simulator should allow pushing objects around with the mouse interactively #1419
Description
Not having this is preventing us from testing, debugging and playing with the robots.
According to Mujoco documentation this feature available in their simulator but it is not exposed in lerobot:
A related usability feature is the ability to “reach into” the simulation, push objects around and see how the
physics respond. The user selects the body to which the external forces and torques will be applied, and sees
a real-time rendering of the perturbations together with their dynamic consequences. This can be used to debug
the model visually, to test the response of a feedback controller, or to configure the model into a desired pose.
Also for an awesome OOTB experience it would be great to have a script that loads a pretrained model and makes the interactive simulation just work.