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Fixes default shape margin field name in Newton manager #5289

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AntoineRichard merged 2 commits into from
Apr 17, 2026
+16 −3
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Fixes default shape margin field name in Newton manager #5289

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0188c28
Fix default shape gap field name in Newton manager
hujc7 Apr 16, 2026
414f2eb
Merge branch 'develop' into jichuanh/fix-newton-shape-margin
AntoineRichard Apr 17, 2026
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2 changes: 1 addition & 1 deletion source/isaaclab_newton/config/extension.toml
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Original file line number Diff line number Diff line change
@@ -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"
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13 changes: 13 additions & 0 deletions source/isaaclab_newton/docs/CHANGELOG.rst
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@@ -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)
~~~~~~~~~~~~~~~~~~~

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4 changes: 2 additions & 2 deletions source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py
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Expand Up @@ -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
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