[maxkra15]

Description

WorkSpaceLabViewer.webm

Add Isaac Lab support for Newton's experimental ViewerGL workspace: dockable inspection panels, simulation transport, display-history playback, and an Isaac Lab theme/loading screen. Packaged examples can replace the scene while retaining the native window and its layout.

Pause, single-step, and restart remain coordinated with Isaac Lab's simulation and RL episode lifecycle. Paused steps now appear in history, all viewer windows keep processing input during a pause, and playback ends when the last window closes. State and Control inspectors remain read-only.

Training starts with history recording disabled to avoid automatic GPU-to-host snapshots. Explicit NewtonGLBackendCfg.record_history settings and the native Record control override the default; camera changes and resets preserve the user's choice.

Dependency and draft status

Depends on newton-physics/newton#4880, tested at b798e43d122cb3aa9c2723ee6b3aa5473b93c3b6. The preview uses the documented uv run --with override and imgui-bundle==1.92.900. The regular Newton dependency remains supported.

Keep this PR in draft until the upstream API lands and the final merged revision is validated. The final upstream API and merged revision still need validation before this preview is marked ready.

Type of change

• New feature
• Bug fix
• Documentation update

Validation

Merged Isaac Lab main 9860e2bd8 into the branch at 8d5517818, preserving the earlier automated merge.

• 1,091 local test executions passed across the regular Newton pin and experimental workspace revision. This includes native viewer/keyboard lifecycle, Newton solvers/articulations/cloners/couplers, core controls/rendering/sensors/Warp memory, all 15 RL test files and exports, and a standalone RTX camera test. One workspace-only test is skipped with regular Newton; six Kit-specific articulation cases were excluded from the local run.
• CUDA training (four Cartpole environments, one iteration/64 steps) starts with zero history snapshots and records after native Record opt-in. Checkpoint playback/video and five retained-window example switches passed.
• Full repository formatting, lint and changelog checks passed. A clean Sphinx HTML build with warnings treated as errors passed.
• Full Docker/GPU CI on the exact pushed commit: 30 jobs passed, three conditional jobs skipped, and no failed jobs or steps. Individual job results were reviewed.
• All other exact-commit PR workflows passed: multi-GPU unit tests and Kit/kitless training, x86/ARM installation, ARM build/Cartpole smoke, wheel, docs, licenses, lint, changelogs, and link checks.

Coverage limits

• The CI video E2E module was skipped after a MoviePy import failure. An import-only reproduction traced this to imageio_ffmpeg installed in a disabled Python user site. The local training/playback MP4 checks above passed; the skipped CI suite is not counted as video E2E coverage.
• All four performance workloads ran successfully, but baseline comparisons were skipped because this fork lacks the baseline-store credential. No performance-regression verdict is claimed.

Checklist

• Read the contribution guidelines
• Ran repository formatting and lint checks
• Updated documentation
• Introduced no new warnings in the completed checks
• Validated changed behavior and applied the test-audit criteria
• Added changelog fragments for every touched package
• Contributor already listed in CONTRIBUTORS.md