From 2a87bfa91472c1b366e0225e8fc7c698fc55005c Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Wed, 3 Jun 2026 05:52:46 +0000
Subject: [PATCH 01/17] init fixes

---
 .../clarify-visualizer-camera-sensor-mode.rst |  1 +
 .../isaaclab/isaaclab/cli/commands/install.py |  2 +-
 .../isaaclab/envs/utils/camera_view.py        | 15 ++++-
 .../isaaclab/visualizers/visualizer_cfg.py    |  2 +-
 .../test/visualizers/test_visualizer.py       | 11 +++-
 .../fix-newton-hud-imgui-dependency.rst       |  3 +
 .../newton/newton_visualizer.py               | 16 +++++
 .../isaaclab_visualizers/newton_adapter.py    | 23 +++++++
 .../rerun/rerun_visualizer.py                 | 22 ++++++-
 .../viser/viser_visualizer.py                 | 22 ++++++-
 source/isaaclab_visualizers/pyproject.toml    |  4 ++
 source/isaaclab_visualizers/setup.py          | 65 -------------------
 .../test/test_newton_adapter.py               | 26 +++++++-
 .../test_visualizer_integration_newton.py     |  5 +-
 .../test/test_visualizer_integration_physx.py |  5 +-
 ...est_visualizer_tiled_integration_newton.py |  5 +-
 ...test_visualizer_tiled_integration_physx.py |  5 +-
 .../test/visualizer_integration_utils.py      | 26 ++++++++
 tools/wheel_builder/res/python_packages.toml  |  2 +-
 19 files changed, 182 insertions(+), 78 deletions(-)
 create mode 100644 source/isaaclab/changelog.d/clarify-visualizer-camera-sensor-mode.rst
 create mode 100644 source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst
 delete mode 100644 source/isaaclab_visualizers/setup.py

diff --git a/source/isaaclab/changelog.d/clarify-visualizer-camera-sensor-mode.rst b/source/isaaclab/changelog.d/clarify-visualizer-camera-sensor-mode.rst
new file mode 100644
index 000000000000..9dad61c329ec
--- /dev/null
+++ b/source/isaaclab/changelog.d/clarify-visualizer-camera-sensor-mode.rst
@@ -0,0 +1 @@
+Improved visualizer tiled-camera errors when ``tiled_cam_prim_path`` is set but the scene has no Isaac Lab ``Camera`` sensors, and clarified the camera-mode documentation for Cartpole camera tasks.
diff --git a/source/isaaclab/isaaclab/cli/commands/install.py b/source/isaaclab/isaaclab/cli/commands/install.py
index 2fe6368b65d0..f4d141dc4a08 100644
--- a/source/isaaclab/isaaclab/cli/commands/install.py
+++ b/source/isaaclab/isaaclab/cli/commands/install.py
@@ -652,7 +652,7 @@ def _install_extra_feature(feature_name: str, selector: str = "") -> None:
     elif feature_name == "newton":
         if selector:
             print_warning(f"'newton' does not support selectors (got '{selector}'). Installing all newton extras.")
-        print_info("Installing newton extras (newton[sim], PyOpenGL-accelerate, imgui-bundle)...")
+        print_info("Installing newton extras (newton[sim], PyOpenGL-accelerate, imgui-bundle, typing-extensions)...")
         run_command(pip_cmd + ["install", "--editable", f"{source_dir}/isaaclab_newton[all]"])
         run_command(pip_cmd + ["install", "--editable", f"{source_dir}/isaaclab_physx[newton]"])
         run_command(pip_cmd + ["install", "--editable", f"{source_dir}/isaaclab_visualizers[newton]"])
diff --git a/source/isaaclab/isaaclab/envs/utils/camera_view.py b/source/isaaclab/isaaclab/envs/utils/camera_view.py
index 2e2ea846a92f..2c4fbe80a5ec 100644
--- a/source/isaaclab/isaaclab/envs/utils/camera_view.py
+++ b/source/isaaclab/isaaclab/envs/utils/camera_view.py
@@ -92,7 +92,20 @@ def find_camera_by_prim_path(camera_sensors: dict[str, Camera], cam_prim_path: s
             f"cam_prim_path={cam_prim_path!r} matched USD camera prims, but no Isaac Lab Camera sensor owns them. "
             "Add the camera to scene.sensors or leave tiled_cam_prim_path unset to use generated tiled cameras."
         )
-    raise RuntimeError(f"No Isaac Lab Camera sensor matched cam_prim_path={cam_prim_path!r}.")
+    if not camera_sensors:
+        raise RuntimeError(
+            f"No Isaac Lab Camera sensors are registered in the scene, so tiled_cam_prim_path={cam_prim_path!r} "
+            "cannot be used. Use an environment that defines Camera sensors, or leave tiled_cam_prim_path unset "
+            "to use generated tiled cameras."
+        )
+    available_paths = {
+        getattr(camera.cfg, "prim_path", None) for camera in camera_sensors.values() if getattr(camera, "cfg", None)
+    }
+    raise RuntimeError(
+        f"No Isaac Lab Camera sensor matched cam_prim_path={cam_prim_path!r}. "
+        f"Available Camera sensor prim paths: {sorted(path for path in available_paths if path)}. "
+        "Leave tiled_cam_prim_path unset to use generated tiled cameras."
+    )
 
 
 def ensure_camera_initialized(camera: Camera) -> None:
diff --git a/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py b/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
index 78729f1779a8..03422e6d3ae4 100644
--- a/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
+++ b/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
@@ -36,7 +36,7 @@ class VisualizerCfg:
     """Camera focal length in millimeters for visualizer camera views."""
 
     # Tiled camera settings
-    tiled_cam_view: bool = False
+    tiled_cam_view: bool = True
     """Enable a non-interactive tiled camera image view."""
 
     tiled_cam_num: int = 16
diff --git a/source/isaaclab/test/visualizers/test_visualizer.py b/source/isaaclab/test/visualizers/test_visualizer.py
index 3cc8deed56b2..d83b4ea6d794 100644
--- a/source/isaaclab/test/visualizers/test_visualizer.py
+++ b/source/isaaclab/test/visualizers/test_visualizer.py
@@ -13,7 +13,7 @@
 import pytest
 import torch
 
-from isaaclab.envs.utils.camera_view import apply_camera_view_from_origins
+from isaaclab.envs.utils.camera_view import apply_camera_view_from_origins, find_camera_by_prim_path
 from isaaclab.visualizers.base_visualizer import BaseVisualizer
 from isaaclab.visualizers.visualizer import Visualizer
 from isaaclab.visualizers.visualizer_cfg import VisualizerCfg
@@ -126,6 +126,15 @@ def test_apply_camera_view_from_origins_forwards_env_ids():
     assert camera.update_poses_calls == [None]
 
 
+def test_find_camera_by_prim_path_explains_missing_scene_cameras():
+    with pytest.raises(RuntimeError) as exc_info:
+        find_camera_by_prim_path({}, "/World/envs/*/Camera", [0])
+
+    message = str(exc_info.value)
+    assert "No Isaac Lab Camera sensors are registered in the scene" in message
+    assert "leave tiled_cam_prim_path unset" in message
+
+
 def test_compute_visualized_env_ids_cap_only_returns_none():
     """Cap-only path: :meth:`_compute_visualized_env_ids` is ``None``.
 
diff --git a/source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst b/source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst
new file mode 100644
index 000000000000..4cab0ab89428
--- /dev/null
+++ b/source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst
@@ -0,0 +1,3 @@
+Fixed Newton visualizer HUD dependency checks by requiring ``typing-extensions>=4.15.0`` for the Newton visualizer extra and failing integration tests when Newton reports that ``imgui_bundle`` could not be imported. Removed the legacy ``setup.py`` for ``isaaclab_visualizers`` now that ``pyproject.toml`` carries the package metadata.
+
+Fixed Rerun and Viser visualizers rendering Newton infinite ground planes too small by expanding non-positive plane extents to the same large finite size used by Newton GL.
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
index 7c4f82234d0f..57d0d604ea05 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
@@ -41,6 +41,21 @@
     from isaaclab.scene_data import SceneDataProvider
 
 
+def _log_newton_hud_dependency_issue() -> None:
+    """Log a clear warning if Newton's imgui HUD dependencies cannot be imported."""
+    try:
+        from imgui_bundle import imgui as _imgui  # noqa: F401
+        from imgui_bundle import imguizmo as _imguizmo  # noqa: F401
+        from imgui_bundle.python_backends import pyglet_backend as _pyglet_backend  # noqa: F401
+    except ImportError as exc:
+        logger.warning(
+            "[NewtonVisualizer] Newton HUD disabled: failed to import imgui_bundle. "
+            "Install isaaclab-visualizers[newton] or fix its transitive dependencies "
+            "(for example typing-extensions>=4.15.0). ImportError: %s",
+            exc,
+        )
+
+
 class NewtonViewerGL(ViewerGL):
     """Wrapper around Newton's ViewerGL with training/rendering pause controls."""
 
@@ -389,6 +404,7 @@ def initialize(self, scene_data_provider: SceneDataProvider) -> None:
 
             pyglet.options["headless"] = True
 
+        _log_newton_hud_dependency_issue()
         self._viewer = NewtonViewerGL(
             width=self.cfg.window_width,
             height=self.cfg.window_height,
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py
index 6bc3d5a2b4f1..0dffab16fbec 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py
@@ -8,6 +8,29 @@
 from __future__ import annotations
 
 
+VISUALIZER_INFINITE_PLANE_SIZE = 1000.0
+"""Finite render size used for Newton planes encoded as infinite."""
+
+
+def expand_infinite_plane_scale(
+    geo_scale: tuple[float, ...], plane_size: float = VISUALIZER_INFINITE_PLANE_SIZE
+) -> tuple[float, ...]:
+    """Return a finite visual scale for Newton planes encoded with non-positive extents.
+
+    Newton uses non-positive X/Y plane scale values to represent an effectively
+    infinite plane. Newton GL renders those with a large finite mesh; web viewers
+    also need a finite size, otherwise their world-extents heuristic can shrink
+    the floor to just the actor bounds.
+    """
+    scale = tuple(float(value) for value in geo_scale)
+    width = scale[0] if len(scale) > 0 else 0.0
+    length = scale[1] if len(scale) > 1 else 0.0
+    if width > 0.0 and length > 0.0:
+        return scale
+    tail = scale[2:] if len(scale) > 2 else ()
+    return (float(plane_size), float(plane_size), *tail)
+
+
 def resolve_visible_env_indices(
     env_ids: list[int] | None,
     max_visible_envs: int | None,
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py
index 8b9eea880813..b13a89575a2d 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py
@@ -18,12 +18,17 @@
 
 import rerun as rr
 import rerun.blueprint as rrb
+import newton
 from newton.viewer import ViewerRerun
 
 from isaaclab.visualizers.base_visualizer import BaseVisualizer
 
 from isaaclab_visualizers.newton.newton_visualization_markers import render_newton_visualization_markers
-from isaaclab_visualizers.newton_adapter import apply_viewer_visible_worlds, resolve_visible_env_indices
+from isaaclab_visualizers.newton_adapter import (
+    apply_viewer_visible_worlds,
+    expand_infinite_plane_scale,
+    resolve_visible_env_indices,
+)
 
 from .rerun_visualizer_cfg import RerunVisualizerCfg
 
@@ -134,6 +139,21 @@ def _render_ui(self):
             if imgui.button("Pause Rendering" if not self._paused_rendering else "Resume Rendering"):
                 self._paused_rendering = not self._paused_rendering
 
+    def log_geo(
+        self,
+        name: str,
+        geo_type: int,
+        geo_scale: tuple[float, ...],
+        geo_thickness: float,
+        geo_is_solid: bool,
+        geo_src=None,
+        hidden: bool = False,
+    ):
+        """Log geometry, preserving large render extents for infinite ground planes."""
+        if geo_type == newton.GeoType.PLANE:
+            geo_scale = expand_infinite_plane_scale(geo_scale)
+        return super().log_geo(name, geo_type, geo_scale, geo_thickness, geo_is_solid, geo_src, hidden)
+
 
 class RerunVisualizer(BaseVisualizer):
     """Rerun visualizer for Isaac Lab."""
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py
index 5bd9a831adce..243812e856a0 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py
@@ -16,12 +16,17 @@
 from pathlib import Path
 from typing import TYPE_CHECKING, Any
 
+import newton
 from newton.viewer import ViewerViser
 
 from isaaclab.visualizers.base_visualizer import BaseVisualizer
 
 from isaaclab_visualizers.newton.newton_visualization_markers import render_newton_visualization_markers
-from isaaclab_visualizers.newton_adapter import apply_viewer_visible_worlds, resolve_visible_env_indices
+from isaaclab_visualizers.newton_adapter import (
+    apply_viewer_visible_worlds,
+    expand_infinite_plane_scale,
+    resolve_visible_env_indices,
+)
 
 from .viser_visualizer_cfg import ViserVisualizerCfg
 
@@ -114,6 +119,21 @@ def share_url(self) -> str | None:
         """Return the public share URL created by Viser, if any."""
         return self._share_url
 
+    def log_geo(
+        self,
+        name: str,
+        geo_type: int,
+        geo_scale: tuple[float, ...],
+        geo_thickness: float,
+        geo_is_solid: bool,
+        geo_src=None,
+        hidden: bool = False,
+    ):
+        """Log geometry, preserving large render extents for infinite ground planes."""
+        if geo_type == newton.GeoType.PLANE:
+            geo_scale = expand_infinite_plane_scale(geo_scale)
+        return super().log_geo(name, geo_type, geo_scale, geo_thickness, geo_is_solid, geo_src, hidden)
+
 
 class ViserVisualizer(BaseVisualizer):
     """Viser web-based visualizer backed by Newton's ViewerViser."""
diff --git a/source/isaaclab_visualizers/pyproject.toml b/source/isaaclab_visualizers/pyproject.toml
index c94ee57a3a21..9c439e7c327a 100644
--- a/source/isaaclab_visualizers/pyproject.toml
+++ b/source/isaaclab_visualizers/pyproject.toml
@@ -32,9 +32,11 @@ newton = [
     "newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0",
     "PyOpenGL-accelerate",
     "imgui-bundle>=1.92.5",
+    "typing-extensions>=4.15.0",
 ]
 rerun = [
     "newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0",
+    "pyarrow==22.0.0",
     "rerun-sdk>=0.29.0",
 ]
 viser = [
@@ -45,7 +47,9 @@ all = [
     "imgui-bundle>=1.92.5",
     "newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0",
     "PyOpenGL-accelerate",
+    "pyarrow==22.0.0",
     "rerun-sdk>=0.29.0",
+    "typing-extensions>=4.15.0",
     "viser>=1.0.16",
     "warp-lang",
 ]
diff --git a/source/isaaclab_visualizers/setup.py b/source/isaaclab_visualizers/setup.py
deleted file mode 100644
index b02846e4b459..000000000000
--- a/source/isaaclab_visualizers/setup.py
+++ /dev/null
@@ -1,65 +0,0 @@
-# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-"""Installation script for the 'isaaclab_visualizers' python package."""
-
-from setuptools import setup
-
-# Base requirements shared across visualizer backends.
-INSTALL_REQUIRES = [
-    "isaaclab",
-    "numpy",
-]
-
-# Every Newton declaration in the repo must use the SAME extra spec (`newton[sim]`).
-# Pip resolves a git-URL requirement once per URL: if any package declares bare
-# `newton @ git+...` while another declares `newton[sim] @ git+...`, the first
-# resolution wins and silently drops the `[sim]` extra. That breaks `isaaclab_newton`
-# at import time because `mujoco` / `mujoco-warp` go missing. So even the rerun/viser
-# extras — which don't use the MuJoCo solver directly — must pin `newton[sim]` to
-# stay consistent with `isaaclab_newton`.
-EXTRAS_REQUIRE = {
-    "kit": [],
-    "newton": [
-        "warp-lang",
-        "newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0",
-        "PyOpenGL-accelerate",
-        "imgui-bundle>=1.92.5",
-    ],
-    "rerun": [
-        "newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0",
-        "rerun-sdk>=0.29.0",
-        "pyarrow==22.0.0",
-    ],
-    "viser": [
-        "newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0",
-        "viser>=1.0.16",
-    ],
-}
-
-EXTRAS_REQUIRE["all"] = sorted({dep for group in EXTRAS_REQUIRE.values() for dep in group})
-
-setup(
-    name="isaaclab_visualizers",
-    author="Isaac Lab Project Developers",
-    maintainer="Isaac Lab Project Developers",
-    url="https://github.com/isaac-sim/IsaacLab",
-    version="0.1.0",
-    description="Visualizer backends for Isaac Lab (Kit, Newton, Rerun, Viser).",
-    keywords=["robotics", "simulation", "visualization"],
-    license="BSD-3-Clause",
-    include_package_data=True,
-    package_data={"": ["*.pyi"]},
-    python_requires=">=3.12",
-    install_requires=INSTALL_REQUIRES,
-    extras_require=EXTRAS_REQUIRE,
-    packages=["isaaclab_visualizers"],
-    classifiers=[
-        "Natural Language :: English",
-        "Programming Language :: Python :: 3.12",
-        "Isaac Sim :: 6.0.0",
-    ],
-    zip_safe=False,
-)
diff --git a/source/isaaclab_visualizers/test/test_newton_adapter.py b/source/isaaclab_visualizers/test/test_newton_adapter.py
index 3c020a8d10ee..75944cfdfdc6 100644
--- a/source/isaaclab_visualizers/test/test_newton_adapter.py
+++ b/source/isaaclab_visualizers/test/test_newton_adapter.py
@@ -3,11 +3,33 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Unit tests for viewer env resolution helpers."""
+"""Unit tests for Newton viewer adapter helpers."""
 
 from __future__ import annotations
 
-from isaaclab_visualizers.newton_adapter import apply_viewer_visible_worlds, resolve_visible_env_indices
+from isaaclab_visualizers.newton_adapter import (
+    VISUALIZER_INFINITE_PLANE_SIZE,
+    apply_viewer_visible_worlds,
+    expand_infinite_plane_scale,
+    resolve_visible_env_indices,
+)
+
+
+def test_expand_infinite_plane_scale_expands_non_positive_extents():
+    assert expand_infinite_plane_scale((0.0, 0.0, 1.0, 0.0)) == (
+        VISUALIZER_INFINITE_PLANE_SIZE,
+        VISUALIZER_INFINITE_PLANE_SIZE,
+        1.0,
+        0.0,
+    )
+    assert expand_infinite_plane_scale((-1.0, 25.0)) == (
+        VISUALIZER_INFINITE_PLANE_SIZE,
+        VISUALIZER_INFINITE_PLANE_SIZE,
+    )
+
+
+def test_expand_infinite_plane_scale_preserves_finite_extents():
+    assert expand_infinite_plane_scale((100.0, 50.0, 1.0)) == (100.0, 50.0, 1.0)
 
 
 def test_resolve_visible_env_indices_truncates_explicit_list():
diff --git a/source/isaaclab_visualizers/test/test_visualizer_integration_newton.py b/source/isaaclab_visualizers/test/test_visualizer_integration_newton.py
index a5567735e5cf..30bfc316b646 100644
--- a/source/isaaclab_visualizers/test/test_visualizer_integration_newton.py
+++ b/source/isaaclab_visualizers/test/test_visualizer_integration_newton.py
@@ -28,9 +28,12 @@
 pytestmark = [pytest.mark.isaacsim_ci, pytest.mark.flaky(max_runs=2, min_passes=1)]
 
 
-def test_cartpole_env_visualizers_motion_with_play_pause_newton(caplog: pytest.LogCaptureFixture) -> None:
+def test_cartpole_env_visualizers_motion_with_play_pause_newton(
+    caplog: pytest.LogCaptureFixture, capsys: pytest.CaptureFixture[str]
+) -> None:
     """Cartpole env + all non-tiled visualizers on Newton MJWarp."""
     run_cartpole_env_visualizers_motion_with_play_pause("newton", caplog)
+    _viz_utils.assert_no_newton_hud_dependency_warning(capsys, caplog)
 
 
 if __name__ == "__main__":
diff --git a/source/isaaclab_visualizers/test/test_visualizer_integration_physx.py b/source/isaaclab_visualizers/test/test_visualizer_integration_physx.py
index dac89b283b00..3cb997a64889 100644
--- a/source/isaaclab_visualizers/test/test_visualizer_integration_physx.py
+++ b/source/isaaclab_visualizers/test/test_visualizer_integration_physx.py
@@ -28,9 +28,12 @@
 pytestmark = [pytest.mark.isaacsim_ci, pytest.mark.flaky(max_runs=2, min_passes=1)]
 
 
-def test_cartpole_env_visualizers_motion_with_play_pause_physx(caplog: pytest.LogCaptureFixture) -> None:
+def test_cartpole_env_visualizers_motion_with_play_pause_physx(
+    caplog: pytest.LogCaptureFixture, capsys: pytest.CaptureFixture[str]
+) -> None:
     """Cartpole env + all non-tiled visualizers on PhysX."""
     run_cartpole_env_visualizers_motion_with_play_pause("physx", caplog)
+    _viz_utils.assert_no_newton_hud_dependency_warning(capsys, caplog)
 
 
 if __name__ == "__main__":
diff --git a/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_newton.py b/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_newton.py
index e77ee9be05b5..fc19b969b88b 100644
--- a/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_newton.py
+++ b/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_newton.py
@@ -28,9 +28,12 @@
 pytestmark = [pytest.mark.isaacsim_ci, pytest.mark.flaky(max_runs=2, min_passes=1)]
 
 
-def test_visualizer_tiled_integration_newton(caplog: pytest.LogCaptureFixture) -> None:
+def test_visualizer_tiled_integration_newton(
+    caplog: pytest.LogCaptureFixture, capsys: pytest.CaptureFixture[str]
+) -> None:
     """Cartpole env + tiled Kit/Newton visualizers on Newton MJWarp."""
     run_cartpole_env_visualizers_tiled_camera_motion("newton", caplog)
+    _viz_utils.assert_no_newton_hud_dependency_warning(capsys, caplog)
 
 
 if __name__ == "__main__":
diff --git a/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_physx.py b/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_physx.py
index 5693c1131ee0..b2407aaae482 100644
--- a/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_physx.py
+++ b/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_physx.py
@@ -28,9 +28,12 @@
 pytestmark = [pytest.mark.isaacsim_ci, pytest.mark.flaky(max_runs=2, min_passes=1)]
 
 
-def test_visualizer_tiled_integration_physx(caplog: pytest.LogCaptureFixture) -> None:
+def test_visualizer_tiled_integration_physx(
+    caplog: pytest.LogCaptureFixture, capsys: pytest.CaptureFixture[str]
+) -> None:
     """Cartpole env + tiled Kit/Newton visualizers on PhysX."""
     run_cartpole_env_visualizers_tiled_camera_motion("physx", caplog)
+    _viz_utils.assert_no_newton_hud_dependency_warning(capsys, caplog)
 
 
 if __name__ == "__main__":
diff --git a/source/isaaclab_visualizers/test/visualizer_integration_utils.py b/source/isaaclab_visualizers/test/visualizer_integration_utils.py
index 8cc79b5ba08b..d05747d73f9b 100644
--- a/source/isaaclab_visualizers/test/visualizer_integration_utils.py
+++ b/source/isaaclab_visualizers/test/visualizer_integration_utils.py
@@ -61,6 +61,9 @@
 # When True, tests also fail on WARNING-level records from visualizer-related loggers.
 ASSERT_VISUALIZER_WARNINGS = False
 
+_NEWTON_IMGUI_BUNDLE_PRINT_WARNING = "Warning: imgui_bundle not found"
+_NEWTON_HUD_IMPORT_LOG_WARNING = "Newton Visualizer HUD disabled: failed to import imgui_bundle. This can be caused by conflicting libraries."
+
 _MAX_FRAME_CHECK_STEPS = 5
 """Steps for Rerun / Viser smoke tests."""
 
@@ -221,6 +224,29 @@ def _assert_no_visualizer_log_issues(caplog: pytest.LogCaptureFixture, *, fail_o
         )
 
 
+def assert_no_newton_hud_dependency_warning(
+    capsys: pytest.CaptureFixture[str], caplog: pytest.LogCaptureFixture
+) -> None:
+    """Fail when Newton disables the imgui HUD due to a broken dependency chain."""
+    captured = capsys.readouterr()
+    captured_output = captured.out + captured.err
+    printed_warning = _NEWTON_IMGUI_BUNDLE_PRINT_WARNING in captured_output
+    logged_warnings = [
+        record
+        for record in caplog.records
+        if _NEWTON_HUD_IMPORT_LOG_WARNING in record.getMessage()
+        or _NEWTON_IMGUI_BUNDLE_PRINT_WARNING in record.getMessage()
+    ]
+    assert not printed_warning and not logged_warnings, (
+        "Newton visualizer HUD dependency failed. The Newton viewer printed/logged that imgui_bundle could not "
+        "be imported, which disables the HUD controls. Ensure isaaclab-visualizers[newton] installs "
+        "imgui-bundle and compatible transitive dependencies such as typing-extensions>=4.15.0. "
+        f"Captured output: {captured_output!r}. "
+        "Captured logs: "
+        + "; ".join(f"{record.name}: {record.getMessage()}" for record in logged_warnings)
+    )
+
+
 def _configure_sim_for_visualizer_test(env: CartpoleCameraEnv) -> None:
     """Settings used by the previous smoke tests; keep RTX sensors enabled for camera paths."""
     AppLauncher.apply_rtx_determinism_settings()
diff --git a/tools/wheel_builder/res/python_packages.toml b/tools/wheel_builder/res/python_packages.toml
index 830707e7ce82..c079bb9167d0 100644
--- a/tools/wheel_builder/res/python_packages.toml
+++ b/tools/wheel_builder/res/python_packages.toml
@@ -106,7 +106,7 @@ pyproject.optional-dependencies.all = [
     { "rsl-rl" = ["rsl-rl-lib==5.0.1", "onnxscript>=0.5"] },
     { "rsl_rl" = ["rsl-rl-lib==5.0.1", "onnxscript>=0.5"] },
     # ================================================================================
-    # https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_visualizers/setup.py
+    # https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_visualizers/pyproject.toml
     # ================================================================================
     # Viser visualizer (opt-in: viser pulls websockets>=13.1 which collides with
     # isaacsim-kernel==6.0.0.0's websockets==12.0; do not include in [all]).

From 21d51fbdf4289eb13d75d76ba93d227ef1734056 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Wed, 3 Jun 2026 07:01:50 +0000
Subject: [PATCH 02/17] more fixes

---
 docs/source/how-to/record_video.rst           |  4 ++
 .../overview/core-concepts/visualization.rst  |  8 ++-
 .../clarify-single-video-stream.rst           |  1 +
 ...fix-scene-data-articulation-transforms.rst |  1 +
 .../isaaclab/envs/utils/video_recorder.py     |  8 +++
 .../isaaclab/scene_data/scene_data_backend.py |  4 ++
 .../isaaclab/sim/simulation_context.py        |  3 +-
 .../isaaclab/test/envs/test_video_recorder.py | 11 ++++
 .../reduce-ant-joint-wrench-warnings.rst      |  1 +
 .../isaaclab_physx/physics/physx_manager.py   | 66 +++++++++++++++++--
 .../fix-newton-hud-imgui-dependency.rst       |  2 +
 .../isaaclab_visualizers/newton_adapter.py    |  1 -
 .../rerun/rerun_visualizer.py                 |  2 +-
 .../viser/viser_visualizer.py                 | 51 ++++++++++++++
 .../test/visualizer_integration_utils.py      |  7 +-
 15 files changed, 155 insertions(+), 15 deletions(-)
 create mode 100644 source/isaaclab/changelog.d/clarify-single-video-stream.rst
 create mode 100644 source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst
 create mode 100644 source/isaaclab_physx/changelog.d/reduce-ant-joint-wrench-warnings.rst

diff --git a/docs/source/how-to/record_video.rst b/docs/source/how-to/record_video.rst
index 3ef6bedf6c71..a556c253e057 100644
--- a/docs/source/how-to/record_video.rst
+++ b/docs/source/how-to/record_video.rst
@@ -80,6 +80,10 @@ precedence and only one ``--video`` stream is recorded. Rerun records ``.rrd`` r
 the Rerun visualizer rather than producing ``--video`` clips, and Viser does not currently provide a
 ``--video`` recording backend.
 
+To record both Kit and Newton perspectives for the same task, run two jobs: one with ``--viz kit`` and
+one with ``--viz newton``. The Gymnasium ``RecordVideo`` wrapper records one ``env.render()`` stream
+per process; it does not emit one video per visualizer listed in ``--viz``.
+
 Set ``VideoRecorderCfg.backend_source = "renderer"`` to ignore active visualizers and choose from the
 physics/renderer stack instead. In that mode, PhysX physics (``physics=physx``) or Isaac RTX
 (``renderer=isaacsim_rtx_renderer``) selects the Kit path. Newton physics (``physics=newton_mjwarp``) or
diff --git a/docs/source/overview/core-concepts/visualization.rst b/docs/source/overview/core-concepts/visualization.rst
index 71065522699c..51c08041f254 100644
--- a/docs/source/overview/core-concepts/visualization.rst
+++ b/docs/source/overview/core-concepts/visualization.rst
@@ -219,12 +219,16 @@ Note, Kit tiled camera views require launching with ``--enable_cameras``.
      - ``tiled_cam_view=False``, ``eye=(4, -4, 3)``, ``lookat=(0, 0, 0)``
      - Interactive visualizer camera starts at ``eye`` and looks at the fixed ``lookat`` coordinate.
    * - Generated tiled camera
-     - ``tiled_cam_view=True``, ``tiled_cam_prim_path=None``, ``tiled_cam_target_prim_path="/World/envs/*/Robot/base"``
+     - ``tiled_cam_view=True``, ``tiled_cam_prim_path=None``, ``tiled_cam_target_prim_path="/World/envs/*/Robot"``
      - The visualizer creates per-env cameras. Each camera looks at the matched target prim, with ``tiled_cam_eye`` as an offset from that target.
    * - Existing tiled camera sensors
      - ``tiled_cam_view=True``, ``tiled_cam_prim_path="/World/envs/*/Camera"``
      - The visualizer displays existing Isaac Lab ``Camera`` sensor output. Generated-camera fields such as ``tiled_cam_eye`` and ``tiled_cam_target_prim_path`` are ignored.
 
+     This mode requires an environment that registers Isaac Lab ``Camera`` sensors in ``scene.sensors``.
+     For Cartpole, use a camera task such as ``Isaac-Cartpole-Camera``. The plain ``Isaac-Cartpole`` task
+     has no ``/World/envs/*/Camera`` sensor, so leave ``tiled_cam_prim_path=None`` to use generated visualizer cameras.
+
 **How to Access the Tiled Camera View in the UI**
 
 - **Kit Visualizer:**
@@ -416,7 +420,7 @@ Newton Visualizer
         tiled_cam_prim_path=None,                 # Existing Camera sensor prim path, e.g. "/World/envs/*/Camera"
         tiled_cam_eye=(4.0, -4.0, 3.0),           # Eye offset for generated tiled cameras
         tiled_cam_target_prim_path=(              # Prim that generated cameras follow/look at
-            "/World/envs/*/Robot/base"
+            "/World/envs/*/Robot"
         ),
 
         # Performance tuning
diff --git a/source/isaaclab/changelog.d/clarify-single-video-stream.rst b/source/isaaclab/changelog.d/clarify-single-video-stream.rst
new file mode 100644
index 000000000000..c46aedb23384
--- /dev/null
+++ b/source/isaaclab/changelog.d/clarify-single-video-stream.rst
@@ -0,0 +1 @@
+Clarified ``--video`` behavior when multiple video-capable visualizers are active: Gymnasium video recording captures one ``env.render()`` stream, with Kit taking priority over Newton.
diff --git a/source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst b/source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst
new file mode 100644
index 000000000000..acade678be11
--- /dev/null
+++ b/source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst
@@ -0,0 +1 @@
+Added a scene-data backend hook for active ``InteractiveScene`` access so backends can source scene-owned entity transforms without relying on global rigid-body views.
diff --git a/source/isaaclab/isaaclab/envs/utils/video_recorder.py b/source/isaaclab/isaaclab/envs/utils/video_recorder.py
index 3ff6a7e1a0a4..0925b4a0ab1c 100644
--- a/source/isaaclab/isaaclab/envs/utils/video_recorder.py
+++ b/source/isaaclab/isaaclab/envs/utils/video_recorder.py
@@ -71,6 +71,14 @@ def _resolve_video_backend(
     # Prefer the visualizer backend when --visualizer is active alongside --video.
     visualizer_types: list[str] = scene.sim.resolve_visualizer_types() if backend_source == "visualizer" else []
     if visualizer_types:
+        supported_visualizers = [viz for viz in ("kit", "newton") if viz in visualizer_types]
+        if len(supported_visualizers) > 1:
+            logger.warning(
+                "[VideoRecorder] Multiple video-capable visualizers are active (%s), but --video records one "
+                "env.render() stream. Using Kit because it has priority. Run with only --viz newton to record "
+                "a Newton GL video.",
+                supported_visualizers,
+            )
         # kit takes priority when multiple visualizers are active
         for preferred in ("kit", "newton"):
             if preferred in visualizer_types:
diff --git a/source/isaaclab/isaaclab/scene_data/scene_data_backend.py b/source/isaaclab/isaaclab/scene_data/scene_data_backend.py
index 183b08246848..377b61e6d726 100644
--- a/source/isaaclab/isaaclab/scene_data/scene_data_backend.py
+++ b/source/isaaclab/isaaclab/scene_data/scene_data_backend.py
@@ -71,6 +71,10 @@ class Matrix44:
 
 
 class SceneDataBackend:
+    def set_interactive_scene(self, scene) -> None:
+        """Attach the active interactive scene, if the backend needs scene-owned entities."""
+        pass
+
     @property
     def transforms(
         self,
diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
index c068469ec599..777be01a1932 100644
--- a/source/isaaclab/isaaclab/sim/simulation_context.py
+++ b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -662,10 +662,11 @@ def get_scene_data_provider(self) -> SceneDataProvider:
         return self._scene_data_provider
 
     def register_interactive_scene(self, scene) -> None:
-        """Register the active scene so scene data providers can expose scene-owned sensors."""
+        """Register the active scene so scene-data consumers can access scene-owned entities."""
         self._interactive_scene = scene
         if self._scene_data_provider is not None:
             self._scene_data_provider.set_interactive_scene(scene)
+            self._scene_data_provider.backend.set_interactive_scene(scene)
 
     def get_scene_data_requirements(self) -> SceneDataRequirement:
         """Return scene-data requirements resolved from visualizers/renderers."""
diff --git a/source/isaaclab/test/envs/test_video_recorder.py b/source/isaaclab/test/envs/test_video_recorder.py
index 91af56632d6b..e22cbe656147 100644
--- a/source/isaaclab/test/envs/test_video_recorder.py
+++ b/source/isaaclab/test/envs/test_video_recorder.py
@@ -172,6 +172,17 @@ def test_resolve_backend_kit_wins_over_newton_visualizer():
     assert matched == "kit"
 
 
+def test_resolve_backend_warns_when_multiple_video_capable_visualizers(caplog: pytest.LogCaptureFixture):
+    """The Gymnasium video wrapper records one stream even if both Kit and Newton are active."""
+    scene = _make_scene(["newton", "kit"])
+    with caplog.at_level("WARNING"):
+        backend, matched = _resolve_video_backend(scene)
+
+    assert backend == "kit"
+    assert matched == "kit"
+    assert any("Multiple video-capable visualizers are active" in record.getMessage() for record in caplog.records)
+
+
 def test_resolve_backend_unsupported_visualizer_falls_through():
     """viser/rerun visualizers fall through to physics stack detection."""
     scene = _make_scene(["viser"], physics_name="PhysxPhysicsManager")
diff --git a/source/isaaclab_physx/changelog.d/reduce-ant-joint-wrench-warnings.rst b/source/isaaclab_physx/changelog.d/reduce-ant-joint-wrench-warnings.rst
new file mode 100644
index 000000000000..37e9c511d23b
--- /dev/null
+++ b/source/isaaclab_physx/changelog.d/reduce-ant-joint-wrench-warnings.rst
@@ -0,0 +1 @@
+Fixed excessive PhysX tensor warnings from Ant tasks with ``JointWrenchSensor`` by sourcing scene-data transforms for articulation links from Isaac Lab articulation views instead of a global PhysX rigid-body view.
diff --git a/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py b/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py
index df30c9e268a7..f8870db1acd7 100644
--- a/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py
+++ b/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py
@@ -160,6 +160,8 @@ def __init__(self):
         self._simulation_view: omni.physics.tensors.SimulationView | None = None
         self._rigid_body_view: omni.physics.tensors.RigidBodyView | None = None
         self._scene_data = SceneDataFormat.Transform()
+        self._interactive_scene: Any | None = None
+        self._articulation_body_paths: list[str] = []
 
     @property
     def simulation_view(self) -> omni.physics.tensors.SimulationView | None:
@@ -170,6 +172,42 @@ def simulation_view(self, simulation_view: omni.physics.tensors.SimulationView |
         self._simulation_view = simulation_view
         self._rigid_body_view = None
 
+    def set_interactive_scene(self, scene: Any) -> None:
+        """Attach the active scene so articulation link transforms can be read from asset views."""
+        self._interactive_scene = scene
+        self._rigid_body_view = None
+        self._articulation_body_paths = []
+
+    def _get_articulation_body_paths(self) -> set[str]:
+        """Return body prim paths owned by scene articulations."""
+        if self._interactive_scene is None:
+            self._articulation_body_paths = []
+            return set()
+
+        articulation_paths: list[str] = []
+        for articulation in getattr(self._interactive_scene, "articulations", {}).values():
+            root_paths = list(getattr(articulation.root_view, "prim_paths", []))
+            body_names = list(getattr(articulation, "body_names", []))
+            for root_path in root_paths:
+                asset_root_path = root_path.rsplit("/", 1)[0]
+                articulation_paths.extend(f"{asset_root_path}/{body_name}" for body_name in body_names)
+
+        self._articulation_body_paths = articulation_paths
+        return set(articulation_paths)
+
+    def _get_articulation_transforms(self) -> wp.array | None:
+        """Return flattened articulation link transforms from scene-owned articulation assets."""
+        if self._interactive_scene is None:
+            return None
+
+        transform_tensors = []
+        for articulation in getattr(self._interactive_scene, "articulations", {}).values():
+            transform_tensors.append(wp.to_torch(articulation.data.body_link_pose_w.warp).reshape(-1, 7))
+
+        if not transform_tensors:
+            return None
+        return wp.from_torch(torch.cat(transform_tensors, dim=0).contiguous(), dtype=wp.transformf)
+
     def get_rigid_body_view(self) -> omni.physics.tensors.RigidBodyView | None:
         """Lazily create a rigid body view covering all rigid bodies in the scene.
 
@@ -188,9 +226,11 @@ def get_rigid_body_view(self) -> omni.physics.tensors.RigidBodyView | None:
             return None
 
         patterns: set[str] = set()
+        articulation_body_paths = self._get_articulation_body_paths()
         for prim in stage.Traverse():
-            if prim.HasAPI(UsdPhysics.RigidBodyAPI):
-                patterns.add(re.sub(r"/World/envs/env_\d+", "/World/envs/env_*", prim.GetPath().pathString))
+            prim_path = prim.GetPath().pathString
+            if prim.HasAPI(UsdPhysics.RigidBodyAPI) and prim_path not in articulation_body_paths:
+                patterns.add(re.sub(r"/World/envs/env_\d+", "/World/envs/env_*", prim_path))
 
         if not patterns:
             return None
@@ -201,23 +241,35 @@ def get_rigid_body_view(self) -> omni.physics.tensors.RigidBodyView | None:
     @property
     def transforms(self) -> SceneDataFormat.Transform:
         """Return the current PhysX rigid body transforms as :class:`SceneDataFormat.Transform`."""
+        transform_tensors = []
+        articulation_transforms = self._get_articulation_transforms()
+        if articulation_transforms is not None:
+            transform_tensors.append(wp.to_torch(articulation_transforms).reshape(-1, 7))
         if view := self.get_rigid_body_view():
-            self._scene_data.transforms = view.get_transforms().view(wp.transformf)
+            transform_tensors.append(wp.to_torch(view.get_transforms().view(wp.transformf)).reshape(-1, 7))
+        if transform_tensors:
+            self._scene_data.transforms = wp.from_torch(
+                torch.cat(transform_tensors, dim=0).contiguous(), dtype=wp.transformf
+            )
         return self._scene_data
 
     @property
     def transform_count(self) -> int:
         """Return the number of rigid body transforms in the PhysX sim."""
+        self._get_articulation_body_paths()
+        count = len(self._articulation_body_paths)
         if view := self.get_rigid_body_view():
-            return view.count
-        return 0
+            count += view.count
+        return count
 
     @property
     def transform_paths(self) -> list[str]:
         """Return the prim paths for each rigid body transform."""
+        self._get_articulation_body_paths()
+        transform_paths = list(self._articulation_body_paths)
         if view := self.get_rigid_body_view():
-            return list(view.prim_paths)
-        return []
+            transform_paths.extend(list(view.prim_paths))
+        return transform_paths
 
 
 class PhysxManager(PhysicsManager):
diff --git a/source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst b/source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst
index 4cab0ab89428..d3c5d8c4042c 100644
--- a/source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst
+++ b/source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst
@@ -1,3 +1,5 @@
 Fixed Newton visualizer HUD dependency checks by requiring ``typing-extensions>=4.15.0`` for the Newton visualizer extra and failing integration tests when Newton reports that ``imgui_bundle`` could not be imported. Removed the legacy ``setup.py`` for ``isaaclab_visualizers`` now that ``pyproject.toml`` carries the package metadata.
 
 Fixed Rerun and Viser visualizers rendering Newton infinite ground planes too small by expanding non-positive plane extents to the same large finite size used by Newton GL.
+
+Fixed Viser visualizer ground-grid flickering by reusing unchanged plane grid line segments instead of removing and re-adding them every frame.
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py
index 0dffab16fbec..dc6b2265eb74 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py
@@ -7,7 +7,6 @@
 
 from __future__ import annotations
 
-
 VISUALIZER_INFINITE_PLANE_SIZE = 1000.0
 """Finite render size used for Newton planes encoded as infinite."""
 
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py
index b13a89575a2d..55c9f7240103 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py
@@ -16,9 +16,9 @@
 from typing import TYPE_CHECKING
 from urllib.parse import quote
 
+import newton
 import rerun as rr
 import rerun.blueprint as rrb
-import newton
 from newton.viewer import ViewerRerun
 
 from isaaclab.visualizers.base_visualizer import BaseVisualizer
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py
index 243812e856a0..c12dcee3b17e 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py
@@ -17,6 +17,7 @@
 from typing import TYPE_CHECKING, Any
 
 import newton
+import numpy as np
 from newton.viewer import ViewerViser
 
 from isaaclab.visualizers.base_visualizer import BaseVisualizer
@@ -113,12 +114,62 @@ def _viser_server_with_bind_address(*args, **kwargs):
                 record_to_viser=record_to_viser,
             )
         self._metadata = metadata or {}
+        self._isaaclab_plane_grid_cache: dict[str, tuple] = {}
 
     @property
     def share_url(self) -> str | None:
         """Return the public share URL created by Viser, if any."""
         return self._share_url
 
+    def clear_model(self) -> None:
+        """Clear cached static plane-grid signatures with the viewer model."""
+        cache = getattr(self, "_isaaclab_plane_grid_cache", None)
+        if cache is not None:
+            cache.clear()
+        return super().clear_model()
+
+    @staticmethod
+    def _array_signature(array) -> tuple[tuple[int, ...], bytes] | None:
+        """Return a stable signature for small transform/scale arrays."""
+        if array is None:
+            return None
+        array_np = np.ascontiguousarray(np.asarray(array, dtype=np.float32))
+        return tuple(int(dim) for dim in array_np.shape), array_np.tobytes()
+
+    def _log_plane_instances(
+        self,
+        name: str,
+        plane_info: dict[str, float | bool],
+        xforms,
+        scales,
+        hidden: bool = False,
+    ) -> None:
+        """Avoid removing/re-adding unchanged Viser plane grids every frame."""
+        cache = getattr(self, "_isaaclab_plane_grid_cache", None)
+        if hidden or xforms is None:
+            if cache is not None:
+                cache.pop(name, None)
+            return super()._log_plane_instances(name, plane_info, xforms, scales, hidden=hidden)
+
+        xforms_np = self._to_numpy(xforms)
+        if xforms_np is None or len(xforms_np) == 0:
+            if cache is not None:
+                cache.pop(name, None)
+            return super()._log_plane_instances(name, plane_info, xforms, scales, hidden=hidden)
+
+        scales_np = self._to_numpy(scales) if scales is not None else None
+        signature = (
+            float(plane_info["width"]),
+            float(plane_info["length"]),
+            self._array_signature(xforms_np),
+            self._array_signature(scales_np),
+        )
+        if cache is not None and cache.get(name) == signature and name in self._plane_handles:
+            return None
+        if cache is not None:
+            cache[name] = signature
+        return super()._log_plane_instances(name, plane_info, xforms, scales, hidden=hidden)
+
     def log_geo(
         self,
         name: str,
diff --git a/source/isaaclab_visualizers/test/visualizer_integration_utils.py b/source/isaaclab_visualizers/test/visualizer_integration_utils.py
index d05747d73f9b..ea300a68e89a 100644
--- a/source/isaaclab_visualizers/test/visualizer_integration_utils.py
+++ b/source/isaaclab_visualizers/test/visualizer_integration_utils.py
@@ -62,7 +62,9 @@
 ASSERT_VISUALIZER_WARNINGS = False
 
 _NEWTON_IMGUI_BUNDLE_PRINT_WARNING = "Warning: imgui_bundle not found"
-_NEWTON_HUD_IMPORT_LOG_WARNING = "Newton Visualizer HUD disabled: failed to import imgui_bundle. This can be caused by conflicting libraries."
+_NEWTON_HUD_IMPORT_LOG_WARNING = (
+    "Newton Visualizer HUD disabled: failed to import imgui_bundle. This can be caused by conflicting libraries."
+)
 
 _MAX_FRAME_CHECK_STEPS = 5
 """Steps for Rerun / Viser smoke tests."""
@@ -242,8 +244,7 @@ def assert_no_newton_hud_dependency_warning(
         "be imported, which disables the HUD controls. Ensure isaaclab-visualizers[newton] installs "
         "imgui-bundle and compatible transitive dependencies such as typing-extensions>=4.15.0. "
         f"Captured output: {captured_output!r}. "
-        "Captured logs: "
-        + "; ".join(f"{record.name}: {record.getMessage()}" for record in logged_warnings)
+        "Captured logs: " + "; ".join(f"{record.name}: {record.getMessage()}" for record in logged_warnings)
     )
 
 

From 33a1774a43a571dd05d8a80754aa3a8141dbe55f Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Wed, 3 Jun 2026 07:03:03 +0000
Subject: [PATCH 03/17] revert visualizer cfg

---
 source/isaaclab/isaaclab/visualizers/visualizer_cfg.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py b/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
index 03422e6d3ae4..78729f1779a8 100644
--- a/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
+++ b/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
@@ -36,7 +36,7 @@ class VisualizerCfg:
     """Camera focal length in millimeters for visualizer camera views."""
 
     # Tiled camera settings
-    tiled_cam_view: bool = True
+    tiled_cam_view: bool = False
     """Enable a non-interactive tiled camera image view."""
 
     tiled_cam_num: int = 16

From 1012ea1dbcd31e69ae6aed835c6fff2350815a3f Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Wed, 3 Jun 2026 07:06:45 +0000
Subject: [PATCH 04/17] address reviewbot;

---
 .../isaaclab_visualizers/newton/__init__.py   |  7 ++++-
 .../newton/newton_visualizer.py               |  7 +++--
 .../isaaclab_visualizers/newton_adapter.py    | 26 ++++++++++++++++++-
 .../rerun/rerun_visualizer.py                 | 16 +++++++++---
 .../viser/viser_visualizer.py                 | 16 +++++++++---
 .../test/test_newton_adapter.py               | 26 +++++++++++++++++++
 .../test/visualizer_integration_utils.py      |  8 ++----
 7 files changed, 88 insertions(+), 18 deletions(-)

diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton/__init__.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton/__init__.py
index b83c42420d86..ead5cdf45859 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton/__init__.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton/__init__.py
@@ -16,9 +16,10 @@
 from .newton_visualizer_cfg import NewtonVisualizerCfg
 
 if TYPE_CHECKING:
+    from .newton_visualizer import NEWTON_HUD_IMPORT_LOG_WARNING
     from .newton_visualizer import NewtonVisualizer
 
-__all__ = ["NewtonVisualizer", "NewtonVisualizerCfg"]
+__all__ = ["NEWTON_HUD_IMPORT_LOG_WARNING", "NewtonVisualizer", "NewtonVisualizerCfg"]
 
 
 def __getattr__(name: str):
@@ -26,4 +27,8 @@ def __getattr__(name: str):
         from .newton_visualizer import NewtonVisualizer
 
         return NewtonVisualizer
+    if name == "NEWTON_HUD_IMPORT_LOG_WARNING":
+        from .newton_visualizer import NEWTON_HUD_IMPORT_LOG_WARNING
+
+        return NEWTON_HUD_IMPORT_LOG_WARNING
     raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
index 57d0d604ea05..28a4740f787d 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
@@ -37,6 +37,9 @@
 
 logger = logging.getLogger(__name__)
 
+NEWTON_HUD_IMPORT_LOG_WARNING = "[NewtonVisualizer] Newton HUD disabled: failed to import imgui_bundle."
+"""Stable log prefix emitted when Newton's imgui HUD dependencies cannot be imported."""
+
 if TYPE_CHECKING:
     from isaaclab.scene_data import SceneDataProvider
 
@@ -49,9 +52,9 @@ def _log_newton_hud_dependency_issue() -> None:
         from imgui_bundle.python_backends import pyglet_backend as _pyglet_backend  # noqa: F401
     except ImportError as exc:
         logger.warning(
-            "[NewtonVisualizer] Newton HUD disabled: failed to import imgui_bundle. "
-            "Install isaaclab-visualizers[newton] or fix its transitive dependencies "
+            "%s Install isaaclab-visualizers[newton] or fix its transitive dependencies "
             "(for example typing-extensions>=4.15.0). ImportError: %s",
+            NEWTON_HUD_IMPORT_LOG_WARNING,
             exc,
         )
 
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py
index dc6b2265eb74..8a1554a253fd 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py
@@ -7,6 +7,9 @@
 
 from __future__ import annotations
 
+from collections.abc import Callable
+from typing import Any
+
 VISUALIZER_INFINITE_PLANE_SIZE = 1000.0
 """Finite render size used for Newton planes encoded as infinite."""
 
@@ -27,7 +30,28 @@ def expand_infinite_plane_scale(
     if width > 0.0 and length > 0.0:
         return scale
     tail = scale[2:] if len(scale) > 2 else ()
-    return (float(plane_size), float(plane_size), *tail)
+    return (
+        width if width > 0.0 else float(plane_size),
+        length if length > 0.0 else float(plane_size),
+        *tail,
+    )
+
+
+def log_geo_with_expanded_plane_scale(
+    super_log_geo: Callable[..., Any],
+    plane_geo_type: int,
+    name: str,
+    geo_type: int,
+    geo_scale: tuple[float, ...],
+    geo_thickness: float,
+    geo_is_solid: bool,
+    geo_src=None,
+    hidden: bool = False,
+):
+    """Log geometry after expanding Newton infinite-plane extents for web viewers."""
+    if geo_type == plane_geo_type:
+        geo_scale = expand_infinite_plane_scale(geo_scale)
+    return super_log_geo(name, geo_type, geo_scale, geo_thickness, geo_is_solid, geo_src, hidden)
 
 
 def resolve_visible_env_indices(
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py
index 55c9f7240103..631ae43c7168 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer.py
@@ -26,7 +26,7 @@
 from isaaclab_visualizers.newton.newton_visualization_markers import render_newton_visualization_markers
 from isaaclab_visualizers.newton_adapter import (
     apply_viewer_visible_worlds,
-    expand_infinite_plane_scale,
+    log_geo_with_expanded_plane_scale,
     resolve_visible_env_indices,
 )
 
@@ -150,9 +150,17 @@ def log_geo(
         hidden: bool = False,
     ):
         """Log geometry, preserving large render extents for infinite ground planes."""
-        if geo_type == newton.GeoType.PLANE:
-            geo_scale = expand_infinite_plane_scale(geo_scale)
-        return super().log_geo(name, geo_type, geo_scale, geo_thickness, geo_is_solid, geo_src, hidden)
+        return log_geo_with_expanded_plane_scale(
+            super().log_geo,
+            newton.GeoType.PLANE,
+            name,
+            geo_type,
+            geo_scale,
+            geo_thickness,
+            geo_is_solid,
+            geo_src,
+            hidden,
+        )
 
 
 class RerunVisualizer(BaseVisualizer):
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py
index c12dcee3b17e..17611db34b6e 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer.py
@@ -25,7 +25,7 @@
 from isaaclab_visualizers.newton.newton_visualization_markers import render_newton_visualization_markers
 from isaaclab_visualizers.newton_adapter import (
     apply_viewer_visible_worlds,
-    expand_infinite_plane_scale,
+    log_geo_with_expanded_plane_scale,
     resolve_visible_env_indices,
 )
 
@@ -181,9 +181,17 @@ def log_geo(
         hidden: bool = False,
     ):
         """Log geometry, preserving large render extents for infinite ground planes."""
-        if geo_type == newton.GeoType.PLANE:
-            geo_scale = expand_infinite_plane_scale(geo_scale)
-        return super().log_geo(name, geo_type, geo_scale, geo_thickness, geo_is_solid, geo_src, hidden)
+        return log_geo_with_expanded_plane_scale(
+            super().log_geo,
+            newton.GeoType.PLANE,
+            name,
+            geo_type,
+            geo_scale,
+            geo_thickness,
+            geo_is_solid,
+            geo_src,
+            hidden,
+        )
 
 
 class ViserVisualizer(BaseVisualizer):
diff --git a/source/isaaclab_visualizers/test/test_newton_adapter.py b/source/isaaclab_visualizers/test/test_newton_adapter.py
index 75944cfdfdc6..6e79bd76209d 100644
--- a/source/isaaclab_visualizers/test/test_newton_adapter.py
+++ b/source/isaaclab_visualizers/test/test_newton_adapter.py
@@ -11,6 +11,7 @@
     VISUALIZER_INFINITE_PLANE_SIZE,
     apply_viewer_visible_worlds,
     expand_infinite_plane_scale,
+    log_geo_with_expanded_plane_scale,
     resolve_visible_env_indices,
 )
 
@@ -24,6 +25,10 @@ def test_expand_infinite_plane_scale_expands_non_positive_extents():
     )
     assert expand_infinite_plane_scale((-1.0, 25.0)) == (
         VISUALIZER_INFINITE_PLANE_SIZE,
+        25.0,
+    )
+    assert expand_infinite_plane_scale((25.0, 0.0)) == (
+        25.0,
         VISUALIZER_INFINITE_PLANE_SIZE,
     )
 
@@ -32,6 +37,27 @@ def test_expand_infinite_plane_scale_preserves_finite_extents():
     assert expand_infinite_plane_scale((100.0, 50.0, 1.0)) == (100.0, 50.0, 1.0)
 
 
+def test_log_geo_with_expanded_plane_scale_delegates_with_adjusted_plane_scale():
+    calls = []
+
+    def _log_geo(*args):
+        calls.append(args)
+        return "logged"
+
+    assert log_geo_with_expanded_plane_scale(_log_geo, 1, "ground", 1, (0.0, 25.0), 0.0, True) == "logged"
+    assert calls == [("ground", 1, (VISUALIZER_INFINITE_PLANE_SIZE, 25.0), 0.0, True, None, False)]
+
+
+def test_log_geo_with_expanded_plane_scale_preserves_non_plane_scale():
+    calls = []
+
+    def _log_geo(*args):
+        calls.append(args)
+
+    log_geo_with_expanded_plane_scale(_log_geo, 1, "box", 2, (0.0, 25.0), 0.0, True, hidden=True)
+    assert calls == [("box", 2, (0.0, 25.0), 0.0, True, None, True)]
+
+
 def test_resolve_visible_env_indices_truncates_explicit_list():
     assert resolve_visible_env_indices([1, 3, 5], 2, 10) == [1, 3]
     assert resolve_visible_env_indices([1, 3], 1, 10) == [1]
diff --git a/source/isaaclab_visualizers/test/visualizer_integration_utils.py b/source/isaaclab_visualizers/test/visualizer_integration_utils.py
index ea300a68e89a..6eea6e711d72 100644
--- a/source/isaaclab_visualizers/test/visualizer_integration_utils.py
+++ b/source/isaaclab_visualizers/test/visualizer_integration_utils.py
@@ -36,7 +36,7 @@
 import torch
 import warp as wp
 from isaaclab_visualizers.kit import KitVisualizer, KitVisualizerCfg
-from isaaclab_visualizers.newton import NewtonVisualizer, NewtonVisualizerCfg
+from isaaclab_visualizers.newton import NEWTON_HUD_IMPORT_LOG_WARNING, NewtonVisualizer, NewtonVisualizerCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.app import AppLauncher
@@ -62,10 +62,6 @@
 ASSERT_VISUALIZER_WARNINGS = False
 
 _NEWTON_IMGUI_BUNDLE_PRINT_WARNING = "Warning: imgui_bundle not found"
-_NEWTON_HUD_IMPORT_LOG_WARNING = (
-    "Newton Visualizer HUD disabled: failed to import imgui_bundle. This can be caused by conflicting libraries."
-)
-
 _MAX_FRAME_CHECK_STEPS = 5
 """Steps for Rerun / Viser smoke tests."""
 
@@ -236,7 +232,7 @@ def assert_no_newton_hud_dependency_warning(
     logged_warnings = [
         record
         for record in caplog.records
-        if _NEWTON_HUD_IMPORT_LOG_WARNING in record.getMessage()
+        if NEWTON_HUD_IMPORT_LOG_WARNING in record.getMessage()
         or _NEWTON_IMGUI_BUNDLE_PRINT_WARNING in record.getMessage()
     ]
     assert not printed_warning and not logged_warnings, (

From 749f0d0ea3715a15010e310ff101cb42556fd288 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Wed, 3 Jun 2026 21:06:32 +0000
Subject: [PATCH 05/17] lint

---
 .../overview/core-concepts/visualization.rst     |  6 ++++--
 .../changelog.d/clarify-single-video-stream.rst  |  7 ++++++-
 .../clarify-visualizer-camera-sensor-mode.rst    |  7 ++++++-
 .../fix-scene-data-articulation-transforms.rst   |  7 ++++++-
 .../reduce-ant-joint-wrench-warnings.rst         |  7 ++++++-
 .../fix-newton-hud-imgui-dependency.rst          | 16 +++++++++++++---
 6 files changed, 41 insertions(+), 9 deletions(-)

diff --git a/docs/source/overview/core-concepts/visualization.rst b/docs/source/overview/core-concepts/visualization.rst
index 51c08041f254..d920ee406f34 100644
--- a/docs/source/overview/core-concepts/visualization.rst
+++ b/docs/source/overview/core-concepts/visualization.rst
@@ -221,9 +221,11 @@ Note, Kit tiled camera views require launching with ``--enable_cameras``.
    * - Generated tiled camera
      - ``tiled_cam_view=True``, ``tiled_cam_prim_path=None``, ``tiled_cam_target_prim_path="/World/envs/*/Robot"``
      - The visualizer creates per-env cameras. Each camera looks at the matched target prim, with ``tiled_cam_eye`` as an offset from that target.
+     - Note that the ``tiled_cam_target_prim_path`` is the default value, but different environments may require a different paths.
    * - Existing tiled camera sensors
      - ``tiled_cam_view=True``, ``tiled_cam_prim_path="/World/envs/*/Camera"``
      - The visualizer displays existing Isaac Lab ``Camera`` sensor output. Generated-camera fields such as ``tiled_cam_eye`` and ``tiled_cam_target_prim_path`` are ignored.
+     - Note that the ``tiled_cam_prim_path`` is the default value, but different environments may require a different paths.
 
      This mode requires an environment that registers Isaac Lab ``Camera`` sensors in ``scene.sensors``.
      For Cartpole, use a camera task such as ``Isaac-Cartpole-Camera``. The plain ``Isaac-Cartpole`` task
@@ -420,8 +422,8 @@ Newton Visualizer
         tiled_cam_prim_path=None,                 # Existing Camera sensor prim path, e.g. "/World/envs/*/Camera"
         tiled_cam_eye=(4.0, -4.0, 3.0),           # Eye offset for generated tiled cameras
         tiled_cam_target_prim_path=(              # Prim that generated cameras follow/look at
-            "/World/envs/*/Robot"
-        ),
+            "/World/envs/*/Robot"                 # This is the default value, but different environments
+        ),                                        # may require a different paths.
 
         # Performance tuning
         update_frequency=1,                       # Update every N frames (1=every frame)
diff --git a/source/isaaclab/changelog.d/clarify-single-video-stream.rst b/source/isaaclab/changelog.d/clarify-single-video-stream.rst
index c46aedb23384..39e5bacdc191 100644
--- a/source/isaaclab/changelog.d/clarify-single-video-stream.rst
+++ b/source/isaaclab/changelog.d/clarify-single-video-stream.rst
@@ -1 +1,6 @@
-Clarified ``--video`` behavior when multiple video-capable visualizers are active: Gymnasium video recording captures one ``env.render()`` stream, with Kit taking priority over Newton.
+Changed
+^^^^^^^
+
+* Clarified ``--video`` behavior when multiple video-capable visualizers are active:
+  Gymnasium video recording captures one ``env.render()`` stream, with Kit taking
+  priority over Newton.
diff --git a/source/isaaclab/changelog.d/clarify-visualizer-camera-sensor-mode.rst b/source/isaaclab/changelog.d/clarify-visualizer-camera-sensor-mode.rst
index 9dad61c329ec..cb6f9c0081f7 100644
--- a/source/isaaclab/changelog.d/clarify-visualizer-camera-sensor-mode.rst
+++ b/source/isaaclab/changelog.d/clarify-visualizer-camera-sensor-mode.rst
@@ -1 +1,6 @@
-Improved visualizer tiled-camera errors when ``tiled_cam_prim_path`` is set but the scene has no Isaac Lab ``Camera`` sensors, and clarified the camera-mode documentation for Cartpole camera tasks.
+Fixed
+^^^^^
+
+* Improved visualizer tiled-camera errors when ``tiled_cam_prim_path`` is set but
+  the scene has no Isaac Lab ``Camera`` sensors, and clarified the camera-mode
+  documentation for Cartpole camera tasks.
diff --git a/source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst b/source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst
index acade678be11..a997c0446000 100644
--- a/source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst
+++ b/source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst
@@ -1 +1,6 @@
-Added a scene-data backend hook for active ``InteractiveScene`` access so backends can source scene-owned entity transforms without relying on global rigid-body views.
+Added
+^^^^^
+
+* Added a scene-data backend hook for active ``InteractiveScene`` access so
+  backends can source scene-owned entity transforms without relying on global
+  rigid-body views.
diff --git a/source/isaaclab_physx/changelog.d/reduce-ant-joint-wrench-warnings.rst b/source/isaaclab_physx/changelog.d/reduce-ant-joint-wrench-warnings.rst
index 37e9c511d23b..ceab9cc95ca3 100644
--- a/source/isaaclab_physx/changelog.d/reduce-ant-joint-wrench-warnings.rst
+++ b/source/isaaclab_physx/changelog.d/reduce-ant-joint-wrench-warnings.rst
@@ -1 +1,6 @@
-Fixed excessive PhysX tensor warnings from Ant tasks with ``JointWrenchSensor`` by sourcing scene-data transforms for articulation links from Isaac Lab articulation views instead of a global PhysX rigid-body view.
+Fixed
+^^^^^
+
+* Fixed excessive PhysX tensor warnings from Ant tasks with ``JointWrenchSensor``
+  by sourcing scene-data transforms for articulation links from Isaac Lab
+  articulation views instead of a global PhysX rigid-body view.
diff --git a/source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst b/source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst
index d3c5d8c4042c..bcbbbafcebcc 100644
--- a/source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst
+++ b/source/isaaclab_visualizers/changelog.d/fix-newton-hud-imgui-dependency.rst
@@ -1,5 +1,15 @@
-Fixed Newton visualizer HUD dependency checks by requiring ``typing-extensions>=4.15.0`` for the Newton visualizer extra and failing integration tests when Newton reports that ``imgui_bundle`` could not be imported. Removed the legacy ``setup.py`` for ``isaaclab_visualizers`` now that ``pyproject.toml`` carries the package metadata.
+Fixed
+^^^^^
 
-Fixed Rerun and Viser visualizers rendering Newton infinite ground planes too small by expanding non-positive plane extents to the same large finite size used by Newton GL.
+* Fixed Newton visualizer HUD dependency checks by requiring
+  ``typing-extensions>=4.15.0`` for the Newton visualizer extra and failing
+  integration tests when Newton reports that ``imgui_bundle`` could not be
+  imported. Removed the legacy ``setup.py`` for ``isaaclab_visualizers`` now that
+  ``pyproject.toml`` carries the package metadata.
 
-Fixed Viser visualizer ground-grid flickering by reusing unchanged plane grid line segments instead of removing and re-adding them every frame.
+* Fixed Rerun and Viser visualizers rendering Newton infinite ground planes too
+  small by expanding non-positive plane extents to the same large finite size
+  used by Newton GL.
+
+* Fixed Viser visualizer ground-grid flickering by reusing unchanged plane grid
+  line segments instead of removing and re-adding them every frame.

From 5eb0cafd63673387bcb9899969ac1a3a11768689 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Wed, 3 Jun 2026 23:09:05 +0000
Subject: [PATCH 06/17] more fixes

---
 .github/workflows/check-links.yml             |   6 +
 .../overview/core-concepts/visualization.rst  |  13 +-
 ...fix-scene-data-articulation-transforms.rst |   2 +-
 .../scene_data/scene_data_provider.py         |  14 ++
 .../expose-newton-contact-buffer.rst          |   5 +
 .../isaaclab_newton/physics/newton_manager.py |   5 +
 .../fix-newton-contact-visualization.rst      |   6 +
 .../newton/newton_visualizer.py               | 124 +++++++++++++++++
 .../test/test_newton_adapter.py               | 128 ++++++++++++++++++
 9 files changed, 298 insertions(+), 5 deletions(-)
 create mode 100644 source/isaaclab_newton/changelog.d/expose-newton-contact-buffer.rst
 create mode 100644 source/isaaclab_visualizers/changelog.d/fix-newton-contact-visualization.rst

diff --git a/.github/workflows/check-links.yml b/.github/workflows/check-links.yml
index edec5899aa3e..b4a66e2d6c84 100644
--- a/.github/workflows/check-links.yml
+++ b/.github/workflows/check-links.yml
@@ -104,6 +104,12 @@ jobs:
           --exclude 'docs\.ray\.io'
           --exclude 'docs\.conda\.io'
           --exclude 'stackoverflow\.com'
+          --exclude 'docs\.isaacsim\.omniverse\.nvidia\.com'
+          --exclude 'download\.isaacsim\.omniverse\.nvidia\.com/isaaclab/images'
+          --exclude 'dx\.doi\.org/10\.1109/JRA\.1987\.1087068'
+          --exclude 'andrew\.cmu\.edu/course/10-703/textbook/BartoSutton\.pdf'
+          --exclude 'www\.nvidia\.com/en-us/security'
+          --exclude 'bostondynamics\.com/reinforcement-learning-researcher-kit'
           --max-retries 5
           --retry-wait-time 10
           --timeout 20
diff --git a/docs/source/overview/core-concepts/visualization.rst b/docs/source/overview/core-concepts/visualization.rst
index d920ee406f34..db19de46cb2a 100644
--- a/docs/source/overview/core-concepts/visualization.rst
+++ b/docs/source/overview/core-concepts/visualization.rst
@@ -220,12 +220,10 @@ Note, Kit tiled camera views require launching with ``--enable_cameras``.
      - Interactive visualizer camera starts at ``eye`` and looks at the fixed ``lookat`` coordinate.
    * - Generated tiled camera
      - ``tiled_cam_view=True``, ``tiled_cam_prim_path=None``, ``tiled_cam_target_prim_path="/World/envs/*/Robot"``
-     - The visualizer creates per-env cameras. Each camera looks at the matched target prim, with ``tiled_cam_eye`` as an offset from that target.
-     - Note that the ``tiled_cam_target_prim_path`` is the default value, but different environments may require a different paths.
+     - The visualizer creates per-env cameras. Each camera looks at the matched target prim, with ``tiled_cam_eye`` as an offset from that target. Note that the ``tiled_cam_target_prim_path`` is the default value, but different environments may require different paths.
    * - Existing tiled camera sensors
      - ``tiled_cam_view=True``, ``tiled_cam_prim_path="/World/envs/*/Camera"``
-     - The visualizer displays existing Isaac Lab ``Camera`` sensor output. Generated-camera fields such as ``tiled_cam_eye`` and ``tiled_cam_target_prim_path`` are ignored.
-     - Note that the ``tiled_cam_prim_path`` is the default value, but different environments may require a different paths.
+     - The visualizer displays existing Isaac Lab ``Camera`` sensor output. Generated-camera fields such as ``tiled_cam_eye`` and ``tiled_cam_target_prim_path`` are ignored. Note that the ``tiled_cam_prim_path`` is the default value, but different environments may require different paths.
 
      This mode requires an environment that registers Isaac Lab ``Camera`` sensors in ``scene.sensors``.
      For Cartpole, use a camera task such as ``Isaac-Cartpole-Camera``. The plain ``Isaac-Cartpole`` task
@@ -609,6 +607,13 @@ The FPS control in the Rerun visualizer UI may not affect the visualization fram
 Currently, live plots are only available in the Kit Visualizer.
 
 
+**Newton Contact Visualization**
+
+Newton's native ``Show Contacts`` view can show all contacts from the Newton physics contact buffer. When running
+with PhysX, the Newton visualizer can only show contacts reported by configured Isaac Lab contact sensors, so
+currently the set of displayed contacts may differ across backends.
+
+
 **Viser Visualizer Renderer Requirement**
 
 The Viser visualizer requires a Newton model, which is provided automatically by
diff --git a/source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst b/source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst
index a997c0446000..14be85dbc997 100644
--- a/source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst
+++ b/source/isaaclab/changelog.d/fix-scene-data-articulation-transforms.rst
@@ -3,4 +3,4 @@ Added
 
 * Added a scene-data backend hook for active ``InteractiveScene`` access so
   backends can source scene-owned entity transforms without relying on global
-  rigid-body views.
+  rigid-body views, and visualizers can discover scene-owned contact sensors.
diff --git a/source/isaaclab/isaaclab/scene_data/scene_data_provider.py b/source/isaaclab/isaaclab/scene_data/scene_data_provider.py
index 9d888347e38e..eb9e164d79b6 100644
--- a/source/isaaclab/isaaclab/scene_data/scene_data_provider.py
+++ b/source/isaaclab/isaaclab/scene_data/scene_data_provider.py
@@ -56,6 +56,20 @@ def get_camera_sensors(self) -> dict[str, Any]:
             if isinstance(sensor, Camera)
         }
 
+    def get_contact_sensors(self) -> dict[str, Any]:
+        """Return Isaac Lab contact sensors keyed by scene sensor name."""
+        if self._interactive_scene is None:
+            return {}
+        try:
+            from isaaclab.sensors.contact_sensor import BaseContactSensor
+        except ImportError:
+            return {}
+        return {
+            name: sensor
+            for name, sensor in getattr(self._interactive_scene, "sensors", {}).items()
+            if isinstance(sensor, BaseContactSensor)
+        }
+
     @property
     def transform_count(self) -> int:
         """Number of transforms available from the sim backend."""
diff --git a/source/isaaclab_newton/changelog.d/expose-newton-contact-buffer.rst b/source/isaaclab_newton/changelog.d/expose-newton-contact-buffer.rst
new file mode 100644
index 000000000000..178e170378b7
--- /dev/null
+++ b/source/isaaclab_newton/changelog.d/expose-newton-contact-buffer.rst
@@ -0,0 +1,5 @@
+Added
+^^^^^
+
+* Added a ``NewtonManager.get_contacts()`` accessor so visualizers can render
+  Newton contact buffers without reaching into manager internals.
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py b/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py
index d5991ed395ab..41aea04368f4 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py
@@ -1584,6 +1584,11 @@ def get_state(cls, scene_data_provider: SceneDataProvider | None = None) -> Stat
         cls.update_visualization_state(scene_data_provider)
         return cls.get_state_0()
 
+    @classmethod
+    def get_contacts(cls) -> Contacts | None:
+        """Get the current Newton contact buffer, if the active solver exposes one."""
+        return cls._contacts
+
     @classmethod
     def get_num_envs(cls) -> int:
         return cls._num_envs
diff --git a/source/isaaclab_visualizers/changelog.d/fix-newton-contact-visualization.rst b/source/isaaclab_visualizers/changelog.d/fix-newton-contact-visualization.rst
new file mode 100644
index 000000000000..255a3a270ceb
--- /dev/null
+++ b/source/isaaclab_visualizers/changelog.d/fix-newton-contact-visualization.rst
@@ -0,0 +1,6 @@
+Fixed
+^^^^^
+
+* Fixed Newton visualizer contact rendering by logging Newton contact buffers
+  when available and falling back to scene contact sensors for PhysX-backed
+  scenes.
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
index 28a4740f787d..d37aafed9432 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
@@ -13,6 +13,7 @@
 import sys
 from typing import TYPE_CHECKING
 
+import torch
 import warp as wp
 from newton.viewer import ViewerGL
 from pyglet.math import Vec3 as PygletVec3
@@ -40,6 +41,15 @@
 NEWTON_HUD_IMPORT_LOG_WARNING = "[NewtonVisualizer] Newton HUD disabled: failed to import imgui_bundle."
 """Stable log prefix emitted when Newton's imgui HUD dependencies cannot be imported."""
 
+CONTACT_ARROW_PATH = "/contacts"
+"""Viewer path used for native and synthesized contact arrows."""
+
+CONTACT_ARROW_COLOR = (0.0, 1.0, 0.0)
+"""Color used by Newton's native contact visualization."""
+
+CONTACT_ARROW_LENGTH = 0.1
+"""Length of synthesized contact arrows in meters."""
+
 if TYPE_CHECKING:
     from isaaclab.scene_data import SceneDataProvider
 
@@ -507,6 +517,11 @@ def step(self, dt: float) -> None:
                         if hasattr(body_q, "shape") and body_q.shape[0] == 0:
                             return
                         self._viewer.log_state(self._state)
+                        contacts = NewtonManager.get_contacts()
+                        if contacts is not None:
+                            self._viewer.log_contacts(contacts, self._state)
+                        else:
+                            self._log_scene_contact_sensor_arrows(num_envs)
                         if self.cfg.enable_markers:
                             render_newton_visualization_markers(
                                 self._viewer, self._resolved_visible_env_ids, num_envs=num_envs
@@ -530,6 +545,115 @@ def close(self) -> None:
         self._camera_sensor = None
         self._is_closed = True
 
+    def _log_scene_contact_sensor_arrows(self, num_envs: int) -> None:
+        """Render contact sensor data as Newton-style arrows when native contacts are unavailable."""
+        if self._viewer is None:
+            return
+        if not self._viewer.show_contacts:
+            self._viewer.log_arrows(CONTACT_ARROW_PATH, None, None, None)
+            return
+        contact_sensors = (
+            self._scene_data_provider.get_contact_sensors() if self._scene_data_provider is not None else {}
+        )
+        if not contact_sensors:
+            self._viewer.log_arrows(CONTACT_ARROW_PATH, None, None, None)
+            return
+
+        starts: list[torch.Tensor] = []
+        ends: list[torch.Tensor] = []
+        for sensor in contact_sensors.values():
+            sensor_starts, sensor_ends = self._contact_sensor_arrow_tensors(sensor, num_envs)
+            if sensor_starts is not None and sensor_ends is not None:
+                starts.append(sensor_starts)
+                ends.append(sensor_ends)
+
+        if not starts:
+            self._viewer.log_arrows(CONTACT_ARROW_PATH, None, None, None)
+            return
+
+        starts_t = torch.cat(starts, dim=0).detach().to(dtype=torch.float32, device="cpu").contiguous()
+        ends_t = torch.cat(ends, dim=0).detach().to(dtype=torch.float32, device="cpu").contiguous()
+        self._viewer.log_arrows(
+            CONTACT_ARROW_PATH,
+            wp.array(starts_t.numpy(), dtype=wp.vec3, device=self._viewer.device),
+            wp.array(ends_t.numpy(), dtype=wp.vec3, device=self._viewer.device),
+            CONTACT_ARROW_COLOR,
+        )
+
+    def _contact_sensor_arrow_tensors(self, sensor, num_envs: int) -> tuple[torch.Tensor | None, torch.Tensor | None]:
+        """Build Newton-style arrow starts/ends from an Isaac Lab contact sensor."""
+        try:
+            data = sensor.data
+            net_forces_proxy = data.net_forces_w
+            net_forces = net_forces_proxy.torch if net_forces_proxy is not None else None
+        except (AttributeError, NotImplementedError, RuntimeError):
+            return None, None
+
+        if net_forces is None or net_forces.numel() == 0:
+            return None, None
+        net_forces = self._filter_visible_env_tensor(net_forces, num_envs)
+
+        force_threshold = getattr(getattr(sensor, "cfg", None), "force_threshold", None)
+        if force_threshold is None:
+            force_threshold = 0.0
+
+        try:
+            contact_pos = getattr(data, "contact_pos_w", None)
+            force_matrix = getattr(data, "force_matrix_w", None)
+        except NotImplementedError:
+            contact_pos = None
+            force_matrix = None
+        if contact_pos is not None and force_matrix is not None:
+            contact_pos_t = self._filter_visible_env_tensor(contact_pos.torch, num_envs)
+            force_matrix_t = self._filter_visible_env_tensor(force_matrix.torch, num_envs)
+            if contact_pos_t.numel() != 0 and force_matrix_t.numel() != 0:
+                force_norm = torch.linalg.norm(force_matrix_t, dim=-1)
+                finite_pos = torch.isfinite(contact_pos_t).all(dim=-1)
+                active = (force_norm > force_threshold) & finite_pos
+                if torch.any(active):
+                    starts = contact_pos_t[active]
+                    directions = torch.nn.functional.normalize(force_matrix_t[active], dim=-1)
+                    return starts, starts + directions * CONTACT_ARROW_LENGTH
+
+        origins = self._contact_sensor_origin_positions(sensor, data, net_forces)
+        if origins is None:
+            return None, None
+        origins = self._filter_visible_env_tensor(origins, num_envs)
+
+        force_norm = torch.linalg.norm(net_forces, dim=-1)
+        active = force_norm > force_threshold
+        if not torch.any(active):
+            return None, None
+
+        starts = origins[active]
+        directions = torch.nn.functional.normalize(net_forces[active], dim=-1)
+        return starts, starts + directions * CONTACT_ARROW_LENGTH
+
+    def _contact_sensor_origin_positions(self, sensor, data, net_forces: torch.Tensor) -> torch.Tensor | None:
+        """Return per-sensor origins for contact arrow starts."""
+        try:
+            pos_w = getattr(data, "pos_w", None)
+        except NotImplementedError:
+            pos_w = None
+        if pos_w is not None:
+            return pos_w.torch
+
+        body_physx_view = getattr(sensor, "body_physx_view", None)
+        if body_physx_view is None:
+            return None
+        try:
+            pose = body_physx_view.get_transforms()
+        except RuntimeError:
+            return None
+        return wp.to_torch(pose).view(*net_forces.shape[:-1], 7)[..., :3]
+
+    def _filter_visible_env_tensor(self, tensor: torch.Tensor, num_envs: int) -> torch.Tensor:
+        """Apply Newton visualizer visible-world filtering to a sensor tensor."""
+        if self._resolved_visible_env_ids is None or tensor.ndim == 0 or tensor.shape[0] != num_envs:
+            return tensor
+        ids = torch.as_tensor(self._resolved_visible_env_ids, dtype=torch.long, device=tensor.device)
+        return tensor.index_select(0, ids)
+
     def is_running(self) -> bool:
         """Return whether the visualizer should continue stepping.
 
diff --git a/source/isaaclab_visualizers/test/test_newton_adapter.py b/source/isaaclab_visualizers/test/test_newton_adapter.py
index 6e79bd76209d..50d76902d3f0 100644
--- a/source/isaaclab_visualizers/test/test_newton_adapter.py
+++ b/source/isaaclab_visualizers/test/test_newton_adapter.py
@@ -7,6 +7,10 @@
 
 from __future__ import annotations
 
+from types import SimpleNamespace
+
+import torch
+from isaaclab_visualizers.newton import NewtonVisualizer, NewtonVisualizerCfg
 from isaaclab_visualizers.newton_adapter import (
     VISUALIZER_INFINITE_PLANE_SIZE,
     apply_viewer_visible_worlds,
@@ -95,3 +99,127 @@ def set_visible_worlds(self, worlds):
 
     apply_viewer_visible_worlds(_V(), env_ids=None, max_visible_envs=None, num_envs=3)
     assert calls[-1] is None
+
+
+class _BodyQ:
+    shape = (1,)
+
+
+class _Viewer:
+    _update_frequency = 1
+
+    def __init__(self):
+        self.device = "cpu"
+        self.show_contacts = False
+        self.logged_state = None
+        self.logged_contacts = None
+        self.logged_arrows = None
+
+    def is_paused(self):
+        return False
+
+    def begin_frame(self, _time):
+        pass
+
+    def log_state(self, state):
+        self.logged_state = state
+
+    def log_contacts(self, contacts, state):
+        self.logged_contacts = (contacts, state)
+
+    def log_arrows(self, name, starts, ends, colors):
+        self.logged_arrows = (name, starts, ends, colors)
+
+    def end_frame(self):
+        pass
+
+
+class _Proxy:
+    def __init__(self, tensor):
+        self.torch = tensor
+
+
+class _ContactSensorData:
+    def __init__(self, net_forces_w, pos_w):
+        self.net_forces_w = _Proxy(net_forces_w)
+        self.pos_w = _Proxy(pos_w)
+        self.contact_pos_w = None
+        self.force_matrix_w = None
+
+
+class _ContactSensor:
+    def __init__(self, net_forces_w, pos_w, force_threshold=1.0):
+        self.cfg = SimpleNamespace(force_threshold=force_threshold)
+        self.data = _ContactSensorData(net_forces_w, pos_w)
+
+
+class _SceneDataProvider:
+    def __init__(self, contact_sensors=None):
+        self._contact_sensors = contact_sensors or {}
+
+    def get_contact_sensors(self):
+        return self._contact_sensors
+
+
+def _make_newton_visualizer(viewer, scene_data_provider=None):
+    visualizer = NewtonVisualizer.__new__(NewtonVisualizer)
+    visualizer.cfg = NewtonVisualizerCfg(enable_markers=False)
+    visualizer._is_initialized = True
+    visualizer._is_closed = False
+    visualizer._sim_time = 0.0
+    visualizer._step_counter = 0
+    visualizer._viewer = viewer
+    visualizer._state = None
+    visualizer._scene_data_provider = scene_data_provider
+    visualizer._resolved_visible_env_ids = None
+    visualizer._log_camera_sensor_image = lambda: None
+    return visualizer
+
+
+def test_newton_visualizer_logs_native_contacts_when_available(monkeypatch):
+    from isaaclab_newton.physics import NewtonManager
+
+    state = SimpleNamespace(body_q=_BodyQ())
+    contacts = object()
+    viewer = _Viewer()
+
+    monkeypatch.setattr(NewtonManager, "get_state", lambda _scene_data_provider=None: state)
+    monkeypatch.setattr(NewtonManager, "get_contacts", lambda: contacts)
+    monkeypatch.setattr(NewtonManager, "get_num_envs", lambda: 1)
+
+    _make_newton_visualizer(viewer).step(0.1)
+
+    assert viewer.logged_state is state
+    assert viewer.logged_contacts == (contacts, state)
+
+
+def test_newton_visualizer_contact_sensor_fallback_obeys_show_contacts(monkeypatch):
+    from isaaclab_newton.physics import NewtonManager
+
+    state = SimpleNamespace(body_q=_BodyQ())
+    viewer = _Viewer()
+    sensor = _ContactSensor(
+        net_forces_w=torch.tensor([[[0.0, 0.0, 2.0], [0.0, 0.0, 0.5]]], dtype=torch.float32),
+        pos_w=torch.tensor([[[1.0, 2.0, 3.0], [4.0, 5.0, 6.0]]], dtype=torch.float32),
+        force_threshold=1.0,
+    )
+    scene_data_provider = _SceneDataProvider({"contact_forces": sensor})
+
+    monkeypatch.setattr(NewtonManager, "get_state", lambda _scene_data_provider=None: state)
+    monkeypatch.setattr(NewtonManager, "get_contacts", lambda: None)
+    monkeypatch.setattr(NewtonManager, "get_num_envs", lambda: 1)
+
+    visualizer = _make_newton_visualizer(viewer, scene_data_provider)
+    visualizer.step(0.1)
+    assert viewer.logged_arrows == ("/contacts", None, None, None)
+
+    viewer.show_contacts = True
+    visualizer.step(0.1)
+
+    name, starts, ends, colors = viewer.logged_arrows
+    assert name == "/contacts"
+    assert len(starts) == 1
+    assert len(ends) == 1
+    assert colors == (0.0, 1.0, 0.0)
+    assert torch.allclose(torch.tensor(starts.numpy()[0]), torch.tensor([1.0, 2.0, 3.0]))
+    assert torch.allclose(torch.tensor(ends.numpy()[0]), torch.tensor([1.0, 2.0, 3.1]))

From 7e86c65f7c396bd183b24fe9b5005f02c622a3a9 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Wed, 3 Jun 2026 23:21:45 +0000
Subject: [PATCH 07/17] clean up PR

---
 .../isaaclab_visualizers/newton/__init__.py   |  7 +------
 .../newton/newton_visualizer.py               | 19 -------------------
 .../test_visualizer_integration_newton.py     |  2 +-
 .../test/test_visualizer_integration_physx.py |  2 +-
 ...est_visualizer_tiled_integration_newton.py |  2 +-
 ...test_visualizer_tiled_integration_physx.py |  2 +-
 .../test/visualizer_integration_utils.py      | 19 +++++--------------
 7 files changed, 10 insertions(+), 43 deletions(-)

diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton/__init__.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton/__init__.py
index ead5cdf45859..b83c42420d86 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton/__init__.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton/__init__.py
@@ -16,10 +16,9 @@
 from .newton_visualizer_cfg import NewtonVisualizerCfg
 
 if TYPE_CHECKING:
-    from .newton_visualizer import NEWTON_HUD_IMPORT_LOG_WARNING
     from .newton_visualizer import NewtonVisualizer
 
-__all__ = ["NEWTON_HUD_IMPORT_LOG_WARNING", "NewtonVisualizer", "NewtonVisualizerCfg"]
+__all__ = ["NewtonVisualizer", "NewtonVisualizerCfg"]
 
 
 def __getattr__(name: str):
@@ -27,8 +26,4 @@ def __getattr__(name: str):
         from .newton_visualizer import NewtonVisualizer
 
         return NewtonVisualizer
-    if name == "NEWTON_HUD_IMPORT_LOG_WARNING":
-        from .newton_visualizer import NEWTON_HUD_IMPORT_LOG_WARNING
-
-        return NEWTON_HUD_IMPORT_LOG_WARNING
     raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
index d37aafed9432..3dbecdec794f 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
@@ -38,9 +38,6 @@
 
 logger = logging.getLogger(__name__)
 
-NEWTON_HUD_IMPORT_LOG_WARNING = "[NewtonVisualizer] Newton HUD disabled: failed to import imgui_bundle."
-"""Stable log prefix emitted when Newton's imgui HUD dependencies cannot be imported."""
-
 CONTACT_ARROW_PATH = "/contacts"
 """Viewer path used for native and synthesized contact arrows."""
 
@@ -54,21 +51,6 @@
     from isaaclab.scene_data import SceneDataProvider
 
 
-def _log_newton_hud_dependency_issue() -> None:
-    """Log a clear warning if Newton's imgui HUD dependencies cannot be imported."""
-    try:
-        from imgui_bundle import imgui as _imgui  # noqa: F401
-        from imgui_bundle import imguizmo as _imguizmo  # noqa: F401
-        from imgui_bundle.python_backends import pyglet_backend as _pyglet_backend  # noqa: F401
-    except ImportError as exc:
-        logger.warning(
-            "%s Install isaaclab-visualizers[newton] or fix its transitive dependencies "
-            "(for example typing-extensions>=4.15.0). ImportError: %s",
-            NEWTON_HUD_IMPORT_LOG_WARNING,
-            exc,
-        )
-
-
 class NewtonViewerGL(ViewerGL):
     """Wrapper around Newton's ViewerGL with training/rendering pause controls."""
 
@@ -417,7 +399,6 @@ def initialize(self, scene_data_provider: SceneDataProvider) -> None:
 
             pyglet.options["headless"] = True
 
-        _log_newton_hud_dependency_issue()
         self._viewer = NewtonViewerGL(
             width=self.cfg.window_width,
             height=self.cfg.window_height,
diff --git a/source/isaaclab_visualizers/test/test_visualizer_integration_newton.py b/source/isaaclab_visualizers/test/test_visualizer_integration_newton.py
index 30bfc316b646..ea8e35fab1ae 100644
--- a/source/isaaclab_visualizers/test/test_visualizer_integration_newton.py
+++ b/source/isaaclab_visualizers/test/test_visualizer_integration_newton.py
@@ -33,7 +33,7 @@ def test_cartpole_env_visualizers_motion_with_play_pause_newton(
 ) -> None:
     """Cartpole env + all non-tiled visualizers on Newton MJWarp."""
     run_cartpole_env_visualizers_motion_with_play_pause("newton", caplog)
-    _viz_utils.assert_no_newton_hud_dependency_warning(capsys, caplog)
+    _viz_utils.assert_no_newton_imgui_bundle_warning(capsys, caplog)
 
 
 if __name__ == "__main__":
diff --git a/source/isaaclab_visualizers/test/test_visualizer_integration_physx.py b/source/isaaclab_visualizers/test/test_visualizer_integration_physx.py
index 3cb997a64889..c8b909ab532e 100644
--- a/source/isaaclab_visualizers/test/test_visualizer_integration_physx.py
+++ b/source/isaaclab_visualizers/test/test_visualizer_integration_physx.py
@@ -33,7 +33,7 @@ def test_cartpole_env_visualizers_motion_with_play_pause_physx(
 ) -> None:
     """Cartpole env + all non-tiled visualizers on PhysX."""
     run_cartpole_env_visualizers_motion_with_play_pause("physx", caplog)
-    _viz_utils.assert_no_newton_hud_dependency_warning(capsys, caplog)
+    _viz_utils.assert_no_newton_imgui_bundle_warning(capsys, caplog)
 
 
 if __name__ == "__main__":
diff --git a/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_newton.py b/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_newton.py
index fc19b969b88b..0baaf7d8d5f7 100644
--- a/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_newton.py
+++ b/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_newton.py
@@ -33,7 +33,7 @@ def test_visualizer_tiled_integration_newton(
 ) -> None:
     """Cartpole env + tiled Kit/Newton visualizers on Newton MJWarp."""
     run_cartpole_env_visualizers_tiled_camera_motion("newton", caplog)
-    _viz_utils.assert_no_newton_hud_dependency_warning(capsys, caplog)
+    _viz_utils.assert_no_newton_imgui_bundle_warning(capsys, caplog)
 
 
 if __name__ == "__main__":
diff --git a/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_physx.py b/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_physx.py
index b2407aaae482..bafffe831e02 100644
--- a/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_physx.py
+++ b/source/isaaclab_visualizers/test/test_visualizer_tiled_integration_physx.py
@@ -33,7 +33,7 @@ def test_visualizer_tiled_integration_physx(
 ) -> None:
     """Cartpole env + tiled Kit/Newton visualizers on PhysX."""
     run_cartpole_env_visualizers_tiled_camera_motion("physx", caplog)
-    _viz_utils.assert_no_newton_hud_dependency_warning(capsys, caplog)
+    _viz_utils.assert_no_newton_imgui_bundle_warning(capsys, caplog)
 
 
 if __name__ == "__main__":
diff --git a/source/isaaclab_visualizers/test/visualizer_integration_utils.py b/source/isaaclab_visualizers/test/visualizer_integration_utils.py
index 6eea6e711d72..3b4bc8f3449d 100644
--- a/source/isaaclab_visualizers/test/visualizer_integration_utils.py
+++ b/source/isaaclab_visualizers/test/visualizer_integration_utils.py
@@ -36,7 +36,7 @@
 import torch
 import warp as wp
 from isaaclab_visualizers.kit import KitVisualizer, KitVisualizerCfg
-from isaaclab_visualizers.newton import NEWTON_HUD_IMPORT_LOG_WARNING, NewtonVisualizer, NewtonVisualizerCfg
+from isaaclab_visualizers.newton import NewtonVisualizer, NewtonVisualizerCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.app import AppLauncher
@@ -222,23 +222,14 @@ def _assert_no_visualizer_log_issues(caplog: pytest.LogCaptureFixture, *, fail_o
         )
 
 
-def assert_no_newton_hud_dependency_warning(
-    capsys: pytest.CaptureFixture[str], caplog: pytest.LogCaptureFixture
-) -> None:
-    """Fail when Newton disables the imgui HUD due to a broken dependency chain."""
+def assert_no_newton_imgui_bundle_warning(capsys: pytest.CaptureFixture[str], caplog: pytest.LogCaptureFixture) -> None:
+    """Fail when Newton reports that its imgui HUD dependency is missing."""
     captured = capsys.readouterr()
     captured_output = captured.out + captured.err
     printed_warning = _NEWTON_IMGUI_BUNDLE_PRINT_WARNING in captured_output
-    logged_warnings = [
-        record
-        for record in caplog.records
-        if NEWTON_HUD_IMPORT_LOG_WARNING in record.getMessage()
-        or _NEWTON_IMGUI_BUNDLE_PRINT_WARNING in record.getMessage()
-    ]
+    logged_warnings = [record for record in caplog.records if _NEWTON_IMGUI_BUNDLE_PRINT_WARNING in record.getMessage()]
     assert not printed_warning and not logged_warnings, (
-        "Newton visualizer HUD dependency failed. The Newton viewer printed/logged that imgui_bundle could not "
-        "be imported, which disables the HUD controls. Ensure isaaclab-visualizers[newton] installs "
-        "imgui-bundle and compatible transitive dependencies such as typing-extensions>=4.15.0. "
+        "Newton viewer reported that imgui_bundle could not be imported, which disables HUD controls. "
         f"Captured output: {captured_output!r}. "
         "Captured logs: " + "; ".join(f"{record.name}: {record.getMessage()}" for record in logged_warnings)
     )

From 6738fb5d396628b48498494a5e536b112d4598c3 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Wed, 3 Jun 2026 23:23:06 +0000
Subject: [PATCH 08/17] tweak docs

---
 docs/source/how-to/record_video.rst                  | 4 ----
 docs/source/overview/core-concepts/visualization.rst | 7 +++++--
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/docs/source/how-to/record_video.rst b/docs/source/how-to/record_video.rst
index a556c253e057..3ef6bedf6c71 100644
--- a/docs/source/how-to/record_video.rst
+++ b/docs/source/how-to/record_video.rst
@@ -80,10 +80,6 @@ precedence and only one ``--video`` stream is recorded. Rerun records ``.rrd`` r
 the Rerun visualizer rather than producing ``--video`` clips, and Viser does not currently provide a
 ``--video`` recording backend.
 
-To record both Kit and Newton perspectives for the same task, run two jobs: one with ``--viz kit`` and
-one with ``--viz newton``. The Gymnasium ``RecordVideo`` wrapper records one ``env.render()`` stream
-per process; it does not emit one video per visualizer listed in ``--viz``.
-
 Set ``VideoRecorderCfg.backend_source = "renderer"`` to ignore active visualizers and choose from the
 physics/renderer stack instead. In that mode, PhysX physics (``physics=physx``) or Isaac RTX
 (``renderer=isaacsim_rtx_renderer``) selects the Kit path. Newton physics (``physics=newton_mjwarp``) or
diff --git a/docs/source/overview/core-concepts/visualization.rst b/docs/source/overview/core-concepts/visualization.rst
index db19de46cb2a..13890a16cf92 100644
--- a/docs/source/overview/core-concepts/visualization.rst
+++ b/docs/source/overview/core-concepts/visualization.rst
@@ -220,10 +220,13 @@ Note, Kit tiled camera views require launching with ``--enable_cameras``.
      - Interactive visualizer camera starts at ``eye`` and looks at the fixed ``lookat`` coordinate.
    * - Generated tiled camera
      - ``tiled_cam_view=True``, ``tiled_cam_prim_path=None``, ``tiled_cam_target_prim_path="/World/envs/*/Robot"``
-     - The visualizer creates per-env cameras. Each camera looks at the matched target prim, with ``tiled_cam_eye`` as an offset from that target. Note that the ``tiled_cam_target_prim_path`` is the default value, but different environments may require different paths.
+     - The visualizer creates per-env cameras. Each camera looks at the matched target prim, with ``tiled_cam_eye`` as an offset from that target.
+       Note that the ``tiled_cam_target_prim_path`` has a default value, but different environments may require different paths.
    * - Existing tiled camera sensors
      - ``tiled_cam_view=True``, ``tiled_cam_prim_path="/World/envs/*/Camera"``
-     - The visualizer displays existing Isaac Lab ``Camera`` sensor output. Generated-camera fields such as ``tiled_cam_eye`` and ``tiled_cam_target_prim_path`` are ignored. Note that the ``tiled_cam_prim_path`` is the default value, but different environments may require different paths.
+     - The visualizer displays existing Isaac Lab ``Camera`` sensor output. Generated-camera fields such as ``tiled_cam_eye`` and
+       ``tiled_cam_target_prim_path`` are ignored. Note that the ``tiled_cam_prim_path`` has a default value, but different
+       environments may require different paths.
 
      This mode requires an environment that registers Isaac Lab ``Camera`` sensors in ``scene.sensors``.
      For Cartpole, use a camera task such as ``Isaac-Cartpole-Camera``. The plain ``Isaac-Cartpole`` task

From 2b7366deca61850582f0bfa05f0e52e61d4d7ee3 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Wed, 3 Jun 2026 23:46:26 +0000
Subject: [PATCH 09/17] fix CI

---
 .github/workflows/license-exceptions.json | 2 +-
 docs/index.rst                            | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/license-exceptions.json b/.github/workflows/license-exceptions.json
index e1e93a2ae7e0..95af798cd66e 100644
--- a/.github/workflows/license-exceptions.json
+++ b/.github/workflows/license-exceptions.json
@@ -470,7 +470,7 @@
   },
   {
     "package": "typing_extensions",
-    "license": "Python Software Foundation License",
+    "license": "PSF-2.0",
     "comment": "PSFL / OSRB"
   },
   {
diff --git a/docs/index.rst b/docs/index.rst
index 448d897852e0..2a304b8f8d7b 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -130,7 +130,6 @@ Table of Contents
    source/features/hydra
    source/features/multi_gpu
    source/features/population_based_training
-   Tiled Rendering</source/overview/core-concepts/sensors/camera>
    source/features/ray
    source/features/reproducibility
 

From fe15dd6fcbc6726ba659ab58bc2f813e65aec374 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Thu, 4 Jun 2026 00:28:15 +0000
Subject: [PATCH 10/17] fix table

---
 docs/source/overview/core-concepts/visualization.rst | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/docs/source/overview/core-concepts/visualization.rst b/docs/source/overview/core-concepts/visualization.rst
index 13890a16cf92..543cd20d3353 100644
--- a/docs/source/overview/core-concepts/visualization.rst
+++ b/docs/source/overview/core-concepts/visualization.rst
@@ -226,11 +226,9 @@ Note, Kit tiled camera views require launching with ``--enable_cameras``.
      - ``tiled_cam_view=True``, ``tiled_cam_prim_path="/World/envs/*/Camera"``
      - The visualizer displays existing Isaac Lab ``Camera`` sensor output. Generated-camera fields such as ``tiled_cam_eye`` and
        ``tiled_cam_target_prim_path`` are ignored. Note that the ``tiled_cam_prim_path`` has a default value, but different
-       environments may require different paths.
-
-     This mode requires an environment that registers Isaac Lab ``Camera`` sensors in ``scene.sensors``.
-     For Cartpole, use a camera task such as ``Isaac-Cartpole-Camera``. The plain ``Isaac-Cartpole`` task
-     has no ``/World/envs/*/Camera`` sensor, so leave ``tiled_cam_prim_path=None`` to use generated visualizer cameras.
+       environments may require different paths. This mode requires an environment that registers Isaac Lab ``Camera`` sensors
+       in ``scene.sensors``. For Cartpole, use a camera task such as ``Isaac-Cartpole-Camera``. The plain ``Isaac-Cartpole``
+       task has no ``/World/envs/*/Camera`` sensor, so leave ``tiled_cam_prim_path=None`` to use generated visualizer cameras.
 
 **How to Access the Tiled Camera View in the UI**
 

From 6b442afce59ff923db1a837b27b3a89bbc4a0cd6 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Thu, 4 Jun 2026 00:43:13 +0000
Subject: [PATCH 11/17] fix other doc issues

---
 docs/source/how-to/optimize_stage_creation.rst | 2 +-
 docs/source/refs/migration.rst                 | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/docs/source/how-to/optimize_stage_creation.rst b/docs/source/how-to/optimize_stage_creation.rst
index cdbd59562992..e359669ebea2 100644
--- a/docs/source/how-to/optimize_stage_creation.rst
+++ b/docs/source/how-to/optimize_stage_creation.rst
@@ -49,7 +49,7 @@ Stage in memory can be toggled by setting the :attr:`isaaclab.sim.SimulationCfg.
     env = ManagerBasedRLEnv(cfg=cfg)
 
 When using stage in memory without an existing RL environment class, wrap the stage creation steps
-in a :py:keyword:`with` statement to set the stage context. The stage is automatically attached
+in a ``with`` statement to set the stage context. The stage is automatically attached
 to the USD context when ``SimulationContext`` is created with ``create_stage_in_memory=True``.
 
 **Using Stage in Memory with a manual scene setup**
diff --git a/docs/source/refs/migration.rst b/docs/source/refs/migration.rst
index 3ae599e91509..11db227bc142 100644
--- a/docs/source/refs/migration.rst
+++ b/docs/source/refs/migration.rst
@@ -157,7 +157,7 @@ Two key patterns support this:
    initialized.
 
 For full details, examples, and the ``{DIR}`` placeholder convention, see the
-:ref:`contributing` guide — in particular the
+:doc:`contributing` guide — in particular the
 `Lazy Loading & Module Exports <contributing.html#lazy-loading-module-exports>`__,
 `Resolvable Strings <contributing.html#resolvable-strings>`__, and
 `Config + Implementation File Split <contributing.html#config-implementation-file-split>`__
@@ -197,7 +197,7 @@ With this in place, ``import my_package`` will not eagerly import any submodules
 are loaded on first access, giving ``SimulationApp`` time to initialize and auto-detect the
 correct backend.
 
-For more details, refer to the :ref:`contributing` guide.
+For more details, refer to the :doc:`contributing` guide.
 
 
 .. _simple script: https://gist.github.com/kellyguo11/3e8f73f739b1c013b1069ad372277a85

From 79c98a81ea3efffa732ae847d5f6c4ff801ec04f Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Thu, 4 Jun 2026 21:21:59 +0000
Subject: [PATCH 12/17] PR feedback

---
 docs/index.rst                                |  1 +
 .../isaaclab/markers/visualization_markers.py |  8 +-
 .../isaaclab/scene_data/scene_data_backend.py |  4 -
 .../isaaclab/sim/simulation_context.py        |  1 -
 .../markers/test_visualization_markers.py     | 29 ++++++
 .../check_scene_xr_visualization.py           |  2 +-
 .../isaaclab_physx/physics/physx_manager.py   | 89 ++++++-------------
 7 files changed, 64 insertions(+), 70 deletions(-)
 rename source/isaaclab/test/{visualization => xr_visualization}/check_scene_xr_visualization.py (98%)

diff --git a/docs/index.rst b/docs/index.rst
index 2a304b8f8d7b..720c96676980 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -130,6 +130,7 @@ Table of Contents
    source/features/hydra
    source/features/multi_gpu
    source/features/population_based_training
+   Tiled Rendering <source/overview/core-concepts/sensors/camera>
    source/features/ray
    source/features/reproducibility
 
diff --git a/source/isaaclab/isaaclab/markers/visualization_markers.py b/source/isaaclab/isaaclab/markers/visualization_markers.py
index 667f9b4ddf7d..ef9eb65e9927 100644
--- a/source/isaaclab/isaaclab/markers/visualization_markers.py
+++ b/source/isaaclab/isaaclab/markers/visualization_markers.py
@@ -111,6 +111,7 @@ def __init__(self, cfg: VisualizationMarkersCfg):
         self.prim_path = cfg.prim_path
         self._count = len(cfg.markers)
         self._is_visible = True
+        self._has_visualized = False
         self._backends: list[object] = []
         self._ensure_backends_initialized()
 
@@ -226,7 +227,11 @@ def visualize(
             if value is not None:
                 num_markers = value.shape[0]
 
-        if norm_marker_indices is None and num_markers != 0 and num_markers != self._count:
+        if (
+            norm_marker_indices is None
+            and num_markers != 0
+            and (not self._has_visualized or num_markers != self._count)
+        ):
             norm_marker_indices = torch.zeros(num_markers, dtype=torch.int32, device=target_device)
         elif norm_marker_indices is None and num_markers == 0:
             if all(value is None for value in (norm_translations, norm_orientations, norm_scales)):
@@ -238,6 +243,7 @@ def visualize(
 
         if num_markers != 0:
             self._count = num_markers
+            self._has_visualized = True
 
     def __del__(self):
         for backend in getattr(self, "_backends", []):
diff --git a/source/isaaclab/isaaclab/scene_data/scene_data_backend.py b/source/isaaclab/isaaclab/scene_data/scene_data_backend.py
index 377b61e6d726..183b08246848 100644
--- a/source/isaaclab/isaaclab/scene_data/scene_data_backend.py
+++ b/source/isaaclab/isaaclab/scene_data/scene_data_backend.py
@@ -71,10 +71,6 @@ class Matrix44:
 
 
 class SceneDataBackend:
-    def set_interactive_scene(self, scene) -> None:
-        """Attach the active interactive scene, if the backend needs scene-owned entities."""
-        pass
-
     @property
     def transforms(
         self,
diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
index 777be01a1932..61118919ffd6 100644
--- a/source/isaaclab/isaaclab/sim/simulation_context.py
+++ b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -666,7 +666,6 @@ def register_interactive_scene(self, scene) -> None:
         self._interactive_scene = scene
         if self._scene_data_provider is not None:
             self._scene_data_provider.set_interactive_scene(scene)
-            self._scene_data_provider.backend.set_interactive_scene(scene)
 
     def get_scene_data_requirements(self) -> SceneDataRequirement:
         """Return scene-data requirements resolved from visualizers/renderers."""
diff --git a/source/isaaclab/test/markers/test_visualization_markers.py b/source/isaaclab/test/markers/test_visualization_markers.py
index b9ae8387cf0f..1dbd25ad7780 100644
--- a/source/isaaclab/test/markers/test_visualization_markers.py
+++ b/source/isaaclab/test/markers/test_visualization_markers.py
@@ -144,6 +144,27 @@ def test_rendering_context_authors_visible_usd_point_instancer(sim):
     assert list(instancer.GetProtoIndicesAttr().Get()) == [0, 1]
 
 
+def test_first_visualize_defaults_to_first_prototype_when_count_matches_prototypes(sim):
+    """Omitted marker indices should not preserve initialization prototype placeholders."""
+    from pxr import UsdGeom
+
+    sim._has_offscreen_render = True
+    config = VisualizationMarkersCfg(
+        prim_path="/World/Visuals/default_marker_indices",
+        markers={
+            "frame": sim_utils.SphereCfg(radius=0.1),
+            "line": sim_utils.CuboidCfg(size=(0.1, 0.1, 0.1)),
+        },
+    )
+    test_marker = VisualizationMarkers(config)
+
+    # This is the regression case from #5262: first marker count equals prototype count.
+    test_marker.visualize(translations=torch.tensor([[0.0, 0.0, 0.0], [0.2, 0.0, 0.0]], device=sim.device))
+
+    instancer = UsdGeom.PointInstancer(sim_utils.get_current_stage().GetPrimAtPath(test_marker.prim_path))
+    assert list(instancer.GetProtoIndicesAttr().Get()) == [0, 0]
+
+
 def test_usd_marker(sim):
     """Test with marker from a USD."""
     # create a marker
@@ -253,6 +274,7 @@ class _FakeViewer:
 
         def __init__(self):
             self.calls = []
+            self.show_contacts = False
 
         def is_paused(self):
             return False
@@ -263,6 +285,9 @@ def begin_frame(self, sim_time):
         def log_state(self, state):
             self.calls.append(("log_state", state))
 
+        def log_arrows(self, name, starts, ends, colors):
+            pass
+
         def end_frame(self):
             self.calls.append(("end_frame",))
 
@@ -276,6 +301,10 @@ def get_state(scene_data_provider=None):
         def get_num_envs() -> int:
             return 4
 
+        @staticmethod
+        def get_contacts():
+            return None
+
     def _fake_render_markers(viewer, visible_env_ids, num_envs):
         marker_calls.append((viewer, visible_env_ids, num_envs))
 
diff --git a/source/isaaclab/test/visualization/check_scene_xr_visualization.py b/source/isaaclab/test/xr_visualization/check_scene_xr_visualization.py
similarity index 98%
rename from source/isaaclab/test/visualization/check_scene_xr_visualization.py
rename to source/isaaclab/test/xr_visualization/check_scene_xr_visualization.py
index 0ecded8048a8..c8d25c51f140 100644
--- a/source/isaaclab/test/visualization/check_scene_xr_visualization.py
+++ b/source/isaaclab/test/xr_visualization/check_scene_xr_visualization.py
@@ -9,7 +9,7 @@
 .. code-block:: bash
 
     # Usage
-    ./isaaclab.sh -p source/isaaclab/test/visualization/check_scene_visualization.py
+    ./isaaclab.sh -p source/isaaclab/test/xr_visualization/check_scene_xr_visualization.py
 
 """
 
diff --git a/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py b/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py
index f8870db1acd7..36701a248f5f 100644
--- a/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py
+++ b/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py
@@ -160,8 +160,6 @@ def __init__(self):
         self._simulation_view: omni.physics.tensors.SimulationView | None = None
         self._rigid_body_view: omni.physics.tensors.RigidBodyView | None = None
         self._scene_data = SceneDataFormat.Transform()
-        self._interactive_scene: Any | None = None
-        self._articulation_body_paths: list[str] = []
 
     @property
     def simulation_view(self) -> omni.physics.tensors.SimulationView | None:
@@ -172,48 +170,13 @@ def simulation_view(self, simulation_view: omni.physics.tensors.SimulationView |
         self._simulation_view = simulation_view
         self._rigid_body_view = None
 
-    def set_interactive_scene(self, scene: Any) -> None:
-        """Attach the active scene so articulation link transforms can be read from asset views."""
-        self._interactive_scene = scene
-        self._rigid_body_view = None
-        self._articulation_body_paths = []
-
-    def _get_articulation_body_paths(self) -> set[str]:
-        """Return body prim paths owned by scene articulations."""
-        if self._interactive_scene is None:
-            self._articulation_body_paths = []
-            return set()
-
-        articulation_paths: list[str] = []
-        for articulation in getattr(self._interactive_scene, "articulations", {}).values():
-            root_paths = list(getattr(articulation.root_view, "prim_paths", []))
-            body_names = list(getattr(articulation, "body_names", []))
-            for root_path in root_paths:
-                asset_root_path = root_path.rsplit("/", 1)[0]
-                articulation_paths.extend(f"{asset_root_path}/{body_name}" for body_name in body_names)
-
-        self._articulation_body_paths = articulation_paths
-        return set(articulation_paths)
-
-    def _get_articulation_transforms(self) -> wp.array | None:
-        """Return flattened articulation link transforms from scene-owned articulation assets."""
-        if self._interactive_scene is None:
-            return None
-
-        transform_tensors = []
-        for articulation in getattr(self._interactive_scene, "articulations", {}).values():
-            transform_tensors.append(wp.to_torch(articulation.data.body_link_pose_w.warp).reshape(-1, 7))
-
-        if not transform_tensors:
-            return None
-        return wp.from_torch(torch.cat(transform_tensors, dim=0).contiguous(), dtype=wp.transformf)
-
     def get_rigid_body_view(self) -> omni.physics.tensors.RigidBodyView | None:
         """Lazily create a rigid body view covering all rigid bodies in the scene.
 
-        Discovers rigid body prims by traversing the USD stage and converts
-        per-environment paths (``/World/envs/env_N/...``) into wildcard
-        patterns so a single PhysX view covers every environment instance.
+        Discovers exact rigid body prims by traversing USD, then compacts cloned
+        environment paths into wildcard patterns. If a rigid body name is also
+        used by a non-rigid prim, the exact path is kept to avoid PhysX resolving
+        the wildcard to the non-rigid prim.
         """
         if self._rigid_body_view is not None:
             return self._rigid_body_view
@@ -225,51 +188,51 @@ def get_rigid_body_view(self) -> omni.physics.tensors.RigidBodyView | None:
         if stage is None:
             return None
 
-        patterns: set[str] = set()
-        articulation_body_paths = self._get_articulation_body_paths()
+        rigid_body_paths: list[str] = []
+        non_rigid_body_names: set[str] = set()
         for prim in stage.Traverse():
             prim_path = prim.GetPath().pathString
-            if prim.HasAPI(UsdPhysics.RigidBodyAPI) and prim_path not in articulation_body_paths:
+            if prim.HasAPI(UsdPhysics.RigidBodyAPI):
+                rigid_body_paths.append(prim_path)
+            elif re.search(r"/World/envs/env_\d+/", prim_path):
+                non_rigid_body_names.add(prim_path.rsplit("/", 1)[-1])
+
+        patterns: set[str] = set()
+        exact_paths: list[str] = []
+        for prim_path in rigid_body_paths:
+            body_name = prim_path.rsplit("/", 1)[-1]
+            if body_name in non_rigid_body_names:
+                exact_paths.append(prim_path)
+            else:
                 patterns.add(re.sub(r"/World/envs/env_\d+", "/World/envs/env_*", prim_path))
 
-        if not patterns:
+        body_paths = [*sorted(patterns), *exact_paths]
+        if not body_paths:
             return None
 
-        self._rigid_body_view = self._simulation_view.create_rigid_body_view(list(patterns))
+        self._rigid_body_view = self._simulation_view.create_rigid_body_view(body_paths)
         return self._rigid_body_view
 
     @property
     def transforms(self) -> SceneDataFormat.Transform:
         """Return the current PhysX rigid body transforms as :class:`SceneDataFormat.Transform`."""
-        transform_tensors = []
-        articulation_transforms = self._get_articulation_transforms()
-        if articulation_transforms is not None:
-            transform_tensors.append(wp.to_torch(articulation_transforms).reshape(-1, 7))
         if view := self.get_rigid_body_view():
-            transform_tensors.append(wp.to_torch(view.get_transforms().view(wp.transformf)).reshape(-1, 7))
-        if transform_tensors:
-            self._scene_data.transforms = wp.from_torch(
-                torch.cat(transform_tensors, dim=0).contiguous(), dtype=wp.transformf
-            )
+            self._scene_data.transforms = view.get_transforms().view(wp.transformf)
         return self._scene_data
 
     @property
     def transform_count(self) -> int:
         """Return the number of rigid body transforms in the PhysX sim."""
-        self._get_articulation_body_paths()
-        count = len(self._articulation_body_paths)
         if view := self.get_rigid_body_view():
-            count += view.count
-        return count
+            return view.count
+        return 0
 
     @property
     def transform_paths(self) -> list[str]:
         """Return the prim paths for each rigid body transform."""
-        self._get_articulation_body_paths()
-        transform_paths = list(self._articulation_body_paths)
         if view := self.get_rigid_body_view():
-            transform_paths.extend(list(view.prim_paths))
-        return transform_paths
+            return list(view.prim_paths)
+        return []
 
 
 class PhysxManager(PhysicsManager):

From 3246c9c46b146f6a12f9330433afa829fc6206c4 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Thu, 4 Jun 2026 21:38:31 +0000
Subject: [PATCH 13/17] update comment

---
 source/isaaclab/isaaclab/sim/simulation_context.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
index 61118919ffd6..d157a72d521f 100644
--- a/source/isaaclab/isaaclab/sim/simulation_context.py
+++ b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -662,7 +662,7 @@ def get_scene_data_provider(self) -> SceneDataProvider:
         return self._scene_data_provider
 
     def register_interactive_scene(self, scene) -> None:
-        """Register the active scene so scene-data consumers can access scene-owned entities."""
+        """Register the active scene so scene-data providers can expose scene-owned sensors."""
         self._interactive_scene = scene
         if self._scene_data_provider is not None:
             self._scene_data_provider.set_interactive_scene(scene)

From b4707165eab9b7c87a4a98472c6b5a828318683a Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Thu, 4 Jun 2026 21:46:33 +0000
Subject: [PATCH 14/17] fix license check

---
 .github/workflows/license-exceptions.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/license-exceptions.json b/.github/workflows/license-exceptions.json
index 95af798cd66e..e1e93a2ae7e0 100644
--- a/.github/workflows/license-exceptions.json
+++ b/.github/workflows/license-exceptions.json
@@ -470,7 +470,7 @@
   },
   {
     "package": "typing_extensions",
-    "license": "PSF-2.0",
+    "license": "Python Software Foundation License",
     "comment": "PSFL / OSRB"
   },
   {

From 243f43abb552943d9b9a1ef411dbecf62024f006 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Thu, 4 Jun 2026 22:09:22 +0000
Subject: [PATCH 15/17] nits

---
 source/isaaclab/isaaclab/sim/simulation_context.py         | 2 +-
 source/isaaclab/test/markers/test_visualization_markers.py | 1 -
 source/isaaclab_visualizers/pyproject.toml                 | 2 ++
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
index d157a72d521f..c068469ec599 100644
--- a/source/isaaclab/isaaclab/sim/simulation_context.py
+++ b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -662,7 +662,7 @@ def get_scene_data_provider(self) -> SceneDataProvider:
         return self._scene_data_provider
 
     def register_interactive_scene(self, scene) -> None:
-        """Register the active scene so scene-data providers can expose scene-owned sensors."""
+        """Register the active scene so scene data providers can expose scene-owned sensors."""
         self._interactive_scene = scene
         if self._scene_data_provider is not None:
             self._scene_data_provider.set_interactive_scene(scene)
diff --git a/source/isaaclab/test/markers/test_visualization_markers.py b/source/isaaclab/test/markers/test_visualization_markers.py
index 1dbd25ad7780..79a66443eca1 100644
--- a/source/isaaclab/test/markers/test_visualization_markers.py
+++ b/source/isaaclab/test/markers/test_visualization_markers.py
@@ -158,7 +158,6 @@ def test_first_visualize_defaults_to_first_prototype_when_count_matches_prototyp
     )
     test_marker = VisualizationMarkers(config)
 
-    # This is the regression case from #5262: first marker count equals prototype count.
     test_marker.visualize(translations=torch.tensor([[0.0, 0.0, 0.0], [0.2, 0.0, 0.0]], device=sim.device))
 
     instancer = UsdGeom.PointInstancer(sim_utils.get_current_stage().GetPrimAtPath(test_marker.prim_path))
diff --git a/source/isaaclab_visualizers/pyproject.toml b/source/isaaclab_visualizers/pyproject.toml
index 9c439e7c327a..2601cafa418d 100644
--- a/source/isaaclab_visualizers/pyproject.toml
+++ b/source/isaaclab_visualizers/pyproject.toml
@@ -36,6 +36,7 @@ newton = [
 ]
 rerun = [
     "newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0",
+    # Match rerun-sdk's supported Arrow stack and avoid resolver drift across environments.
     "pyarrow==22.0.0",
     "rerun-sdk>=0.29.0",
 ]
@@ -47,6 +48,7 @@ all = [
     "imgui-bundle>=1.92.5",
     "newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0",
     "PyOpenGL-accelerate",
+    # Match rerun-sdk's supported Arrow stack and avoid resolver drift across environments.
     "pyarrow==22.0.0",
     "rerun-sdk>=0.29.0",
     "typing-extensions>=4.15.0",

From e88eb84ca553741d00457bbe5689e4c2bb831860 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Fri, 5 Jun 2026 22:56:03 +0000
Subject: [PATCH 16/17] fix test

---
 source/isaaclab/isaaclab/scene_data/scene_data_provider.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/source/isaaclab/isaaclab/scene_data/scene_data_provider.py b/source/isaaclab/isaaclab/scene_data/scene_data_provider.py
index 69606010badb..ba4c051920e1 100644
--- a/source/isaaclab/isaaclab/scene_data/scene_data_provider.py
+++ b/source/isaaclab/isaaclab/scene_data/scene_data_provider.py
@@ -16,7 +16,6 @@
 from pxr import UsdGeom
 
 import isaaclab.sim as sim_utils
-from isaaclab.sensors.contact_sensor import BaseContactSensor
 
 from .scene_data_backend import SceneDataBackend, SceneDataFormat
 
@@ -61,6 +60,8 @@ def get_contact_sensors(self) -> dict[str, Any]:
         """Return Isaac Lab contact sensors keyed by scene sensor name."""
         if self._interactive_scene is None:
             return {}
+        from isaaclab.sensors.contact_sensor import BaseContactSensor
+
         return {
             name: sensor
             for name, sensor in getattr(self._interactive_scene, "sensors", {}).items()

From 2988b5bf4ccaeeffc6f4f46d8def36e91e5cae85 Mon Sep 17 00:00:00 2001
From: Matthew Trepte <mtrepte@nvidia.com>
Date: Fri, 5 Jun 2026 23:45:23 +0000
Subject: [PATCH 17/17] remove duplicate link which causes CI failures

---
 docs/index.rst | 1 -
 1 file changed, 1 deletion(-)

diff --git a/docs/index.rst b/docs/index.rst
index 720c96676980..2a304b8f8d7b 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -130,7 +130,6 @@ Table of Contents
    source/features/hydra
    source/features/multi_gpu
    source/features/population_based_training
-   Tiled Rendering <source/overview/core-concepts/sensors/camera>
    source/features/ray
    source/features/reproducibility