isaac-sim · kellyguo11 · Feb 3, 2026 · Jan 27, 2026 · Jan 27, 2026 · Jan 27, 2026
@@ -53,6 +53,57 @@ The following asset classes remain in the ``isaaclab`` package and can still be
 
 These classes now inherit from new abstract base classes but maintain full backward compatibility.
 
+The following sensor classes also remain in the ``isaaclab`` package with unchanged imports:
+
+- :class:`~isaaclab.sensors.ContactSensor`, :class:`~isaaclab.sensors.ContactSensorCfg`, :class:`~isaaclab.sensors.ContactSensorData`
+- :class:`~isaaclab.sensors.Imu`, :class:`~isaaclab.sensors.ImuCfg`, :class:`~isaaclab.sensors.ImuData`
+- :class:`~isaaclab.sensors.FrameTransformer`, :class:`~isaaclab.sensors.FrameTransformerCfg`, :class:`~isaaclab.sensors.FrameTransformerData`
+
+These sensor classes now use factory patterns that automatically instantiate the appropriate backend
+implementation (PhysX by default), maintaining full backward compatibility.
+
+If you need to import the PhysX sensor implementations directly (e.g., for type hints or subclassing),
+you can import from ``isaaclab_physx.sensors``:
+
+.. code-block:: python
+
+   # Direct PhysX implementation imports
+   from isaaclab_physx.sensors import ContactSensor, ContactSensorData
+   from isaaclab_physx.sensors import Imu, ImuData
+   from isaaclab_physx.sensors import FrameTransformer, FrameTransformerData
+
+
+Sensor Pose Properties Deprecation
+----------------------------------
+
+The ``pose_w``, ``pos_w``, and ``quat_w`` properties on :class:`~isaaclab.sensors.ContactSensorData`
+and :class:`~isaaclab.sensors.ImuData` are deprecated and will be removed in a future release.
+
+If you need to track sensor poses in world frame, please use a dedicated sensor such as
+:class:`~isaaclab.sensors.FrameTransformer` instead.
+
+**Before (deprecated):**
+
+.. code-block:: python
+
+   # Using pose properties directly on sensor data
+   sensor_pos = contact_sensor.data.pos_w
+   sensor_quat = contact_sensor.data.quat_w
+
+**After (recommended):**
+
+.. code-block:: python
+
+   # Use FrameTransformer to track sensor pose
+   frame_transformer = FrameTransformer(FrameTransformerCfg(
+       prim_path="{ENV_REGEX_NS}/Robot/base",
+       target_frames=[
+           FrameTransformerCfg.FrameCfg(prim_path="{ENV_REGEX_NS}/Robot/sensor_link"),
+       ],
+   ))
+   sensor_pos = frame_transformer.data.target_pos_w
+   sensor_quat = frame_transformer.data.target_quat_w
+
 
 ``root_physx_view`` Deprecation
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "2.0.0"
+version = "2.1.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,40 @@
 Changelog
 ---------
 
+2.1.0 (2026-02-02)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :class:`~isaaclab.sensors.contact_sensor.BaseContactSensor` and
+  :class:`~isaaclab.sensors.contact_sensor.BaseContactSensorData` abstract base classes that define
+  the interface for contact sensors. These classes provide a backend-agnostic API for contact sensing.
+* Added :class:`~isaaclab.sensors.imu.BaseImu` and :class:`~isaaclab.sensors.imu.BaseImuData` abstract
+  base classes that define the interface for IMU sensors. These classes provide a backend-agnostic
+  API for inertial measurement.
+* Added :class:`~isaaclab.sensors.frame_transformer.BaseFrameTransformer` and
+  :class:`~isaaclab.sensors.frame_transformer.BaseFrameTransformerData` abstract base classes that
+  define the interface for frame transformer sensors. These classes provide a backend-agnostic API
+  for coordinate frame transformations.
+
+Changed
+^^^^^^^
+
+* Refactored the sensor classes (:class:`~isaaclab.sensors.ContactSensor`,
+  :class:`~isaaclab.sensors.Imu`, :class:`~isaaclab.sensors.FrameTransformer`) to follow the
+  multi-backend architecture. The classes now act as factory wrappers that instantiate the
+  appropriate backend-specific implementation (PhysX by default).
+* Refactored the sensor data classes (:class:`~isaaclab.sensors.ContactSensorData`,
+  :class:`~isaaclab.sensors.ImuData`, :class:`~isaaclab.sensors.FrameTransformerData`) to use the
+  factory pattern for backend-specific instantiation.
+* Moved PhysX-specific sensor tests to the ``isaaclab_physx`` package:
+
+  * ``test_contact_sensor.py`` → ``isaaclab_physx/test/sensors/``
+  * ``test_imu.py`` → ``isaaclab_physx/test/sensors/``
+  * ``test_frame_transformer.py`` → ``isaaclab_physx/test/sensors/``
+
+
 2.0.0 (2026-01-30)
 ~~~~~~~~~~~~~~~~~~
 

@@ -166,7 +166,7 @@ def body_names(self) -> list[str]:
     def root_view(self):
         """Root view for the asset.
 
-        Note:
+        .. note::
             Use this view with caution. It requires handling of tensors in a specific way.
         """
         raise NotImplementedError()
@@ -203,7 +203,7 @@ def write_data_to_sim(self) -> None:
         If any explicit actuators are present, then the actuator models are used to compute the
         joint commands. Otherwise, the joint commands are directly set into the simulation.
 
-        Note:
+        .. note::
             We write external wrench to the simulation here since this function is called before the simulation step.
             This ensures that the external wrench is applied at every simulation step.
         """
@@ -1107,7 +1107,7 @@ def _apply_actuator_model(self) -> None:
     def _validate_cfg(self) -> None:
         """Validate the configuration after processing.
 
-        Note:
+        .. note::
             This function should be called only after the configuration has been processed and the buffers have been
             created. Otherwise, some settings that are altered during processing may not be validated.
             For instance, the actuator models may change the joint max velocity limits.
@@ -1118,7 +1118,8 @@ def _validate_cfg(self) -> None:
     def _log_articulation_info(self) -> None:
         """Log information about the articulation.
 
-        Note: We purposefully read the values from the simulator to ensure that the values are configured as expected.
+        .. note::
+            We purposefully read the values from the simulator to ensure that the values are configured as expected.
         """
         raise NotImplementedError()
 

@@ -590,7 +590,7 @@ def projected_gravity_b(self) -> torch.Tensor:
     def heading_w(self) -> torch.Tensor:
         """Yaw heading of the base frame (in radians). Shape is (num_instances,).
 
-        Note:
+        .. 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)`.
         """

@@ -155,7 +155,7 @@ def set_visibility(self, visible: bool, env_ids: Sequence[int] | None = None):
         It is useful for toggling the visibility of the asset in the simulator. For instance, one can
         hide the asset when it is not being used to reduce the rendering overhead.
 
-        Note:
+        .. note::
             This operation uses the PXR API to set the visibility of the prims. Thus, the operation
             may have an overhead if the number of prims is large.
 
@@ -304,7 +304,7 @@ def safe_callback(callback_name, event, obj_ref):
     def _initialize_callback(self, event):
         """Initializes the scene elements.
 
-        Note:
+        .. note::
             PhysX handles are only enabled once the simulator starts playing. Hence, this function needs to be
             called whenever the simulator "plays" from a "stop" state.
         """
@@ -334,7 +334,7 @@ def _on_prim_deletion(self, prim_path: str) -> None:
         Args:
             prim_path: The path to the prim that is being deleted.
 
-        Note:
+        .. note::
             This function is called when the prim is deleted.
         """
         if prim_path == "/":

@@ -89,7 +89,7 @@ def body_names(self) -> list[str]:
     def root_view(self):
         """Root view for the asset.
 
-        Note:
+        .. note::
             Use this view with caution. It requires handling of tensors in a specific way.
         """
         raise NotImplementedError()
@@ -123,7 +123,7 @@ def reset(self, env_ids: Sequence[int] | None = None) -> None:
     def write_data_to_sim(self) -> None:
         """Write external wrench to the simulation.
 
-        Note:
+        .. note::
             We write external wrench to the simulation here since this function is called before the simulation step.
             This ensures that the external wrench is applied at every simulation step.
         """

@@ -288,7 +288,7 @@ def projected_gravity_b(self) -> torch.Tensor:
     def heading_w(self) -> torch.Tensor:
         """Yaw heading of the base frame (in radians). Shape is (num_instances,).
 
-        Note:
+        .. 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)`.
         """

@@ -87,7 +87,7 @@ def body_names(self) -> list[str]:
     def root_view(self):
         """Root view for the rigid object collection.
 
-        Note:
+        .. note::
             Use this view with caution. It requires handling of tensors in a specific way.
         """
         raise NotImplementedError()
@@ -122,7 +122,7 @@ def reset(self, env_ids: Sequence[int] | None = None, object_ids: slice | torch.
     def write_data_to_sim(self) -> None:
         """Write external wrench to the simulation.
 
-        Note:
+        .. note::
             We write external wrench to the simulation here since this function is called before the simulation step.
             This ensures that the external wrench is applied at every simulation step.
         """

@@ -217,7 +217,7 @@ def projected_gravity_b(self) -> torch.Tensor:
     def heading_w(self) -> torch.Tensor:
         """Yaw heading of the base frame (in radians). Shape is (num_instances, num_bodies).
 
-        Note:
+        .. 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)`.
         """

@@ -577,7 +577,7 @@ def _update_intrinsic_matrices(self, env_ids: Sequence[int]):
 
         Also called calibration matrix. This matrix works for linear depth images. We assume square pixels.
 
-        Note:
+        .. note::
             The calibration matrix projects points in the 3D scene onto an imaginary screen of the camera.
             The coordinates of points on the image plane are in the homogeneous representation.
         """

@@ -42,7 +42,7 @@ class OffsetCfg:
     offset: OffsetCfg = OffsetCfg()
     """The offset pose of the sensor's frame from the sensor's parent frame. Defaults to identity.
 
-    Note:
+    .. note::
         The parent frame is the frame the sensor attaches to. For example, the parent frame of a
         camera at path ``/World/envs/env_0/Robot/Camera`` is ``/World/envs/env_0/Robot``.
     """

@@ -5,6 +5,10 @@
 
 """Sub-module for rigid contact sensor."""
 
+from .base_contact_sensor import BaseContactSensor
+from .base_contact_sensor_data import BaseContactSensorData
 from .contact_sensor import ContactSensor
 from .contact_sensor_cfg import ContactSensorCfg
 from .contact_sensor_data import ContactSensorData
+
+__all__ = ["BaseContactSensor", "BaseContactSensorData", "ContactSensor", "ContactSensorCfg", "ContactSensorData"]