Address review feedback on collision pipeline config

Move config resolution out of NewtonManager into
NewtonCollisionPipelineCfg.to_pipeline_args(), following the Kamino
to_solver_config() pattern. Fix truthiness check on hydroelastic config
dict to use explicit `is not None`. Add missing changelog entry for
MJWarpSolverCfg.tolerance. Use specific return type hint dict[str, Any].

Author: AntoineRichard

source/isaaclab_newton/docs/CHANGELOG.rst

@@ -9,6 +9,15 @@ Added
 
 * Added :class:`~isaaclab_newton.physics.NewtonCollisionPipelineCfg` to expose Newton
   collision pipeline parameters via :attr:`~isaaclab_newton.physics.NewtonCfg.collision_cfg`.
+* Added :attr:`~isaaclab_newton.physics.MJWarpSolverCfg.tolerance` for solver convergence control.
+
+Fixed
+^^^^^
+
+* Fixed truthiness check on hydroelastic config dict in collision pipeline
+  initialization. An explicit ``is not None`` check is now used so that
+  :class:`~isaaclab_newton.physics.newton_collision_cfg.HydroelasticSDFCfg`
+  with all-default values is no longer silently skipped.
 
 
 0.5.12 (2026-04-13)

source/isaaclab_newton/isaaclab_newton/physics/newton_collision_cfg.py

@@ -7,7 +7,7 @@
 
 from __future__ import annotations
 
-from typing import Literal
+from typing import Any, Literal
 
 from isaaclab.utils import configclass
 
@@ -166,3 +166,21 @@ class NewtonCollisionPipelineCfg:
 
     Defaults to ``None`` (hydroelastic disabled, same as Newton's default).
     """
+
+    def to_pipeline_args(self) -> dict[str, Any]:
+        """Build keyword arguments for :class:`newton.CollisionPipeline`.
+
+        Converts this configuration into the dict expected by
+        ``CollisionPipeline.__init__``, handling nested config conversion
+        (e.g. :class:`HydroelasticSDFCfg` → ``HydroelasticSDF.Config``).
+
+        Returns:
+            Keyword arguments suitable for ``CollisionPipeline(model, **args)``.
+        """
+        from newton.geometry import HydroelasticSDF
+
+        cfg_dict = self.to_dict()
+        hydro_cfg = cfg_dict.pop("sdf_hydroelastic_config", None)
+        if hydro_cfg is not None:
+            cfg_dict["sdf_hydroelastic_config"] = HydroelasticSDF.Config(**hydro_cfg)
+        return cfg_dict

source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py

@@ -28,7 +28,6 @@
         _cudart = None
 from newton import Axis, CollisionPipeline, Contacts, Control, Model, ModelBuilder, State, eval_fk
 from newton._src.usd.schemas import SchemaResolverNewton, SchemaResolverPhysx
-from newton.geometry import HydroelasticSDF
 from newton.sensors import SensorContact as NewtonContactSensor
 from newton.sensors import SensorFrameTransform
 from newton.solvers import SolverBase, SolverFeatherstone, SolverMuJoCo, SolverNotifyFlags, SolverXPBD
@@ -731,11 +730,7 @@ def _initialize_contacts(cls) -> None:
             # Newton collision pipeline: create pipeline and generate contacts
             if cls._collision_pipeline is None:
                 if cls._collision_cfg is not None:
-                    cfg_dict = cls._collision_cfg.to_dict()
-                    hydro_cfg = cfg_dict.pop("sdf_hydroelastic_config", None)
-                    if hydro_cfg:
-                        cfg_dict["sdf_hydroelastic_config"] = HydroelasticSDF.Config(**hydro_cfg)
-                    cls._collision_pipeline = CollisionPipeline(cls._model, **cfg_dict)
+                    cls._collision_pipeline = CollisionPipeline(cls._model, **cls._collision_cfg.to_pipeline_args())
                 else:
                     cls._collision_pipeline = CollisionPipeline(cls._model, broad_phase="explicit")