Cherry-picks pyglet and visualizer fixes from develop (#6180)

# Description

Cherry pick visualizer fixes from develop:

- #6176 
- #6179

---------

Co-authored-by: ooctipus <zhengyuz@nvidia.com>

Author: kellyguo11

docs/source/overview/core-concepts/visualization.rst

@@ -646,6 +646,18 @@ The visualizer will still function correctly but may experience reduced performa
 CPU copy operations instead of direct GPU memory sharing.
 
 
+**Newton Visualizer OpenGL Context Failures**
+
+The Newton visualizer is an OpenGL window. If pyglet reports that
+``glCreateShader`` is not exported or that OpenGL 2.0 is required, the Python
+process did not receive a usable OpenGL 2.0+ context from the active Windows or
+Linux display session. This usually means the process is running in a
+non-interactive/service session, through a remote desktop path without GPU
+OpenGL acceleration, or with a software/basic OpenGL provider instead of the
+NVIDIA driver. Run from a GPU-backed interactive display session, or omit
+``--visualizer newton`` for headless inference.
+
+
 **Newton Visualizer on Spark with Conda**
 
 When running the Newton visualizer on Spark inside a conda environment, conda-installed X11 libraries

source/isaaclab/changelog.d/zhengyuz-newton-pyglet-install-message.rst

@@ -0,0 +1,5 @@
+Changed
+^^^^^^^
+
+* Updated the ``newton`` extra installation message to list the Newton GL
+  viewer's ``pyglet`` dependency.

source/isaaclab/changelog.d/zhengyuz-sim-reset-visualizer-before-play.rst

@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Fixed SimulationContext reset ordering so initial visualizers are created before the timeline play event pump can invalidate freshly created PhysX tensor views.

source/isaaclab/isaaclab/cli/commands/install.py

@@ -652,7 +652,9 @@ 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, typing-extensions)...")
+        print_info(
+            "Installing newton extras (newton[sim], pyglet, 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]"])

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -720,11 +720,11 @@ def reset(self, soft: bool = False) -> None:
         self.physics_manager.reset(soft)
         for viz in self._visualizers:
             viz.reset(soft)
-        # Start the timeline so the play button is pressed
-        self.physics_manager.play()
         if not self._visualizers:
-            # Initialize visualizers after PhysX sim view is ready.
+            # Initialize visualizers after PhysX sim views are ready, but before play() pumps timeline events.
             self.initialize_visualizers()
+        # Start the timeline so the play button is pressed
+        self.physics_manager.play()
         self._is_playing = True
         self._is_stopped = False
 

source/isaaclab/test/sim/test_simulation_context_visualizers.py

@@ -194,6 +194,35 @@ def test_update_visualizers_handles_training_pause_loop():
     assert viz.step_calls == [0.0, 0.2]
 
 
+def test_reset_initializes_visualizers_before_playing_timeline():
+    """Initial visualizers must see the PhysX views created by reset before play() pumps timeline events."""
+    events: list[str] = []
+    ctx = object.__new__(SimulationContext)
+    ctx._visualizers = []
+
+    class _PhysicsManager:
+        @staticmethod
+        def reset(soft=False):
+            events.append(f"reset:{soft}")
+
+        @staticmethod
+        def play():
+            events.append("play")
+
+    def _initialize_visualizers():
+        events.append("initialize_visualizers")
+        ctx._visualizers = [_FakeVisualizer()]
+
+    ctx.physics_manager = _PhysicsManager()
+    ctx.initialize_visualizers = _initialize_visualizers
+
+    ctx.reset()
+
+    assert events == ["reset:False", "initialize_visualizers", "play"]
+    assert ctx.is_playing()
+    assert not ctx.is_stopped()
+
+
 class _DummyViserSceneDataProvider:
     @property
     def num_envs(self) -> int:

source/isaaclab_newton/changelog.d/zhengyuz-newton-gl-pyglet-dependency.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Added an explicit ``pyglet>=2.1.6,<3`` dependency for Newton GL video
+  recording support.

source/isaaclab_newton/setup.py

@@ -39,6 +39,7 @@ def run(self):
     "all": [
         "prettytable==3.3.0",
         "PyOpenGL-accelerate==3.1.10",
+        "pyglet>=2.1.6,<3",
         "newton[sim]==1.2.1",
     ],
 }

source/isaaclab_visualizers/changelog.d/zhengyuz-newton-pyglet-dependency.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Added an explicit ``pyglet>=2.1.6,<3`` dependency for the Newton visualizer
+  extra so the OpenGL viewer does not rely on ambient transitive installs.

source/isaaclab_visualizers/setup.py

@@ -26,6 +26,7 @@
         "warp-lang",
         "newton[sim]==1.2.1",
         "PyOpenGL-accelerate",
+        "pyglet>=2.1.6,<3",
         "imgui-bundle>=1.92.601",
         "typing-extensions==4.12.2",
         "pydantic>=2.7,<2.12",