Add show inertia boxes toggle to Newton viewer

Add show_inertia_boxes option to NewtonVisualizerCfg and corresponding
checkbox in the Newton viewer UI, allowing users to visualize body
inertia boxes at runtime.

Author: vidurv-nvidia

source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py

@@ -196,6 +196,9 @@ def _render_left_panel(self):
                     show_springs = self.show_springs
                     changed, self.show_springs = imgui.checkbox("Show Springs", show_springs)
 
+                    show_inertia_boxes = self.show_inertia_boxes
+                    changed, self.show_inertia_boxes = imgui.checkbox("Show Inertia Boxes", show_inertia_boxes)
+
                     show_com = self.show_com
                     changed, self.show_com = imgui.checkbox("Show Center of Mass", show_com)
 
@@ -321,6 +324,7 @@ def initialize(self, scene_data_provider: BaseSceneDataProvider) -> None:
             self._viewer.show_contacts = self.cfg.show_contacts
             self._viewer.show_collision = self.cfg.show_collision
             self._viewer.show_springs = self.cfg.show_springs
+            self._viewer.show_inertia_boxes = self.cfg.show_inertia_boxes
             self._viewer.show_com = self.cfg.show_com
 
             self._viewer.renderer.draw_shadows = self.cfg.enable_shadows

source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer_cfg.py

@@ -46,6 +46,9 @@ class NewtonVisualizerCfg(VisualizerCfg):
     show_springs: bool = False
     """Show spring visualization."""
 
+    show_inertia_boxes: bool = False
+    """Show inertia box visualization."""
+
     show_com: bool = False
     """Show center of mass visualization."""