Add basic window control for interactive simulation

[yuecideng]

Description

This PR introduces the window control, including:

• Add basic event for showing ray cast infomation
• Add docs for showing how to customize the window control

Type of change

• New feature (non-breaking change which adds functionality)
• Documentation update

Checklist

• I have run the black . command to format the code base.
• I have made corresponding changes to the documentation
• I have added tests that prove my fix is effective or that my feature works
• Dependencies have been updated, if applicable.

[Copilot]

Pull request overview

This PR adds basic window control functionality for interactive simulation, enabling users to interact with the simulation environment through keyboard and mouse input. The main addition is a raycast information display feature that prints hit position and distance when pressing the 'C' key.

Changes:

• Added window control infrastructure to SimulationManager with default event handling for raycast information display
• Created documentation for window interaction features and customization guide
• Registered new documentation section in the main documentation index

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 6 comments.

File	Description
embodichain/lab/sim/sim_manager.py	Added window control variables, methods for registering default and custom window controls, and integrated window initialization in both headless-to-window and standard initialization flows
docs/source/index.rst	Added reference to new interaction features documentation section
docs/source/features/interaction/window.md	Created comprehensive documentation explaining default window events and how to customize window controls with examples
docs/source/features/interaction/index.rst	Created index page for interactive simulation module documentation

Comments suppressed due to low confidence (1)

embodichain/lab/sim/sim_manager.py:590

• When the window is opened in headless mode initially but later opened via open_window(), the _is_registered_window_control flag is not reset in close_window(). This could lead to inconsistent state if a user calls close_window() and then open_window() again - the controls won't be re-registered because the flag remains True. Consider resetting _is_registered_window_control to False in the close_window() method, or handle the case where the window is closed and reopened.

    def close_window(self) -> None:
        """Close the simulation window."""
        self._world.close_window()
        self.is_window_opened = False

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