feat(viewer): click-robot teleop, Ctrl+click nav, overlay UX#15
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- Click robot entity in 3D → engages teleop for that robot (WASD publishes to <robot>/cmd_vel). Click non-robot → disengages. Robot detection via entity path prefix matching (go2/g1/robot). - Ctrl+click non-robot entity with position → nav goal (PointStamped LCM on /clicked_point). Plain click = Rerun selection. - Overlay at (260,12), greyed out when disengaged with 'click robot' hint. Bright when engaged, shows robot name. - KeyboardHandler shared via Rc<RefCell<>> between DimosApp and on_event callback for robot selection state. - Multi-robot infrastructure: set_active_robot() + set_engaged() for future per-robot channel switching.
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Summary
Three interaction fixes for dimos-viewer, based on current
main.Changes
1. Ctrl+click → nav goal (was: any click)
Rc<Cell<bool>>shared betweenDimosApp.ui()(writes ctrl state) andon_eventcallback (reads it before publishing)2. Overlay position + idle styling
3. Multi-robot teleop
KeyboardHandler.set_active_robot(Some("/world/go2"))→ publishes to/world/go2/cmd_velNone= default/cmd_velchannelTesting
28/28 unit tests pass. Visual testing on Xvfb confirmed:
cargo build -p dimos-viewer --release cargo test -p dimos-viewer --lib --releaseBreaking Changes