Hoist pyglet.math.Vec3 import to module level (review)

Author: hujc7

source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py

@@ -13,6 +13,7 @@
 import numpy as np
 import warp as wp
 from newton.viewer import ViewerGL
+from pyglet.math import Vec3 as PygletVec3
 
 from isaaclab.visualizers.base_visualizer import BaseVisualizer
 
@@ -463,17 +464,8 @@ def _apply_camera_pose(self, pose: tuple[tuple[float, float, float], tuple[float
         if self._viewer is None:
             return
         cam_pos, cam_target = pose
-        # Newton's ``Camera.translate()`` adds a ``pyglet.math.Vec3`` delta to
-        # ``camera.pos`` via ``+=`` every viewer update. warp 1.13's strict
-        # ``__add__`` rejects ``wp.vec3 + pyglet.math.Vec3`` with
-        # ``TypeError: Built-in functions cannot be called with non-Warp array
-        # types``. The exception is silenced by the visualizer's try/except,
-        # which then skips ``renderer.render()`` -- the FBO is never written
-        # and the frame reads back fully black. Assigning a ``pyglet.math.Vec3``
-        # here keeps the add homogeneous.
-        from pyglet.math import Vec3 as _PyVec3
-
-        self._viewer.camera.pos = _PyVec3(float(cam_pos[0]), float(cam_pos[1]), float(cam_pos[2]))
+        # Match Newton's Camera native pos type: PyVec3, not wp.vec3.
+        self._viewer.camera.pos = PygletVec3(float(cam_pos[0]), float(cam_pos[1]), float(cam_pos[2]))
         cam_pos_np = np.array(cam_pos, dtype=np.float32)
         cam_target_np = np.array(cam_target, dtype=np.float32)
         direction = cam_target_np - cam_pos_np