isaac-sim · kellyguo11 · Apr 26, 2026 · Apr 24, 2026 · Apr 11, 2026 · Apr 24, 2026
diff --git 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 = "0.5.21"
+version = "0.5.22"
 
 # 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
@@ -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)
 ~~~~~~~~~~~~~~~~~~~
 

diff --git a/source/isaaclab_newton/isaaclab_newton/physics/__init__.pyi b/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,
 )
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py b/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

diff --git a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager_cfg.py b/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.
+    """
diff --git a/source/isaaclab_tasks/config/extension.toml b/source/isaaclab_tasks/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "1.5.27"
+version = "1.5.28"
 
 # Description
 title = "Isaac Lab Environments"

diff --git a/source/isaaclab_tasks/docs/CHANGELOG.rst b/source/isaaclab_tasks/docs/CHANGELOG.rst
@@ -1,6 +1,36 @@
 Changelog
 ---------
 
+1.5.28 (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.
+
+
 1.5.27 (2026-04-25)
 ~~~~~~~~~~~~~~~~~~~
 

@@ -3,61 +3,19 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+
 from isaaclab.utils import configclass
 
-from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import (
-    EventsCfg,
-    LocomotionVelocityRoughEnvCfg,
-    StartupEventsCfg,
-)
-from isaaclab_tasks.utils import PresetCfg
+from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
 
 ##
 # Pre-defined configs
 ##
 from isaaclab_assets.robots.unitree import UNITREE_A1_CFG  # isort: skip
 
 
-@configclass
-class A1NewtonEventsCfg(EventsCfg):
-    def __post_init__(self):
-        super().__post_init__()
-        self.push_robot = None
-        self.base_external_force_torque.params["asset_cfg"].body_names = "trunk"
-        self.reset_robot_joints.params["position_range"] = (1.0, 1.0)
-        self.reset_base.params = {
-            "pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "yaw": (-3.14, 3.14)},
-            "velocity_range": {
-                "x": (0.0, 0.0),
-                "y": (0.0, 0.0),
-                "z": (0.0, 0.0),
-                "roll": (0.0, 0.0),
-                "pitch": (0.0, 0.0),
-                "yaw": (0.0, 0.0),
-            },
-        }
-
-
-@configclass
-class A1PhysxEventsCfg(A1NewtonEventsCfg, StartupEventsCfg):
-    def __post_init__(self):
-        super().__post_init__()
-        self.add_base_mass.params["mass_distribution_params"] = (-1.0, 3.0)
-        self.add_base_mass.params["asset_cfg"].body_names = "trunk"
-        self.base_com = None
-
-
-@configclass
-class A1EventsCfg(PresetCfg):
-    default = A1PhysxEventsCfg()
-    newton = A1NewtonEventsCfg()
-    physx = default
-
-
 @configclass
 class UnitreeA1RoughEnvCfg(LocomotionVelocityRoughEnvCfg):
-    events: A1EventsCfg = A1EventsCfg()
-
     def __post_init__(self):
         # post init of parent
         super().__post_init__()
@@ -69,6 +27,11 @@ def __post_init__(self):
         self.scene.terrain.terrain_generator.sub_terrains["random_rough"].noise_range = (0.01, 0.06)
         self.scene.terrain.terrain_generator.sub_terrains["random_rough"].noise_step = 0.01
 
+        # A1 uses "trunk" as base body
+        self.events.add_base_mass.params["asset_cfg"].body_names = "trunk"
+        self.events.base_external_force_torque.params["asset_cfg"].body_names = "trunk"
+        self.events.base_com.default.params["asset_cfg"].body_names = "trunk"
+
         # reduce action scale
         self.actions.joint_pos.scale = 0.25
 

@@ -3,37 +3,19 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+
 from isaaclab.utils import configclass
 
-from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import (
-    EventsCfg,
-    LocomotionVelocityRoughEnvCfg,
-    StartupEventsCfg,
-)
-from isaaclab_tasks.utils import PresetCfg
+from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
 
 ##
 # Pre-defined configs
 ##
 from isaaclab_assets import ANYMAL_B_CFG  # isort: skip
 
 
-@configclass
-class AnymalBPhysxEventsCfg(EventsCfg, StartupEventsCfg):
-    pass
-
-
-@configclass
-class AnymalBEventsCfg(PresetCfg):
-    default = AnymalBPhysxEventsCfg()
-    newton = EventsCfg()
-    physx = default
-
-
 @configclass
 class AnymalBRoughEnvCfg(LocomotionVelocityRoughEnvCfg):
-    events: AnymalBEventsCfg = AnymalBEventsCfg()
-
     def __post_init__(self):
         # post init of parent
         super().__post_init__()

@@ -3,37 +3,20 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+
 from isaaclab.utils import configclass
 
-from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import (
-    EventsCfg,
-    LocomotionVelocityRoughEnvCfg,
-    StartupEventsCfg,
-)
-from isaaclab_tasks.utils import PresetCfg, preset
+from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
+from isaaclab_tasks.utils import preset
 
 ##
 # Pre-defined configs
 ##
 from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
 
 
-@configclass
-class AnymalCPhysxEventsCfg(EventsCfg, StartupEventsCfg):
-    pass
-
-
-@configclass
-class AnymalCEventsCfg(PresetCfg):
-    default = AnymalCPhysxEventsCfg()
-    newton = EventsCfg()
-    physx = default
-
-
 @configclass
 class AnymalCRoughEnvCfg(LocomotionVelocityRoughEnvCfg):
-    events: AnymalCEventsCfg = AnymalCEventsCfg()
-
     def __post_init__(self):
         # post init of parent
         super().__post_init__()

@@ -3,37 +3,19 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+
 from isaaclab.utils import configclass
 
-from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import (
-    EventsCfg,
-    LocomotionVelocityRoughEnvCfg,
-    StartupEventsCfg,
-)
-from isaaclab_tasks.utils import PresetCfg
+from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
 
 ##
 # Pre-defined configs
 ##
 from isaaclab_assets.robots.anymal import ANYMAL_D_CFG  # isort: skip
 
 
-@configclass
-class AnymalDPhysxEventsCfg(EventsCfg, StartupEventsCfg):
-    pass
-
-
-@configclass
-class AnymalDEventsCfg(PresetCfg):
-    default = AnymalDPhysxEventsCfg()
-    newton = EventsCfg()
-    physx = default
-
-
 @configclass
 class AnymalDRoughEnvCfg(LocomotionVelocityRoughEnvCfg):
-    events: AnymalDEventsCfg = AnymalDEventsCfg()
-
     def __post_init__(self):
         # post init of parent
         super().__post_init__()