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, list[float], list[float]], 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], and world orientation quaternion in xyzw order 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

Queue and run Newton replication work for one stage.

class isaaclab_newton.cloner.NewtonReplicateContext

Bases: object

Queue and run Newton replication work for one stage.

Methods:

__init__(stage, *[, device, up_axis, ...])	Initialize the context.
__new__(*args, **kwargs)

__init__(stage: pxr.Usd.Stage, *, device: str = 'cpu', up_axis: str = 'Z', load_visual_shapes: bool | None = None, commit_to_manager: bool = True)

Initialize the context.

Parameters:

• stage – USD stage containing source assets.

• device – Device used by the finalized Newton model builder.

• up_axis – Up axis for the Newton model builder.

• load_visual_shapes – Whether to import visual-only geometry. If None, read from the active NewtonCfg, which itself defaults to importing them only when a renderer or visualizer is active.

• commit_to_manager – Whether replicate() should publish the builder to NewtonManager.

classmethod __new__(*args, **kwargs)