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--[TEMP DO NOT MERGE] Hssd ao utilities jt #2379

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Commits on Mar 20, 2024

  1. missed in merge

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  2. --missed stuff in rebase

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  3. --rebase issue

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  4. --minor cleanup; add scene ID to screen text

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  5. --fix for embedded paths

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  6. --add command line to not build navmesh 

    For free-look-like behavior
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  7. add blender armature to urdf converter tool

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  8. turn off debug vis flags

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  9. fix bugs introduced by flaker :(

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  10. refactor to correct for rest pose and corrdinate change in prismatic … 

    …joint axis also
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  11. export urdf with armature name

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  12. add commandline arguements and instructions for the script

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  13. add receptacle classification for meshes

    @aclegg3 @jturner65
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  14. exporting receptacle meshes

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  15. add batched converter script

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  16. use epsilon error instead of equality comparison for scale floats

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  17. add support for collision spheres

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  18. add ao_config export and scne limited batching

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  19. export full receptacle information with config

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  20. first draft of scene-level script to replace rigid objects with artic… 

    …ulated objects
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  21. add root rotation correction to converter

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  22. expose ArticulatedObject creation_attributes

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  23. bugfixes

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  24. bugfix

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  25. adds a report generator for checking the output of a converted batch … 

    …of files
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  26. force OBJECT context to avoid context errors with API

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  27. add option to export receptacles meshes as visual shapes in URDF

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  28. add option to round collision scales to 4 decimal places

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  29. add option to flip negative scales for collision shapes

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  30. minor update to output and valid urdf migration

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  31. better error message

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  32. try z up

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  33. support export of multi-mesh receptacles

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  34. --remove erroneous ArticulatedObject's local initializationAttributes_ 

    Should use the PhysicsObjectBase variable - this one was masking the desired variable.
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  35. --remove early exit; conditionally build urdf; fix ao config json save.

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  36. --add ability to just see kitchen regions 

    Also fix remaking region colors when tabbing to new scene. NOTE : Receptacle setup still does not support scene tabbing.
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  37. --reorganize ctor code to collect per-scene init code 

    This is to eventually support scene tabbing. Still need to modfiy the CSA/CPO shape generation to be per scene (and to not rebuild sim multiple times).
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  38. clear joint states on spot_viewer save with 'i'

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  39. add a keybind 'j' for clearing joint states manually

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  40. include AOs on the navmesh for spot_viewer

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  41. add script to automatically check siro scenes with initial joint popp… 

    …ing check
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Commits on Mar 21, 2024

  1. --update spot viewer 

    have new fix for shadowy text; use appropriate flags
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  2. --allow casting/obj selecttion through scene ceiling/roof 

    Sets first non-stage object as selected unless there is none; treats as stage hit otherwise
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  3. --clean up viewer some

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  4. add region debug image output in script

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  5. add semantic analysis from habitat-llm MEtadataInterface

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  6. bugfix

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  7. -- Only exit if shift is pressed when pressing i 

    Helps being able to write the scene instance without leaving the scene, to iteratively  address issues in a scene.
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  8. --add func to (re)load spot; reload/reset spot for scene instance save

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Commits on Mar 22, 2024

  1. --added joint state clearing from spot script.

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  2. recompute navmesh after joint reset

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Commits on Mar 24, 2024

  1. --expand edit capabilities to provide 3 axis rotation 

    --Toggle edit mode (displayed in viewer) using G : [move, rotate]
--Cycle through edit amount (displayed in viewer) using B :
        translation : [0.01, 0.02, 0.05, 0.1, 0.5] m
        rotation : [1.0, 15.0, 45.0, 60.0, 90.0] degrees
-- still use arrow keys (+alt) to edit selected object, but they have slightly different effects (listed in help)
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Commits on Mar 25, 2024

  1. --allow for different spot locations; cleanup

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  2. --enable very small movement amount

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  3. --clear joint vels along with joint pos

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  4. add material correction to Blender conversion scripts for Vlad

    @aclegg3
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  5. add --no-replace option to batched converter to skip already converte… 

    …d assets
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Commits on Mar 26, 2024

  1. update no-replace to check for expected contents instead of only a di… 

    …rectory
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  2. add ao smoke test and correct receptacle check for ao converter valid… 

    …ation script
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  3. update URDF migration script to be more configurable from CLI

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Commits on Mar 27, 2024

  1. --increase radius of receptacle view

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  2. --temp mechanism to save scene instance and exit. 

    just uncomment
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Commits on Mar 28, 2024

  1. add option to restrict batch processing to one or a set of assets wit… 

    …h CLI
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  2. make output json human readable

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Commits on Mar 29, 2024

  1. --add undo function : Return current selected obj to orig state 

    From when first selected
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  2. add AO import to spot_viewer with 'v'. Add ao category sorting and vi… 

    …sualization to check_siro_aos.py
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  3. cleanup ao script and add joint opener to spot_viewer

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Commits on Apr 1, 2024

  1. minor change to naming of region files

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  2. add region count to siro scene check script

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Commits on Apr 3, 2024

  1. Merge branch 'main' into hssd_ao_utilities

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Commits on Apr 5, 2024

  1. default link logic, receptacle filtering, refactor

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Commits on Apr 8, 2024

  1. Merge branch 'main' into hssd_ao_utilities

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Commits on Apr 12, 2024

  1. Merge remote-tracking branch 'origin/main' into hssd_ao_utilities

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Commits on Apr 19, 2024

  1. Merge remote-tracking branch 'origin/main' into hssd_ao_utilities

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Commits on Apr 22, 2024

  1. add utility for "within_set" computation to the siro scene checker

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Commits on Apr 23, 2024

  1. Merge remote-tracking branch 'origin/main' into hssd_ao_utilities

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Commits on Apr 26, 2024

  1. --add markersets alias class 

    Intended to provide convenience access to markersets hierarchy
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  2. --Add MarkerSets.h; Specialize interaction to be MarkerSets class

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  3. --modify wrapper access to be just through sorted list of marker points.

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  4. --clang-tidy

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  5. --add function to rekey Configuration values. 

    This function will replace the original keys for all the values in a configuration (regardless of type) with sequential numeric strings preserving the natural ordering of the original set of keys
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  6. --increase array key limit to 1000 elements from 100 

    The constructed key for array values is formatted  with a fixed-width leading-zero numeric string so that it will always sort properly.
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  7. --add rekeying to markersets after they are loaded.

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  8. --add MarkerSets accessors for all possible permutations

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  9. --cleanup

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  10. -- clang-tidy

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  11. --make sure we clear out existing markers before we write new ones.

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  12. --bindings for subsets, link sets

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  13. --Finish bindings, cleanup LinkMarkerSet

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Commits on Apr 27, 2024

  1. --clarify rekeying

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  2. --rename hierarchy components for clarity and brevity

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  3. --need to hide ArticulatedLink getScale (inherited from RigidBase) 

    This is not currently available for an ArticulatedLink and as it is it would break if ever attempted.
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Commits on Apr 29, 2024

  1. --transform points between object local and world points

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  2. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities

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  3. --merge wip marker handling from 'alex-04_22-marker_set_util'

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  4. --missing ref

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  5. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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  6. --return the results properly.

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  7. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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  8. --move marker handling to separate function WIP

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  9. --provide accessors to MarkerSets

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  10. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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  11. -- add/remove points to markersets for selected object

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  12. --change bindings name

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  13. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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Commits on Apr 30, 2024

  1. --finish remove point code; simplify mouse cast

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  2. --add more existence checks

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  3. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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  4. --more support and bugfixes - debug viewer for markers

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  5. --marker adding, removal, display works! 

    Now just have to enable saving
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  6. --add ability to map back to id from link name

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  7. --expand markerset functionality

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  8. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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  9. -- implement saving function - press shift-m

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  10. --expand bindings for markersets

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  11. --enable casting/templated subconfig create

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  12. --create subconfigs with appropriate type; init attrs w.empty markerset

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  13. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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  14. --handle colors better

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  15. --address occasional bugs with empty strings written to paths for sav… 

    …ed jsons
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  16. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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  17. --save config for every marker annotation add or delete

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Commits on May 1, 2024

  1. --address fix bug in marker record code.

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  2. --save obj init attributes unmodified by object creation process 

    As an object is created, attributes values are changed in the original object template by values in the scene<Object/AO>Instance attributes. These should not be written to the underlying attributes' source file.
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  3. --explicitly state limitations of using object initialization attributes

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  4. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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  5. --Reviewer suggestions

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  6. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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  7. --Reviewer suggestions - missed

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  8. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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  9. --reviewer suggestion

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  10. Merge branch 'MarkerSubsetsHandling2' into hssd_ao_utilities_JT

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  11. Merge branch 'main' into hssd_ao_utilities_JT

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Commits on May 3, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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  2. --cleanup functions; add task_set name selector; 

    Enable eventually being able to move the functions to a utility
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Commits on May 6, 2024

  1. --provide mechanism for correcting improper marker load locations due… 

    … to inappropriate COM correction.

Due to a quirk with how object attributes are read and saved, and how a specified COM vector vs an unspecified COM vector in the configuration json is treated by the engine when determining the object origin location, points that were saved with the original configs (which had no COM specified and so therefore relied on rigid object COMs being determined based on bbox center) would be saved in configs that would get a 0,0,0 COM saved as well, inappropriately. Upon subsequent load, this 0,0,0 would be used to determine the object's origin, instead of the bbox COM that was used initially, and the marker points would be displaced from where they belonged. This PR enables the reversal of this displacement.

PR#2382 will correct the inappropriate save of COM location, and a subsequent PR will include the internal bindings to the uncorrected COM location that are added to this commit as well.
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  2. Merge branch 'main' into hssd_ao_utilities_JT

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Commits on May 7, 2024

  1. refactor check_siro_scenes.py

    @aclegg3 @jturner65
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  2. --remove early exit

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  3. --example of getting all marker points in global coords.

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Commits on May 8, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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Commits on May 9, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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Commits on May 13, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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  2. Merge branch 'main' into hssd_ao_utilities_JT

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Commits on May 21, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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  2. Merge branch 'main' into hssd_ao_utilities_JT

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Commits on May 28, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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  2. --python header

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Commits on Jun 4, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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  2. --move markerset handling to external utility

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  3. --add object editor to utils; remove specific editing code from spot_… 

    …viewer

spot_viewer can still edit, using the editor object
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  4. --update viewer to use obj_editor and to be compatible with cook-surf… 

    …aces
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  5. --organize draw receptacles

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  6. --cleanup and expand object editor functions

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  7. Merge branch 'main' into hssd_ao_utilities_JT

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Commits on Jun 5, 2024

  1. --SpotAgent convenience class 

    Facilitate adding a spot agent to a viewer
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Commits on Jun 6, 2024

  1. --strip out spot-specific code from spot-viewer

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  2. --uniformity

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  3. --have spot_agent manage the camera modifications

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Commits on Jun 7, 2024

  1. --enable spot to disengage and re-engage the navmesh (i.e. like no_clip) 

    Turning no_clip on disengages the navmesh. Turning noclip off looks for the closest point on the largest island, than the closest point on any part of the navmesh first, and if one is found, then it snaps to it, otherwise it stays in noclip mode, gives a message to get closer to the navmesh.
    @jturner65
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  2. --stub vertical move for spot

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  3. --fix snapping to height. 

    Hacky
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Commits on Jun 10, 2024

  1. --cleanup

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  2. --add ability to add either a dupe of the sel object or a rigid/ao by… 

    … name
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Commits on Jun 11, 2024

  1. --fixes

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  2. --properly set instance user config from base passed base config.

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  3. Merge branch 'Bugfix_InstanceFromObjConfig' into hssd_ao_utilities_JT

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  4. --slight improvements to adding objects

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Commits on Jun 12, 2024

  1. --properly set instance user config from base passed base config.

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  2. Merge branch 'main' into hssd_ao_utilities_JT

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Commits on Jun 13, 2024

  1. --fix handle (template name) not being saved to scene obj/ao instance… 

    … json
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  2. Merge branch 'Bugfix_InstanceFromObjConfig' into hssd_ao_utilities_JT

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  3. --fix handle (template name) not being saved to scene obj/ao instance… 

    … json
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  4. Merge branch 'Bugfix_InstanceFromObjConfig' into hssd_ao_utilities_JT

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  5. --minor fix for to-string-like capabilities

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  6. --use simplified handle to avoid embedding paths in template names

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  7. Merge branch 'Bugfix_InstanceFromObjConfig' into hssd_ao_utilities_JT

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  8. --undoing a merged-in error

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  9. --minor

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  10. Merge branch 'main' into hssd_ao_utilities_JT

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Commits on Jun 17, 2024

  1. --add contact and region display to spot viewer 

    Also move region/semantic display utility to sim_utils for eventual expansion to other semantic debug displays
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  2. --minor

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Commits on Jun 18, 2024

  1. minor fixes/adustments to viewer. Minor changes to check-siro-scenes … 

    …script
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Commits on Jun 20, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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Commits on Jun 25, 2024

  1. --fix adding new objects 

    places them either in front of spot if new or above selected object if duplicate.
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  2. --don't save clutter if there is none

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Commits on Jun 26, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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  2. --support multi-select/multi-edit; migrate more lab funcs to sim_util… 

    …s.py

--make "removal" only move objects off scene and set them in a deletion queue
--enable step-by-step undo of edits for selected objects, including "removals" (before scene is saved)
--delete removed objects from scene before saving.
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  3. --get rid of sutils in viewer.py and spot_viewer.py (migrate all the … 

    …funcs)

Viewer also modified to work with new obj_editor.sel_objs construct. The receptacle stuff probably should only be used for single selected object, so multi-select is not enabled in viewer.py currently
    @jturner65
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  4. --moving the wrong object

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  5. --remove superfluous message

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Commits on Jun 27, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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Commits on Jul 1, 2024

  1. --use appropriate object duplication process

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  2. --compute AO cumulative bbox on creation unconditionally.

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  3. Merge branch 'Bugfix_AlwaysCreateAOBBox' into hssd_ao_utilities_JT

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  4. --remove unnecessary bbox computation function 

    This was compensating for a sim bug that PR #2420 addresses.
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    jturner65 committed Jul 1, 2024
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Commits on Jul 2, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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    jturner65 committed Jul 2, 2024
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Commits on Jul 3, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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    jturner65 committed Jul 3, 2024
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Commits on Jul 8, 2024

  1. --added 'target' selection, 'select all like tar', and 'match tar x/y… 

    …/z dim'
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    jturner65 committed Jul 8, 2024
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Commits on Jul 15, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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    jturner65 committed Jul 15, 2024
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Commits on Jul 21, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

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    jturner65 committed Jul 21, 2024
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  2. --update viewer to handle sim_utils updates

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    jturner65 committed Jul 21, 2024
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  3. --add marker_viewer

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    jturner65 committed Jul 21, 2024
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  4. --improve casting process

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    jturner65 committed Jul 21, 2024
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  5. --expand taskname support for markerset editing

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    jturner65 committed Jul 21, 2024
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  6. --minor reorg 

    This branch's viewer.py still needs work regarding receptacle handling to be compatible with the new object selection process.
    @jturner65
    jturner65 committed Jul 21, 2024
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  7. --remove mouse grabber/grab mode

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    jturner65 committed Jul 21, 2024
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Commits on Jul 22, 2024

  1. --update marker_viewer.py

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    jturner65 committed Jul 22, 2024
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  2. --add listing file of all urdfs 

    has urdf name and whether annotated or not
    @jturner65
    jturner65 committed Jul 22, 2024
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  3. --add final remove all objects function

    @jturner65
    jturner65 committed Jul 22, 2024
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  4. --properly place agent and AO to edit

    @jturner65
    jturner65 committed Jul 22, 2024
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  5. --update marker_viewer

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    jturner65 committed Jul 22, 2024
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  6. --handle articulated objects and rigid objects with the same name 

    apparently this is a thing.  ffs.
    @jturner65
    jturner65 committed Jul 22, 2024
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  7. --expand same-name handling; cleanup

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    jturner65 committed Jul 22, 2024
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Commits on Jul 23, 2024

  1. --improved handling of finished/unfinished urdfs

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    jturner65 committed Jul 23, 2024
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  2. --temporary fix for configs saving filepath subdirs incorrectly.

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    jturner65 committed Jul 23, 2024
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Commits on Jul 24, 2024

  1. --clear markerset if it has no subconfigs.

    @jturner65
    jturner65 committed Jul 24, 2024
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  2. Merge branch 'main' into hssd_ao_utilities_JT

    @jturner65
    jturner65 committed Jul 24, 2024
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  3. --add ability to rotate object around y axis

    @jturner65
    jturner65 committed Jul 24, 2024
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  4. --add display of target object info - type, handle and # of links (if… 

    … AO)
    @jturner65
    jturner65 committed Jul 24, 2024
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  5. --record urdfs with no links as they get saved

    @jturner65
    jturner65 committed Jul 24, 2024
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  6. --fix urdf notes file formatting issue

    @jturner65
    jturner65 committed Jul 24, 2024
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  7. --force save object toggle.

    @jturner65
    jturner65 committed Jul 24, 2024
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  8. --display status of force save boolean

    @jturner65
    jturner65 committed Jul 24, 2024
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Commits on Jul 25, 2024

  1. --revert markerset subconfig removals; Don't write empty configs to file 

    Removing the markerset subconfigs when they were empty caused memory corruption in certain rare cases, so this is change is being reverted; Instead, a subconfig with no values in its entire subconfig tree (instead of just in its own primary map) will not be written to JSON.
    @jturner65
    jturner65 committed Jul 25, 2024
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  2. Merge branch 'BUGFIX_markersetSegfault' into hssd_ao_utilities_JT

    @jturner65
    jturner65 committed Jul 25, 2024
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  3. Merge branch 'main' into hssd_ao_utilities_JT

    @jturner65
    jturner65 committed Jul 25, 2024
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  4. --make sure object exists before accessing 

    Should never happen
    @jturner65
    jturner65 committed Jul 25, 2024
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  5. --need bigger char size for text

    @jturner65
    jturner65 committed Jul 25, 2024
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Commits on Aug 2, 2024

  1. --change joint state toggle to "G" from "J"

    @jturner65
    jturner65 committed Aug 2, 2024
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  2. --cleanup; prep for back-tab

    @jturner65
    jturner65 committed Aug 2, 2024
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  3. --Shift-Tab goes back to previous URDF file

    @jturner65
    jturner65 committed Aug 2, 2024
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Commits on Aug 12, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

    @jturner65
    jturner65 committed Aug 12, 2024
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  2. --enable redo/undelete

    @jturner65
    jturner65 committed Aug 12, 2024
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Commits on Aug 13, 2024

  1. --clang-tidy complaints

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    jturner65 committed Aug 13, 2024
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Commits on Aug 14, 2024

  1. --better undo/redo capabilities (add 'dirty' flag) 

    Only save scene if actually different than last save.
    @jturner65
    jturner65 committed Aug 14, 2024
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  2. --match rotation

    @jturner65
    jturner65 committed Aug 14, 2024
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Commits on Aug 15, 2024

  1. --separate axis and box drawing; enable drawing ao and rigid boxes

    @jturner65
    jturner65 committed Aug 15, 2024
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  2. --Support displaying color-coded boxes around all objects of desired … 

    …type.
    @jturner65
    jturner65 committed Aug 15, 2024
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  3. --make a copy of keys() view so dict can be modified in loop

    @jturner65
    jturner65 committed Aug 15, 2024
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  4. Merge branch 'main' into hssd_ao_utilities_JT

    @jturner65
    jturner65 committed Aug 15, 2024
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Commits on Aug 16, 2024

  1. --reorganize in preparation for BE sim_utils rework

    @jturner65
    jturner65 committed Aug 16, 2024
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  2. --re-add ortho function import

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    jturner65 committed Aug 16, 2024
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Commits on Aug 20, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

    @jturner65
    jturner65 committed Aug 20, 2024
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  2. --verify objects are selected before attempting to match their dims 

    Also repair matching rotation
    @jturner65
    jturner65 committed Aug 20, 2024
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  3. --properly set matching orientation 

    Need to go through the _move_one_object function to appropriately handle undo
    @jturner65
    jturner65 committed Aug 20, 2024
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Commits on Aug 25, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

    @jturner65
    jturner65 committed Aug 25, 2024
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Commits on Aug 29, 2024

  1. Merge branch 'main' into hssd_ao_utilities_JT

    @jturner65
    jturner65 committed Aug 29, 2024
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  2. accpet "body" as "root" for interaction_surface_points

    @aclegg3
    aclegg3 committed Aug 29, 2024
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Commits on Aug 30, 2024

  1. --update documentation configuration script

    @jturner65
    jturner65 committed Aug 30, 2024
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