Align window controls with DexSim defaults#291
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Remove redundant EmbodiChain default window control registration now that DexSim provides camera, selection, and focus shortcuts natively. Update window interaction docs to document DexSim controls and keep EmbodiChain-specific viewer recording hotkey guidance. Co-authored-by: Cursor <cursoragent@cursor.com>
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Pull request overview
This PR aligns EmbodiChain’s window interaction behavior and documentation with DexSim’s built-in ORBIT viewer controls by removing EmbodiChain’s redundant default window control registration and updating the interaction docs accordingly.
Changes:
- Removed
SimulationManager._register_default_window_control()and its registration state. - Updated
docs/source/features/interaction/window.mdto describe DexSim’s default ORBIT mouse/keyboard/selection controls and kept EmbodiChain’s viewer recording hotkey documentation. - Updated the PourWater gym config to remove semantic-mask observation entries and disable mask/depth on certain cameras.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
embodichain/lab/sim/sim_manager.py |
Removes EmbodiChain’s redundant default window control registration hook/state. |
docs/source/features/interaction/window.md |
Documents DexSim ORBIT viewer controls and keeps EmbodiChain recording hotkey guidance. |
configs/gym/pour_water/gym_config.json |
Removes semantic mask observation config and disables mask/depth outputs for some cameras. |
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| This section describes the default window interaction controls available in the simulation. These controls allow users to interact with the simulation environment using keyboard, mouse, and customizable input events. | ||
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| ## Default Window Events | ||
| The main visualization window is provided by **DexSim**. When `SimConfig.headless=False` or `SimulationManager.open_window()` is called, DexSim creates the viewer with **ORBIT** camera control by default. |
Comment on lines
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| "cup_pose": { | ||
| "func": "get_rigid_object_pose", | ||
| "mode": "add", | ||
| "name": "cup_pose", | ||
| "params": { | ||
| "entity_cfg": {"uid": "cup"} | ||
| } | ||
| }, | ||
| "cam_high_semantic_mask_l": { | ||
| "func": "compute_semantic_mask", | ||
| "mode": "add", | ||
| "name": "sensor/cam_high/semantic_mask_l", | ||
| "params": { | ||
| "entity_cfg": {"uid": "cam_high"}, | ||
| "foreground_uids": ["bottle", "cup"] | ||
| } | ||
| }, | ||
| "cam_high_semantic_mask_r": { | ||
| "func": "compute_semantic_mask", | ||
| "mode": "add", | ||
| "name": "sensor/cam_high/semantic_mask_r", | ||
| "params": { | ||
| "entity_cfg": {"uid": "cam_high"}, | ||
| "foreground_uids": ["bottle", "cup"], | ||
| "is_right": true | ||
| } | ||
| }, | ||
| "cam_left_semantic_mask": { | ||
| "func": "compute_semantic_mask", | ||
| "mode": "add", | ||
| "name": "sensor/cam_left_wrist/semantic_mask_l", | ||
| "params": { | ||
| "entity_cfg": {"uid": "cam_left_wrist"}, | ||
| "foreground_uids": ["bottle", "cup"] | ||
| } | ||
| }, | ||
| "cam_right_semantic_mask": { | ||
| "func": "compute_semantic_mask", | ||
| "mode": "add", | ||
| "name": "sensor/cam_right_wrist/semantic_mask_l", | ||
| "params": { | ||
| "entity_cfg": {"uid": "cam_right_wrist"}, | ||
| "foreground_uids": ["bottle", "cup"] | ||
| } | ||
| } |
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Description
This PR removes redundant EmbodiChain default window control registration and updates the window interaction documentation to reflect DexSim's built-in viewer controls.
DexSim now provides the main visualization window with ORBIT camera controls, object selection/focus shortcuts, and selection logging. The previous EmbodiChain
_register_default_window_control()hook only added a customC-key raycast printout, which overlaps with DexSim'sLselection log and is no longer needed.Changes:
_register_default_window_control()and related state fromSimulationManagerwindow.mdr) documentationDependencies: Requires a DexSim build with default ORBIT viewer controls (F focus, L selection log, Ctrl+WASD/QE translate).
Type of change
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Checklist
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