Fix Drag Mode Angular Momentum [AARD-1966]
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* dev: (89 commits) feat: speedup playwright using docker image chore: formatting Mock OPFS API chore: formatting chore: merge conflicts and breaking chore: fix mypy lint errors fix: file dialog names fix: runtime exception is no longer raised by a lack of rigid components fix: clean up center of mass indicator on robot destroy correctly fix(exporter): revert image file update fix: mypy + formatting refactor: update old handling in jointhierarchy refactor: updated error handling in APS system fix: duplicate identifier Added station selection chore: format and fix mypy fix: message logging for field exports and reloading fix: correct call stack feat: caller function and line number printed in error message chore: remove unused utility functions ...
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Task
AARD-1966
Gamepieces and other objects gain excessive angular momentum when held for short periods of time causing them to get launched once released.
Symptom
Gamepieces and other picked-up objects behave erratically with regards to angular momentum and do a lot of undesirable spinning
Solution
Replaced the calculated torques from gravity with manual control to allow the user to control yaw (absolute coordinates) and pitch (camera relative) of whatever they're carrying. I believe this is the behavior that god mode used to have
Verification
Spawn a field, enter drag mode, start dragging things, fling them, angular momentum looks not crazy. The arrow keys control the angle, although other input consumers aren't blocked currently so a robot with Luna's control scheme would drive around. This could be changed if we would rather block all inputs during drag mode
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