From fd155c5d75cfd08bdae673e079a90b551288c00d Mon Sep 17 00:00:00 2001
From: Kevin Zakka <kevinarmandzakka@gmail.com>
Date: Wed, 6 May 2026 22:01:55 -0700
Subject: [PATCH 1/2] Add keyboard shortcuts, body selection, and drag
 perturbation

---
 src/mjviser/__init__.py    |   1 +
 src/mjviser/interaction.py | 283 +++++++++++++++++++++++++++++++++++++
 src/mjviser/scene.py       |  99 +++++++++++++
 src/mjviser/viewer.py      | 124 ++++++++++++----
 4 files changed, 477 insertions(+), 30 deletions(-)
 create mode 100644 src/mjviser/interaction.py

diff --git a/src/mjviser/__init__.py b/src/mjviser/__init__.py
index 80af911..6f4da2e 100644
--- a/src/mjviser/__init__.py
+++ b/src/mjviser/__init__.py
@@ -1,4 +1,5 @@
 """Web-based MuJoCo viewer powered by viser."""
 
+from mjviser.interaction import PerturbationHandler as PerturbationHandler
 from mjviser.scene import ViserMujocoScene as ViserMujocoScene
 from mjviser.viewer import Viewer as Viewer
diff --git a/src/mjviser/interaction.py b/src/mjviser/interaction.py
new file mode 100644
index 0000000..9c3db84
--- /dev/null
+++ b/src/mjviser/interaction.py
@@ -0,0 +1,283 @@
+"""Interactive perturbation: click-to-select and drag-to-apply-force."""
+
+from __future__ import annotations
+
+import time
+from dataclasses import dataclass
+from threading import Lock
+
+import mujoco
+import numpy as np
+import viser
+
+
+@dataclass
+class PerturbationState:
+  """Current perturbation force to be applied by the simulation loop."""
+
+  body_id: int
+  force: np.ndarray
+  torque: np.ndarray
+  point: np.ndarray
+
+
+class PerturbationHandler:
+  """Manages body selection and drag-to-apply-force perturbation.
+
+  Uses MuJoCo's critically damped spring model: the force is proportional
+  to stiffness * localmass, with critical damping from velocity feedback.
+  """
+
+  def __init__(
+    self,
+    server: viser.ViserServer,
+    mj_model: mujoco.MjModel,
+    mj_data: mujoco.MjData,
+  ) -> None:
+    self._server = server
+    self._model = mj_model
+    self._data = mj_data
+    self._lock = Lock()
+
+    self.selected_body_id: int | None = None
+    self._drag_body_id: int | None = None
+    self._drag_grab_local: np.ndarray | None = None
+    self._drag_target: np.ndarray | None = None
+    self._drag_mode: str | None = None
+
+    self._scene_offset = np.zeros(3)
+    self._body_xpos: np.ndarray | None = None
+    self._body_xmat: np.ndarray | None = None
+
+    self._info_text: viser.GuiTextHandle | None = None
+
+    self._prev_grab_world: np.ndarray | None = None
+    self._prev_time: float | None = None
+
+  def setup_gui(self) -> None:
+    """Add selection info display to the GUI."""
+    with self._server.gui.add_folder("Selection"):
+      self._info_text = self._server.gui.add_text(
+        "Body", initial_value="(none)", disabled=True
+      )
+
+  def register_click_handler(self) -> None:
+    """Register scene-level click handler for body selection via ray cast."""
+
+    @self._server.scene.on_click()
+    def _(event: viser.SceneClickEvent) -> None:
+      origin = np.array(event.ray_origin) - self._scene_offset
+      direction = np.array(event.ray_direction)
+      geomid = np.zeros(1, dtype=np.int32)
+      dist = mujoco.mj_ray(
+        self._model,
+        self._data,
+        origin,
+        direction,
+        None,
+        1,
+        -1,
+        geomid,
+      )
+      if dist < 0:
+        with self._lock:
+          self.selected_body_id = None
+        if self._info_text is not None:
+          self._info_text.value = "(none)"
+        return
+
+      body_id = int(self._model.geom_bodyid[geomid[0]])
+      with self._lock:
+        self.selected_body_id = body_id
+      name = mujoco.mj_id2name(self._model, mujoco.mjtObj.mjOBJ_BODY, body_id)
+      if self._info_text is not None:
+        self._info_text.value = name or f"body_{body_id}"
+
+  def register_drag_handlers(
+    self,
+    handle: viser.BatchedGlbHandle,
+    body_ids: np.ndarray,
+  ) -> None:
+    """Attach drag and click handlers to a batched mesh handle."""
+    n_bodies = len(body_ids)
+
+    def _body_id_from_event(
+      event: viser.SceneNodeDragEvent,  # type: ignore[type-arg]
+    ) -> int | None:
+      idx = event.instance_index
+      if idx is None:
+        return None
+      return int(body_ids[idx % n_bodies])
+
+    @handle.on_click
+    def _(event: viser.SceneNodePointerEvent) -> None:  # type: ignore[type-arg]
+      idx = event.instance_index
+      if idx is None:
+        return
+      bid = int(body_ids[idx % n_bodies])
+      if bid == 0:
+        return
+      with self._lock:
+        self.selected_body_id = bid
+      name = mujoco.mj_id2name(self._model, mujoco.mjtObj.mjOBJ_BODY, bid)
+      if self._info_text is not None:
+        self._info_text.value = name or f"body_{bid}"
+
+    @handle.on_drag_start("left", modifier="cmd/ctrl")
+    async def _(event: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
+      bid = _body_id_from_event(event)
+      if bid is None or bid == 0:
+        return
+      grab_world = np.array(event.start_position) - self._scene_offset
+      grab_local = self._world_to_body_local(bid, grab_world)
+      with self._lock:
+        self._drag_body_id = bid
+        self._drag_grab_local = grab_local
+        self._drag_target = grab_world
+        self._drag_mode = "translate"
+        self.selected_body_id = bid
+        self._prev_grab_world = grab_world.copy()
+        self._prev_time = time.perf_counter()
+      name = mujoco.mj_id2name(self._model, mujoco.mjtObj.mjOBJ_BODY, bid)
+      if self._info_text is not None:
+        self._info_text.value = name or f"body_{bid}"
+
+    @handle.on_drag_update("left", modifier="cmd/ctrl")
+    async def _(event: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
+      with self._lock:
+        if self._drag_body_id is not None:
+          self._drag_target = np.array(event.end_position) - self._scene_offset
+
+    @handle.on_drag_end("left", modifier="cmd/ctrl")
+    async def _(_: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
+      with self._lock:
+        self._drag_body_id = None
+        self._drag_grab_local = None
+        self._drag_target = None
+        self._drag_mode = None
+        self._prev_grab_world = None
+        self._prev_time = None
+
+    @handle.on_drag_start("left", modifier="cmd/ctrl+shift")
+    async def _(event: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
+      bid = _body_id_from_event(event)
+      if bid is None or bid == 0:
+        return
+      grab_world = np.array(event.start_position) - self._scene_offset
+      grab_local = self._world_to_body_local(bid, grab_world)
+      with self._lock:
+        self._drag_body_id = bid
+        self._drag_grab_local = grab_local
+        self._drag_target = grab_world
+        self._drag_mode = "rotate"
+        self.selected_body_id = bid
+        self._prev_grab_world = grab_world.copy()
+        self._prev_time = time.perf_counter()
+      name = mujoco.mj_id2name(self._model, mujoco.mjtObj.mjOBJ_BODY, bid)
+      if self._info_text is not None:
+        self._info_text.value = name or f"body_{bid}"
+
+    @handle.on_drag_update("left", modifier="cmd/ctrl+shift")
+    async def _(event: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
+      with self._lock:
+        if self._drag_body_id is not None:
+          self._drag_target = np.array(event.end_position) - self._scene_offset
+
+    @handle.on_drag_end("left", modifier="cmd/ctrl+shift")
+    async def _(_: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
+      with self._lock:
+        self._drag_body_id = None
+        self._drag_grab_local = None
+        self._drag_target = None
+        self._drag_mode = None
+        self._prev_grab_world = None
+        self._prev_time = None
+
+  def update_state(
+    self,
+    body_xpos: np.ndarray,
+    body_xmat: np.ndarray,
+    env_idx: int,
+    scene_offset: np.ndarray,
+  ) -> None:
+    """Update cached body state from the latest simulation frame.
+
+    Args:
+      body_xpos: Shape ``(num_envs, nbody, 3)``.
+      body_xmat: Shape ``(num_envs, nbody, 3, 3)``.
+      env_idx: Active environment index.
+      scene_offset: Current camera tracking offset.
+    """
+    self._body_xpos = body_xpos[env_idx]
+    self._body_xmat = body_xmat[env_idx]
+    self._scene_offset = scene_offset
+
+  def get_perturbation(self) -> PerturbationState | None:
+    """Return the current perturbation force using MuJoCo's spring model."""
+    with self._lock:
+      if (
+        self._drag_body_id is None
+        or self._drag_grab_local is None
+        or self._drag_target is None
+        or self._body_xpos is None
+        or self._body_xmat is None
+      ):
+        return None
+
+      bid = self._drag_body_id
+      xpos = self._body_xpos[bid]
+      xmat = self._body_xmat[bid]
+
+      grab_world = xpos + xmat @ self._drag_grab_local
+      diff = grab_world - self._drag_target
+
+      # Compute localmass from body_invweight0 (translational inverse weight).
+      invweight_trn = float(self._model.body_invweight0[bid, 0])
+      localmass = 1.0 if invweight_trn == 0 else 1.0 / max(invweight_trn, 1e-10)
+
+      # Estimate velocity of the grab point via finite difference.
+      now = time.perf_counter()
+      vel = np.zeros(3)
+      if self._prev_grab_world is not None and self._prev_time is not None:
+        dt = now - self._prev_time
+        if dt > 1e-6:
+          vel = (grab_world - self._prev_grab_world) / dt
+      self._prev_grab_world = grab_world.copy()
+      self._prev_time = now
+
+      if self._drag_mode == "translate":
+        stiffness = float(self._model.vis.map.stiffness)
+        # Spring force: -k * m * displacement.
+        force = -stiffness * localmass * diff
+        # Critical damping: -2*sqrt(k)*m * velocity.
+        force -= np.sqrt(stiffness) * localmass * vel
+
+        # Torque from moment arm.
+        moment_arm = grab_world - xpos
+        torque = np.cross(moment_arm, force)
+      else:
+        stiffnessrot = float(self._model.vis.map.stiffnessrot)
+        # Rotational inertia from body_invweight0.
+        invweight_rot = float(self._model.body_invweight0[bid, 1])
+        inertia = 1.0 if invweight_rot == 0 else 1.0 / max(invweight_rot, 1e-10)
+        # Torque proportional to displacement (simplified from quat error).
+        torque = -stiffnessrot * inertia * diff
+        torque -= np.sqrt(stiffnessrot) * inertia * vel
+        # Smaller translational force in rotate mode.
+        stiffness = float(self._model.vis.map.stiffness)
+        force = -stiffness * localmass * diff * 0.1
+
+      return PerturbationState(
+        body_id=bid,
+        force=force,
+        torque=torque,
+        point=grab_world,
+      )
+
+  def _world_to_body_local(self, body_id: int, world_pos: np.ndarray) -> np.ndarray:
+    """Convert a world position to body-local coordinates."""
+    if self._body_xpos is None or self._body_xmat is None:
+      return world_pos
+    xpos = self._body_xpos[body_id]
+    xmat = self._body_xmat[body_id]
+    return xmat.T @ (world_pos - xpos)
diff --git a/src/mjviser/scene.py b/src/mjviser/scene.py
index 46b76bf..9c1e817 100644
--- a/src/mjviser/scene.py
+++ b/src/mjviser/scene.py
@@ -22,6 +22,7 @@
   merge_geoms_hull,
   merge_sites,
 )
+from .interaction import PerturbationHandler
 
 
 @dataclasses.dataclass
@@ -183,6 +184,9 @@ def __init__(
 
     self.needs_update = False
     self.paused = False
+    self._vis_flag_checkboxes: dict[int, viser.GuiCheckboxHandle] = {}
+    self._simple_flag_checkboxes: dict[int, viser.GuiCheckboxHandle] = {}
+    self.perturbation = PerturbationHandler(server, mj_model, self.mj_data)
 
     # Cached visualization state for re-rendering when settings change.
     self._tracked_body_id: int | None = None
@@ -203,6 +207,7 @@ def __init__(
     mujoco.mj_kinematics(mj_model, self.mj_data)
     self._add_fixed_geometry()
     self._create_mesh_handles_by_group()
+    self._register_perturbation_handlers()
     self._add_fixed_sites()
     self._create_site_handles_by_group()
     self._compute_hull_body_meshes()
@@ -269,6 +274,12 @@ def show_convex_hull(self, value: bool) -> None:
         handle.visible = value
       self._sync_visibilities()
 
+  def _register_perturbation_handlers(self) -> None:
+    """Attach drag handlers to mesh groups for interactive perturbation."""
+    self.perturbation.register_click_handler()
+    for mg in self._mesh_groups:
+      self.perturbation.register_drag_handlers(mg.handle, mg.body_ids)
+
   def set_refresh_handler(self, handler: Callable[[], None] | None) -> None:
     """Install a callback used to refresh cached visualization state."""
     with self._update_lock:
@@ -300,6 +311,7 @@ def rebuild_visual_handles(self) -> None:
       mujoco.mj_kinematics(self.mj_model, self.mj_data)
       self._add_fixed_geometry()
       self._create_mesh_handles_by_group()
+      self._register_perturbation_handlers()
       self._add_fixed_sites()
       self._create_site_handles_by_group()
       self._compute_hull_body_meshes()
@@ -461,6 +473,22 @@ def _(_) -> None:
         for client in self.server.get_clients().values():
           client.camera.fov = np.radians(slider_fov.value)
 
+      if self.mj_model.ncam > 0:
+        cam_names = ["Free"]
+        for i in range(self.mj_model.ncam):
+          name = mj_id2name(self.mj_model, mjtObj.mjOBJ_CAMERA, i)
+          cam_names.append(name or f"camera_{i}")
+        self._camera_dropdown = self.server.gui.add_dropdown(
+          "Camera",
+          options=cam_names,
+          initial_value="Free",
+        )
+        self._camera_offset = _camera_offset
+
+        @self._camera_dropdown.on_update
+        def _(_) -> None:
+          self._apply_camera_selection()
+
       @self.server.on_client_connect
       def _(client: viser.ClientHandle) -> None:
         client.camera.fov = np.radians(slider_fov.value)
@@ -483,6 +511,7 @@ def _vis_flag_cb(flag_idx: int, initial: bool = False) -> None:
       """Add a vis-flag checkbox at the current GUI level."""
       _opt.flags[flag_idx] = int(initial)
       cb = self.server.gui.add_checkbox("Enabled", initial_value=initial)
+      self._vis_flag_checkboxes[flag_idx] = cb
 
       @cb.on_update
       def _(event, _idx=flag_idx) -> None:
@@ -699,6 +728,7 @@ def _mutate() -> None:
 
     for label, flag_idx, initial in _simple_flags:
       cb = self.server.gui.add_checkbox(label, initial_value=initial)
+      self._simple_flag_checkboxes[flag_idx] = cb
 
       @cb.on_update
       def _(event, _idx=flag_idx) -> None:
@@ -802,6 +832,70 @@ def create_visualization_gui(
       self.create_groups_gui()
     return tabs
 
+  def _apply_camera_selection(self) -> None:
+    """Switch camera based on dropdown value."""
+    if not hasattr(self, "_camera_dropdown"):
+      return
+    name = self._camera_dropdown.value
+    if name == "Free":
+      self.camera_tracking_enabled = True
+      for client in self.server.get_clients().values():
+        client.camera.position = self._camera_offset
+        client.camera.look_at = np.zeros(3)
+      return
+
+    idx = self._camera_dropdown.options.index(name) - 1
+    mujoco.mj_forward(self.mj_model, self.mj_data)
+    pos = self.mj_data.cam_xpos[idx].copy()
+    mat = self.mj_data.cam_xmat[idx].reshape(3, 3)
+    look_dir = -mat[:, 2]
+    look_at = pos + look_dir * 3.0
+    self.camera_tracking_enabled = False
+    for client in self.server.get_clients().values():
+      client.camera.position = pos
+      client.camera.look_at = look_at
+
+  def _toggle_vis_flag(self, flag_idx: int) -> None:
+    """Toggle a visualization flag and sync the corresponding checkbox."""
+    new_val = not bool(self._mjv_option.flags[flag_idx])
+
+    def _mutate() -> None:
+      self._mjv_option.flags[flag_idx] = int(new_val)
+
+    cb = self._vis_flag_checkboxes.get(flag_idx) or self._simple_flag_checkboxes.get(
+      flag_idx
+    )
+    if cb is not None:
+      cb.value = new_val
+    else:
+      self._apply_visualization_change(_mutate)
+
+  def register_keybindings(self, server: viser.ViserServer) -> None:
+    """Register single-letter keyboard shortcuts for visualization toggles."""
+    _flag_keys: list[tuple[str, str, int]] = [
+      ("Toggle Contacts", "C", int(mujoco.mjtVisFlag.mjVIS_CONTACTPOINT)),
+      ("Toggle Forces", "F", int(mujoco.mjtVisFlag.mjVIS_CONTACTFORCE)),
+      ("Toggle Joints", "J", int(mujoco.mjtVisFlag.mjVIS_JOINT)),
+      ("Toggle Inertia", "I", int(mujoco.mjtVisFlag.mjVIS_INERTIA)),
+      ("Toggle Tendons", "V", int(mujoco.mjtVisFlag.mjVIS_TENDON)),
+      ("Toggle COM", "M", int(mujoco.mjtVisFlag.mjVIS_COM)),
+      ("Toggle Actuators", "U", int(mujoco.mjtVisFlag.mjVIS_ACTUATOR)),
+      ("Toggle Constraints", "T", int(mujoco.mjtVisFlag.mjVIS_CONSTRAINT)),
+    ]
+    for label, key, flag_idx in _flag_keys:
+      cmd = server.gui.add_command(label, hotkey=key)  # type: ignore[arg-type]
+      cmd.on_trigger(lambda _, _idx=flag_idx: self._toggle_vis_flag(_idx))
+
+    cmd = server.gui.add_command("Free Camera", hotkey="escape")
+    cmd.on_trigger(lambda _: self._set_free_camera())
+
+  def _set_free_camera(self) -> None:
+    """Switch to free camera mode."""
+    if hasattr(self, "_camera_dropdown"):
+      self._camera_dropdown.value = "Free"
+    else:
+      self.camera_tracking_enabled = True
+
   def update_from_arrays(
     self,
     body_xpos: np.ndarray,
@@ -943,6 +1037,11 @@ def _update_visualization_locked(
     if mj_data is not None:
       self._last_mj_data = mj_data
 
+    body_xmat_3x3 = body_xmat
+    if body_xmat_3x3.ndim == 3 and body_xmat_3x3.shape[-1] == 9:
+      body_xmat_3x3 = body_xmat_3x3.reshape(*body_xmat_3x3.shape[:-1], 3, 3)
+    self.perturbation.update_state(body_xpos, body_xmat_3x3, env_idx, scene_offset)
+
     self.fixed_bodies_frame.position = scene_offset
     slice_single = self.show_only_selected and self.num_envs > 1
     with self.server.atomic():
diff --git a/src/mjviser/viewer.py b/src/mjviser/viewer.py
index b35fb73..8162d66 100644
--- a/src/mjviser/viewer.py
+++ b/src/mjviser/viewer.py
@@ -200,6 +200,23 @@ def _tick(self) -> None:
     self._stats_frames += 1
     self._update_stats()
 
+  def _apply_perturbation(self) -> None:
+    """Apply any pending interactive perturbation force."""
+    pert = self.scene.perturbation.get_perturbation()
+    if pert is not None:
+      self.data.qfrc_applied[:] = 0.0
+      mujoco.mj_applyFT(
+        self.model,
+        self.data,
+        pert.force,
+        pert.torque,
+        pert.point,
+        pert.body_id,
+        self.data.qfrc_applied,
+      )
+    else:
+      self.data.qfrc_applied[:] = 0.0
+
   def _step_physics(self, dt: float) -> bool:
     """Run physics steps for this frame's sim-time budget.
 
@@ -215,6 +232,7 @@ def _step_physics(self, dt: float) -> bool:
     deadline = time.perf_counter() + _FRAME_TIME
     hit_deadline = False
     while self._budget >= step_dt:
+      self._apply_perturbation()
       self._step_fn(self.model, self.data)
       self._budget -= step_dt
       self._step_count += 1
@@ -258,53 +276,74 @@ def _update_status_display(self) -> None:
       </div>
       """
 
+  def _toggle_pause(self) -> None:
+    self._paused = not self._paused
+    if not self._paused:
+      self._budget = 0.0
+      self._last_tick = time.perf_counter()
+    self._pause_btn.label = "Pause" if not self._paused else "Play"
+    self._pause_btn.icon = (
+      viser.Icon.PLAYER_PAUSE if not self._paused else viser.Icon.PLAYER_PLAY
+    )
+    for sl, _ in self._joint_sliders:
+      sl.disabled = not self._paused
+    self._update_status_display()
+
+  def _single_step(self) -> None:
+    if self._paused:
+      with self._lock:
+        self._step_fn(self.model, self.data)
+        self._step_count += 1
+        self._render()
+        self._update_status_display()
+
+  def _do_reset(self) -> None:
+    with self._lock:
+      self._reset()
+      self._step_count = 0
+      self._budget = 0.0
+      self._render()
+      self._update_status_display()
+    self._sync_sliders()
+
+  def _speed_up(self) -> None:
+    self._speed_idx = min(len(_SPEEDS) - 1, self._speed_idx + 1)
+    self._update_status_display()
+
+  def _speed_down(self) -> None:
+    self._speed_idx = max(0, self._speed_idx - 1)
+    self._update_status_display()
+
+  def _reset_speed(self) -> None:
+    self._speed_idx = _SPEEDS.index(1.0)
+    self._update_status_display()
+
   def _setup_gui(self) -> None:
     tabs = self._server.gui.add_tab_group()
 
     with tabs.add_tab("Controls", icon=viser.Icon.SETTINGS):
       self._status_html = self._server.gui.add_html("")
 
-      pause_btn = self._server.gui.add_button(
+      self._pause_btn = self._server.gui.add_button(
         "Pause" if not self._paused else "Play",
         icon=(viser.Icon.PLAYER_PAUSE if not self._paused else viser.Icon.PLAYER_PLAY),
       )
 
-      @pause_btn.on_click
+      @self._pause_btn.on_click
       def _(_) -> None:
-        self._paused = not self._paused
-        if not self._paused:
-          self._budget = 0.0
-          self._last_tick = time.perf_counter()
-        pause_btn.label = "Pause" if not self._paused else "Play"
-        pause_btn.icon = (
-          viser.Icon.PLAYER_PAUSE if not self._paused else viser.Icon.PLAYER_PLAY
-        )
-        for sl, _ in self._joint_sliders:
-          sl.disabled = not self._paused
-        self._update_status_display()
+        self._toggle_pause()
 
       step_btn = self._server.gui.add_button("Step", icon=viser.Icon.PLAYER_TRACK_NEXT)
 
       @step_btn.on_click
       def _(_) -> None:
-        if self._paused:
-          with self._lock:
-            self._step_fn(self.model, self.data)
-            self._step_count += 1
-            self._render()
-            self._update_status_display()
+        self._single_step()
 
       reset_btn = self._server.gui.add_button("Reset")
 
       @reset_btn.on_click
       def _(_) -> None:
-        with self._lock:
-          self._reset()
-          self._step_count = 0
-          self._budget = 0.0
-          self._render()
-          self._update_status_display()
-        self._sync_sliders()
+        self._do_reset()
 
       speed_btns = self._server.gui.add_button_group(
         "Speed", options=["Slower", "1x", "Faster"]
@@ -313,12 +352,11 @@ def _(_) -> None:
       @speed_btns.on_click
       def _(event) -> None:
         if event.target.value == "Slower":
-          self._speed_idx = max(0, self._speed_idx - 1)
+          self._speed_down()
         elif event.target.value == "Faster":
-          self._speed_idx = min(len(_SPEEDS) - 1, self._speed_idx + 1)
+          self._speed_up()
         else:
-          self._speed_idx = _SPEEDS.index(1.0)
-        self._update_status_display()
+          self._reset_speed()
 
       # Keyframe selector (only if model has keyframes).
       if self.model.nkey > 0:
@@ -356,6 +394,9 @@ def _(_) -> None:
           def _(_) -> None:
             _load_keyframe()
 
+      # Interactive perturbation info.
+      self.scene.perturbation.setup_gui()
+
       # Scene controls (camera, environment).
       with self._server.gui.add_folder("Scene"):
         self.scene.create_scene_gui()
@@ -377,6 +418,29 @@ def _(_) -> None:
     with tabs.add_tab("Physics", icon=viser.Icon.ATOM):
       self._setup_physics_flags()
 
+    self._register_keybindings()
+
+  def _register_keybindings(self) -> None:
+    """Register keyboard shortcuts for simulation control."""
+    s = self._server
+
+    cmd = s.gui.add_command("Toggle Pause", hotkey="space")
+    cmd.on_trigger(lambda _: self._toggle_pause())
+
+    cmd = s.gui.add_command("Step Forward", hotkey="N")
+    cmd.on_trigger(lambda _: self._single_step())
+
+    cmd = s.gui.add_command("Reset", hotkey="backspace")
+    cmd.on_trigger(lambda _: self._do_reset())
+
+    cmd = s.gui.add_command("Speed Down")
+    cmd.on_trigger(lambda _: self._speed_down())
+
+    cmd = s.gui.add_command("Speed Up")
+    cmd.on_trigger(lambda _: self._speed_up())
+
+    self.scene.register_keybindings(s)
+
   _MAX_SLIDERS: int = 200
 
   def _setup_joint_sliders(self) -> None:

From a59ff07e3b6c1598740f03737ef197de5f9c2b6b Mon Sep 17 00:00:00 2001
From: brentyi <yibrenth@gmail.com>
Date: Sun, 17 May 2026 22:03:42 -0700
Subject: [PATCH 2/2] bump Viser, `on_drag()`, fix minor frame issue

---
 pyproject.toml             |    2 +-
 src/mjviser/interaction.py |  241 ++++-----
 src/mjviser/scene.py       |    7 +-
 src/mjviser/viewer.py      |   50 +-
 uv.lock                    | 1001 +-----------------------------------
 5 files changed, 173 insertions(+), 1128 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index a233e88..e68e232 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -33,7 +33,7 @@ dependencies = [
   "mujoco>=3.6.0",
   "numpy",
   "trimesh>=4.8.3",
-  "viser>=1.0.27",
+  "viser>=1.0.28",
   "Pillow>=12.2.0",
 ]
 
diff --git a/src/mjviser/interaction.py b/src/mjviser/interaction.py
index 9c3db84..fe3294d 100644
--- a/src/mjviser/interaction.py
+++ b/src/mjviser/interaction.py
@@ -51,6 +51,16 @@ def __init__(
 
     self._info_text: viser.GuiTextHandle | None = None
 
+    # Grab-point velocity, computed once per render frame in
+    # ``update_state`` and reused across all physics substeps that
+    # frame. Computing it inside ``get_perturbation`` (which runs once
+    # per substep) was both wasteful and noisy: the cached body pose
+    # only refreshes between render frames, so substeps 2..N within
+    # a frame would see zero motion divided by a sub-millisecond
+    # wall-clock dt -- damping collapsed to zero for most substeps and
+    # spiked on the first one. Render-frame cadence matches the rate
+    # at which the grab point actually moves on screen.
+    self._grab_vel: np.ndarray = np.zeros(3)
     self._prev_grab_world: np.ndarray | None = None
     self._prev_time: float | None = None
 
@@ -61,37 +71,21 @@ def setup_gui(self) -> None:
         "Body", initial_value="(none)", disabled=True
       )
 
-  def register_click_handler(self) -> None:
-    """Register scene-level click handler for body selection via ray cast."""
-
-    @self._server.scene.on_click()
-    def _(event: viser.SceneClickEvent) -> None:
-      origin = np.array(event.ray_origin) - self._scene_offset
-      direction = np.array(event.ray_direction)
-      geomid = np.zeros(1, dtype=np.int32)
-      dist = mujoco.mj_ray(
-        self._model,
-        self._data,
-        origin,
-        direction,
-        None,
-        1,
-        -1,
-        geomid,
-      )
-      if dist < 0:
-        with self._lock:
-          self.selected_body_id = None
-        if self._info_text is not None:
-          self._info_text.value = "(none)"
-        return
-
-      body_id = int(self._model.geom_bodyid[geomid[0]])
-      with self._lock:
-        self.selected_body_id = body_id
-      name = mujoco.mj_id2name(self._model, mujoco.mjtObj.mjOBJ_BODY, body_id)
-      if self._info_text is not None:
-        self._info_text.value = name or f"body_{body_id}"
+  def clear(self) -> None:
+    """Drop selection and any in-flight drag. Call on reset or after
+    the model is rebuilt -- otherwise a cached body id can outlive the
+    body it pointed to (out-of-range index, silently retargets a
+    different body) and the GUI label keeps showing a stale name."""
+    with self._lock:
+      self.selected_body_id = None
+      self._drag_body_id = None
+      self._drag_grab_local = None
+      self._drag_target = None
+      self._drag_mode = None
+      self._prev_grab_world = None
+      self._prev_time = None
+    if self._info_text is not None:
+      self._info_text.value = "(none)"
 
   def register_drag_handlers(
     self,
@@ -99,6 +93,14 @@ def register_drag_handlers(
     body_ids: np.ndarray,
   ) -> None:
     """Attach drag and click handlers to a batched mesh handle."""
+    # Skip groups whose only body is the world body (id 0): perturbing
+    # it is meaningless, and registering any handler makes the mesh
+    # "interactive" in viser -- which flips the cursor to "pointer"
+    # whenever the user hovers it. The world body holds the ground
+    # plane, which spans the visible canvas, so the pointer cursor
+    # would show across the entire scene.
+    if not bool(np.any(body_ids != 0)):
+      return
     n_bodies = len(body_ids)
 
     def _body_id_from_event(
@@ -123,75 +125,48 @@ def _(event: viser.SceneNodePointerEvent) -> None:  # type: ignore[type-arg]
       if self._info_text is not None:
         self._info_text.value = name or f"body_{bid}"
 
-    @handle.on_drag_start("left", modifier="cmd/ctrl")
-    async def _(event: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
-      bid = _body_id_from_event(event)
-      if bid is None or bid == 0:
-        return
-      grab_world = np.array(event.start_position) - self._scene_offset
-      grab_local = self._world_to_body_local(bid, grab_world)
-      with self._lock:
-        self._drag_body_id = bid
-        self._drag_grab_local = grab_local
-        self._drag_target = grab_world
-        self._drag_mode = "translate"
-        self.selected_body_id = bid
-        self._prev_grab_world = grab_world.copy()
-        self._prev_time = time.perf_counter()
-      name = mujoco.mj_id2name(self._model, mujoco.mjtObj.mjOBJ_BODY, bid)
-      if self._info_text is not None:
-        self._info_text.value = name or f"body_{bid}"
-
-    @handle.on_drag_update("left", modifier="cmd/ctrl")
-    async def _(event: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
-      with self._lock:
-        if self._drag_body_id is not None:
-          self._drag_target = np.array(event.end_position) - self._scene_offset
-
-    @handle.on_drag_end("left", modifier="cmd/ctrl")
-    async def _(_: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
-      with self._lock:
-        self._drag_body_id = None
-        self._drag_grab_local = None
-        self._drag_target = None
-        self._drag_mode = None
-        self._prev_grab_world = None
-        self._prev_time = None
-
-    @handle.on_drag_start("left", modifier="cmd/ctrl+shift")
-    async def _(event: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
-      bid = _body_id_from_event(event)
-      if bid is None or bid == 0:
-        return
-      grab_world = np.array(event.start_position) - self._scene_offset
-      grab_local = self._world_to_body_local(bid, grab_world)
-      with self._lock:
-        self._drag_body_id = bid
-        self._drag_grab_local = grab_local
-        self._drag_target = grab_world
-        self._drag_mode = "rotate"
-        self.selected_body_id = bid
-        self._prev_grab_world = grab_world.copy()
-        self._prev_time = time.perf_counter()
-      name = mujoco.mj_id2name(self._model, mujoco.mjtObj.mjOBJ_BODY, bid)
-      if self._info_text is not None:
-        self._info_text.value = name or f"body_{bid}"
-
-    @handle.on_drag_update("left", modifier="cmd/ctrl+shift")
-    async def _(event: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
-      with self._lock:
-        if self._drag_body_id is not None:
-          self._drag_target = np.array(event.end_position) - self._scene_offset
-
-    @handle.on_drag_end("left", modifier="cmd/ctrl+shift")
-    async def _(_: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
-      with self._lock:
-        self._drag_body_id = None
-        self._drag_grab_local = None
-        self._drag_target = None
-        self._drag_mode = None
-        self._prev_grab_world = None
-        self._prev_time = None
+    def _make_drag_handler(mode: str):
+      async def _handler(event: viser.SceneNodeDragEvent) -> None:  # type: ignore[type-arg]
+        if event.phase == "start":
+          bid = _body_id_from_event(event)
+          if bid is None or bid == 0:
+            return
+          # Target and grab position are tracked in viser-world frame
+          # (no scene_offset subtraction) so that camera tracking,
+          # which shifts scene_offset every frame, doesn't drift the
+          # target between throttled mouse-move events. Body-local
+          # offset still needs mujoco-frame coords for the conversion.
+          target_viser = np.array(event.start_position)
+          grab_world_mj = target_viser - self._scene_offset
+          grab_local = self._world_to_body_local(bid, grab_world_mj)
+          with self._lock:
+            self._drag_body_id = bid
+            self._drag_grab_local = grab_local
+            self._drag_target = target_viser
+            self._drag_mode = mode
+            self.selected_body_id = bid
+            self._prev_grab_world = target_viser.copy()
+            self._prev_time = time.perf_counter()
+          name = mujoco.mj_id2name(self._model, mujoco.mjtObj.mjOBJ_BODY, bid)
+          if self._info_text is not None:
+            self._info_text.value = name or f"body_{bid}"
+        elif event.phase == "update":
+          with self._lock:
+            if self._drag_body_id is not None:
+              self._drag_target = np.array(event.end_position)
+        else:  # "end"
+          with self._lock:
+            self._drag_body_id = None
+            self._drag_grab_local = None
+            self._drag_target = None
+            self._drag_mode = None
+            self._prev_grab_world = None
+            self._prev_time = None
+
+      return _handler
+
+    handle.on_drag("left", modifier="cmd/ctrl")(_make_drag_handler("translate"))
+    handle.on_drag("left", modifier="cmd/ctrl+shift")(_make_drag_handler("rotate"))
 
   def update_state(
     self,
@@ -208,10 +183,35 @@ def update_state(
       env_idx: Active environment index.
       scene_offset: Current camera tracking offset.
     """
-    self._body_xpos = body_xpos[env_idx]
-    self._body_xmat = body_xmat[env_idx]
+    xpos_env = body_xpos[env_idx]
+    xmat_env = body_xmat[env_idx]
+    self._body_xpos = xpos_env
+    self._body_xmat = xmat_env
     self._scene_offset = scene_offset
 
+    # Refresh the grab-point velocity once per render frame against
+    # the new pose. Substeps within the next frame all consume this
+    # cached value -- see ``_grab_vel`` field comment.
+    bid = self._drag_body_id
+    if bid is None or self._drag_grab_local is None or bid >= xpos_env.shape[0]:
+      self._grab_vel = np.zeros(3)
+      self._prev_grab_world = None
+      self._prev_time = None
+      return
+    # Velocity is measured in viser-world frame -- the same frame the
+    # cursor (and therefore _drag_target) lives in -- so damping
+    # actually opposes motion *relative to the target*. With camera
+    # tracking on, the dragged body sits near the viser origin and
+    # mujoco-frame velocity would diverge from screen-frame velocity.
+    grab_world = xpos_env[bid] + xmat_env[bid] @ self._drag_grab_local + scene_offset
+    now = time.perf_counter()
+    if self._prev_grab_world is not None and self._prev_time is not None:
+      dt = now - self._prev_time
+      if dt > 1e-6:
+        self._grab_vel = (grab_world - self._prev_grab_world) / dt
+    self._prev_grab_world = grab_world.copy()
+    self._prev_time = now
+
   def get_perturbation(self) -> PerturbationState | None:
     """Return the current perturbation force using MuJoCo's spring model."""
     with self._lock:
@@ -225,25 +225,36 @@ def get_perturbation(self) -> PerturbationState | None:
         return None
 
       bid = self._drag_body_id
+      # Bounds-check against the *current* model: if the model was
+      # rebuilt mid-drag, the cached body id may now reference a
+      # different body or be out of range entirely. Drop the drag
+      # silently rather than indexing past the end.
+      if bid >= self._body_xpos.shape[0] or bid >= self._model.nbody:
+        self._drag_body_id = None
+        self._drag_grab_local = None
+        self._drag_target = None
+        self._drag_mode = None
+        self._prev_grab_world = None
+        self._prev_time = None
+        return None
       xpos = self._body_xpos[bid]
       xmat = self._body_xmat[bid]
 
-      grab_world = xpos + xmat @ self._drag_grab_local
+      grab_world_mj = xpos + xmat @ self._drag_grab_local
+      # Displacement is computed in viser-world frame (cursor frame).
+      # Force/torque vectors are unchanged by the pure-translation
+      # offset, so we apply them in mujoco frame as-is; only the
+      # application point passed to mj_applyFT needs mujoco coords.
+      grab_world = grab_world_mj + self._scene_offset
       diff = grab_world - self._drag_target
 
       # Compute localmass from body_invweight0 (translational inverse weight).
       invweight_trn = float(self._model.body_invweight0[bid, 0])
       localmass = 1.0 if invweight_trn == 0 else 1.0 / max(invweight_trn, 1e-10)
 
-      # Estimate velocity of the grab point via finite difference.
-      now = time.perf_counter()
-      vel = np.zeros(3)
-      if self._prev_grab_world is not None and self._prev_time is not None:
-        dt = now - self._prev_time
-        if dt > 1e-6:
-          vel = (grab_world - self._prev_grab_world) / dt
-      self._prev_grab_world = grab_world.copy()
-      self._prev_time = now
+      # Velocity is refreshed per render frame in ``update_state``;
+      # we just read the cached value here.
+      vel = self._grab_vel
 
       if self._drag_mode == "translate":
         stiffness = float(self._model.vis.map.stiffness)
@@ -252,8 +263,8 @@ def get_perturbation(self) -> PerturbationState | None:
         # Critical damping: -2*sqrt(k)*m * velocity.
         force -= np.sqrt(stiffness) * localmass * vel
 
-        # Torque from moment arm.
-        moment_arm = grab_world - xpos
+        # Torque from moment arm (mujoco-frame coords).
+        moment_arm = grab_world_mj - xpos
         torque = np.cross(moment_arm, force)
       else:
         stiffnessrot = float(self._model.vis.map.stiffnessrot)
@@ -271,7 +282,7 @@ def get_perturbation(self) -> PerturbationState | None:
         body_id=bid,
         force=force,
         torque=torque,
-        point=grab_world,
+        point=grab_world_mj,
       )
 
   def _world_to_body_local(self, body_id: int, world_pos: np.ndarray) -> np.ndarray:
diff --git a/src/mjviser/scene.py b/src/mjviser/scene.py
index 9c1e817..9ac8969 100644
--- a/src/mjviser/scene.py
+++ b/src/mjviser/scene.py
@@ -276,7 +276,6 @@ def show_convex_hull(self, value: bool) -> None:
 
   def _register_perturbation_handlers(self) -> None:
     """Attach drag handlers to mesh groups for interactive perturbation."""
-    self.perturbation.register_click_handler()
     for mg in self._mesh_groups:
       self.perturbation.register_drag_handlers(mg.handle, mg.body_ids)
 
@@ -288,6 +287,12 @@ def set_refresh_handler(self, handler: Callable[[], None] | None) -> None:
   def rebuild_visual_handles(self) -> None:
     """Rebuild handles whose geometry or appearance is baked at creation time."""
     with self._update_lock:
+      # Drop selection / drag state before mesh handles are torn down:
+      # body ids may not survive a rebuild, and an in-flight drag
+      # holding a stale id would silently retarget a different body
+      # (or index out of range) on the next physics step.
+      self.perturbation.clear()
+
       for group in self._mesh_groups:
         group.handle.remove()
       self._mesh_groups.clear()
diff --git a/src/mjviser/viewer.py b/src/mjviser/viewer.py
index 8162d66..5a274e9 100644
--- a/src/mjviser/viewer.py
+++ b/src/mjviser/viewer.py
@@ -87,6 +87,12 @@ def __init__(
     self._dirty = True
     self._step_count = 0
 
+    # Snapshot of ``qfrc_applied`` taken just before the perturbation
+    # adds its force, so we can undo our addition before the next step
+    # without clobbering user-supplied generalized forces. ``None``
+    # means no perturbation force is currently in flight.
+    self._pert_saved_qfrc: np.ndarray | None = None
+
     # Timing.
     self._budget = 0.0
     self._last_tick = 0.0
@@ -201,21 +207,32 @@ def _tick(self) -> None:
     self._update_stats()
 
   def _apply_perturbation(self) -> None:
-    """Apply any pending interactive perturbation force."""
+    """Apply any pending interactive perturbation force.
+
+    ``mj_applyFT`` *adds* to ``qfrc_applied`` rather than overwriting
+    it, so a force applied last substep would compound this substep
+    if we just called it again. We undo the previous addition by
+    restoring a pre-perturbation snapshot, then re-snapshot and re-add
+    on top -- which preserves any user-supplied ``qfrc_applied``
+    (a documented MuJoCo extension point) instead of zeroing it out.
+    """
+    if self._pert_saved_qfrc is not None:
+      self.data.qfrc_applied[:] = self._pert_saved_qfrc
+      self._pert_saved_qfrc = None
+
     pert = self.scene.perturbation.get_perturbation()
-    if pert is not None:
-      self.data.qfrc_applied[:] = 0.0
-      mujoco.mj_applyFT(
-        self.model,
-        self.data,
-        pert.force,
-        pert.torque,
-        pert.point,
-        pert.body_id,
-        self.data.qfrc_applied,
-      )
-    else:
-      self.data.qfrc_applied[:] = 0.0
+    if pert is None:
+      return
+    self._pert_saved_qfrc = self.data.qfrc_applied.copy()
+    mujoco.mj_applyFT(
+      self.model,
+      self.data,
+      pert.force,
+      pert.torque,
+      pert.point,
+      pert.body_id,
+      self.data.qfrc_applied,
+    )
 
   def _step_physics(self, dt: float) -> bool:
     """Run physics steps for this frame's sim-time budget.
@@ -302,6 +319,11 @@ def _do_reset(self) -> None:
       self._reset()
       self._step_count = 0
       self._budget = 0.0
+      # Drop any in-flight drag and the saved-qfrc snapshot: the
+      # snapshot was taken against the pre-reset state and would
+      # otherwise be restored on top of the freshly-reset data.
+      self.scene.perturbation.clear()
+      self._pert_saved_qfrc = None
       self._render()
       self._update_status_display()
     self._sync_sliders()
diff --git a/uv.lock b/uv.lock
index c3dd41c..2182680 100644
--- a/uv.lock
+++ b/uv.lock
@@ -19,29 +19,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/18/a6/907a406bb7d359e6a63f99c313846d9eec4f7e6f7437809e03aa00fa3074/absl_py-2.4.0-py3-none-any.whl", hash = "sha256:88476fd881ca8aab94ffa78b7b6c632a782ab3ba1cd19c9bd423abc4fb4cd28d", size = 135750, upload-time = "2026-01-28T10:17:04.19Z" },
 ]
 
-[[package]]
-name = "anyio"
-version = "4.13.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "exceptiongroup", marker = "python_full_version < '3.11'" },
-    { name = "idna" },
-    { name = "typing-extensions", marker = "python_full_version < '3.13'" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/19/14/2c5dd9f512b66549ae92767a9c7b330ae88e1932ca57876909410251fe13/anyio-4.13.0.tar.gz", hash = "sha256:334b70e641fd2221c1505b3890c69882fe4a2df910cba14d97019b90b24439dc", size = 231622, upload-time = "2026-03-24T12:59:09.671Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/da/42/e921fccf5015463e32a3cf6ee7f980a6ed0f395ceeaa45060b61d86486c2/anyio-4.13.0-py3-none-any.whl", hash = "sha256:08b310f9e24a9594186fd75b4f73f4a4152069e3853f1ed8bfbf58369f4ad708", size = 114353, upload-time = "2026-03-24T12:59:08.246Z" },
-]
-
-[[package]]
-name = "attrs"
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