat
+    :members:
+    :undoc-members:
+    :show-inheritance:

docs/source/features/visualization.rst

@@ -547,7 +547,7 @@ Currently, live plots are only available in the Kit Visualizer.
 **Viser Visualizer Renderer Requirement**
 
 The Viser visualizer requires a Newton model, which is provided automatically by
-:class:`~isaaclab.scene.scene_data_provider.SceneDataProvider` regardless of the active physics
+:class:`~isaaclab.scene_data.SceneDataProvider` regardless of the active physics
 backend or renderer. It is compatible with all rendering backends (RTX, Newton Warp, OVRTX).
 
 

docs/source/overview/core-concepts/multi_backend_architecture.rst

@@ -56,7 +56,7 @@ This pattern applies to all simulation components:
      - :class:`~isaaclab_physx.renderers.IsaacRtxRenderer`
      - :class:`~isaaclab_newton.renderers.NewtonWarpRenderer`
    * - Scene Data Backend
-     - :class:`~isaaclab.physics.SceneDataBackend`
+     - :class:`~isaaclab.scene_data.SceneDataBackend`
      - ``PhysxSceneDataBackend`` (in :mod:`isaaclab_physx.physics`)
      - ``NewtonSceneDataBackend`` (in :mod:`isaaclab_newton.physics`)
    * - Cloner
@@ -272,14 +272,15 @@ the established conventions:
 
 **2. Implement the physics manager:**
 
-The manager must expose a :class:`~isaaclab.physics.SceneDataBackend` so that
-:class:`~isaaclab.scene.scene_data_provider.SceneDataProvider` can read your backend's body
+The manager must expose a :class:`~isaaclab.scene_data.SceneDataBackend` so that
+:class:`~isaaclab.scene_data.SceneDataProvider` can read your backend's body
 transforms in a Warp-native format that renderers and visualizers consume directly.
 
 .. code-block:: python
 
     # isaaclab_mybackend/physics/mybackend_manager.py
-    from isaaclab.physics import PhysicsManager, SceneDataBackend, SceneDataFormat
+    from isaaclab.physics import PhysicsManager
+    from isaaclab.scene_data import SceneDataBackend, SceneDataFormat
 
 
     class MyBackendSceneDataBackend(SceneDataBackend):

docs/source/overview/core-concepts/scene_data_providers.rst

@@ -1,7 +1,7 @@
 Scene Data Provider
 ===================
 
-The :class:`~isaaclab.scene.scene_data_provider.SceneDataProvider` bridges physics simulation
+The :class:`~isaaclab.scene_data.SceneDataProvider` bridges physics simulation
 backends and the visualizers/renderers that consume scene data. It exposes a single Warp-native
 read path for body transforms regardless of which physics backend (PhysX or Newton) is active,
 so renderers and visualizers can stay backend-agnostic.
@@ -12,7 +12,7 @@ Overview
 Isaac Lab supports multiple physics backends (PhysX and Newton) and multiple visualizers
 (Omniverse Kit, Newton, Rerun, Viser). Each combination needs scene data to flow from the
 physics engine into the renderer or visualizer. The :class:`SceneDataProvider` owns this flow:
-the physics manager provides a :class:`~isaaclab.physics.SceneDataBackend` that wraps its
+the physics manager provides a :class:`~isaaclab.scene_data.SceneDataBackend` that wraps its
 native tensor views, and the provider handles format conversion and re-mapping on top of it.
 
 .. code-block:: python
@@ -28,9 +28,9 @@ Architecture
 
 The system has three layers:
 
-1. :class:`~isaaclab.physics.SceneDataBackend` — small interface implemented by each physics
+1. :class:`~isaaclab.scene_data.SceneDataBackend` — small interface implemented by each physics
    manager. It exposes the backend's transform array directly as one of the
-   :class:`~isaaclab.physics.SceneDataFormat` Warp structs, plus the per-transform prim paths
+   :class:`~isaaclab.scene_data.SceneDataFormat` Warp structs, plus the per-transform prim paths
    and total count. There is no per-frame "update" call — the property accessors return live
    views into the underlying tensor each time they're read.
 
@@ -40,7 +40,7 @@ The system has three layers:
    - :attr:`SceneDataBackend.transform_count` — number of transforms.
    - :attr:`SceneDataBackend.transform_paths` — list of USD prim paths, one per transform.
 
-2. :class:`~isaaclab.scene.scene_data_provider.SceneDataProvider` — wraps a backend and offers
+2. :class:`~isaaclab.scene_data.SceneDataProvider` — wraps a backend and offers
    format conversion plus index re-mapping:
 
    - :meth:`SceneDataProvider.get_transforms` — write the backend's transforms into a

source/isaaclab/changelog.d/daniela-move-scene-data.major.rst

@@ -0,0 +1,23 @@
+Added
+^^^^^
+
+* Added :mod:`isaaclab.scene_data` sub-package consolidating
+  :class:`~isaaclab.scene_data.SceneDataProvider`,
+  :class:`~isaaclab.scene_data.SceneDataBackend`, and
+  :class:`~isaaclab.scene_data.SceneDataFormat` in a single import location.
+
+Changed
+^^^^^^^
+
+* **Breaking:** Moved :class:`~isaaclab.scene_data.SceneDataProvider` from
+  :mod:`isaaclab.scene.scene_data_provider` and
+  :class:`~isaaclab.scene_data.SceneDataBackend` /
+  :class:`~isaaclab.scene_data.SceneDataFormat` from :mod:`isaaclab.physics`
+  to the new :mod:`isaaclab.scene_data` sub-package. Update imports::
+
+      # before
+      from isaaclab.scene.scene_data_provider import SceneDataProvider
+      from isaaclab.physics import SceneDataBackend, SceneDataFormat
+
+      # after
+      from isaaclab.scene_data import SceneDataProvider, SceneDataBackend, SceneDataFormat

source/isaaclab/docs/CHANGELOG.rst

@@ -272,9 +272,9 @@ Added
   ``JointTypeFloatingBase``, OCS2's ``generalizedCoordinatesNum =
   6 + actuatedJointsNum``, iDynTree's ``getFreeFloatingMassMatrix``
   returning ``(6 + dofs, 6 + dofs)``).
-* Added :attr:`~isaaclab.scene.scene_data_provider.SceneDataProvider.usd_stage`,
-  :attr:`~isaaclab.scene.scene_data_provider.SceneDataProvider.num_envs`, and
-  :meth:`~isaaclab.scene.scene_data_provider.SceneDataProvider.get_camera_transforms`
+* Added :attr:`~isaaclab.scene_data.SceneDataProvider.usd_stage`,
+  :attr:`~isaaclab.scene_data.SceneDataProvider.num_envs`, and
+  :meth:`~isaaclab.scene_data.SceneDataProvider.get_camera_transforms`
   so visualizers and renderers can pull stage-derived data through the same
   Warp-native provider that already exposes transforms.
 
@@ -309,12 +309,12 @@ Changed
   COM-referenced form can read :attr:`body_com_jacobian_w`.
 * **Breaking:** :class:`~isaaclab.visualizers.base_visualizer.BaseVisualizer`
   subclasses now receive a
-  :class:`~isaaclab.scene.scene_data_provider.SceneDataProvider` in
+  :class:`~isaaclab.scene_data.SceneDataProvider` in
   :meth:`~isaaclab.visualizers.base_visualizer.BaseVisualizer.initialize`
   instead of the removed ``BaseSceneDataProvider``. Read environment count
-  from :attr:`~isaaclab.scene.scene_data_provider.SceneDataProvider.num_envs`
+  from :attr:`~isaaclab.scene_data.SceneDataProvider.num_envs`
   and call
-  :meth:`~isaaclab.scene.scene_data_provider.SceneDataProvider.get_camera_transforms`
+  :meth:`~isaaclab.scene_data.SceneDataProvider.get_camera_transforms`
   on the new provider; both replace the previous ``get_metadata()`` /
   ``get_camera_transforms()`` calls on the legacy interface.
 

source/isaaclab/isaaclab/physics/__init__.pyi

@@ -8,10 +8,7 @@ __all__ = [
     "PhysicsEvent",
     "PhysicsManager",
     "PhysicsCfg",
-    "SceneDataBackend",
-    "SceneDataFormat",
 ]
 
 from .physics_manager import CallbackHandle, PhysicsEvent, PhysicsManager
 from .physics_manager_cfg import PhysicsCfg
-from .scene_data_backend import SceneDataBackend, SceneDataFormat

source/isaaclab/isaaclab/physics/physics_manager.py

@@ -15,7 +15,7 @@
 from typing import TYPE_CHECKING, Any, ClassVar
 
 if TYPE_CHECKING:
-    from isaaclab.physics.scene_data_backend import SceneDataBackend
+    from isaaclab.scene_data import SceneDataBackend
     from isaaclab.sim.simulation_context import SimulationContext
 
 logger = logging.getLogger(__name__)

source/isaaclab/isaaclab/scene_data/__init__.py

@@ -0,0 +1,22 @@
+# 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-package containing the scene data provider and backend interface.
+
+The :class:`SceneDataProvider` bridges physics simulation backends and the
+consumers that read scene transforms (renderers and visualizers). Physics
+backends implement :class:`SceneDataBackend` to expose their current
+transforms in one of the :class:`SceneDataFormat` Warp struct variants;
+the provider converts and remaps them on demand for each consumer.
+
+This package is deliberately separate from :mod:`isaaclab.scene` so that
+physics backends (``isaaclab_physx``, ``isaaclab_newton``) can subclass
+:class:`SceneDataBackend` without pulling :mod:`isaaclab.scene` into the
+``AppLauncher`` pre-launch import chain.
+"""
+
+from isaaclab.utils.module import lazy_export
+
+lazy_export()

source/isaaclab/isaaclab/scene_data/__init__.pyi

@@ -0,0 +1,13 @@
+# 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__ = [
+    "SceneDataBackend",
+    "SceneDataFormat",
+    "SceneDataProvider",
+]
+
+from .scene_data_backend import SceneDataBackend, SceneDataFormat
+from .scene_data_provider import SceneDataProvider

source/isaaclab/isaaclab/scene_data/scene_data_backend.py

@@ -0,0 +1,91 @@
+# 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
+
+"""Backend interface and data formats for the scene data provider.
+
+These types live in :mod:`isaaclab.scene_data` rather than
+:mod:`isaaclab.scene` so that physics backends (``isaaclab_physx``,
+``isaaclab_newton``) can subclass :class:`SceneDataBackend` without pulling
+:mod:`isaaclab.scene` into the ``AppLauncher`` pre-launch import chain.
+``AppLauncher._create_app`` pops ``*lab*`` modules from ``sys.modules``
+during Kit init and any submodule imported during that window ends up
+orphaned from its parent's ``__dict__`` after restoration.
+"""
+
+from __future__ import annotations
+
+import warp as wp
+
+# Under Sphinx ``autodoc_mock_imports``, ``wp.struct`` is a ``_MockObject``
+# that replaces the decorated class with another mock, hiding its docstring
+# and fields from autodoc. Fall back to an identity decorator when warp is
+# mocked so the documentation builds from the source classes directly.
+if getattr(wp, "__sphinx_mock__", False):
+
+    def wp_struct(cls):
+        return cls
+else:
+    wp_struct = wp.struct
+
+
+class SceneDataFormat:
+    """Warp struct variants describing the transform layouts that a
+    :class:`SceneDataBackend` may publish to consumers.
+    """
+
+    @wp_struct
+    class Vec3_Quat:
+        """Separate position and quaternion arrays."""
+
+        positions: wp.array(dtype=wp.vec3f) = None
+        """Per-transform positions [m]."""
+
+        orientations: wp.array(dtype=wp.quatf) = None
+        """Per-transform orientations as quaternions."""
+
+    @wp_struct
+    class Vec3_Matrix33:
+        """Separate position and rotation-matrix arrays."""
+
+        positions: wp.array(dtype=wp.vec3f) = None
+        """Per-transform positions [m]."""
+
+        orientations: wp.array(dtype=wp.mat33f) = None
+        """Per-transform orientations as 3x3 rotation matrices."""
+
+    @wp_struct
+    class Transform:
+        """Packed warp transforms (position + quaternion)."""
+
+        transforms: wp.array(dtype=wp.transformf) = None
+        """Per-transform packed position + orientation transforms [m, -]."""
+
+    @wp_struct
+    class Matrix44:
+        """Packed 4x4 homogeneous transform matrices."""
+
+        matrices: wp.array(dtype=wp.mat44f) = None
+        """Per-transform 4x4 homogeneous transform matrices [m]."""
+
+
+class SceneDataBackend:
+    @property
+    def transforms(
+        self,
+    ) -> (
+        SceneDataFormat.Vec3_Quat | SceneDataFormat.Transform | SceneDataFormat.Matrix44 | SceneDataFormat.Vec3_Matrix33
+    ):
+        """Return the sim backends transforms as one of the SceneDataFormat structs."""
+        raise NotImplementedError
+
+    @property
+    def transform_count(self) -> int:
+        """Return the number of transforms in the sim backend."""
+        raise NotImplementedError
+
+    @property
+    def transform_paths(self) -> list[str]:
+        """Return the paths for each transform."""
+        raise NotImplementedError

source/isaaclab/isaaclab/scene/scene_data_provider.py → source/isaaclab/isaaclab/scene_data/scene_data_provider.py

@@ -13,7 +13,7 @@
 import numpy as np
 import warp as wp
 
-from isaaclab.physics.scene_data_backend import SceneDataBackend, SceneDataFormat
+from .scene_data_backend import SceneDataBackend, SceneDataFormat
 
 if TYPE_CHECKING:
     from pxr import Usd