Add keyboard shortcuts, body selection, and drag perturbation#21
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kevinzakka wants to merge 2 commits into
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Add keyboard shortcuts, body selection, and drag perturbation#21kevinzakka wants to merge 2 commits into
kevinzakka wants to merge 2 commits into
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WIP. Interactive features to bring the viewer closer to MuJoCo simulate.
Keyboard shortcuts for simulation control (space=pause, N=step, backspace=reset) and visualization toggles (C=contacts, F=forces, J=joints, I=inertia, V=tendons, M=COM, U=actuators, T=constraints). Camera selection via dropdown. Speed control is command-palette only to avoid clashing with viser's built-in camera keys (WASD, QE, arrows).
Click a body to select it (ray cast via mj_ray). Cmd/Ctrl+drag applies a translational spring force, Cmd/Ctrl+Shift+drag applies torque. The force model uses MuJoCo's critically-damped spring scaled by body mass (from body_invweight0), with velocity damping via finite difference. Hover highlighting comes from viser automatically when on_click is registered.
Known issue: viser collapses Cmd and Ctrl into a single "cmd/ctrl" modifier, so on macOS both Cmd+drag and Ctrl+drag activate perturbation. Ctrl+drag also triggers the browser's context menu (macOS translates Ctrl+left-click to right-click). Ideally only Cmd would match on Mac. This needs a viser-side change to support separate "meta" and "ctrl" modifiers.