[Visualizers] Add Viser visualizer support

[eric-heiden]

Description

• Introduced Viser visualizer configuration and implementation.
• Updated AppLauncher to support Viser alongside existing visualizers (Rerun, Newton, Omniverse).
• Modified simulation context and scene data provider to accommodate Viser.
• Enhanced documentation to reflect new visualizer options.
• Added --visualizer_max_worlds CLI option that will limit the number of envs shown in the Newton/Rerun/Viser visualizers

Type of change

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

Screenshots

Run command:

./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py \
  --task Isaac-Cartpole-v0 \
  --num_envs 64 \
  --max_iterations 1000 \
  --visualizer viser

Run command:

./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py \
  --task Isaac-Velocity-Flat-Anymal-D-v0 \
  --visualizer viser \
  --visualizer_max_worlds 100

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[greptile-apps]

Greptile Summary

This PR adds Viser as a third Newton-based visualizer alongside the existing Newton and Rerun visualizers. The implementation follows the established pattern and integrates cleanly with the visualizer architecture.

Key Changes:

• New ViserVisualizer class using Newton's ViewerViser backend (web-based on port 8080)
• Added --visualizer_max_worlds CLI option to limit environments shown in Newton/Rerun/Viser
• Applied CLI override mechanism for max_worlds across all Newton-based visualizers
• Updated AppLauncher to support standalone mode (no SimulationApp) when only using Rerun/Newton/Viser
• Added viser>=1.0.16 dependency

Issues Found:

• Documentation inconsistency: help text says "omniverse" but implementation uses "kit" as the visualizer name

Confidence Score: 4/5

• Safe to merge with minor documentation fix recommended
• Implementation follows established patterns for Newton/Rerun visualizers with consistent architecture. Only issue is a documentation inconsistency where help text says "omniverse" but code uses "kit".
• Check app_launcher.py documentation for visualizer name consistency (lines 299, 457)

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/visualizers/viser_visualizer.py	New Viser visualizer implementation following the same pattern as Newton/Rerun visualizers, with proper camera handling and lifecycle management
source/isaaclab/isaaclab/visualizers/viser_visualizer_cfg.py	Configuration class for Viser visualizer with standard settings (port, label, recording, max_worlds)
source/isaaclab/isaaclab/app/app_launcher.py	Added Viser to valid visualizers list and updated documentation; includes new --visualizer_max_worlds CLI option
source/isaaclab/isaaclab/sim/simulation_context.py	Added Viser support to visualizer resolution logic and new CLI override mechanism for max_worlds parameter

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[User runs script with --visualizer viser] --> B[AppLauncher parses CLI args]
    B --> C{Omniverse required?}
    C -->|No: viser only| D[Standalone mode - No SimulationApp]
    C -->|Yes: kit visualizer or cameras| E[Launch SimulationApp]
    D --> F[SimulationContext.initialize]
    E --> F
    F --> G[resolve_visualizer_types]
    G --> H{CLI override?}
    H -->|Yes| I[Filter visualizer_cfgs by CLI types]
    H -->|No| J[Use all visualizer_cfgs]
    I --> K[Apply CLI max_worlds override]
    J --> K
    K --> L[Create ViserVisualizer instance]
    L --> M[ViserVisualizer.initialize]
    M --> N[Get Newton model from SceneDataProvider]
    N --> O[Create NewtonViewerViser on port 8080]
    O --> P[Disable client rebuild if bundled]
    P --> Q[Set camera view]
    Q --> R[Simulation loop: step calls]
    R --> S[ViserVisualizer.step]
    S --> T[Update Newton state]
    T --> U[viewer.log_state]
    U --> V{Continue?}
    V -->|Yes| R
    V -->|No| W[ViserVisualizer.close]
    W --> X[Finalize recording if enabled]

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[greptile-apps]

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[kellyguo11]

is it possible to add some unit tests for this?