syc with stale fix

Author: ooctipus

source/isaaclab_newton/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.5.11"
+version = "0.5.12"
 
 # Description
 title = "Newton simulation interfaces for IsaacLab core package"

source/isaaclab_newton/docs/CHANGELOG.rst

@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+0.5.13 (2026-04-05)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed NaN after env reset caused by stale ``body_q`` in the collision
+  pipeline. Added :meth:`~isaaclab_newton.physics.NewtonManager.invalidate_fk`
+  so articulation write methods trigger ``eval_fk`` before the next
+  ``collide()``.
+
 
 0.5.12 (2026-04-03)
 ~~~~~~~~~~~~~~~~~~~

source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py

@@ -522,8 +522,8 @@ def invalidate_fk(cls) -> None:
         """Mark forward kinematics as needing recomputation.
 
         Called by articulation write methods that modify ``joint_q`` or root
-        transforms.  The flag is checked in :meth:`_simulate_physics_only`
-        before collision detection to ensure ``body_q`` is up-to-date.
+        transforms.  The flag is checked in :meth:`step` before collision
+        detection to ensure ``body_q`` is up-to-date.
         """
         cls._fk_dirty = True
 

source/isaaclab_newton/test/assets/test_articulation.py

@@ -2627,8 +2627,7 @@ def _patched_simulate(cls):
         jq_root = captured["jq_root"]
         diff = (jq_root - bq_root).abs().max().item()
         assert diff < 0.01, (
-            f"body_q was stale when collide() ran: diff={diff:.4f}m, "
-            f"jq={jq_root.tolist()}, bq={bq_root.tolist()}"
+            f"body_q was stale when collide() ran: diff={diff:.4f}m, jq={jq_root.tolist()}, bq={bq_root.tolist()}"
         )