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Urdf import, export and workcell editor fixes #177

Merged
merged 142 commits into from
Jan 23, 2024
Merged

Urdf import, export and workcell editor fixes #177

merged 142 commits into from
Jan 23, 2024

Commits on Jul 27, 2023

  1. First try at workcell to URDF 

    Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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    audrow committed Jul 27, 2023
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Commits on Jul 31, 2023

  1. Add visual to urdf export 

    Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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    audrow committed Jul 31, 2023
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  2. Add collision 

    Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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    audrow committed Jul 31, 2023
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  3. Merge branch 'main' into audrow/urdf-export

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    audrow authored Jul 31, 2023
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  4. Move convert Workcell to URDF int to_urdf 

    Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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    audrow committed Jul 31, 2023
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  5. Don't panic on unknown pose type 

    Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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    audrow committed Jul 31, 2023
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Commits on Aug 3, 2023

  1. Apply easy suggestions 

    Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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  2. Make pose simpler 

    Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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    audrow committed Aug 3, 2023
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  3. Use hashmap + remove unnecessary clones 

    Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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    audrow committed Aug 3, 2023
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  4. Make saving approach consistent 

    Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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    audrow committed Aug 3, 2023
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Commits on Aug 18, 2023

  1. Make visual child of world frame 

    Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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    audrow committed Aug 18, 2023
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  2. Merge branch 'main' into audrow/urdf-export

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Commits on Aug 21, 2023

  1. Remove workaround for upstream issue, minor cleanup 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 21, 2023
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  2. Merge branch 'main' into audrow/urdf-export

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Commits on Aug 22, 2023

  1. First draft of urdf import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 22, 2023
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  2. Fix scale 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 22, 2023
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Commits on Aug 23, 2023

  1. Remove last spurious clone 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  2. Change urdf import to return a Result 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 23, 2023
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  3. Merge remote-tracking branch 'origin/main' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 23, 2023
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  4. Add builder for joint entities 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 23, 2023
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  5. Merge branch 'main' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 23, 2023
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  6. Merge branch 'audrow/urdf-export' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 23, 2023
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  7. Add skeleton of joint export and unit test 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 23, 2023
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Commits on Aug 24, 2023

  1. WIP add omre unit tests 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 24, 2023
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Commits on Aug 25, 2023

  1. WIP Widget to create joint between frames 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 25, 2023
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  2. Merge remote-tracking branch 'origin/main' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  3. WIP Adding inspect joint type 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 25, 2023
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  4. Add saving of joint and inertial data 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 25, 2023
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Commits on Aug 28, 2023

  1. Finish unit test for urdf round trip 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 28, 2023
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  2. Fix regression in model selectability 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 28, 2023
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Commits on Aug 30, 2023

  1. Remove rapier, since it's currently unused 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  2. Merge remote-tracking branch 'origin/main' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 30, 2023
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  3. Usability improvements and corner cases 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 30, 2023
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  4. Add cleanup for orphaned joints 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 30, 2023
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Commits on Aug 31, 2023

  1. Change keybinding for urdf export 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 31, 2023
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  2. Use overwrite_set for state transition 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 31, 2023
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  3. Fix selectability for mesh primitives 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  4. Remove automatic joint creation when exporting urdf 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Aug 31, 2023
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  5. Improve mesh primitive inspector, fixed missing exported primitives 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  6. Make mesh primitive inspector read only 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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Commits on Sep 4, 2023

  1. Migrate all add_children except site loading ones 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 4, 2023
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  2. Refactor site load to remove add_children 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 4, 2023
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  3. Style 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 4, 2023
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  4. Style 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  5. Merge branch 'main' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 4, 2023
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  6. Change to set_parent when simpler 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 4, 2023
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  7. Bump bevy dependencies 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 4, 2023
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  8. Add event derive 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  9. State derive and default implementation 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  10. Remove now unnecessary 's lifetimes 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 4, 2023
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  11. Migrate visibility component to enum 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 4, 2023
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Commits on Sep 5, 2023

  1. First stab at schedule migration 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 5, 2023
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  2. Migrate EguiContext 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  3. Minor fixes 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  4. ChangeTrackers -> Ref 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  5. Remaining SiteUpdateLabel migration 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 5, 2023
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  6. First windows as entity migration 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 5, 2023
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  7. Derive TypePath for new asset types 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 5, 2023
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  8. Fix visibility hidden variant 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  9. Iron out more errors in visibility 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  10. Migrate State -> NextState 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  11. Keycode migration 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  12. Minor additional fixes 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  13. Fix remaining "trivial" issues, remove Label and Constraint 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  14. Merge remote-tracking branch 'origin/main' into luca/bevy_0.11 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 5, 2023
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  15. Merge remote-tracking branch 'origin/main' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 5, 2023
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  16. Fix demo workcell 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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Commits on Sep 6, 2023

  1. Rename MeshPrimitive -> PrimitiveShape 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  2. Change mesh filename to an AssetSource 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  3. origin -> center for inertials 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  4. Inertia -> Moment 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  5. Inertial -> Inertia 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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  6. Unify joint axis / type / limit into JointProperties 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  7. Fix broken reference when spawning models 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  8. Last renames for shape primitive 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  9. Use trashcan for previews to fix panics 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  10. VERY TENTATIVE Picking migration, tuple size splitting 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  11. Fix last compile errors 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  12. Style 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  13. First version up and running 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  14. Restore mesh materials 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  15. Screen space coordinate inversion 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  16. Fix web build 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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  17. Clear more deprecation warnings 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 6, 2023
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Commits on Sep 7, 2023

  1. Fix remaining web issues 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 7, 2023
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  2. WIP Use manual raycast for picking 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 7, 2023
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  3. Remove bevy_mod_picking 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 7, 2023
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  4. Iron out picking issues 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 7, 2023
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  5. Fix stage for AssignOrphans systems 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 7, 2023
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  6. Fix issue in measurement serde / display 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 7, 2023
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  7. Add support for pnm files 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 7, 2023
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  8. Fix CI 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 7, 2023
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  9. Fix interaction systems stage 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 7, 2023
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  10. Fix assign_drawing_parent_to_new_measurements 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 7, 2023
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  11. Fix panic when deleting entities 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 7, 2023
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Commits on Sep 8, 2023

  1. Fix web panics and window size 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 8, 2023
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  2. Add note about georeference module 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 8, 2023
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  3. Move keyboard to Last stage to avoid double delete panic 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 8, 2023
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  4. Fix anchor visibility 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 8, 2023
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  5. Cleanup, remove SiteState 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 8, 2023
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  6. Address TODO for systemparam limit workaround 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 8, 2023
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Commits on Sep 11, 2023

  1. Hotfix for wrong model parenthood in site editor mode 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 11, 2023
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  2. Fix fmt 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 11, 2023
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Commits on Sep 14, 2023

  1. Change workcell name to NameOfWorkcell component 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 14, 2023
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Commits on Sep 15, 2023

  1. Fix mesh constraint behavior when moving models 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 15, 2023
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Commits on Sep 18, 2023

  1. Fix missing rotation update in anchor transforms 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 18, 2023
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  2. Add model parent reassignment capability 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 18, 2023
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  3. WIP remove constraint dependent 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 18, 2023
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  4. Cleanup select_anchor 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 18, 2023
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  5. WIP Keep global transform in parent reassignment 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 18, 2023
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  6. Restore name in workcell for frames 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 18, 2023
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  7. Create a base link for new workcell models 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Sep 18, 2023
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Commits on Oct 6, 2023

  1. Merge branch 'main' into luca/bevy_0.11

    @mxgrey
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  2. Switch to Reinhard tonemapping 

    Signed-off-by: Michael X. Grey <grey@openrobotics.org>
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    mxgrey committed Oct 6, 2023
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  3. Update lockfile 

    Signed-off-by: Michael X. Grey <grey@openrobotics.org>
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    mxgrey committed Oct 6, 2023
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  4. Use previous default material roughness 

    Signed-off-by: Michael X. Grey <grey@openrobotics.org>
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    mxgrey committed Oct 6, 2023
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  5. Merge branch 'reinhard' into roughness

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    mxgrey committed Oct 6, 2023
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  6. Fix colors 

    Signed-off-by: Michael X. Grey <grey@openrobotics.org>
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    mxgrey committed Oct 6, 2023
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Commits on Nov 7, 2023

  1. Merge branch 'main' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 7, 2023
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  2. Merge branch 'main' into luca/bevy_0.11 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 7, 2023
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  3. Add wireframe to primitive shapes 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 7, 2023
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  4. Allow snapping frames to primitive shapes 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 7, 2023
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Commits on Nov 9, 2023

  1. Fix cylinder top and bottom locations 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 9, 2023
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Commits on Nov 10, 2023

  1. Merge branch 'luca/bevy_0.11' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 10, 2023
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  2. Merge remote-tracking branch 'origin/main' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 10, 2023
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Commits on Nov 14, 2023

  1. Remove unused code 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 14, 2023
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  2. Update bevy_mod_raycast and fix picking hierarchy 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 14, 2023
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Commits on Nov 15, 2023

  1. Undo irrelevant change 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 15, 2023
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Commits on Nov 20, 2023

  1. Add package:// sdf files support 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 20, 2023
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  2. Remove duplicated dependencies 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 20, 2023
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Commits on Nov 21, 2023

  1. Export package instead of URDF (#187) 

    Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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    audrow authored Nov 21, 2023
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  2. Fix directory issue and package parsing, minor cleanup 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 21, 2023
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  3. General cleanup 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 21, 2023
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Commits on Nov 22, 2023

  1. Fix saving of primitive shapes 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 22, 2023
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Commits on Nov 23, 2023

  1. Merge branch 'main' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 23, 2023
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  2. Merge branch 'main' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 23, 2023
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  3. Add menu item for urdf export 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 23, 2023
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  4. Fix render layer propagation for primitive shapes 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Nov 23, 2023
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Commits on Dec 19, 2023

  1. Create a default for joint names 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Dec 19, 2023
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Commits on Jan 11, 2024

  1. Scale down workcell anchors 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Jan 11, 2024
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  2. Merge branch 'main' into luca/urdf_import 

    Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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    luca-della-vedova committed Jan 11, 2024
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Commits on Jan 23, 2024

  1. Merge branch 'main' into luca/urdf_import

    @mxgrey
    mxgrey authored Jan 23, 2024
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