[Rough Locomotion] Part 1: Foundation + quadrupeds on Newton (deps merged in)

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "4.6.12"
+version = "4.6.13"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,19 @@
 Changelog
 ---------
 
+4.6.13 (2026-04-24)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :func:`~isaaclab.utils.checked_apply` for forwarding declared
+  fields from an Isaac Lab configclass onto an external dataclass
+  (typically an upstream library config object). Raises
+  :class:`AttributeError` if the target is missing a declared field, so
+  upstream renames surface at startup instead of as silent no-ops.
+
+
 4.6.12 (2026-04-23)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/utils/__init__.pyi

@@ -56,6 +56,7 @@ __all__ = [
     "compare_versions",
     "configclass",
     "resolve_cfg_presets",
+    "checked_apply",
 ]
 
 from .timer import Timer
@@ -106,4 +107,4 @@ from .string import (
 )
 from .types import ArticulationActions
 from .version import has_kit, get_isaac_sim_version, compare_versions
-from .configclass import configclass, resolve_cfg_presets
+from .configclass import checked_apply, configclass, resolve_cfg_presets

source/isaaclab/isaaclab/utils/configclass.py

@@ -5,6 +5,7 @@
 
 """Sub-module that provides a wrapper around the Python 3.7 onwards ``dataclasses`` module."""
 
+import dataclasses
 import inspect
 import re
 import types
@@ -633,3 +634,37 @@ def resolve_cfg_presets(cfg: object) -> object:
         else:
             resolve_cfg_presets(value)
     return cfg
+
+
+def checked_apply(src: Any, target: Any) -> None:
+    """Forward every declared field on ``src`` (a dataclass) onto ``target``.
+
+    Used by Isaac Lab configclasses that mirror an upstream/external dataclass
+    (for example, Newton's ``ShapeConfig``): declare the overridable fields
+    once on the wrapper, then forward them to the upstream object via this
+    helper instead of writing ``setattr`` lines per field.
+
+    Raises :class:`AttributeError` if ``target`` is missing a field declared
+    on ``src``. The two structures must match — the check guards against
+    silent no-ops when the upstream API drifts (the bug class PR #5289 fixed
+    for Newton ``ShapeConfig.contact_margin`` → ``margin``).
+
+    Args:
+        src: Dataclass instance whose declared fields will be forwarded.
+            Field names live here; this is the single source of truth.
+        target: Object to receive the field values. Must already expose
+            an attribute for every declared field on ``src``.
+
+    Raises:
+        AttributeError: If ``target`` does not already have an attribute
+            matching one of ``src``'s declared field names.
+    """
+    if not hasattr(src, "__dataclass_fields__"):
+        raise TypeError(f"checked_apply: src must be a dataclass, got {type(src).__name__}")
+    for f in dataclasses.fields(src):
+        if not hasattr(target, f.name):
+            target_path = f"{type(target).__module__}.{type(target).__name__}"
+            raise AttributeError(
+                f"{target_path} has no attribute `{f.name}`. {type(src).__name__} is out of sync with target."
+            )
+        setattr(target, f.name, getattr(src, f.name))

source/isaaclab/test/utils/test_configclass.py

@@ -1145,3 +1145,66 @@ class ChildCfg(ParentCfg):
     assert _field_module_dir(child, "class_type") == "some_package.sub_package"
     # extra should resolve to the child's module dir
     assert _field_module_dir(child, "extra") == "test_some_feature"
+
+
+# =============================================================================
+# Tests: checked_apply
+# =============================================================================
+
+
+def test_checked_apply_forwards_all_fields():
+    """checked_apply forwards every declared field on src onto target."""
+    from dataclasses import dataclass as plain_dataclass
+
+    from isaaclab.utils import checked_apply
+
+    @configclass
+    class WrapperCfg:
+        gap: float = 0.01
+        margin: float = 0.0
+
+    @plain_dataclass
+    class UpstreamLike:
+        gap: float = 99.0
+        margin: float = 99.0
+        unrelated: str = "keep me"
+
+    src = WrapperCfg(margin=0.005)
+    target = UpstreamLike()
+    checked_apply(src, target)
+
+    assert target.gap == 0.01
+    assert target.margin == 0.005
+    # fields not declared on src are not touched
+    assert target.unrelated == "keep me"
+
+
+def test_checked_apply_raises_on_missing_target_field():
+    """checked_apply fails loudly when target lacks a declared field."""
+    from dataclasses import dataclass as plain_dataclass
+
+    from isaaclab.utils import checked_apply
+
+    @configclass
+    class WrapperCfg:
+        margin: float = 0.01
+        renamed_in_upstream: float = 0.0
+
+    @plain_dataclass
+    class UpstreamMissingField:
+        margin: float = 0.0
+        # 'renamed_in_upstream' was renamed/removed upstream
+
+    with pytest.raises(AttributeError, match="renamed_in_upstream"):
+        checked_apply(WrapperCfg(), UpstreamMissingField())
+
+
+def test_checked_apply_rejects_non_dataclass_src():
+    """checked_apply requires src to be a dataclass."""
+    from isaaclab.utils import checked_apply
+
+    class NotADataclass:
+        margin = 0.01
+
+    with pytest.raises(TypeError, match="must be a dataclass"):
+        checked_apply(NotADataclass(), object())

source/isaaclab_newton/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.5.21"
+version = "0.5.22"
 
 # Description
 title = "Newton simulation interfaces for IsaacLab core package"

source/isaaclab_newton/docs/CHANGELOG.rst

@@ -1,6 +1,25 @@
 Changelog
 ---------
 
+0.5.22 (2026-04-24)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :class:`~isaaclab_newton.physics.NewtonShapeCfg` exposing
+  per-shape collision defaults (``margin``, ``gap``) via
+  :attr:`~isaaclab_newton.physics.NewtonCfg.default_shape_cfg`.
+  :meth:`~isaaclab_newton.physics.NewtonManager.create_builder` now
+  forwards the wrapper onto Newton's upstream
+  ``ModelBuilder.default_shape_cfg`` via
+  :func:`~isaaclab.utils.checked_apply`. The previous code only set
+  ``gap`` and left ``margin`` at Newton's upstream default of ``0.0``,
+  causing all non-Anymal-D robots to fail to learn rough-terrain
+  locomotion on triangle-mesh terrain. ``RoughPhysicsCfg`` opts in to
+  ``margin=0.01``.
+
+
 0.5.21 (2026-04-23)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_newton/isaaclab_newton/physics/__init__.pyi

@@ -10,6 +10,7 @@ __all__ = [
     "NewtonCfg",
     "NewtonCollisionPipelineCfg",
     "NewtonManager",
+    "NewtonShapeCfg",
     "NewtonSolverCfg",
     "XPBDSolverCfg",
 ]
@@ -20,6 +21,7 @@ from .newton_manager_cfg import (
     FeatherstoneSolverCfg,
     MJWarpSolverCfg,
     NewtonCfg,
+    NewtonShapeCfg,
     NewtonSolverCfg,
     XPBDSolverCfg,
 )

source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py

@@ -36,9 +36,12 @@
 from isaaclab.physics import PhysicsEvent, PhysicsManager
 from isaaclab.sim.utils.newton_model_utils import replace_newton_shape_colors
 from isaaclab.sim.utils.stage import get_current_stage
+from isaaclab.utils import checked_apply
 from isaaclab.utils.string import resolve_matching_names
 from isaaclab.utils.timer import Timer
 
+from .newton_manager_cfg import NewtonCfg, NewtonShapeCfg
+
 if TYPE_CHECKING:
     from isaaclab.sim.simulation_context import SimulationContext
 
@@ -421,16 +424,26 @@ def set_builder(cls, builder: ModelBuilder) -> None:
     def create_builder(cls, up_axis: str | None = None, **kwargs) -> ModelBuilder:
         """Create a :class:`ModelBuilder` configured with default settings.
 
+        Forwards :class:`NewtonShapeCfg` defaults onto Newton's upstream
+        ``ModelBuilder.default_shape_cfg`` via :func:`~isaaclab.utils.checked_apply`.
+        Falls back to wrapper defaults when no Newton config is active so
+        rough-terrain margin/gap still apply during early construction.
+
         Args:
             up_axis: Override for the up-axis. Defaults to ``None``, which uses
                 the manager's ``_up_axis``.
             **kwargs: Forwarded to :class:`ModelBuilder`.
 
         Returns:
-            New builder with up-axis and gap defaults applied.
+            New builder with up-axis and per-shape defaults (gap, margin) applied.
         """
         builder = ModelBuilder(up_axis=up_axis or cls._up_axis, **kwargs)
-        builder.default_shape_cfg.gap = 0.01
+        # Resolve which NewtonShapeCfg to apply: user override if active config
+        # is NewtonCfg, else the wrapper's own defaults so callers from non-Newton
+        # contexts (tests, early construction) still get the rough-terrain margin.
+        cfg = PhysicsManager._cfg
+        shape_cfg = cfg.default_shape_cfg if isinstance(cfg, NewtonCfg) else NewtonShapeCfg()
+        checked_apply(shape_cfg, builder.default_shape_cfg)
         return builder
 
     @classmethod

source/isaaclab_newton/isaaclab_newton/physics/newton_manager_cfg.py

@@ -216,6 +216,29 @@ class FeatherstoneSolverCfg(NewtonSolverCfg):
     """Whether to fuse the Cholesky decomposition."""
 
 
+@configclass
+class NewtonShapeCfg:
+    """Default per-shape collision properties applied to all shapes in a Newton scene.
+
+    Mirrors Newton's :attr:`ModelBuilder.default_shape_cfg`. Only fields Isaac
+    Lab actually overrides are declared here; unspecified fields keep Newton's
+    upstream default. The struct is forwarded onto Newton's upstream
+    ``ShapeConfig`` via :func:`~isaaclab.utils.checked_apply` at builder
+    construction.
+    """
+
+    margin: float = 0.0
+    """Default per-shape collision margin [m].
+
+    A nonzero margin (e.g. ``0.01``) is required for stable contact on
+    triangle-mesh terrain — without it, lightweight robots fail to learn
+    rough-terrain locomotion on Newton. Newton's upstream default is ``0.0``.
+    """
+
+    gap: float = 0.01
+    """Default per-shape contact gap [m]. Newton's upstream default is ``None``."""
+
+
 @configclass
 class NewtonCfg(PhysicsCfg):
     """Configuration for Newton physics manager.
@@ -257,3 +280,11 @@ class NewtonCfg(PhysicsCfg):
     .. note::
         Must not be set when ``use_mujoco_contacts=True`` (raises :class:`ValueError`).
     """
+
+    default_shape_cfg: NewtonShapeCfg = NewtonShapeCfg()
+    """Default per-shape collision properties applied to every shape in the scene.
+
+    Forwarded to Newton's :attr:`ModelBuilder.default_shape_cfg` at builder
+    construction via :func:`~isaaclab.utils.checked_apply`. See
+    :class:`NewtonShapeCfg` for the declared fields.
+    """

source/isaaclab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "1.5.24"
+version = "1.5.25"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,36 @@
 Changelog
 ---------
 
+1.5.25 (2026-04-24)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Enabled Newton rough-terrain locomotion training on the remaining
+  quadrupeds (Go1, Go2, A1, Anymal-B, Anymal-C), bipeds (H1, Cassie),
+  Digit, and G1 on top of Octi's Anymal-D work cherry-picked from
+  PR #5225.
+* Hoisted the per-env Anymal-D ``RoughPhysicsCfg`` (MJWarp solver +
+  collision pipeline) into the shared
+  :class:`~isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg.LocomotionVelocityRoughEnvCfg`
+  so every rough-terrain env inherits identical physics. The shared
+  preset opts in to ``default_shape_cfg=NewtonShapeCfg(margin=0.01)``,
+  which is the single most important Newton setting for rough terrain.
+* Added Go1 Newton-only leg armature preset to improve rough-terrain
+  training stability on lightweight quadrupeds.
+
+Changed
+^^^^^^^
+
+* Replaced the additive ``(-5, 5)`` kg default on
+  ``EventsCfg.add_base_mass`` with a multiplicative ``(1/1.25, 1.25)``
+  log-uniform scale (``operation="scale"``,
+  ``distribution="log_uniform"``). Scale-invariant across robot sizes
+  with geometric mean 1.0; removes the need for per-robot
+  ``(-1.0, 3.0)`` additive overrides on A1/Go1/Go2.
+
+
 1.5.24 (2026-04-22)
 ~~~~~~~~~~~~~~~~~~~