Adds collision, inertia, and visual geometry toggles to Newton viewer (#5161)

# Description

Add visualization toggles for collision meshes, inertia boxes, and
visual geometries to the Newton viewer.

- Add `show_collision` config option and UI checkbox to visualize
collision meshes at runtime
- Add `show_inertia_boxes` config option and UI checkbox to visualize
body inertia boxes at runtime
- Add `show_visual` config option and UI checkbox to toggle visual
geometry rendering at runtime

All options wire through `NewtonVisualizerCfg` to the underlying Newton
`ViewerGL` attributes.

## Type of change

- New feature (non-breaking change which adds functionality)

## Screenshots

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] 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

---------

Signed-off-by: vidurv-nvidia <vidurv@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
Co-authored-by: isaaclab-review-bot[bot] <270793704+isaaclab-review-bot[bot]@users.noreply.github.com>

Author: 3 people

source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py

@@ -190,9 +190,15 @@ def _render_left_panel(self):
                     show_contacts = self.show_contacts
                     changed, self.show_contacts = imgui.checkbox("Show Contacts", show_contacts)
 
+                    show_collision = self.show_collision
+                    changed, self.show_collision = imgui.checkbox("Show Collision", show_collision)
+
                     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)
 
@@ -316,7 +322,9 @@ 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_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

@@ -40,9 +40,15 @@ class NewtonVisualizerCfg(VisualizerCfg):
     show_contacts: bool = False
     """Show contact visualization."""
 
+    show_collision: bool = False
+    """Show collision visualization."""
+
     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."""