fix(viewer): fly camera disables Genesis default keybinds (W/A/S/D conflict)

Genesis' default_controls bind W/A/S/D (world-frame / camera-rotation / save-image / wireframe), which collide with fly-mode WASD. Genesis only auto-disables default keybinds when the ImGui overlay is on, so without imgui the defaults fired alongside fly movement. Force enable_default_keybinds=False in ViewerOptions whenever fly_camera is on, so fly owns the keyboard regardless of the overlay.

Author: KraHsu

src/genelab/scene/interactive_scene.py

@@ -48,6 +48,11 @@ def _viewer_option_kwargs(sim_cfg: "SimulationCfg", *, enable_gui: bool) -> dict
         kwargs["camera_pos"] = sim_cfg.camera_pos
     if sim_cfg.camera_lookat is not None:
         kwargs["camera_lookat"] = sim_cfg.camera_lookat
+    if sim_cfg.fly_camera:
+        # Genesis' default controls bind W/A/S/D (world-frame / camera-rotation / save-image /
+        # wireframe), which collide with fly-mode WASD. Genesis only auto-disables them when the
+        # ImGui overlay is on; turning them off here lets fly own the keyboard either way.
+        kwargs["enable_default_keybinds"] = False
     return kwargs
 
 

tests/test_interactive_scene.py

@@ -92,6 +92,20 @@ def test_camera_framing_forwarded_to_viewer_options() -> None:
     assert bare["enable_gui"] is True
 
 
+def test_fly_camera_disables_genesis_default_keybinds() -> None:
+    # Genesis' default controls bind W/A/S/D (world-frame, camera-rotation, save-image, wireframe)
+    # — which collide with fly-mode WASD whenever the ImGui overlay is off (with the overlay on,
+    # Genesis already disables them). Forcing them off when fly_camera is on makes fly own the
+    # keyboard regardless of the overlay; when fly_camera is off, Genesis keeps its defaults.
+    from genelab.scene.interactive_scene import _viewer_option_kwargs
+
+    flying = _viewer_option_kwargs(SimulationCfg(vis=True, fly_camera=True), enable_gui=False)
+    assert flying["enable_default_keybinds"] is False
+
+    no_fly = _viewer_option_kwargs(SimulationCfg(vis=True, fly_camera=False), enable_gui=False)
+    assert "enable_default_keybinds" not in no_fly
+
+
 def test_terrain_scene_collapses_env_grid(genesis_runtime: Any) -> None:
     """Regression: a height-field terrain is one shared mesh spanning all envs, with per-env
     spawn origins spread across it. Genesis's ``env_spacing`` grid replicates+offsets the