Add Newton inverse kinematics action

source/isaaclab_newton/changelog.d/max-newton-ik-solver.rst

@@ -0,0 +1,9 @@
+Added
+^^^^^
+
+* Added :class:`~isaaclab_newton.ik.NewtonIKSolver` and
+  :class:`~isaaclab_newton.envs.mdp.actions.NewtonInverseKinematicsAction`
+  for Newton-backed inverse kinematics, including named pose objectives and
+  custom Newton objective passthrough.
+* Added persistent IK seeds and helpers to initialize pose-objective targets
+  from live Newton body transforms.

source/isaaclab_newton/isaaclab_newton/cloner/replicate.py

@@ -43,8 +43,13 @@ def _build_newton_builder_from_mapping(
     quaternions: torch.Tensor | None = None,
     up_axis: str = "Z",
     simplify_meshes: bool = True,
-) -> tuple[ModelBuilder, object, dict, list]:
-    """Build a Newton model builder from clone mapping inputs."""
+) -> tuple[ModelBuilder, object, dict, list, dict[str, ModelBuilder]]:
+    """Build a Newton model builder from clone mapping inputs.
+
+    Also returns the per-source builders (``{source_path: ModelBuilder}``) so the
+    committing path can retain them for single-model consumers such as the
+    batched Newton IK action.
+    """
     if positions is None:
         positions = torch.zeros((mapping.size(1), 3), device=mapping.device, dtype=torch.float32)
     if quaternions is None:
@@ -98,7 +103,7 @@ def _build_newton_builder_from_mapping(
 
     site_index_map = {label: (idx, None) for label, idx in global_sites.items()}
     site_index_map.update((label, (None, per_world)) for label, per_world in local_site_map.items())
-    return builder, stage_info, site_index_map, world_xforms
+    return builder, stage_info, site_index_map, world_xforms, source_builders
 
 
 class NewtonReplicateContext:
@@ -208,7 +213,7 @@ def _merged_mapping(self) -> _MappingBatch:
     def replicate(self) -> tuple[ModelBuilder, object, dict]:
         """Build the Newton model builder from queued mappings and optionally publish it."""
         sources, destinations, env_ids, mapping, positions, quaternions = self._merged_mapping()
-        builder, stage_info, site_index_map, world_xforms = _build_newton_builder_from_mapping(
+        builder, stage_info, site_index_map, world_xforms, source_builders = _build_newton_builder_from_mapping(
             stage=self.stage,
             sources=sources,
             destinations=destinations,
@@ -224,6 +229,7 @@ def replicate(self) -> tuple[ModelBuilder, object, dict]:
             NewtonManager._cl_site_index_map = site_index_map
             NewtonManager._cl_fabric_body_bindings = fabric_body_bindings
             NewtonManager._world_xforms = world_xforms
+            NewtonManager._cl_protos = source_builders
             NewtonManager.set_builder(builder)
             NewtonManager._num_envs = mapping.size(1)
         self._queue.clear()

source/isaaclab_newton/isaaclab_newton/envs/__init__.py

@@ -0,0 +1,10 @@
+# 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
+
+"""Newton-specific environment components."""
+
+from isaaclab.utils.module import lazy_export
+
+lazy_export()

source/isaaclab_newton/isaaclab_newton/envs/__init__.pyi

@@ -0,0 +1,10 @@
+# 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__ = [
+    "mdp",
+]
+
+from . import mdp

source/isaaclab_newton/isaaclab_newton/envs/mdp/__init__.py

@@ -0,0 +1,10 @@
+# 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
+
+"""Newton-specific MDP components."""
+
+from isaaclab.utils.module import lazy_export
+
+lazy_export()

source/isaaclab_newton/isaaclab_newton/envs/mdp/__init__.pyi

@@ -0,0 +1,11 @@
+# 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__ = [
+    "NewtonInverseKinematicsAction",
+    "NewtonInverseKinematicsActionCfg",
+]
+
+from .actions import NewtonInverseKinematicsAction, NewtonInverseKinematicsActionCfg

source/isaaclab_newton/isaaclab_newton/envs/mdp/actions/__init__.py

@@ -0,0 +1,10 @@
+# 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
+
+"""Newton-specific action terms."""
+
+from isaaclab.utils.module import lazy_export
+
+lazy_export()

source/isaaclab_newton/isaaclab_newton/envs/mdp/actions/__init__.pyi

@@ -0,0 +1,12 @@
+# 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__ = [
+    "NewtonInverseKinematicsAction",
+    "NewtonInverseKinematicsActionCfg",
+]
+
+from .newton_ik_actions import NewtonInverseKinematicsAction
+from .newton_ik_actions_cfg import NewtonInverseKinematicsActionCfg