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Add mouse-interaction plugin hook to ManagerBasedRlEnv - #10
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Expose `SceneCfg.mouse_interaction` (default False) and, when enabled together with `scene.vis`, attach `GeneLabMouseInteractionPlugin` before `scene.build()` so the raycaster sees the fully constructed rigid solver. The subclass squeezes the leading length-1 batch dim from Genesis' new batched link APIs so the upstream spring-force math keeps working at `num_envs=1`.
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KraHsu
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May 15, 2026
Add mouse-interaction plugin hook to ManagerBasedRlEnv
KraHsu
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Jun 5, 2026
Add mouse-interaction plugin hook to ManagerBasedRlEnv
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Summary
SceneCfg.mouse_interaction(defaultFalse). When enabled together withscene.vis,ManagerBasedRlEnvattachesGeneLabMouseInteractionPluginbeforescene.build()so the raycaster sees the fully constructed rigid solver — post-build registration deadlocks the sim/viewer loop in some Genesis builds.genelab.sim.mouse_interaction.GeneLabMouseInteractionPlugin, a subclass of Genesis 0.4.6'sMouseInteractionPluginthat squeezes the leading length-1 batch dim from the new batched link APIs (get_pos/get_quat/get_vel/get_ang) so the upstream spring-force math keeps working atnum_envs=1.Test plan
uv run ruff checkuv run ruff format --checkuv run pyrightuv run pytestuv run mkdocs build --strictplaywithscene.mouse_interaction=True(covered by the inverted-pendulum example PR that follows this one).🤖 Generated with Claude Code