Add show visual geometries toggle to Newton viewer

Expose Newton's built-in show_visual property through the
NewtonVisualizerCfg and the viewer UI panel, allowing users
to toggle visual geometry rendering at runtime.

Author: vidurv-nvidia

source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py

@@ -193,6 +193,9 @@ def _render_left_panel(self):
                     show_collision = self.show_collision
                     changed, self.show_collision = imgui.checkbox("Show Collision", show_collision)
 
+                    show_visual = self.show_visual
+                    changed, self.show_visual = imgui.checkbox("Show Visual Geometries", show_visual)
+
                     show_springs = self.show_springs
                     changed, self.show_springs = imgui.checkbox("Show Springs", show_springs)
 
@@ -323,6 +326,7 @@ def initialize(self, scene_data_provider: BaseSceneDataProvider) -> None:
             self._viewer.show_joints = self.cfg.show_joints
             self._viewer.show_contacts = self.cfg.show_contacts
             self._viewer.show_collision = self.cfg.show_collision
+            self._viewer.show_visual = self.cfg.show_visual
             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

source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer_cfg.py

@@ -43,6 +43,9 @@ class NewtonVisualizerCfg(VisualizerCfg):
     show_collision: bool = False
     """Show collision visualization."""
 
+    show_visual: bool = True
+    """Show visual geometry."""
+
     show_springs: bool = False
     """Show spring visualization."""