[Newton] Splits the Contact Sensor Configurations into base and Newton

[camevor]

Description

Separate NewtonContactSensorCfg with shape-level fields, rename base config fields for consistency, a
nd resolve regex expressions to integer indices in add_contact_sensor instead of passing raw patterns
through match_fn.

• Extract NewtonContactSensorCfg into its own file with shape-level fields (sensor_shape_prim_expr, filter_shape_prim_expr), sensor_body_prim_expr property alias, from_base_cfg factory, and __post_init__ guards for unsupported options
• Rename base ContactSensorCfg fields: filter_prim_paths_expr → filter_body_prim_expr, drop shape_path and filter_shape_paths_expr (moved to Newton subclass)
• Resolve regex expressions to list[int] indices in add_contact_sensor via resolve_matching_names, removing flipped_match / match_fn
• Simplify ContactSensor._initialize_impl — pass cfg fields directly instead of building joined regex strings
• Update interactive_scene.py env-regex expansion to use renamed fields
• Update docstring references in contact_sensor_data.py

Fixes # (issue)

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[greptile-apps]

Greptile Summary

Refactors contact sensor configuration to separate base (body-level) and Newton (shape-level) implementations, renames config fields for consistency (filter_prim_paths_expr replaces previous naming), and resolves regex expressions to integer indices in add_contact_sensor.

Key Changes:

• Extracts NewtonContactSensorCfg into separate file with shape-level fields (sensor_shape_prim_expr, filter_shape_prim_expr)
• Renames base ContactSensorCfg field and removes shape-level options (moved to Newton subclass)
• Resolves regex expressions to list[int] indices via resolve_matching_names instead of passing raw patterns to Newton
• Updates Newton API usage: body_key → body_label, shape_key → shape_label, eval() → update()
• Adds from_base_cfg factory method for converting base config to Newton config
• Updates environment regex expansion in interactive_scene.py

Issues Found:

• Missing f-string prefix in TypeError message (line 71 of contact_sensor.py)
• Missing environment regex expansion for sensor_shape_prim_expr in interactive_scene.py

Confidence Score: 4/5

• Safe to merge after fixing the two identified issues
• Well-structured refactoring with clear separation of concerns and proper API updates. However, two bugs need fixing: missing f-string prefix causing incorrect error message, and missing env regex expansion that could break shape-level sensor configuration
• Fix contact_sensor.py:71 (f-string) and interactive_scene.py:622-625 (add sensor_shape_prim_expr expansion) before merging

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py	Renames filter_prim_paths_expr field, removes shape-level fields, adds new config options, updates docs to clarify body-level only support
source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor_cfg.py	New file introducing NewtonContactSensorCfg with shape-level support, from_base_cfg factory, and proper validation in __post_init__
source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py	Replaces regex-based matching with resolved integer indices, removes flipped_match function, updates Newton API usage (eval → update), adds return type for add_contact_sensor
source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor.py	Auto-converts ContactSensorCfg to NewtonContactSensorCfg, simplifies _initialize_impl, updates Newton API usage. Has syntax error in TypeError message (line 71)
source/isaaclab/isaaclab/scene/interactive_scene.py	Updates env regex expansion for renamed fields, but missing expansion for sensor_shape_prim_expr

Class Diagram

%%{init: {'theme': 'neutral'}}%%
classDiagram
    class ContactSensorCfg {
        +str prim_path
        +list[str] filter_prim_paths_expr
        +bool track_air_time
        +float force_threshold = 1.0
        Body-level sensing only
    }
    
    class NewtonContactSensorCfg {
        +list[str] sensor_shape_prim_expr
        +list[str] filter_shape_prim_expr
        +float force_threshold = 0.0
        +sensor_body_prim_expr property
        +from_base_cfg() classmethod
        +__post_init__()
        Shape-level sensing support
    }
    
    class NewtonManager {
        +add_contact_sensor(body_names_expr, shape_names_expr, contact_partners_body_expr, contact_partners_shape_expr)
        Resolves regex to list[int] indices
    }
    
    class ContactSensor {
        +__init__(cfg)
        Auto-converts ContactSensorCfg
    }
    
    ContactSensorCfg <|-- NewtonContactSensorCfg : extends
    NewtonContactSensorCfg --> ContactSensor : configures
    ContactSensor --> NewtonManager : uses add_contact_sensor()
    NewtonManager --> NewtonContactSensor : creates Newton sensor with indices

Loading

_{Last reviewed commit: 241caa0}

[greptile-apps]

_{11 files reviewed, 2 comments}

_{Edit Code Review Agent Settings | Greptile}

[AntoineRichard]

Might need to add:

        # check if max_contact_data_count_per_prim is set
        if self.cfg.max_contact_data_count_per_prim is not None:
            raise ValueError("Newton doesn't use max_contact_data_count_per_prim, setting this parameter has no impact on the simulation.")

        # check if force_threshold is set
        if self.cfg.force_threshold is None:
            self.cfg.force_threshold = 0.0

[AntoineRichard]

No sure if the raise is not a bit too violent. A warning might be enough.

[AntoineRichard]

Actually, the if self.cfg.force_threshold is None: self.cfg.force_threshold = 0.0 is not needed nevermind that. You apply the overload.

[camevor]

The data count per prim is handled in the NewtonContactSensorCfg's __post_init__. Will handle the force here though 👍