Address review findings from automated code review

- Fix randomize_rigid_body_com to pass partial data (env_ids subset)
  to set_coms_index, matching the pattern used by mass/inertia terms.
- Remove dead _default_friction/_default_restitution writes in Newton
  material implementation (values were written but never read back).
- Guard Newton collider offset notification to only fire when params
  are actually provided.
- Fix changelog Sphinx roles for converted function-to-class items.

Author: AntoineRichard

source/isaaclab/docs/CHANGELOG.rst

@@ -18,14 +18,14 @@ Changed
   backend-specific implementations. PhysX uses bucket-based 3-tuple materials via the
   tensor API; Newton samples friction and restitution continuously per shape via
   view-level attribute bindings.
-* Converted :func:`~isaaclab.envs.mdp.randomize_rigid_body_com` from a plain function
-  to a :class:`~isaaclab.managers.ManagerTermBase` class with repeatable randomization
+* Converted ``randomize_rigid_body_com`` from a plain function to a
+  :class:`~isaaclab.managers.ManagerTermBase` class with repeatable randomization
   from cached defaults. Newton passes position-only (vec3); PhysX passes full pose
   (pos + quat).
-* Converted :func:`~isaaclab.envs.mdp.randomize_rigid_body_collider_offsets` from a
-  plain function to a :class:`~isaaclab.managers.ManagerTermBase` class with
-  backend-specific implementations. PhysX uses rest/contact offsets directly; Newton
-  maps them to ``shape_margin`` and ``shape_gap``.
+* Converted ``randomize_rigid_body_collider_offsets`` from a plain function to a
+  :class:`~isaaclab.managers.ManagerTermBase` class with backend-specific
+  implementations. PhysX uses rest/contact offsets directly; Newton maps them to
+  ``shape_margin`` and ``shape_gap``.
 
 
 4.5.30 (2026-04-13)

source/isaaclab/isaaclab/envs/mdp/events.py

@@ -293,10 +293,6 @@ def __init__(
         self._friction_binding = asset._root_view.get_attribute("shape_material_mu", model)[:, 0]  # type: ignore
         self._restitution_binding = asset._root_view.get_attribute("shape_material_restitution", model)[:, 0]  # type: ignore
 
-        # cache defaults
-        self._default_friction = wp.to_torch(self._friction_binding).clone()
-        self._default_restitution = wp.to_torch(self._restitution_binding).clone()
-
     def __call__(
         self,
         env: ManagerBasedEnv,
@@ -328,10 +324,6 @@ def __call__(
             restitution_range_t[0], restitution_range_t[1], (len(env_ids), num_shapes), device=device
         )
 
-        # update cached buffers for the affected env_ids
-        self._default_friction[env_ids[:, None], shape_idx] = friction_samples
-        self._default_restitution[env_ids[:, None], shape_idx] = restitution_samples
-
         # write only the affected env_ids to the warp binding
         friction_view = wp.to_torch(self._friction_binding)
         restitution_view = wp.to_torch(self._restitution_binding)
@@ -750,10 +742,11 @@ def __call__(
         coms[env_ids[:, None], body_ids, :3] += rand_samples
 
         # Newton expects position-only (vec3f), PhysX expects the full pose (pos + quat)
+        # note: pass partial data of shape (len(env_ids), len(body_ids), ...) to match the API
         if self._is_newton:
-            self.asset.set_coms_index(coms=coms[:, body_ids, :3], body_ids=body_ids, env_ids=env_ids)
+            self.asset.set_coms_index(coms=coms[env_ids[:, None], body_ids, :3], body_ids=body_ids, env_ids=env_ids)
         else:
-            self.asset.set_coms_index(coms=coms[:, body_ids], body_ids=body_ids, env_ids=env_ids)
+            self.asset.set_coms_index(coms=coms[env_ids[:, None], body_ids], body_ids=body_ids, env_ids=env_ids)
 
 
 class _RandomizeRigidBodyColliderOffsetsPhysx:
@@ -880,7 +873,8 @@ def __call__(
             gap_view = wp.to_torch(self._sim_bind_shape_gap)
             gap_view[env_ids] = gap[env_ids]
 
-        self._newton_manager.add_model_change(self._notify_shape_properties)
+        if rest_offset_distribution_params is not None or contact_offset_distribution_params is not None:
+            self._newton_manager.add_model_change(self._notify_shape_properties)
 
 
 class randomize_rigid_body_collider_offsets(ManagerTermBase):