Vidur/feature/newton ik

docs/source/api/index.rst

@@ -152,6 +152,7 @@ The following modules are available in the ``isaaclab_newton`` extension:
 
    assets
    cloner
+   controllers
    physics
    renderers
    scene_data_providers
@@ -162,6 +163,7 @@ The following modules are available in the ``isaaclab_newton`` extension:
 
    lab_newton/isaaclab_newton.assets
    lab_newton/isaaclab_newton.cloner
+   lab_newton/isaaclab_newton.controllers
    lab_newton/isaaclab_newton.physics
    lab_newton/isaaclab_newton.renderers
    lab_newton/isaaclab_newton.scene_data_providers

docs/source/api/lab_newton/isaaclab_newton.controllers.rst

@@ -0,0 +1,4 @@
+isaaclab\_newton.controllers
+============================
+
+.. automodule:: isaaclab_newton.controllers

source/isaaclab/isaaclab/envs/mdp/__init__.pyi

@@ -55,6 +55,7 @@ __all__ = [
     "randomize_physics_scene_gravity",
     "randomize_rigid_body_collider_offsets",
     "randomize_rigid_body_com",
+    "randomize_rigid_body_inertia",
     "randomize_rigid_body_mass",
     "randomize_rigid_body_material",
     "randomize_rigid_body_scale",
@@ -195,6 +196,7 @@ from .events import (
     randomize_physics_scene_gravity,
     randomize_rigid_body_collider_offsets,
     randomize_rigid_body_com,
+    randomize_rigid_body_inertia,
     randomize_rigid_body_mass,
     randomize_rigid_body_material,
     randomize_rigid_body_scale,

source/isaaclab_newton/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.5.9"
+version = "0.5.11"
 
 # Description
 title = "Newton simulation interfaces for IsaacLab core package"

source/isaaclab_newton/docs/CHANGELOG.rst

@@ -1,6 +1,51 @@
 Changelog
 ---------
 
+0.5.11 (2026-04-21)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Initial scaffolding for Newton inverse-kinematics integration.
+* Added :class:`~isaaclab_newton.controllers.IKModelInfo` and
+  :func:`~isaaclab_newton.controllers.build_single_arm_ik_model` for
+  constructing a single-arm Newton model from an IsaacLab asset cfg.
+* Added :class:`~isaaclab_newton.controllers.NewtonIKControllerCfg`
+  configuration dataclass for the Newton inverse-kinematics controller.
+* Added :class:`~isaaclab_newton.controllers.NewtonIKController` skeleton
+  with batched IK solver construction across all envs.
+* Added :class:`~isaaclab_newton.envs.mdp.actions.NewtonInverseKinematicsActionCfg`
+  configuration dataclass for the Newton IK action term.
+* Added :class:`~isaaclab_newton.envs.mdp.actions.NewtonInverseKinematicsAction`
+  action term that drives Newton's batched IK across all envs in one fused
+  pass per env step.
+* Added :meth:`~isaaclab_newton.controllers.NewtonIKController.compute`
+  for batched IK solving across all envs in one fused pass.
+* Added Gym task ``Isaac-Reach-Franka-Newton-IK-Rel-v0`` (and ``Isaac-Reach-Franka-Newton-IK-Rel-Play-v0``)
+  using Newton physics with the Newton IK action term for relative-pose EE
+  control.
+
+
+0.5.10 (2026-04-02)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :class:`~isaaclab_newton.physics.NewtonCollisionPipelineCfg` for configuring
+  Newton's collision pipeline parameters (broad phase, contact limits, triangle pairs).
+  Set via :attr:`~isaaclab_newton.physics.NewtonCfg.collision_cfg`.
+* Added :class:`~isaaclab_newton.physics.SDFCfg` for configuring SDF-based mesh
+  collisions via Newton's ``mesh.build_sdf()`` API. Supports per-body and per-shape
+  regex pattern matching, per-pattern resolution overrides, and optional creation of
+  collision shapes from visual meshes.
+* Added :class:`~isaaclab_newton.physics.HydroelasticCfg` for distributed surface
+  contacts computed via SDF overlap with marching cubes.
+* Added SDF pattern skip in the Newton cloner to preserve original triangle
+  meshes for shapes that will use SDF collision.
+
+
 0.5.9 (2026-03-16)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab_newton/isaaclab_newton/assets/rigid_object/rigid_object.py

@@ -94,6 +94,19 @@ def root_view(self) -> ArticulationView:
         """
         return self._root_view
 
+    @property
+    def num_shapes_per_body(self) -> list[int]:
+        """Number of collision shapes per body in the rigid object.
+
+        Returns a list where each element is the number of shapes for
+        the corresponding body. Cached after first access.
+        """
+        if not hasattr(self, "_num_shapes_per_body"):
+            self._num_shapes_per_body = []
+            for shapes in self._root_view.body_shapes:
+                self._num_shapes_per_body.append(len(shapes))
+        return self._num_shapes_per_body
+
     @property
     def instantaneous_wrench_composer(self) -> WrenchComposer:
         """Instantaneous wrench composer.

source/isaaclab_newton/isaaclab_newton/cloner/newton_replicate.py

@@ -5,15 +5,17 @@
 
 from __future__ import annotations
 
+import re
 from collections.abc import Callable
 
 import torch
 import warp as wp
-from newton import ModelBuilder, solvers
+from newton import GeoType, ModelBuilder, solvers
 from newton._src.usd.schemas import SchemaResolverNewton, SchemaResolverPhysx
 
 from pxr import Usd, UsdGeom
 
+from isaaclab.physics import PhysicsManager
 from isaaclab.physics.scene_data_requirements import VisualizerPrebuiltArtifacts
 
 from isaaclab_newton.physics import NewtonManager
@@ -62,6 +64,17 @@ def _build_newton_builder_from_mapping(
     # The prototype is built from env_0 in absolute world coordinates.
     # add_builder xforms are deltas from env_0 so positions don't get double-counted.
     env0_pos = positions[0]
+
+    # SDF collision requires original triangle meshes for mesh.build_sdf().
+    # Convex hull approximation destroys the source geometry, so shapes
+    # matching SDF patterns must be excluded from approximation here.
+    # _apply_sdf_config() builds the SDF on each prototype after approximation.
+    cfg = PhysicsManager._cfg
+    sdf_cfg = getattr(cfg, "sdf_cfg", None) if cfg is not None else None
+    body_pats = [re.compile(x) for x in sdf_cfg.body_patterns] if sdf_cfg and sdf_cfg.body_patterns else None
+    shape_pats = [re.compile(x) for x in sdf_cfg.shape_patterns] if sdf_cfg and sdf_cfg.shape_patterns else None
+    has_sdf_patterns = body_pats is not None or shape_pats is not None
+
     protos: dict[str, ModelBuilder] = {}
     for src_path in sources:
         p = ModelBuilder(up_axis=up_axis)
@@ -74,7 +87,33 @@ def _build_newton_builder_from_mapping(
             schema_resolvers=schema_resolvers,
         )
         if simplify_meshes:
-            p.approximate_meshes("convex_hull", keep_visual_shapes=True)
+            if has_sdf_patterns:
+                sdf_bodies: set[int] = set()
+                if body_pats is not None:
+                    for bi in range(len(p.body_label)):
+                        if any(pat.search(p.body_label[bi]) for pat in body_pats):
+                            sdf_bodies.add(bi)
+
+                approx_indices = []
+                for i in range(len(p.shape_type)):
+                    if p.shape_type[i] != GeoType.MESH:
+                        continue
+                    # Skip shapes that will use SDF (matched by body or shape pattern)
+                    if p.shape_body[i] in sdf_bodies:
+                        continue
+                    if shape_pats is not None:
+                        lbl = p.shape_label[i] if i < len(p.shape_label) else ""
+                        if any(pat.search(lbl) for pat in shape_pats):
+                            continue
+                    approx_indices.append(i)
+                if approx_indices:
+                    p.approximate_meshes("convex_hull", shape_indices=approx_indices, keep_visual_shapes=True)
+            else:
+                p.approximate_meshes("convex_hull", keep_visual_shapes=True)
+        # Build SDF on prototype before add_builder copies it N times.
+        # Mesh objects are shared by reference, so SDF is built once and
+        # all environments inherit it.
+        NewtonManager._apply_sdf_config(p)
         protos[src_path] = p
 
     # create a separate world for each environment (heterogeneous spawning)

source/isaaclab_newton/isaaclab_newton/controllers/__init__.py

@@ -0,0 +1,17 @@
+# 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-native controllers for IsaacLab (IK, etc.)."""
+
+from .newton_ik import NewtonIKController
+from .newton_ik_cfg import NewtonIKControllerCfg
+from .newton_ik_model_builder import IKModelInfo, build_single_arm_ik_model
+
+__all__ = [
+    "IKModelInfo",
+    "NewtonIKController",
+    "NewtonIKControllerCfg",
+    "build_single_arm_ik_model",
+]