Add Newton viewer rigid-body dragging - #6696
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kellyguo11 merged 33 commits intoAug 8, 2026
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Refresh uv.lock for the package version bumps on develop so installation checks pass on the merged PR tree.
…r-support # Conflicts: # uv.lock
maxkra15
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Apply viewer picking forces in both Newton state layouts and use an explicit rigid-body force-input capability to keep particle-only MPM excluded.
Use Newton's public force path and collapse visualizer initialization bookkeeping while preserving graph and reset safety.
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July 31, 2026 01:48
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StafaH,
aserifi,
david-cao-mueller,
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matthewtrepte and
ooctipus
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July 31, 2026 01:48
Replace the generic cube example with solver-specific XPBD domino and VBD block-and-tackle demos. Add the coupled rigid-MPM three-box example and the single-world MPM reset handling it requires.
…max/newton-viewer-support
Remove the duplicate reset changelog entry now that the scoped coupled-MPM fix is part of develop. Restore the surrounding core formatting to keep the viewer diff focused.
ooctipus
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Aug 7, 2026
Keep pulley-specific VBD contact tuning local to the standalone example instead of expanding the public solver config. Clarify that only picking inputs require initialization before CUDA graph capture.
…r-support # Conflicts: # source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py # source/isaaclab_visualizers/test/test_newton_adapter.py
StafaH
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Aug 7, 2026
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can you change the UI text in the Newton GL viewer from Right Click - Pick objects to Right Click - Pick and drag objects? |
matthewtrepte
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Aug 8, 2026
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Summary
Picking is automatically disabled for headless viewers, standalone MPM, non-Newton physics, and solvers that do not consume rigid-body force input. This supersedes #6403.
Examples
The coupled-MPM example uses the single-world reset support merged in #6955; this PR no longer duplicates that fix.
Performance
Validation
The Kit-only visualization-marker test requires a full Isaac Sim runtime and remains covered by CI.