builder.rigid_contact_margin = 0.0 to match historic behaviour

Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>

Author: gyeomannvidia

newton/examples/robot/example_robot_allegro_hand.py

@@ -93,6 +93,7 @@ def __init__(self, viewer, num_worlds=4):
         newton.solvers.SolverMuJoCo.register_custom_attributes(allegro_hand)
         allegro_hand.default_shape_cfg.ke = 1.0e3
         allegro_hand.default_shape_cfg.kd = 1.0e2
+        allegro_hand.rigid_contact_margin = 0.0
 
         asset_path = newton.utils.download_asset("wonik_allegro")
         asset_file = str(asset_path / "usd" / "allegro_left_hand_with_cube.usda")