Adding Hydroelastic and SDF collision configuration to IsaacLab#5160

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vidurv-nvidia:vidur/feature/sdf-collision

Commits on Apr 3, 2026

Commits on Apr 4, 2026

Add SDF and Hydroelastic collisions in ISaacLab

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Integrate Octi's changes to the collision pipline creation from https://github.com/isaac-sim/IsaacLab/pull/5143/changes#diff-b4e6f780e95dead0a2674d67049f6c0a1980da4050da503e4ab4425cc6932550

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Add unit tests for SDF and Hydroelastic configuration

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Update source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py

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Move the import to the top level

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Make config variable access consistent

vidurv-nvidia
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Update body and shape pattern matching

vidurv-nvidia
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Apply SDF mesh conversion before the enviorment is replicated

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Raise TypeError for invalid collision_cfg instead of silent fallback

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Guard against None PhysicsManager._cfg in _apply_sdf_config

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Fix lint and formatting issues from pre-commit

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Commits on Apr 7, 2026

Commits on Apr 8, 2026

Fix SDF config bugs: skip redundant rebuilds, respect hydro patterns, protect non-replicate path

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