From 0188c28897d4e70782030d4687192f099d2005c8 Mon Sep 17 00:00:00 2001 From: hujc Date: Thu, 16 Apr 2026 00:07:25 -0700 Subject: [PATCH] Fix default shape gap field name in Newton manager The ShapeConfig field ``contact_margin`` was renamed to ``gap`` in Newton PR #1732. The incorrect attribute name created a dead property that Python silently accepted, so the intended 1 cm default shape gap was never applied. --- source/isaaclab_newton/config/extension.toml | 2 +- source/isaaclab_newton/docs/CHANGELOG.rst | 13 +++++++++++++ .../isaaclab_newton/physics/newton_manager.py | 4 ++-- 3 files changed, 16 insertions(+), 3 deletions(-) diff --git a/source/isaaclab_newton/config/extension.toml b/source/isaaclab_newton/config/extension.toml index b82943129335..d02be1c703a0 100644 --- a/source/isaaclab_newton/config/extension.toml +++ b/source/isaaclab_newton/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.5.15" +version = "0.5.16" # Description title = "Newton simulation interfaces for IsaacLab core package" diff --git a/source/isaaclab_newton/docs/CHANGELOG.rst b/source/isaaclab_newton/docs/CHANGELOG.rst index 462fb71df533..340cc2e87b82 100644 --- a/source/isaaclab_newton/docs/CHANGELOG.rst +++ b/source/isaaclab_newton/docs/CHANGELOG.rst @@ -1,6 +1,19 @@ Changelog --------- +0.5.16 (2026-04-17) +~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Fixed incorrect attribute name ``contact_margin`` on Newton + ``ShapeConfig`` in + :meth:`~isaaclab_newton.physics.NewtonManager.create_builder`. The + field was renamed to ``gap`` in Newton PR #1732. The typo created a + dead attribute so the intended 1 cm default shape gap was never applied. + + 0.5.15 (2026-04-16) ~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py b/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py index abcb3d227f36..e59fa9b3dbc1 100644 --- a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py +++ b/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py @@ -426,10 +426,10 @@ def create_builder(cls, up_axis: str | None = None, **kwargs) -> ModelBuilder: **kwargs: Forwarded to :class:`ModelBuilder`. Returns: - New builder with up-axis and contact margin defaults applied. + New builder with up-axis and gap defaults applied. """ builder = ModelBuilder(up_axis=up_axis or cls._up_axis, **kwargs) - builder.default_shape_cfg.contact_margin = 0.01 + builder.default_shape_cfg.gap = 0.01 return builder @classmethod