isaaclab_newton.cloner

Functions

newton_builder_world_hook(hook)

Temporarily extend every world built by Newton replication.

Builder Utilities

isaaclab_newton.cloner.newton_builder_world_hook(hook: Callable[[newton.ModelBuilder, int, ndarray, ndarray], None]) → Iterator[None]

Temporarily extend every world built by Newton replication.

The callback must not already be registered. On exit, the context removes only its callback and preserves hooks owned by other callers.

Parameters:

hook – Callback receiving the builder, world index, world position [m] as a NumPy array, and world orientation quaternion in xyzw order as a NumPy array during replication.

Yields:

Control while the callback is registered.

Raises:

RuntimeError – If the callback is already registered.

Additional Public Classes

The following classes are part of the public isaaclab_newton.cloner API.

NewtonReplicateContext

Build one Newton model from the rows routed to it in a clone plan.

class isaaclab_newton.cloner.NewtonReplicateContext

Bases: object

Build one Newton model from the rows routed to it in a clone plan.

Methods:

__init__(sim_context, *[, up_axis])	Initialize the context from its owning simulation.
__new__(*args, **kwargs)

__init__(sim_context: SimulationContext, *, up_axis: str = 'Z')

Initialize the context from its owning simulation.

classmethod __new__(*args, **kwargs)