diff --git a/trajopt_ifopt/src/constraints/collision/continuous_collision_evaluators.cpp b/trajopt_ifopt/src/constraints/collision/continuous_collision_evaluators.cpp
index 9405fbff..dabe4abe 100644
--- a/trajopt_ifopt/src/constraints/collision/continuous_collision_evaluators.cpp
+++ b/trajopt_ifopt/src/constraints/collision/continuous_collision_evaluators.cpp
@@ -68,11 +68,7 @@ LVSContinuousCollisionEvaluator::LVSContinuousCollisionEvaluator(
 
   contact_manager_ = env_->getContinuousContactManager();
   contact_manager_->setActiveCollisionObjects(manip_active_link_names_);
-  contact_manager_->setCollisionMarginData(collision_config_->contact_manager_config.margin_data);
-  // Increase the default by the buffer
-  contact_manager_->setDefaultCollisionMarginData(
-      collision_config_->contact_manager_config.margin_data.getMaxCollisionMargin() +
-      collision_config_->collision_margin_buffer);
+  contact_manager_->applyContactManagerConfig(collision_config_->contact_manager_config);
 }
 
 CollisionCacheData::ConstPtr
@@ -243,11 +239,7 @@ LVSDiscreteCollisionEvaluator::LVSDiscreteCollisionEvaluator(
 
   contact_manager_ = env_->getDiscreteContactManager();
   contact_manager_->setActiveCollisionObjects(manip_active_link_names_);
-  contact_manager_->setCollisionMarginData(collision_config_->contact_manager_config.margin_data);
-  // Increase the default by the buffer
-  contact_manager_->setDefaultCollisionMarginData(
-      collision_config_->contact_manager_config.margin_data.getMaxCollisionMargin() +
-      collision_config_->collision_margin_buffer);
+  contact_manager_->applyContactManagerConfig(collision_config_->contact_manager_config);
 }
 
 CollisionCacheData::ConstPtr
diff --git a/trajopt_ifopt/src/constraints/collision/discrete_collision_evaluators.cpp b/trajopt_ifopt/src/constraints/collision/discrete_collision_evaluators.cpp
index 868a7a3a..f0d2b4b1 100644
--- a/trajopt_ifopt/src/constraints/collision/discrete_collision_evaluators.cpp
+++ b/trajopt_ifopt/src/constraints/collision/discrete_collision_evaluators.cpp
@@ -67,11 +67,7 @@ SingleTimestepCollisionEvaluator::SingleTimestepCollisionEvaluator(std::shared_p
 
   contact_manager_ = env_->getDiscreteContactManager();
   contact_manager_->setActiveCollisionObjects(manip_active_link_names_);
-  contact_manager_->setCollisionMarginData(collision_config_->contact_manager_config.margin_data);
-  // Increase the default by the buffer
-  contact_manager_->setDefaultCollisionMarginData(
-      collision_config_->contact_manager_config.margin_data.getMaxCollisionMargin() +
-      collision_config_->collision_margin_buffer);
+  contact_manager_->applyContactManagerConfig(collision_config_->contact_manager_config);
 }
 
 CollisionCacheData::ConstPtr