From ec2eda0684fccd37439676bf69681bcd3f17e333 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 3 Jul 2024 15:50:06 -0700
Subject: [PATCH 001/344] Updates easy absolute imports

---
 exporter/SynthesisFusionAddin/Synthesis.py    | 16 +++++++++-------
 exporter/SynthesisFusionAddin/proto/deps.py   |  2 +-
 .../SynthesisFusionAddin/src/GlobalManager.py |  7 +++----
 .../src/Parser/ExporterOptions.py             |  2 +-
 .../src/Parser/SynthesisParser/Components.py  | 17 +++++++++--------
 .../Parser/SynthesisParser/JointHierarchy.py  |  7 ++++---
 .../src/Parser/SynthesisParser/Joints.py      | 15 ++++++++++-----
 .../src/Parser/SynthesisParser/Materials.py   |  7 ++++---
 .../src/Parser/SynthesisParser/Parser.py      | 17 ++++++++++++-----
 .../SynthesisParser/PhysicalProperties.py     |  3 ++-
 .../src/Parser/SynthesisParser/RigidGroup.py  |  2 +-
 .../src/Parser/SynthesisParser/Utilities.py   |  4 +---
 .../SynthesisFusionAddin/src/UI/Camera.py     |  6 ++++--
 .../src/UI/ConfigCommand.py                   | 19 ++++++++++---------
 .../src/UI/Configuration/SerialCommand.py     |  2 +-
 .../src/UI/CustomGraphics.py                  |  1 +
 .../SynthesisFusionAddin/src/UI/Events.py     |  3 ++-
 .../src/UI/FileDialogConfig.py                |  6 +++---
 exporter/SynthesisFusionAddin/src/UI/HUI.py   |  4 +++-
 .../SynthesisFusionAddin/src/UI/Handlers.py   |  1 +
 .../SynthesisFusionAddin/src/UI/Helper.py     |  5 +++--
 .../SynthesisFusionAddin/src/UI/IconPaths.py  |  2 +-
 .../SynthesisFusionAddin/src/UI/Toolbar.py    |  4 +++-
 exporter/SynthesisFusionAddin/src/__init__.py |  6 ++++++
 .../SynthesisFusionAddin/src/configure.py     |  4 ++--
 exporter/SynthesisFusionAddin/src/logging.py  |  4 ++--
 26 files changed, 99 insertions(+), 67 deletions(-)
 create mode 100644 exporter/SynthesisFusionAddin/src/__init__.py

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 335a2416ce..aeb2f6d06a 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -1,16 +1,18 @@
-import importlib.util
 import logging.handlers
 import os
+import sys
 import traceback
-from shutil import rmtree
 
 import adsk.core
 
-from .src.configure import setAnalytics, unload_config
-from .src.general_imports import APP_NAME, DESCRIPTION, INTERNAL_ID, gm, root_logger
-from .src.Types.OString import OString
-from .src.UI import HUI, Camera, ConfigCommand, Handlers, Helper, MarkingMenu
-from .src.UI.Toolbar import Toolbar
+# Required for absolute imports
+fileDir = os.path.dirname(os.path.abspath(__file__))
+sys.path.append(os.path.abspath(os.path.join(fileDir)))
+
+from src.configure import unload_config
+from src.general_imports import APP_NAME, DESCRIPTION, INTERNAL_ID, gm, root_logger
+from src.UI import HUI, Camera, ConfigCommand, Helper, MarkingMenu
+from src.UI.Toolbar import Toolbar
 
 
 def run(_):
diff --git a/exporter/SynthesisFusionAddin/proto/deps.py b/exporter/SynthesisFusionAddin/proto/deps.py
index ea6da5a406..02fae64b36 100644
--- a/exporter/SynthesisFusionAddin/proto/deps.py
+++ b/exporter/SynthesisFusionAddin/proto/deps.py
@@ -6,7 +6,7 @@
 import adsk.core
 import adsk.fusion
 
-from src.general_imports import INTERNAL_ID
+from src import INTERNAL_ID
 
 system = platform.system()
 
diff --git a/exporter/SynthesisFusionAddin/src/GlobalManager.py b/exporter/SynthesisFusionAddin/src/GlobalManager.py
index b438a2eb23..9fb6d44b12 100644
--- a/exporter/SynthesisFusionAddin/src/GlobalManager.py
+++ b/exporter/SynthesisFusionAddin/src/GlobalManager.py
@@ -1,13 +1,12 @@
 """ Initializes the global variables that are set in the run method to reduce hanging commands. """
 
-import inspect
-import traceback
-
 import adsk.core
 import adsk.fusion
 
+from src import INTERNAL_ID
+
+# Transition: AARD-1737
 from .general_imports import *
-from .strings import *
 
 
 class GlobalManager(object):
diff --git a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
index 31ed4cd0c4..0cf0ce59af 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
@@ -13,7 +13,7 @@
 import adsk.core
 from adsk.fusion import CalculationAccuracy, TriangleMeshQualityOptions
 
-from ..strings import INTERNAL_ID
+from src import INTERNAL_ID
 
 # Not 100% sure what this is for - Brandon
 JointParentType = Enum("JointParentType", ["ROOT", "END"])
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index c6c741b0b2..efc8bf5298 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -1,19 +1,20 @@
 # Contains all of the logic for mapping the Components / Occurrences
 import logging
 import traceback
-import uuid
-from typing import *
 
 import adsk.core
 import adsk.fusion
 
 from proto.proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
-
-from ...Analyzer.timer import TimeThis
-from ..ExporterOptions import ExporterOptions, ExportMode
-from . import PhysicalProperties
-from .PDMessage import PDMessage
-from .Utilities import *
+from src.Analyzer.timer import TimeThis
+from src.Parser.ExporterOptions import ExporterOptions, ExportMode
+from src.Parser.SynthesisParser import PhysicalProperties
+from src.Parser.SynthesisParser.PDMessage import PDMessage
+from src.Parser.SynthesisParser.Utilities import (
+    fill_info,
+    guid_component,
+    guid_occurrence,
+)
 
 # TODO: Impelement Material overrides
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index 93d320b987..d42c20b69e 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -7,11 +7,12 @@
 import adsk.fusion
 
 from proto.proto_out import joint_pb2, types_pb2
+from src.Parser.ExporterOptions import ExporterOptions
+from src.Parser.SynthesisParser.PDMessage import PDMessage
+from src.Parser.SynthesisParser.Utilities import guid_component, guid_occurrence
 
+# Transition: AARD-1737
 from ...general_imports import *
-from ..ExporterOptions import ExporterOptions
-from .PDMessage import PDMessage
-from .Utilities import guid_component, guid_occurrence
 
 # ____________________________ DATA TYPES __________________
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index 7ba62c1f5e..8921f7c9ee 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -29,12 +29,17 @@
 import adsk.core
 import adsk.fusion
 
-from proto.proto_out import assembly_pb2, joint_pb2, motor_pb2, signal_pb2, types_pb2
-
+from proto.proto_out import assembly_pb2, joint_pb2, signal_pb2, types_pb2
+from src.Parser.ExporterOptions import ExporterOptions, JointParentType, SignalType
+from src.Parser.SynthesisParser.PDMessage import PDMessage
+from src.Parser.SynthesisParser.Utilities import (
+    construct_info,
+    fill_info,
+    guid_occurrence,
+)
+
+# Transition: AARD-1737
 from ...general_imports import *
-from ..ExporterOptions import ExporterOptions, JointParentType, SignalType
-from .PDMessage import PDMessage
-from .Utilities import construct_info, fill_info, guid_occurrence
 
 # Need to take in a graphcontainer
 # Need to create a new base node for each Joint Instance
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index b3199a1f9d..77faff62d4 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -6,11 +6,12 @@
 import adsk
 
 from proto.proto_out import material_pb2
+from src.Parser.ExporterOptions import ExporterOptions
+from src.Parser.SynthesisParser.PDMessage import PDMessage
+from src.Parser.SynthesisParser.Utilities import construct_info, fill_info
 
+# Transition: AARD-1737
 from ...general_imports import INTERNAL_ID
-from .. import ExporterOptions
-from .PDMessage import PDMessage
-from .Utilities import *
 
 OPACITY_RAMPING_CONSTANT = 14.0
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index a925f5b119..5dfca273ad 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -6,12 +6,19 @@
 from google.protobuf.json_format import MessageToJson
 
 from proto.proto_out import assembly_pb2, types_pb2
-
+from src.Parser.ExporterOptions import ExporterOptions, ExportMode
+from src.Parser.SynthesisParser import (
+    Components,
+    JointHierarchy,
+    Joints,
+    Materials,
+    PDMessage,
+)
+from src.Parser.SynthesisParser.Utilities import fill_info
+from src.UI.Camera import captureThumbnail, clearIconCache
+
+# Transition: AARD-1737
 from ...general_imports import *
-from ...UI.Camera import captureThumbnail, clearIconCache
-from ..ExporterOptions import ExporterOptions, ExportMode
-from . import Components, JointHierarchy, Joints, Materials, PDMessage
-from .Utilities import *
 
 
 class Parser:
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index afd9489909..3d8967268c 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -24,7 +24,8 @@
 
 from proto.proto_out import types_pb2
 
-from ...general_imports import INTERNAL_ID
+# Transition: AARD-1737
+from src import INTERNAL_ID
 
 
 def GetPhysicalProperties(
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
index 7e8f592466..6ca28d999a 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
@@ -13,7 +13,7 @@
 """
 
 import logging
-from typing import *
+from typing import Union
 
 import adsk.core
 import adsk.fusion
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
index 7169cd4085..418ee152d8 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
@@ -1,11 +1,9 @@
 import math
 import uuid
 
-from adsk.core import Base, Vector3D
+from adsk.core import Vector3D
 from adsk.fusion import Component, Occurrence
 
-# from proto.proto_out import types_pb2
-
 
 def guid_component(comp: Component) -> str:
     return f"{comp.entityToken}_{comp.id}"
diff --git a/exporter/SynthesisFusionAddin/src/UI/Camera.py b/exporter/SynthesisFusionAddin/src/UI/Camera.py
index a7076fdfd2..618971bbc7 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Camera.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Camera.py
@@ -2,9 +2,11 @@
 
 from adsk.core import SaveImageFileOptions
 
+from src.Types.OString import OString
+from src.UI import Helper
+
+# Transition: AARD-1737
 from ..general_imports import *
-from ..Types.OString import OString
-from . import Helper
 
 
 def captureThumbnail(size=250):
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 6ea4e0b702..f27132616a 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -4,17 +4,15 @@
 
 import logging
 import os
-import platform
 import traceback
 from enum import Enum
 
 import adsk.core
 import adsk.fusion
 
-from ..Analytics.alert import showAnalyticsAlert
-from ..configure import NOTIFIED, write_configuration
-from ..general_imports import *
-from ..Parser.ExporterOptions import (
+from src.Analytics.alert import showAnalyticsAlert
+from src.configure import NOTIFIED, write_configuration
+from src.Parser.ExporterOptions import (
     ExporterOptions,
     ExportMode,
     Gamepiece,
@@ -25,10 +23,13 @@
     Wheel,
     WheelType,
 )
-from ..Parser.SynthesisParser.Parser import Parser
-from ..Parser.SynthesisParser.Utilities import guid_occurrence
-from . import CustomGraphics, FileDialogConfig, Helper, IconPaths, OsHelper
-from .Configuration.SerialCommand import SerialCommand
+from src.Parser.SynthesisParser.Parser import Parser
+from src.Parser.SynthesisParser.Utilities import guid_occurrence
+from src.UI import CustomGraphics, FileDialogConfig, Helper, IconPaths, OsHelper
+from src.UI.Configuration.SerialCommand import SerialCommand
+
+# Transition: AARD-1737
+from ..general_imports import *
 
 # ====================================== CONFIG COMMAND ======================================
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py b/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
index 7f03642fec..d2d5e3ac6f 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
@@ -7,7 +7,7 @@
 
 import json
 
-from ...Types.OString import OString
+from src.Types.OString import OString
 
 
 def generateFilePath() -> str:
diff --git a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
index 17b63c8222..1f0a06fc0f 100644
--- a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
+++ b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
@@ -4,6 +4,7 @@
 import adsk.core
 import adsk.fusion
 
+# Transition: AARD-1737
 from ..general_imports import *
 
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Events.py b/exporter/SynthesisFusionAddin/src/UI/Events.py
index 60e2af032f..5e817d5746 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Events.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Events.py
@@ -1,6 +1,7 @@
 import logging.handlers
-from typing import Sequence, Tuple
+from typing import Sequence
 
+# Transition: AARD-1737
 from ..general_imports import *
 
 """ # This file is Special
diff --git a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
index e49cf240b7..b738eb463d 100644
--- a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
+++ b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
@@ -3,10 +3,10 @@
 import adsk.core
 import adsk.fusion
 
-from ..general_imports import *
+from src.Types.OString import OString
 
-# from ..proto_out import Configuration_pb2
-from ..Types.OString import OString
+# Transition: AARD-1737
+from ..general_imports import *
 
 
 def SaveFileDialog(defaultPath="", defaultName="", ext="MiraBuf Package (*.mira)") -> Union[str, bool]:
diff --git a/exporter/SynthesisFusionAddin/src/UI/HUI.py b/exporter/SynthesisFusionAddin/src/UI/HUI.py
index b17ba6ea96..0be5a0bddd 100644
--- a/exporter/SynthesisFusionAddin/src/UI/HUI.py
+++ b/exporter/SynthesisFusionAddin/src/UI/HUI.py
@@ -1,5 +1,7 @@
+# Transition: AARD-1737
+from src.UI import Handlers, OsHelper
+
 from ..general_imports import *
-from . import Handlers, OsHelper
 
 
 # no longer used
diff --git a/exporter/SynthesisFusionAddin/src/UI/Handlers.py b/exporter/SynthesisFusionAddin/src/UI/Handlers.py
index 710f61e8c8..5b1e6aa97d 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Handlers.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Handlers.py
@@ -1,3 +1,4 @@
+# Transition: AARD-1737
 from ..general_imports import *
 
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Helper.py b/exporter/SynthesisFusionAddin/src/UI/Helper.py
index 8f88240247..5f796d087f 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Helper.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Helper.py
@@ -1,8 +1,9 @@
 from inspect import getmembers, isfunction
-from typing import Union
 
+from src.UI import HUI, Events
+
+# Transition: AARD-1737
 from ..general_imports import *
-from . import HUI, Events
 
 
 def check_solid_open() -> bool:
diff --git a/exporter/SynthesisFusionAddin/src/UI/IconPaths.py b/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
index 261720494c..2804af221a 100644
--- a/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
+++ b/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
@@ -1,6 +1,6 @@
 import os
 
-from . import OsHelper
+from src.UI import OsHelper
 
 """
 Dictionaries that store all the icon paths in ConfigCommand. All path strings are OS-independent
diff --git a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
index e0b8f26f19..f5ae186d0c 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
@@ -1,5 +1,7 @@
+# Transition: AARD-1737
+from src import INTERNAL_ID
+
 from ..general_imports import *
-from ..strings import INTERNAL_ID
 
 
 class Toolbar:
diff --git a/exporter/SynthesisFusionAddin/src/__init__.py b/exporter/SynthesisFusionAddin/src/__init__.py
new file mode 100644
index 0000000000..cb8ec64c64
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/__init__.py
@@ -0,0 +1,6 @@
+APP_NAME = "Synthesis"
+APP_TITLE = "Synthesis Robot Exporter"
+DESCRIPTION = "Exports files from Fusion into the Synthesis Format"
+INTERNAL_ID = "synthesis"
+
+__all__ = ["APP_NAME", "APP_TITLE", "DESCRIPTION", "INTERNAL_ID"]
diff --git a/exporter/SynthesisFusionAddin/src/configure.py b/exporter/SynthesisFusionAddin/src/configure.py
index e121e7ae6e..f986963465 100644
--- a/exporter/SynthesisFusionAddin/src/configure.py
+++ b/exporter/SynthesisFusionAddin/src/configure.py
@@ -5,8 +5,8 @@
 import uuid
 from configparser import ConfigParser
 
-from .strings import INTERNAL_ID
-from .Types.OString import OString
+from src import INTERNAL_ID
+from src.Types.OString import OString
 
 try:
     config = ConfigParser()
diff --git a/exporter/SynthesisFusionAddin/src/logging.py b/exporter/SynthesisFusionAddin/src/logging.py
index 2a0233ae5a..455f0b9157 100644
--- a/exporter/SynthesisFusionAddin/src/logging.py
+++ b/exporter/SynthesisFusionAddin/src/logging.py
@@ -6,8 +6,8 @@
 import pathlib
 from datetime import datetime
 
-from .strings import *
-from .UI.OsHelper import getOSPath
+from src import INTERNAL_ID
+from src.UI.OsHelper import getOSPath
 
 
 def setupLogger():

From 324c598b06db669061dbdbecc78ecb1a51ff15a3 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 9 Jul 2024 09:02:34 -0700
Subject: [PATCH 002/344] Fixed all the harder imports

---
 exporter/SynthesisFusionAddin/Synthesis.py    | 33 +++--------
 .../src/Analytics/alert.py                    |  4 +-
 .../src/Analyzer/timer.py                     |  3 +-
 .../SynthesisFusionAddin/src/GlobalManager.py | 16 ++----
 .../Parser/SynthesisParser/JointHierarchy.py  |  4 +-
 .../src/Parser/SynthesisParser/Joints.py      |  5 +-
 .../src/Parser/SynthesisParser/Materials.py   |  4 +-
 .../src/Parser/SynthesisParser/Parser.py      |  6 +-
 .../SynthesisParser/PhysicalProperties.py     |  2 -
 .../SynthesisFusionAddin/src/UI/Camera.py     |  7 ++-
 .../src/UI/ConfigCommand.py                   |  5 +-
 .../src/UI/CustomGraphics.py                  |  3 +-
 .../SynthesisFusionAddin/src/UI/Events.py     |  7 ++-
 .../src/UI/FileDialogConfig.py                |  4 +-
 exporter/SynthesisFusionAddin/src/UI/HUI.py   |  8 ++-
 .../SynthesisFusionAddin/src/UI/Handlers.py   |  3 +-
 .../SynthesisFusionAddin/src/UI/Helper.py     | 11 ++--
 .../src/UI/MarkingMenu.py                     |  3 +
 .../SynthesisFusionAddin/src/UI/Toolbar.py    | 10 ++--
 exporter/SynthesisFusionAddin/src/__init__.py | 17 +++++-
 .../src/general_imports.py                    | 55 -------------------
 exporter/SynthesisFusionAddin/src/strings.py  |  4 --
 22 files changed, 73 insertions(+), 141 deletions(-)
 delete mode 100644 exporter/SynthesisFusionAddin/src/general_imports.py
 delete mode 100644 exporter/SynthesisFusionAddin/src/strings.py

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index aeb2f6d06a..9389070088 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -6,14 +6,16 @@
 import adsk.core
 
 # Required for absolute imports
-fileDir = os.path.dirname(os.path.abspath(__file__))
-sys.path.append(os.path.abspath(os.path.join(fileDir)))
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))
 
+from src import APP_NAME, DESCRIPTION, INTERNAL_ID, gm
 from src.configure import unload_config
-from src.general_imports import APP_NAME, DESCRIPTION, INTERNAL_ID, gm, root_logger
+from src.logging import setupLogger
 from src.UI import HUI, Camera, ConfigCommand, Helper, MarkingMenu
 from src.UI.Toolbar import Toolbar
 
+root_logger: logging.Logger  # TODO: Will need to be updated after GH-1010
+
 
 def run(_):
     """## Entry point to application from Fusion.
@@ -23,8 +25,8 @@ def run(_):
     """
 
     try:
-        # Remove all items prior to start just to make sure
-        unregister_all()
+        global root_logger
+        root_logger, _ = setupLogger()  # TODO: Will need to be updated after GH-1010
 
         # creates the UI elements
         register_ui()
@@ -63,26 +65,7 @@ def stop(_):
 
         unload_config()
 
-        for file in gm.files:
-            try:
-                os.remove(file)
-            except OSError:
-                pass
-
-        # removes path so that proto files don't get confused
-
-        import sys
-
-        path = os.path.abspath(os.path.dirname(__file__))
-
-        path_proto_files = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out"))
-
-        if path in sys.path:
-            sys.path.remove(path)
-
-        if path_proto_files in sys.path:
-            sys.path.remove(path_proto_files)
-
+        gm.clear()
     except:
         logging.getLogger(f"{INTERNAL_ID}").error("Failed:\n{}".format(traceback.format_exc()))
 
diff --git a/exporter/SynthesisFusionAddin/src/Analytics/alert.py b/exporter/SynthesisFusionAddin/src/Analytics/alert.py
index c134f1906b..3633b03c86 100644
--- a/exporter/SynthesisFusionAddin/src/Analytics/alert.py
+++ b/exporter/SynthesisFusionAddin/src/Analytics/alert.py
@@ -1,5 +1,5 @@
-from ..configure import setAnalytics
-from ..general_imports import gm
+from src import gm
+from src.configure import setAnalytics
 
 
 def showAnalyticsAlert():
diff --git a/exporter/SynthesisFusionAddin/src/Analyzer/timer.py b/exporter/SynthesisFusionAddin/src/Analyzer/timer.py
index 41bb86135f..961af83fd7 100644
--- a/exporter/SynthesisFusionAddin/src/Analyzer/timer.py
+++ b/exporter/SynthesisFusionAddin/src/Analyzer/timer.py
@@ -2,10 +2,11 @@
 """
 
 import inspect
+import logging
 import os
 from time import time
 
-from ..general_imports import *
+from src import DEBUG, INTERNAL_ID
 
 
 class Timer:
diff --git a/exporter/SynthesisFusionAddin/src/GlobalManager.py b/exporter/SynthesisFusionAddin/src/GlobalManager.py
index 9fb6d44b12..287052fc90 100644
--- a/exporter/SynthesisFusionAddin/src/GlobalManager.py
+++ b/exporter/SynthesisFusionAddin/src/GlobalManager.py
@@ -3,11 +3,6 @@
 import adsk.core
 import adsk.fusion
 
-from src import INTERNAL_ID
-
-# Transition: AARD-1737
-from .general_imports import *
-
 
 class GlobalManager(object):
     """Global Manager instance"""
@@ -15,14 +10,10 @@ class GlobalManager(object):
     class __GlobalManager:
         def __init__(self):
             self.app = adsk.core.Application.get()
-            self.logger = logging.getLogger(f"{INTERNAL_ID}.{self.__class__.__name__}")
 
             if self.app:
                 self.ui = self.app.userInterface
 
-            self.connected = False
-            """ Is unity currently connected """
-
             self.uniqueIds = []
             """ Collection of unique ID values to not overlap """
 
@@ -43,11 +34,14 @@ def __init__(self):
                 - this is the list of objects being sent
             """
 
-            self.files = []
-
         def __str__(self):
             return "GlobalManager"
 
+        def clear(self):
+            for attr, value in self.__dict__.items():
+                if isinstance(value, list):
+                    setattr(self, attr, [])
+
     instance = None
 
     def __new__(cls):
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index d42c20b69e..55302f9aec 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -7,13 +7,11 @@
 import adsk.fusion
 
 from proto.proto_out import joint_pb2, types_pb2
+from src import INTERNAL_ID, gm
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.PDMessage import PDMessage
 from src.Parser.SynthesisParser.Utilities import guid_component, guid_occurrence
 
-# Transition: AARD-1737
-from ...general_imports import *
-
 # ____________________________ DATA TYPES __________________
 
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index 8921f7c9ee..d5566f329f 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -22,6 +22,7 @@
 
 """
 
+import logging
 import traceback
 import uuid
 from typing import Union
@@ -30,6 +31,7 @@
 import adsk.fusion
 
 from proto.proto_out import assembly_pb2, joint_pb2, signal_pb2, types_pb2
+from src import DEBUG, INTERNAL_ID, gm
 from src.Parser.ExporterOptions import ExporterOptions, JointParentType, SignalType
 from src.Parser.SynthesisParser.PDMessage import PDMessage
 from src.Parser.SynthesisParser.Utilities import (
@@ -38,9 +40,6 @@
     guid_occurrence,
 )
 
-# Transition: AARD-1737
-from ...general_imports import *
-
 # Need to take in a graphcontainer
 # Need to create a new base node for each Joint Instance
 # Need to create at least one grounded Node
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index 77faff62d4..e2f8c42283 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -6,13 +6,11 @@
 import adsk
 
 from proto.proto_out import material_pb2
+from src import INTERNAL_ID
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.PDMessage import PDMessage
 from src.Parser.SynthesisParser.Utilities import construct_info, fill_info
 
-# Transition: AARD-1737
-from ...general_imports import INTERNAL_ID
-
 OPACITY_RAMPING_CONSTANT = 14.0
 
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index 5dfca273ad..9866c18d4d 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -1,4 +1,6 @@
 import gzip
+import logging
+import pathlib
 import traceback
 
 import adsk.core
@@ -6,6 +8,7 @@
 from google.protobuf.json_format import MessageToJson
 
 from proto.proto_out import assembly_pb2, types_pb2
+from src import DEBUG, INTERNAL_ID, gm
 from src.Parser.ExporterOptions import ExporterOptions, ExportMode
 from src.Parser.SynthesisParser import (
     Components,
@@ -17,9 +20,6 @@
 from src.Parser.SynthesisParser.Utilities import fill_info
 from src.UI.Camera import captureThumbnail, clearIconCache
 
-# Transition: AARD-1737
-from ...general_imports import *
-
 
 class Parser:
     def __init__(self, options: ExporterOptions):
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index 3d8967268c..7fbe822bac 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -23,8 +23,6 @@
 import adsk
 
 from proto.proto_out import types_pb2
-
-# Transition: AARD-1737
 from src import INTERNAL_ID
 
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Camera.py b/exporter/SynthesisFusionAddin/src/UI/Camera.py
index 618971bbc7..5142762e57 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Camera.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Camera.py
@@ -1,13 +1,14 @@
+import logging
 import os
+import traceback
 
+import adsk.core
 from adsk.core import SaveImageFileOptions
 
+from src import A_EP
 from src.Types.OString import OString
 from src.UI import Helper
 
-# Transition: AARD-1737
-from ..general_imports import *
-
 
 def captureThumbnail(size=250):
     """
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index f27132616a..01917aec6a 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -4,12 +4,14 @@
 
 import logging
 import os
+import pathlib
 import traceback
 from enum import Enum
 
 import adsk.core
 import adsk.fusion
 
+from src import A_EP, INTERNAL_ID, gm
 from src.Analytics.alert import showAnalyticsAlert
 from src.configure import NOTIFIED, write_configuration
 from src.Parser.ExporterOptions import (
@@ -28,9 +30,6 @@
 from src.UI import CustomGraphics, FileDialogConfig, Helper, IconPaths, OsHelper
 from src.UI.Configuration.SerialCommand import SerialCommand
 
-# Transition: AARD-1737
-from ..general_imports import *
-
 # ====================================== CONFIG COMMAND ======================================
 
 """
diff --git a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
index 1f0a06fc0f..97935b6827 100644
--- a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
+++ b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
@@ -4,8 +4,7 @@
 import adsk.core
 import adsk.fusion
 
-# Transition: AARD-1737
-from ..general_imports import *
+from src import gm
 
 
 def createTextGraphics(wheel: adsk.fusion.Occurrence, _wheels) -> None:
diff --git a/exporter/SynthesisFusionAddin/src/UI/Events.py b/exporter/SynthesisFusionAddin/src/UI/Events.py
index 5e817d5746..4189d6b174 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Events.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Events.py
@@ -1,8 +1,11 @@
+import json
 import logging.handlers
 from typing import Sequence
 
-# Transition: AARD-1737
-from ..general_imports import *
+import adsk.core
+
+from src import INTERNAL_ID, gm
+from src.UI import Helper
 
 """ # This file is Special
     It links all function names to command requests that palletes can make automatically
diff --git a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
index b738eb463d..a68809d676 100644
--- a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
+++ b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
@@ -3,11 +3,9 @@
 import adsk.core
 import adsk.fusion
 
+from src import gm
 from src.Types.OString import OString
 
-# Transition: AARD-1737
-from ..general_imports import *
-
 
 def SaveFileDialog(defaultPath="", defaultName="", ext="MiraBuf Package (*.mira)") -> Union[str, bool]:
     """Function to generate the Save File Dialog for the Hellion Data files
diff --git a/exporter/SynthesisFusionAddin/src/UI/HUI.py b/exporter/SynthesisFusionAddin/src/UI/HUI.py
index 0be5a0bddd..f044fa7d9b 100644
--- a/exporter/SynthesisFusionAddin/src/UI/HUI.py
+++ b/exporter/SynthesisFusionAddin/src/UI/HUI.py
@@ -1,7 +1,9 @@
-# Transition: AARD-1737
-from src.UI import Handlers, OsHelper
+import logging
+
+import adsk.core
 
-from ..general_imports import *
+from src import INTERNAL_ID, gm
+from src.UI import Handlers, OsHelper
 
 
 # no longer used
diff --git a/exporter/SynthesisFusionAddin/src/UI/Handlers.py b/exporter/SynthesisFusionAddin/src/UI/Handlers.py
index 5b1e6aa97d..4529b861db 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Handlers.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Handlers.py
@@ -1,5 +1,4 @@
-# Transition: AARD-1737
-from ..general_imports import *
+import adsk.core
 
 
 class HButtonCommandCreatedEvent(adsk.core.CommandCreatedEventHandler):
diff --git a/exporter/SynthesisFusionAddin/src/UI/Helper.py b/exporter/SynthesisFusionAddin/src/UI/Helper.py
index 5f796d087f..ad7346fd46 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Helper.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Helper.py
@@ -1,9 +1,10 @@
+import traceback
 from inspect import getmembers, isfunction
 
-from src.UI import HUI, Events
+import adsk.core
 
-# Transition: AARD-1737
-from ..general_imports import *
+from src import APP_NAME, APP_TITLE, INTERNAL_ID, gm
+from src.UI import HUI, Events
 
 
 def check_solid_open() -> bool:
@@ -14,7 +15,7 @@ def check_solid_open() -> bool:
     return True
 
 
-def getDocName() -> str or None:
+def getDocName() -> str | None:
     """### Gets the active Document Name
     - If it can't find one then it will return None
     """
@@ -38,7 +39,7 @@ def checkAttribute() -> bool:
         return False
 
 
-def addUnityAttribute() -> bool or None:
+def addUnityAttribute() -> bool | None:
     """#### Adds an attribute to the Fusion File
     - Initially intended to be used to add a marker for in use untiy files
     - No longer necessary
diff --git a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
index 5c68d2c79a..9b894127d9 100644
--- a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
+++ b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
@@ -4,6 +4,8 @@
 import adsk.core
 import adsk.fusion
 
+from src import INTERNAL_ID
+
 # Ripped all the boiler plate from the example code: https://help.autodesk.com/view/fusion360/ENU/?guid=GUID-c90ce6a2-c282-11e6-a365-3417ebc87622
 
 # global mapping list of event handlers to keep them referenced for the duration of the command
@@ -221,6 +223,7 @@ def stopMarkingMenu(ui: adsk.core.UserInterface):
             else:
                 ui.messageBox(str(obj) + " is not a valid object")
 
+        cmdDefs.clear()
         handlers.clear()
     except:
         ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
diff --git a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
index f5ae186d0c..388abbc4b9 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
@@ -1,7 +1,7 @@
-# Transition: AARD-1737
-from src import INTERNAL_ID
+import logging
+import traceback
 
-from ..general_imports import *
+from src import INTERNAL_ID, gm
 
 
 class Toolbar:
@@ -40,7 +40,7 @@ def __init__(self, name: str):
                 error = traceback.format_exc()
                 self.logger.error(f"Failed at creating toolbar with {self.uid} due to {error}")
 
-    def getPanel(self, name: str, visibility: bool = True) -> str or None:
+    def getPanel(self, name: str, visibility: bool = True) -> str | None:
         """# Gets a control for a panel to the tabbed toolbar
         - optional param for visibility
         """
@@ -61,7 +61,7 @@ def getPanel(self, name: str, visibility: bool = True) -> str or None:
             return None
 
     @staticmethod
-    def getNewPanel(name: str, tab_id: str, toolbar_id: str, visibility: bool = True) -> str or None:
+    def getNewPanel(name: str, tab_id: str, toolbar_id: str, visibility: bool = True) -> str | None:
         """# Gets a control for a panel to the tabbed toolbar visibility"""
         logger = logging.getLogger(f"{INTERNAL_ID}.Toolbar.getNewPanel")
 
diff --git a/exporter/SynthesisFusionAddin/src/__init__.py b/exporter/SynthesisFusionAddin/src/__init__.py
index cb8ec64c64..f041f71631 100644
--- a/exporter/SynthesisFusionAddin/src/__init__.py
+++ b/exporter/SynthesisFusionAddin/src/__init__.py
@@ -1,6 +1,21 @@
+import os
+import sys
+
+from src.GlobalManager import GlobalManager
+
 APP_NAME = "Synthesis"
 APP_TITLE = "Synthesis Robot Exporter"
 DESCRIPTION = "Exports files from Fusion into the Synthesis Format"
 INTERNAL_ID = "synthesis"
 
-__all__ = ["APP_NAME", "APP_TITLE", "DESCRIPTION", "INTERNAL_ID"]
+A_EP = None  # TODO: Will be removed by GH-1010
+DEBUG = True  # TODO: Will be removed by GH-1010
+
+gm = GlobalManager()
+
+__all__ = ["APP_NAME", "APP_TITLE", "DESCRIPTION", "INTERNAL_ID", "gm"]
+
+# Transition: AARD-1737
+# This method of running the resolve dependencies module will be revisited in AARD-1734
+sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out")))
+from proto import deps
diff --git a/exporter/SynthesisFusionAddin/src/general_imports.py b/exporter/SynthesisFusionAddin/src/general_imports.py
deleted file mode 100644
index 042e4618ea..0000000000
--- a/exporter/SynthesisFusionAddin/src/general_imports.py
+++ /dev/null
@@ -1,55 +0,0 @@
-import json
-import logging.handlers
-import os
-import pathlib
-import sys
-import traceback
-import uuid
-from datetime import datetime
-from time import time
-from types import FunctionType
-
-import adsk.core
-import adsk.fusion
-
-# hard coded to bypass errors for now
-PROTOBUF = True
-DEBUG = True
-
-try:
-    from .GlobalManager import *
-    from .logging import setupLogger
-    from .strings import *
-
-    (root_logger, log_handler) = setupLogger()
-except ImportError as e:
-    # nothing to really do here
-    print(e)
-
-try:
-    path = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
-
-    path_proto_files = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out"))
-
-    if not path in sys.path:
-        sys.path.insert(1, path)
-
-    if not path_proto_files in sys.path:
-        sys.path.insert(2, path_proto_files)
-
-    from proto import deps
-
-except:
-    logging.getLogger(f"{INTERNAL_ID}.import_manager").error("Failed\n{}".format(traceback.format_exc()))
-
-try:
-    # simple analytics endpoint
-    # A_EP = AnalyticsEndpoint("UA-188467590-1", 1)
-    A_EP = None
-
-    # Setup the global state
-    gm: GlobalManager = GlobalManager()
-    my_addin_path = os.path.dirname(os.path.realpath(__file__))
-except:
-    # should also log this
-    logging.getLogger(f"{INTERNAL_ID}.import_manager").error("Failed\n{}".format(traceback.format_exc()))
diff --git a/exporter/SynthesisFusionAddin/src/strings.py b/exporter/SynthesisFusionAddin/src/strings.py
deleted file mode 100644
index 6e3aa109e2..0000000000
--- a/exporter/SynthesisFusionAddin/src/strings.py
+++ /dev/null
@@ -1,4 +0,0 @@
-APP_NAME = "Synthesis"
-APP_TITLE = "Synthesis Robot Exporter"
-DESCRIPTION = "Exports files from Fusion into the Synthesis Format"
-INTERNAL_ID = "synthesis"

From 2245c6f79131213fa524ceb5c7efe402d52a1679 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 10 Jul 2024 15:09:37 -0700
Subject: [PATCH 003/344] Dependency module update

---
 exporter/SynthesisFusionAddin/Synthesis.py    |  17 ++-
 .../SynthesisFusionAddin/src/Dependencies.py  | 143 ++++++++++++++++++
 2 files changed, 155 insertions(+), 5 deletions(-)
 create mode 100644 exporter/SynthesisFusionAddin/src/Dependencies.py

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 335a2416ce..75a8242da0 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -6,11 +6,18 @@
 
 import adsk.core
 
-from .src.configure import setAnalytics, unload_config
-from .src.general_imports import APP_NAME, DESCRIPTION, INTERNAL_ID, gm, root_logger
-from .src.Types.OString import OString
-from .src.UI import HUI, Camera, ConfigCommand, Handlers, Helper, MarkingMenu
-from .src.UI.Toolbar import Toolbar
+from .src.Dependencies import resolveDependencies
+
+try:
+    from .src.configure import setAnalytics, unload_config
+    from .src.general_imports import APP_NAME, DESCRIPTION, INTERNAL_ID, gm, root_logger
+    from .src.Types.OString import OString
+    from .src.UI import HUI, Camera, ConfigCommand, Handlers, Helper, MarkingMenu
+    from .src.UI.Toolbar import Toolbar
+except (ImportError, ModuleNotFoundError):
+    # Dependency likely has not been installed OR protobuf files were not compiled and could not be found.
+    resolveDependencies()
+    adsk.core.Application.get().userInterface.messageBox("Installed required dependencies, please restart Fusion.")
 
 
 def run(_):
diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
new file mode 100644
index 0000000000..73e03343c3
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -0,0 +1,143 @@
+import importlib.machinery
+import logging
+import os
+import platform
+import subprocess
+import sys
+from pathlib import Path
+
+import adsk.core
+import adsk.fusion
+
+from .general_imports import INTERNAL_ID
+
+logger = logging.getLogger(INTERNAL_ID)
+system = platform.system()
+
+# Since the Fusion python runtime is separate from the system python runtime we need to do some funky things
+# in order to download and install python packages separate from the standard library.
+PIP_DEPENDENCY_VERSION_MAP: dict[str, str] = {
+    "protobuf": "5.27.2",
+}
+
+
+# TODO: Waiting on GH-1010 for failure logging.
+def getInternalFusionPythonInstillationFolder() -> str:
+    # Thank you Kris Kaplan
+    # Find the folder location where the Autodesk python instillation keeps the 'os' standard library module.
+    pythonStandardLibraryModulePath = importlib.machinery.PathFinder.find_spec("os", sys.path).origin
+
+    # Depending on platform, adjust to folder to where the python executable binaries are stored.
+    if system == "Windows":
+        folder = f"{Path(pythonStandardLibraryModulePath).parents[1]}"
+    elif system == "Darwin":
+        folder = f"{Path(pythonStandardLibraryModulePath).parents[2]}/bin"
+    else:
+        # TODO: System string should be moved to __init__ after GH-1013
+        raise RuntimeError("Unsupported platform.")
+
+    return folder
+
+
+def executeCommand(*args: str) -> subprocess.CompletedProcess:
+    logger.debug(f"Running Command -> {' '.join(args)}")
+    try:
+        result: subprocess.CompletedProcess = subprocess.run(
+            args, shell=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True, check=True
+        )
+        logger.debug(f"Command Output:\n{result.stdout}")
+        return result
+
+    except subprocess.CalledProcessError as error:
+        logger.error(f"Exit code: {error.returncode}")
+        logger.error(f"Output:\n{error.stderr}")
+        raise error
+
+
+def verifyCompiledProtoImports() -> bool:
+    try:
+        from ..proto.proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
+
+        return True
+    except ImportError:
+        # TODO: Add logging from GH-1010
+        return False
+
+
+def getInstalledPipPackages(pythonExecutablePath: str) -> dict[str, str]:
+    result: str = executeCommand(pythonExecutablePath, "-m", "pip", "freeze").stdout
+    # We don't need to check against packages with a specific hash as those are not required by Synthesis.
+    return {x.split("==")[0]: x.split("==")[1] for x in result.splitlines() if "==" in x}
+
+
+def packagesOutOfDate(installedPackages: dict[str, str]) -> bool:
+    for package, installedVersion in installedPackages.items():
+        expectedVersion = PIP_DEPENDENCY_VERSION_MAP.get(package)
+        if expectedVersion and expectedVersion != installedVersion:
+            return True
+
+    return False
+
+
+# TODO: GH-1010 for log failure
+def resolveDependencies() -> None:
+    app = adsk.core.Application.get()
+    ui = app.userInterface
+    if app.isOffLine:
+        # If we have gotten this far that means that an import error was thrown for possible missing
+        # dependencies... And we can't try to download them because we have no internet... ¯\_(ツ)_/¯
+        ui.messageBox("Unable to resolve dependencies while not connected to the internet.")
+        raise RuntimeError("Internet required to check dependencies")
+
+    # This is important to reduce the chance of hang on startup.
+    adsk.doEvents()
+
+    pythonFolder = getInternalFusionPythonInstillationFolder()
+    pythonExecutableFile = "python.exe" if system == "Windows" else "python"  # Confirming 110% everything is fine.
+    pythonExecutablePath = os.path.join(pythonFolder, pythonExecutableFile)
+
+    progressBar = ui.createProgressDialog()
+    progressBar.isCancelButtonShown = False
+    progressBar.reset()
+    progressBar.show("Synthesis", f"Installing dependencies...", 0, len(PIP_DEPENDENCY_VERSION_MAP), 0)
+
+    # TODO: Is this really true? Do we need this? waheusnta eho? - Brandon
+    # Install pip manually on macos as it is not included by default? Really?
+    if system == "Darwin" and not os.path.exists(os.path.join(pythonFolder, "pip")):
+        pipInstallScriptPath = os.path.join(pythonFolder, "get-pip.py")
+        if not os.path.exists(pipInstallScriptPath):
+            executeCommand("curl", "https://bootstrap.pypa.io/get-pip.py", "-o", pipInstallScriptPath)
+            progressBar.maximumValue += 2
+            progressBar.progressValue += 1
+            progressBar.message = "Downloading PIP Installer..."
+
+        progressBar.progressValue += 1
+        progressBar.message = "Installing PIP..."
+        executeCommand(pythonExecutablePath, pipInstallScriptPath)
+
+    installedPackages = getInstalledPipPackages(pythonExecutablePath)
+    if packagesOutOfDate(installedPackages):
+        # Uninstall and reinstall everything to confirm updated versions.
+        progressBar.message = "Uninstalling out-of-date Dependencies..."
+        progressBar.maximumValue += len(PIP_DEPENDENCY_VERSION_MAP)
+
+        for dep in PIP_DEPENDENCY_VERSION_MAP.keys():
+            progressBar.progressValue += 1
+            executeCommand(pythonExecutablePath, "-m", "pip", "uninstall", "-y", dep)
+
+    progressBar.message = "Installing Dependencies..."
+    for dep, version in PIP_DEPENDENCY_VERSION_MAP.items():
+        progressBar.progressValue += 1
+        progressBar.message = f"Installing {dep}..."
+        adsk.doEvents()
+
+        # TODO: Will need to update logging after GH-1010
+        result = executeCommand(pythonExecutablePath, "-m", "pip", "install", f"{dep}=={version}").returncode
+        if result:
+            logging.getLogger(f"{INTERNAL_ID}").warn(f'Dep installation "{dep}" exited with code "{result}"')
+
+    progressBar.hide()
+
+    # TODO: Will need to update logging after GH-1010
+    if not verifyCompiledProtoImports():
+        ui.messageBox("Missing required compiled protobuf files.")

From 783260a14bb663696e6bb26dcc530bcf8f0e4d92 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Fri, 12 Jul 2024 09:32:05 -0700
Subject: [PATCH 004/344] add execute command

---
 exporter/SynthesisFusionAddin/Synthesis.py    | 11 +++++++++
 .../src/UI/ShowAPSAuthCommand.py              |  2 --
 .../src/UI/ShowWebsiteCommand.py              | 24 +++++++++++++++++++
 3 files changed, 35 insertions(+), 2 deletions(-)
 create mode 100644 exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 37403d9f82..c3461d575e 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -17,6 +17,7 @@
     Helper,
     MarkingMenu,
     ShowAPSAuthCommand,
+    ShowWebsiteCommand
 )
 from .src.UI.Toolbar import Toolbar
 
@@ -141,3 +142,13 @@ def register_ui() -> None:
     )
 
     gm.elements.append(apsButton)
+
+    websiteButton = HUI.HButton(
+        "Synthesis Website", 
+        work_panel,
+        Helper.check_solid_open,
+        ShowWebsiteCommand.ShowWebsiteCommandCreatedHandler,
+        description=f"WEBSITE TEST",
+        command=True
+    )
+    gm.elements.append(websiteButton)
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
index bacc6e094b..89f76190dd 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
@@ -1,11 +1,9 @@
 import json
 import logging
-import os
 import time
 import traceback
 import urllib.parse
 import urllib.request
-import webbrowser
 
 import adsk.core
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
new file mode 100644
index 0000000000..1a225a0845
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
@@ -0,0 +1,24 @@
+import webbrowser
+import adsk.core
+class ShowWebsiteCommandExecuteHandler(adsk.core.CommandEventHandler):
+    def __init__(self) -> None:
+        super().__init__()
+    def notify(self, args):
+        try:
+            url = "https://synthesis.autodesk.com/"
+            res = webbrowser.open(url, new=2)
+            if not res:
+                gm.ui.messageBox("Failed\n{}".format(traceback.format_exc()))
+        except:
+            gm.ui.messageBox("Failed\n{}".format(traceback.format_exc()))
+class ShowWebsiteCommandCreatedHandler(adsk.core.CommandCreatedEventHandler):
+    def __init__(self, configure) -> None:
+        super().__init__()
+    def notify(self, args):
+        try:
+            command = args.command
+            onExecute = ShowWebsiteCommandExecuteHandler()
+            command.execute.add(onExecute)
+            gm.handlers.append(onExecute)
+        except:
+            gm.ui.messageBox("Failed\n{}".format(traceback.format_exc()))

From 6855427b23bd34055d15f48beb049767c87877d4 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 17 Jul 2024 10:04:02 -0700
Subject: [PATCH 005/344] icons shows up now

---
 exporter/SynthesisFusionAddin/Synthesis.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index c3461d575e..e0060d2bca 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -143,12 +143,13 @@ def register_ui() -> None:
 
     gm.elements.append(apsButton)
 
+
     websiteButton = HUI.HButton(
         "Synthesis Website", 
         work_panel,
         Helper.check_solid_open,
         ShowWebsiteCommand.ShowWebsiteCommandCreatedHandler,
-        description=f"WEBSITE TEST",
+        description=f"Website Test",
         command=True
     )
     gm.elements.append(websiteButton)

From 84ab146bb9db23b25f57aa1fa4b2b6554e3946e8 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 17 Jul 2024 10:05:05 -0700
Subject: [PATCH 006/344] added needed resources

---
 .../FrictionOverride_icon/32x32-normal.png       | Bin 0 -> 586 bytes
 .../SynthesisWebsite/16x16-disabled.png          | Bin 0 -> 1469 bytes
 .../Resources/SynthesisWebsite/16x16-normal.png  | Bin 0 -> 1535 bytes
 .../SynthesisWebsite/32x32-disabled.png          | Bin 0 -> 2002 bytes
 .../Resources/SynthesisWebsite/32x32-normal.png  | Bin 0 -> 2176 bytes
 .../Resources/SynthesisWebsite/64x64-normal.png  | Bin 0 -> 3335 bytes
 6 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 exporter/SynthesisFusionAddin/src/Resources/FrictionOverride_icon/32x32-normal.png
 create mode 100644 exporter/SynthesisFusionAddin/src/Resources/SynthesisWebsite/16x16-disabled.png
 create mode 100644 exporter/SynthesisFusionAddin/src/Resources/SynthesisWebsite/16x16-normal.png
 create mode 100644 exporter/SynthesisFusionAddin/src/Resources/SynthesisWebsite/32x32-disabled.png
 create mode 100644 exporter/SynthesisFusionAddin/src/Resources/SynthesisWebsite/32x32-normal.png
 create mode 100644 exporter/SynthesisFusionAddin/src/Resources/SynthesisWebsite/64x64-normal.png

diff --git a/exporter/SynthesisFusionAddin/src/Resources/FrictionOverride_icon/32x32-normal.png b/exporter/SynthesisFusionAddin/src/Resources/FrictionOverride_icon/32x32-normal.png
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diff --git a/exporter/SynthesisFusionAddin/src/Resources/SynthesisWebsite/32x32-normal.png b/exporter/SynthesisFusionAddin/src/Resources/SynthesisWebsite/32x32-normal.png
new file mode 100644
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diff --git a/exporter/SynthesisFusionAddin/src/Resources/SynthesisWebsite/64x64-normal.png b/exporter/SynthesisFusionAddin/src/Resources/SynthesisWebsite/64x64-normal.png
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literal 0
HcmV?d00001


From 314547fbbe1bd8280f6e519edffda71678ee4dbe Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 17 Jul 2024 13:53:43 -0700
Subject: [PATCH 007/344] open website with button on toolbar

---
 exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
index 1a225a0845..77ebe018ab 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
@@ -1,5 +1,6 @@
 import webbrowser
 import adsk.core
+from ..general_imports import *
 class ShowWebsiteCommandExecuteHandler(adsk.core.CommandEventHandler):
     def __init__(self) -> None:
         super().__init__()

From f4cfaaa591ab9b7bc1ba997f46b583cf2f4d17c9 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 17 Jul 2024 15:28:00 -0700
Subject: [PATCH 008/344] change url to learn page

---
 exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
index 77ebe018ab..14cb233c0c 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
@@ -6,7 +6,7 @@ def __init__(self) -> None:
         super().__init__()
     def notify(self, args):
         try:
-            url = "https://synthesis.autodesk.com/"
+            url = "https://synthesis.autodesk.com/tutorials.html"
             res = webbrowser.open(url, new=2)
             if not res:
                 gm.ui.messageBox("Failed\n{}".format(traceback.format_exc()))

From 0c2004257fe2a945c0bd78f6b4a0e3473b3dc2c9 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 17 Jul 2024 17:13:00 -0700
Subject: [PATCH 009/344] Initial take on a general options tab

---
 .../src/Parser/ExporterOptions.py             |   4 +-
 exporter/SynthesisFusionAddin/src/TypesTmp.py |  15 +
 .../src/UI/ConfigCommand.py                   | 454 +++++++++---------
 .../src/UI/GeneralConfigTab.py                | 216 +++++++++
 4 files changed, 472 insertions(+), 217 deletions(-)
 create mode 100644 exporter/SynthesisFusionAddin/src/TypesTmp.py
 create mode 100644 exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py

diff --git a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
index 569d29e158..603e71d382 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
@@ -14,6 +14,7 @@
 from adsk.fusion import CalculationAccuracy, TriangleMeshQualityOptions
 
 from ..strings import INTERNAL_ID
+from ..TypesTmp import KG
 
 # Not 100% sure what this is for - Brandon
 JointParentType = Enum("JointParentType", ["ROOT", "END"])
@@ -96,7 +97,8 @@ class ExporterOptions:
     preferredUnits: PreferredUnits = field(default=PreferredUnits.IMPERIAL)
 
     # Always stored in kg regardless of 'preferredUnits'
-    robotWeight: float = field(default=0.0)
+    robotWeight: KG = field(default=0.0)
+    autoCalcWeight: bool = field(default=False)
 
     compressOutput: bool = field(default=True)
     exportAsPart: bool = field(default=False)
diff --git a/exporter/SynthesisFusionAddin/src/TypesTmp.py b/exporter/SynthesisFusionAddin/src/TypesTmp.py
new file mode 100644
index 0000000000..7926bcd360
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/TypesTmp.py
@@ -0,0 +1,15 @@
+# Pure typing hints.
+class LBS(float):
+    """Mass Unit in Pounds."""
+
+
+class KG(float):
+    """Mass Unit in Kilograms."""
+
+
+def toLbs(kgs: float) -> LBS:
+    return LBS(kgs * 2.2062)
+
+
+def toKg(pounds: float) -> KG:
+    return KG(pounds / 2.2062)
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index d8bd844f34..1fdb9f5b5b 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -24,6 +24,7 @@
 from ..Parser.SynthesisParser.Utilities import guid_occurrence
 from . import CustomGraphics, FileDialogConfig, Helper, IconPaths
 from .Configuration.SerialCommand import SerialCommand
+from .GeneralConfigTab import GeneralConfigTab
 
 # Transition: AARD-1685
 # In the future all components should be handled in this way.
@@ -32,6 +33,7 @@
 
 # ====================================== CONFIG COMMAND ======================================
 
+generalConfigTab: GeneralConfigTab
 jointConfigTab: JointConfigTab
 
 """
@@ -91,41 +93,42 @@ class JointMotions(Enum):
     BALL = 6
 
 
-class FullMassCalculation:
-    def __init__(self):
-        self.totalMass = 0.0
-        self.bRepMassInRoot()
-        self.traverseOccurrenceHierarchy()
-
-    def bRepMassInRoot(self):
-        try:
-            for body in gm.app.activeDocument.design.rootComponent.bRepBodies:
-                if not body.isLightBulbOn:
-                    continue
-                physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
-                self.totalMass += physical.mass
-        except:
-            if gm.ui:
-                gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
-
-    def traverseOccurrenceHierarchy(self):
-        try:
-            for occ in gm.app.activeDocument.design.rootComponent.allOccurrences:
-                if not occ.isLightBulbOn:
-                    continue
-
-                for body in occ.component.bRepBodies:
-                    if not body.isLightBulbOn:
-                        continue
-                    physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
-                    self.totalMass += physical.mass
-        except:
-            pass
-            if gm.ui:
-                gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
-
-    def getTotalMass(self):
-        return self.totalMass
+# Transition: AARD-1683
+# class FullMassCalculation:
+#     def __init__(self):
+#         self.totalMass = 0.0
+#         self.bRepMassInRoot()
+#         self.traverseOccurrenceHierarchy()
+
+#     def bRepMassInRoot(self):
+#         try:
+#             for body in gm.app.activeDocument.design.rootComponent.bRepBodies:
+#                 if not body.isLightBulbOn:
+#                     continue
+#                 physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
+#                 self.totalMass += physical.mass
+#         except:
+#             if gm.ui:
+#                 gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
+
+#     def traverseOccurrenceHierarchy(self):
+#         try:
+#             for occ in gm.app.activeDocument.design.rootComponent.allOccurrences:
+#                 if not occ.isLightBulbOn:
+#                     continue
+
+#                 for body in occ.component.bRepBodies:
+#                     if not body.isLightBulbOn:
+#                         continue
+#                     physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
+#                     self.totalMass += physical.mass
+#         except:
+#             pass
+#             if gm.ui:
+#                 gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
+
+#     def getTotalMass(self):
+#         return self.totalMass
 
 
 class ConfigureCommandCreatedHandler(adsk.core.CommandCreatedEventHandler):
@@ -170,6 +173,11 @@ def notify(self, args):
             global INPUTS_ROOT  # Global CommandInputs arg
             INPUTS_ROOT = cmd.commandInputs
 
+            # Transition: AARD-1683
+            # Working on replacing all of the general tab stuff
+            global generalConfigTab
+            generalConfigTab = GeneralConfigTab(args, exporterOptions)
+
             # ====================================== GENERAL TAB ======================================
             """
             Creates the general tab.
@@ -184,22 +192,23 @@ def notify(self, args):
             """
             cmd.helpFile = os.path.join(".", "src", "Resources", "HTML", "info.html")
 
+            # Transition: AARD-1683
             # ~~~~~~~~~~~~~~~~ EXPORT MODE ~~~~~~~~~~~~~~~~
             """
             Dropdown to choose whether to export robot or field element
             """
-            dropdownExportMode = inputs.addDropDownCommandInput(
-                "mode",
-                "Export Mode",
-                dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-            )
+            # dropdownExportMode = inputs.addDropDownCommandInput(
+            #     "mode",
+            #     "Export Mode",
+            #     dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
+            # )
 
-            dynamic = exporterOptions.exportMode == ExportMode.ROBOT
-            dropdownExportMode.listItems.add("Dynamic", dynamic)
-            dropdownExportMode.listItems.add("Static", not dynamic)
+            # dynamic = exporterOptions.exportMode == ExportMode.ROBOT
+            # dropdownExportMode.listItems.add("Dynamic", dynamic)
+            # dropdownExportMode.listItems.add("Static", not dynamic)
 
-            dropdownExportMode.tooltip = "Export Mode"
-            dropdownExportMode.tooltipDescription = "<hr>Does this object move dynamically?"
+            # dropdownExportMode.tooltip = "Export Mode"
+            # dropdownExportMode.tooltipDescription = "<hr>Does this object move dynamically?"
 
             # ~~~~~~~~~~~~~~~~ WEIGHT CONFIGURATION ~~~~~~~~~~~~~~~~
             """
@@ -423,40 +432,42 @@ def notify(self, args):
             """
             Creates the advanced tab, which is the parent container for internal command inputs
             """
+            # Transition: AARD-1683
             advancedSettings = INPUTS_ROOT.addTabCommandInput("advanced_settings", "Advanced")
             advancedSettings.tooltip = (
                 "Additional Advanced Settings to change how your model will be translated into Unity."
             )
             a_input = advancedSettings.children
 
+            # Transition: AARD-1683
             # ~~~~~~~~~~~~~~~~ EXPORTER SETTINGS ~~~~~~~~~~~~~~~~
             """
             Exporter settings group command
             """
-            exporterSettings = a_input.addGroupCommandInput("exporter_settings", "Exporter Settings")
-            exporterSettings.isExpanded = True
-            exporterSettings.isEnabled = True
-            exporterSettings.tooltip = "tooltip"  # TODO: update tooltip
-            exporter_settings = exporterSettings.children
-
-            self.createBooleanInput(
-                "compress",
-                "Compress Output",
-                exporter_settings,
-                checked=exporterOptions.compressOutput,
-                tooltip="Compress the output file for a smaller file size.",
-                tooltipadvanced="<hr>Use the GZIP compression system to compress the resulting file which will be opened in the simulator, perfect if you want to share the file.<br>",
-                enabled=True,
-            )
+            # exporterSettings = a_input.addGroupCommandInput("exporter_settings", "Exporter Settings")
+            # exporterSettings.isExpanded = True
+            # exporterSettings.isEnabled = True
+            # exporterSettings.tooltip = "tooltip"  # TODO: update tooltip
+            # exporter_settings = exporterSettings.children
 
-            self.createBooleanInput(
-                "export_as_part",
-                "Export As Part",
-                exporter_settings,
-                checked=exporterOptions.exportAsPart,
-                tooltip="Use to export as a part for Mix And Match",
-                enabled=True,
-            )
+            # self.createBooleanInput(
+            #     "compress",
+            #     "Compress Output",
+            #     exporter_settings,
+            #     checked=exporterOptions.compressOutput,
+            #     tooltip="Compress the output file for a smaller file size.",
+            #     tooltipadvanced="<hr>Use the GZIP compression system to compress the resulting file which will be opened in the simulator, perfect if you want to share the file.<br>",
+            #     enabled=True,
+            # )
+
+            # self.createBooleanInput(
+            #     "export_as_part",
+            #     "Export As Part",
+            #     exporter_settings,
+            #     checked=exporterOptions.exportAsPart,
+            #     tooltip="Use to export as a part for Mix And Match",
+            #     enabled=True,
+            # )
 
             # ~~~~~~~~~~~~~~~~ PHYSICS SETTINGS ~~~~~~~~~~~~~~~~
             """
@@ -581,13 +592,16 @@ def notify(self, args):
             #     enabled=True,
             # )
 
-            getAuth()
-            user_info = getUserInfo()
-            apsSettings = INPUTS_ROOT.addTabCommandInput(
-                "aps_settings", f"APS Settings ({user_info.given_name if user_info else 'Not Signed In'})"
-            )
-            apsSettings.tooltip = "Configuration settings for Autodesk Platform Services."
-            aps_input = apsSettings.children
+            # Transition: AARD-1683
+            # Needed to comment this out because it throws if you don't login preventing anything from working
+
+            # getAuth()
+            # user_info = getUserInfo()
+            # apsSettings = INPUTS_ROOT.addTabCommandInput(
+            #     "aps_settings", f"APS Settings ({user_info.given_name if user_info else 'Not Signed In'})"
+            # )
+            # apsSettings.tooltip = "Configuration settings for Autodesk Platform Services."
+            # aps_input = apsSettings.children
 
             # clear all selections before instantiating handlers.
             gm.ui.activeSelections.clear()
@@ -814,26 +828,27 @@ def notify(self, args):
                 self.log.error("Could not execute configuration due to failure")
                 return
 
-            export_as_part_boolean = (
-                eventArgs.command.commandInputs.itemById("advanced_settings")
-                .children.itemById("exporter_settings")
-                .children.itemById("export_as_part")
-            ).value
-
-            processedFileName = gm.app.activeDocument.name.replace(" ", "_")
-            dropdownExportMode = INPUTS_ROOT.itemById("mode")
-            if dropdownExportMode.selectedItem.index == 0:
-                isRobot = True
-            elif dropdownExportMode.selectedItem.index == 1:
-                isRobot = False
-
-            if isRobot:
-                savepath = FileDialogConfig.SaveFileDialog(
-                    defaultPath=exporterOptions.fileLocation,
-                    ext="Synthesis File (*.synth)",
-                )
-            else:
-                savepath = FileDialogConfig.SaveFileDialog(defaultPath=exporterOptions.fileLocation)
+            # Transition: AARD-1683
+            # export_as_part_boolean = (
+            #     eventArgs.command.commandInputs.itemById("advanced_settings")
+            #     .children.itemById("exporter_settings")
+            #     .children.itemById("export_as_part")
+            # ).value
+
+            # processedFileName = gm.app.activeDocument.name.replace(" ", "_")
+            # dropdownExportMode = INPUTS_ROOT.itemById("mode")
+            # if dropdownExportMode.selectedItem.index == 0:
+            #     isRobot = True
+            # elif dropdownExportMode.selectedItem.index == 1:
+            #     isRobot = False
+
+            # if isRobot:
+            #     savepath = FileDialogConfig.SaveFileDialog(
+            #         defaultPath=exporterOptions.fileLocation,
+            #         ext="Synthesis File (*.synth)",
+            #     )
+            # else:
+            savepath = FileDialogConfig.SaveFileDialog(defaultPath=exporterOptions.fileLocation)
 
             if not savepath:
                 # save was canceled
@@ -850,61 +865,63 @@ def notify(self, args):
             version = design.rootComponent.name.rsplit(" ", 1)[1]
 
             _exportGamepieces = []  # TODO work on the code to populate Gamepiece
-            _robotWeight = float
+            _robotWeight = 0.0
             _mode = ExportMode.ROBOT
 
+            # Transition: AARD-1683
+            # This was never being used it appears, should be looped back to.
             """
             Loops through all rows in the gamepiece table to extract the input values
             """
-            gamepieceTableInput = gamepieceTable()
-            weight_unit_f = INPUTS_ROOT.itemById("weight_unit_f")
-            for row in range(gamepieceTableInput.rowCount):
-                if row == 0:
-                    continue
+            # gamepieceTableInput = gamepieceTable()
+            # weight_unit_f = INPUTS_ROOT.itemById("weight_unit_f")
+            # for row in range(gamepieceTableInput.rowCount):
+            #     if row == 0:
+            #         continue
 
-                weightValue = gamepieceTableInput.getInputAtPosition(row, 2).value  # weight/mass input, float
+            #     weightValue = gamepieceTableInput.getInputAtPosition(row, 2).value  # weight/mass input, float
 
-                if weight_unit_f.selectedItem.index == 0:
-                    weightValue /= 2.2046226218
+            #     if weight_unit_f.selectedItem.index == 0:
+            #         weightValue /= 2.2046226218
 
-                frictionValue = gamepieceTableInput.getInputAtPosition(row, 3).valueOne  # friction value, float
+            #     frictionValue = gamepieceTableInput.getInputAtPosition(row, 3).valueOne  # friction value, float
 
-                _exportGamepieces.append(
-                    Gamepiece(
-                        guid_occurrence(GamepieceListGlobal[row - 1]),
-                        weightValue,
-                        frictionValue,
-                    )
-                )
+            #     _exportGamepieces.append(
+            #         Gamepiece(
+            #             guid_occurrence(GamepieceListGlobal[row - 1]),
+            #             weightValue,
+            #             frictionValue,
+            #         )
+            #     )
 
             """
             Robot Weight
             """
-            weight_input = INPUTS_ROOT.itemById("weight_input")
-            weight_unit = INPUTS_ROOT.itemById("weight_unit")
+            # weight_input = INPUTS_ROOT.itemById("weight_input")
+            # weight_unit = INPUTS_ROOT.itemById("weight_unit")
 
-            if weight_unit.selectedItem.index == 0:
-                selectedUnits = PreferredUnits.IMPERIAL
-                _robotWeight = float(weight_input.value) / 2.2046226218
-            else:
-                selectedUnits = PreferredUnits.METRIC
-                _robotWeight = float(weight_input.value)
+            # if weight_unit.selectedItem.index == 0:
+            #     selectedUnits = PreferredUnits.IMPERIAL
+            #     _robotWeight = float(weight_input.value) / 2.2046226218
+            # else:
+            #     selectedUnits = PreferredUnits.METRIC
+            #     _robotWeight = float(weight_input.value)
 
             """
             Export Mode
             """
-            dropdownExportMode = INPUTS_ROOT.itemById("mode")
-            if dropdownExportMode.selectedItem.index == 0:
-                _mode = ExportMode.ROBOT
-            elif dropdownExportMode.selectedItem.index == 1:
-                _mode = ExportMode.FIELD
-
-            global compress
-            compress = (
-                eventArgs.command.commandInputs.itemById("advanced_settings")
-                .children.itemById("exporter_settings")
-                .children.itemById("compress")
-            ).value
+            # dropdownExportMode = INPUTS_ROOT.itemById("mode")
+            # if dropdownExportMode.selectedItem.index == 0:
+            #     _mode = ExportMode.ROBOT
+            # elif dropdownExportMode.selectedItem.index == 1:
+            #     _mode = ExportMode.FIELD
+
+            # global compress
+            # compress = (
+            #     eventArgs.command.commandInputs.itemById("advanced_settings")
+            #     .children.itemById("exporter_settings")
+            #     .children.itemById("compress")
+            # ).value
 
             selectedJoints, selectedWheels = jointConfigTab.getSelectedJointsAndWheels()
 
@@ -915,16 +932,17 @@ def notify(self, args):
                 materials=0,
                 joints=selectedJoints,
                 wheels=selectedWheels,
-                gamepieces=_exportGamepieces,
-                preferredUnits=selectedUnits,
-                robotWeight=_robotWeight,
-                exportMode=_mode,
-                compressOutput=compress,
-                exportAsPart=export_as_part_boolean,
+                gamepieces=_exportGamepieces,  # TODO
+                preferredUnits=generalConfigTab.selectedUnits,
+                robotWeight=generalConfigTab.robotWeight,
+                exportMode=generalConfigTab.exportMode,
+                compressOutput=generalConfigTab.compress,
+                exportAsPart=generalConfigTab.exportAsPart,
             )
 
-            Parser(exporterOptions).export()
+            # TODO: Swap back
             exporterOptions.writeToDesign()
+            # Parser(exporterOptions).export()
 
             # All selections should be reset AFTER a successful export and save.
             # If we run into an exporting error we should return back to the panel with all current options
@@ -1184,37 +1202,37 @@ def notify(self, args):
 
             preSelected = preSelectedOcc if preSelectedOcc else preSelectedJoint
 
-            dropdownExportMode = INPUTS_ROOT.itemById("mode")
-            if preSelected and design:
-                if dropdownExportMode.selectedItem.index == 0:  # Dynamic
-                    if preSelected.entityToken in onSelect.allWheelPreselections:
-                        self.cmd.setCursor(
-                            IconPaths.mouseIcons["remove"],
-                            0,
-                            0,
-                        )
-                    else:
-                        self.cmd.setCursor(
-                            IconPaths.mouseIcons["add"],
-                            0,
-                            0,
-                        )
-
-                elif dropdownExportMode.selectedItem.index == 1:  # Static
-                    if preSelected.entityToken in onSelect.allGamepiecePreselections:
-                        self.cmd.setCursor(
-                            IconPaths.mouseIcons["remove"],
-                            0,
-                            0,
-                        )
-                    else:
-                        self.cmd.setCursor(
-                            IconPaths.mouseIcons["add"],
-                            0,
-                            0,
-                        )
-            else:  # Should literally be impossible? - Brandon
-                self.cmd.setCursor("", 0, 0)
+            # dropdownExportMode = INPUTS_ROOT.itemById("mode")
+            # if preSelected and design:
+            #     if dropdownExportMode.selectedItem.index == 0:  # Dynamic
+            #         if preSelected.entityToken in onSelect.allWheelPreselections:
+            #             self.cmd.setCursor(
+            #                 IconPaths.mouseIcons["remove"],
+            #                 0,
+            #                 0,
+            #             )
+            #         else:
+            #             self.cmd.setCursor(
+            #                 IconPaths.mouseIcons["add"],
+            #                 0,
+            #                 0,
+            #             )
+
+            #     elif dropdownExportMode.selectedItem.index == 1:  # Static
+            #         if preSelected.entityToken in onSelect.allGamepiecePreselections:
+            #             self.cmd.setCursor(
+            #                 IconPaths.mouseIcons["remove"],
+            #                 0,
+            #                 0,
+            #             )
+            #         else:
+            #             self.cmd.setCursor(
+            #                 IconPaths.mouseIcons["add"],
+            #                 0,
+            #                 0,
+            #             )
+            # else:  # Should literally be impossible? - Brandon
+            #     self.cmd.setCursor("", 0, 0)
         except:
             if gm.ui:
                 gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
@@ -1279,37 +1297,38 @@ def reset(self):
                 "Failed:\n{}".format(traceback.format_exc())
             )
 
-    def weight(self, isLbs=True):  # maybe add a progress dialog??
-        """### Get the total design weight using the predetermined units.
+    # Transition: AARD-1683
+    # def weight(self, isLbs=True):  # maybe add a progress dialog??
+    #     """### Get the total design weight using the predetermined units.
 
-        Args:
-            isLbs (bool, optional): Is selected mass unit pounds? Defaults to True.
+    #     Args:
+    #         isLbs (bool, optional): Is selected mass unit pounds? Defaults to True.
 
-        Returns:
-            value (float): weight value in specified unit
-        """
-        try:
-            if gm.app.activeDocument.design:
-                massCalculation = FullMassCalculation()
-                totalMass = massCalculation.getTotalMass()
+    #     Returns:
+    #         value (float): weight value in specified unit
+    #     """
+    #     try:
+    #         if gm.app.activeDocument.design:
+    #             massCalculation = FullMassCalculation()
+    #             totalMass = massCalculation.getTotalMass()
 
-                value = float
+    #             value = float
 
-                self.allWeights[0] = round(totalMass * 2.2046226218, 2)
+    #             self.allWeights[0] = round(totalMass * 2.2046226218, 2)
 
-                self.allWeights[1] = round(totalMass, 2)
+    #             self.allWeights[1] = round(totalMass, 2)
 
-                if isLbs:
-                    value = self.allWeights[0]
-                else:
-                    value = self.allWeights[1]
+    #             if isLbs:
+    #                 value = self.allWeights[0]
+    #             else:
+    #                 value = self.allWeights[1]
 
-                value = round(value, 2)  # round weight to 2 decimals places
-                return value
-        except:
-            logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.{self.__class__.__name__}.weight()").error(
-                "Failed:\n{}".format(traceback.format_exc())
-            )
+    #             value = round(value, 2)  # round weight to 2 decimals places
+    #             return value
+    #     except:
+    #         logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.{self.__class__.__name__}.weight()").error(
+    #             "Failed:\n{}".format(traceback.format_exc())
+    #         )
 
     def notify(self, args):
         try:
@@ -1319,6 +1338,7 @@ def notify(self, args):
             # Transition: AARD-1685
             # Should be how all input changed handles are done in the future
             jointConfigTab.handleInputChanged(args, INPUTS_ROOT)
+            generalConfigTab.handleInputChanged(args)
 
             MySelectHandler.lastInputCmd = cmdInput
             inputs = cmdInput.commandInputs
@@ -1443,28 +1463,30 @@ def notify(self, args):
                         weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
                         weightInput.tooltipDescription = "<tt>(in kilograms)</tt>"
 
-            elif cmdInput.id == "auto_calc_weight":
-                button = adsk.core.BoolValueCommandInput.cast(cmdInput)
-
-                if button.value == True:  # CALCULATE button pressed
-                    if self.allWeights.count(None) == 2:  # if button is pressed for the first time
-                        if self.isLbs:  # if pounds unit selected
-                            self.allWeights[0] = self.weight()
-                            weight_input.value = self.allWeights[0]
-                        else:  # if kg unit selected
-                            self.allWeights[1] = self.weight(False)
-                            weight_input.value = self.allWeights[1]
-                    else:  # if a mass value has already been configured
-                        if (
-                            weight_input.value != self.allWeights[0]
-                            or weight_input.value != self.allWeights[1]
-                            or not weight_input.isValidExpression
-                        ):
-                            if self.isLbs:
-                                weight_input.value = self.allWeights[0]
-                            else:
-                                weight_input.value = self.allWeights[1]
-
+            # Transition: AARD-1683
+            # elif cmdInput.id == "auto_calc_weight":
+            #     button = adsk.core.BoolValueCommandInput.cast(cmdInput)
+
+            #     if button.value == True:  # CALCULATE button pressed
+            #         if self.allWeights.count(None) == 2:  # if button is pressed for the first time
+            #             if self.isLbs:  # if pounds unit selected
+            #                 self.allWeights[0] = self.weight()
+            #                 weight_input.value = self.allWeights[0]
+            #             else:  # if kg unit selected
+            #                 self.allWeights[1] = self.weight(False)
+            #                 weight_input.value = self.allWeights[1]
+            #         else:  # if a mass value has already been configured
+            #             if (
+            #                 weight_input.value != self.allWeights[0]
+            #                 or weight_input.value != self.allWeights[1]
+            #                 or not weight_input.isValidExpression
+            #             ):
+            #                 if self.isLbs:
+            #                     weight_input.value = self.allWeights[0]
+            #                 else:
+            #                     weight_input.value = self.allWeights[1]
+
+            # TODO: Figure out gamepiece stuff
             elif cmdInput.id == "auto_calc_weight_f":
                 button = adsk.core.BoolValueCommandInput.cast(cmdInput)
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
new file mode 100644
index 0000000000..fe60a3b939
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -0,0 +1,216 @@
+import logging
+import traceback
+
+import adsk.core
+import adsk.fusion
+
+from ..general_imports import INTERNAL_ID
+from ..Parser.ExporterOptions import ExporterOptions, ExportMode, PreferredUnits
+from ..TypesTmp import KG, toKg, toLbs
+from . import IconPaths
+from .CreateCommandInputsHelper import createBooleanInput, createTableInput
+
+
+class GeneralConfigTab:
+    generalOptionsTab: adsk.core.TabCommandInput
+    previousAutoCalcWeightCheckboxState: bool
+    previousSelectedUnitDropdownIndex: int
+
+    def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: ExporterOptions) -> None:
+        try:
+            inputs = args.command.commandInputs
+            self.generalOptionsTab = inputs.addTabCommandInput("generalSettings", "General Settings")
+            self.generalOptionsTab.tooltip = "General configuration options for your robot export."
+            generalTabInputs = self.generalOptionsTab.children
+
+            dropdownExportMode = generalTabInputs.addDropDownCommandInput(
+                "exportModeDropdown",
+                "Export Mode",
+                dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
+            )
+
+            dynamic = exporterOptions.exportMode == ExportMode.ROBOT
+            dropdownExportMode.listItems.add("Dynamic", dynamic)
+            dropdownExportMode.listItems.add("Static", not dynamic)
+            dropdownExportMode.tooltip = "Export Mode"
+            dropdownExportMode.tooltipDescription = "<hr>Does this object move dynamically?"
+
+            weightTableInput = createTableInput(
+                "weightTable",
+                "Weight Table",
+                generalTabInputs,
+                4,
+                "2:1:1",
+                1,
+            )
+            weightTableInput.tablePresentationStyle = 2  # Transparent background
+
+            weightName = generalTabInputs.addStringValueInput("weightName", "Weight")
+            weightName.value = "Weight"
+            weightName.isReadOnly = True
+
+            createBooleanInput(
+                "autoCalcWeightButton",
+                "Auto Calculate Robot Weight",
+                generalTabInputs,
+                checked=exporterOptions.autoCalcWeight,
+                tooltip="Approximate the weight of your robot assembly.",
+                enabled=True,
+            )
+            self.previousAutoCalcWeightCheckboxState = exporterOptions.autoCalcWeight
+
+            self.currentUnits = exporterOptions.preferredUnits
+            imperialUnits = self.currentUnits == PreferredUnits.IMPERIAL
+            if imperialUnits:
+                # ExporterOptions always contains the metric value
+                displayWeight = exporterOptions.robotWeight * 2.2046226218
+            else:
+                displayWeight = exporterOptions.robotWeight
+
+            weightInput = generalTabInputs.addValueInput(
+                "weightInput",
+                "Weight Input",
+                "",
+                adsk.core.ValueInput.createByReal(displayWeight),
+            )
+            weightInput.tooltip = "Robot weight"
+            weightInput.tooltipDescription = (
+                """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
+            )
+
+            weightUnitDropdown = generalTabInputs.addDropDownCommandInput(
+                "weightUnitDropdown",
+                "Weight Unit",
+                adsk.core.DropDownStyles.LabeledIconDropDownStyle,
+            )
+
+            weightUnitDropdown.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
+            weightUnitDropdown.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
+            weightUnitDropdown.tooltip = "Unit of Mass"
+            weightUnitDropdown.tooltipDescription = "<hr>Configure the unit of mass for the weight calculation."
+            self.previousSelectedUnitDropdownIndex = int(not imperialUnits)
+
+            weightTableInput.addCommandInput(weightName, 0, 0)
+            weightTableInput.addCommandInput(weightInput, 0, 1)
+            weightTableInput.addCommandInput(weightUnitDropdown, 0, 2)
+
+            createBooleanInput(
+                "compressOutputButton",
+                "Compress Output",
+                generalTabInputs,
+                checked=exporterOptions.compressOutput,
+                tooltip="Compress the output file for a smaller file size.",
+                tooltipadvanced="<hr>Use the GZIP compression system to compress the resulting file, "
+                "perfect if you want to share your robot design around.<br>",
+                enabled=True,
+            )
+
+            createBooleanInput(
+                "exportAsPartButton",
+                "Export As Part",
+                generalTabInputs,
+                checked=exporterOptions.exportAsPart,
+                tooltip="Use to export as a part for Mix And Match",
+                enabled=True,
+            )
+
+        except BaseException:
+            logging.getLogger("{INTERNAL_ID}.UI.GeneralConfigTab").error("Failed:\n{}".format(traceback.format_exc()))
+
+    @property
+    def exportMode(self) -> ExportMode:
+        exportModeDropdown: adsk.core.DropDownCommandInput = self.generalOptionsTab.children.itemById(
+            "exportModeDropdown"
+        )
+        if exportModeDropdown.selectedItem.index == 0:
+            return ExportMode.ROBOT
+        else:
+            assert exportModeDropdown.selectedItem.index == 1
+            return ExportMode.FIELD
+
+    @property
+    def compress(self) -> bool:
+        compressButton: adsk.core.BoolValueCommandInput = self.generalOptionsTab.children.itemById(
+            "compressOutputButton"
+        )
+        return compressButton.value
+
+    @property
+    def exportAsPart(self) -> bool:
+        exportAsPartButton: adsk.core.BoolValueCommandInput = self.generalOptionsTab.children.itemById(
+            "exportAsPartButton"
+        )
+        return exportAsPartButton.value
+
+    @property
+    def selectedUnits(self) -> PreferredUnits:
+        weightUnitDropdown: adsk.core.DropDownCommandInput = self.generalOptionsTab.children.itemById(
+            "weightTable"
+        ).getInputAtPosition(0, 2)
+        if weightUnitDropdown.selectedItem.index == 0:
+            return PreferredUnits.IMPERIAL
+        else:
+            assert weightUnitDropdown.selectedItem.index == 1
+            return PreferredUnits.METRIC
+
+    @property
+    def robotWeight(self) -> KG:
+        weightInput: adsk.core.ValueCommandInput = self.generalOptionsTab.children.itemById("weightTable").getInputAtPosition(0, 1)
+        return KG(weightInput.value)
+
+    def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
+        try:
+            commandInput = args.input
+            if commandInput.id == "weightUnitDropdown":
+                weightUnitDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
+                weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
+                weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)
+                if weightUnitDropdown.selectedItem.index == self.previousSelectedUnitDropdownIndex:
+                    return
+
+                if weightUnitDropdown.selectedItem.index == 0:
+                    self.currentUnits = PreferredUnits.IMPERIAL
+                    weightInput.value = toLbs(weightInput.value)
+                else:
+                    assert weightUnitDropdown.selectedItem.index == 1
+                    self.currentUnits = PreferredUnits.METRIC
+                    weightInput.value = toKg(weightInput.value)
+
+                self.previousSelectedUnitDropdownIndex = weightUnitDropdown.selectedItem.index
+
+            elif commandInput.id == "autoCalcWeightButton":
+                autoCalcWeightButton = adsk.core.BoolValueCommandInput.cast(commandInput)
+                if autoCalcWeightButton.value == self.previousAutoCalcWeightCheckboxState:
+                    return
+
+                weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
+                weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)
+
+                if autoCalcWeightButton.value:
+                    robotMass = designMassCalculation()
+                    weightInput.value = robotMass if self.currentUnits is PreferredUnits.METRIC else toLbs(robotMass)
+                    weightInput.isEnabled = False
+                else:
+                    weightInput.isEnabled = True
+
+                self.previousAutoCalcWeightCheckboxState = autoCalcWeightButton.value
+
+        except BaseException:
+            logging.getLogger(f"{INTERNAL_ID}.UI.GeneralConfigTab").error("Failed:\n{}".format(traceback.format_exc()))
+
+
+# TODO: GH-1010 for failure logging with message box
+# TODO: Perhaps move this into a different module
+def designMassCalculation() -> KG:
+    app = adsk.core.Application.get()
+    mass = 0.0
+    for body in [x for x in app.activeDocument.design.rootComponent.bRepBodies if x.isLightBulbOn]:
+        physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
+        mass += physical.mass
+
+    for occ in [x for x in app.activeDocument.design.rootComponent.allOccurrences if x.isLightBulbOn]:
+        for body in [x for x in occ.component.bRepBodies if x.isLightBulbOn]:
+            physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
+            mass += physical.mass
+
+    return KG(mass)

From cdcdf60e02b7616b4718738b8a99df36f6dfa52f Mon Sep 17 00:00:00 2001
From: arorad1 <dhruv.arora1@autodesk.com>
Date: Wed, 17 Jul 2024 19:53:24 -0700
Subject: [PATCH 010/344] Basic UI for ConfiguringRobotBrainPanel

---
 fission/src/Synthesis.tsx                     |  2 +
 fission/src/systems/simulation/Brain.ts       |  4 +-
 fission/src/ui/components/MainHUD.tsx         |  1 +
 .../configuring/ConfigureRobotBrainPanel.tsx  | 86 +++++++++++++++++++
 4 files changed, 91 insertions(+), 2 deletions(-)
 create mode 100644 fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 57025c7b95..5a2dcd44c8 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -59,6 +59,7 @@ import Skybox from "./ui/components/Skybox.tsx"
 import ConfigureRobotModal from "./ui/modals/configuring/ConfigureRobotModal.tsx"
 import ResetAllInputsModal from "./ui/modals/configuring/ResetAllInputsModal.tsx"
 import ZoneConfigPanel from "./ui/panels/configuring/scoring/ZoneConfigPanel.tsx"
+import ConfigureRobotBrainPanel from "./ui/panels/configuring/ConfigureRobotBrainPanel.tsx"
 
 const DEFAULT_MIRA_PATH = "/api/mira/Robots/Team 2471 (2018)_v7.mira"
 
@@ -243,6 +244,7 @@ const initialPanels: ReactElement[] = [
     <ZoneConfigPanel key="zone-config" panelId="zone-config" openLocation="right" sidePadding={8} />,
     <ImportMirabufPanel key="import-mirabuf" panelId="import-mirabuf" />,
     <PokerPanel key="poker" panelId="poker" />,
+    <ConfigureRobotBrainPanel key="config-robot-brain" panelId="config-robot-brain" openLocation="right" sidePadding={8} />,
 ]
 
 export default Synthesis
diff --git a/fission/src/systems/simulation/Brain.ts b/fission/src/systems/simulation/Brain.ts
index a047d65671..d784195e8e 100644
--- a/fission/src/systems/simulation/Brain.ts
+++ b/fission/src/systems/simulation/Brain.ts
@@ -3,8 +3,8 @@ import Mechanism from "../physics/Mechanism"
 abstract class Brain {
     protected _mechanism: Mechanism
 
-    constructor(mechansim: Mechanism) {
-        this._mechanism = mechansim
+    constructor(mechanism: Mechanism) {
+        this._mechanism = mechanism
     }
 
     public abstract Update(deltaT: number): void
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 717df814de..457ee80282 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -189,6 +189,7 @@ const MainHUD: React.FC = () => {
                         }}
                     />
                     <MainHUDButton value={"Configure"} icon={<FaGear />} onClick={() => openModal("config-robot")} />
+                    <MainHUDButton value={"Configure Brain"} icon={<FaGear />} onClick={() => openPanel("config-robot-brain")} />
                 </div>
                 {userInfo ? (
                     <MainHUDButton
diff --git a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
new file mode 100644
index 0000000000..f94d5aad97
--- /dev/null
+++ b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
@@ -0,0 +1,86 @@
+import { MiraType } from "@/mirabuf/MirabufLoader";
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject";
+import World from "@/systems/World";
+import Label from "@/ui/components/Label";
+import Button from "@/ui/components/Button";
+import Panel, { PanelPropsImpl } from "@/ui/components/Panel";
+import { useMemo, useState } from "react";
+import { FaGear } from "react-icons/fa6";
+import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup";
+
+// eslint-disable-next-line react-refresh/only-export-components
+export enum ConfigureRobotBrainTypes {
+    SYNTHESIS = 0,
+    WIPLIB = 1,
+}
+
+const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
+    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
+    const [viewType, setViewType] = useState<ConfigureRobotBrainTypes>(ConfigureRobotBrainTypes.SYNTHESIS)
+    const robots = useMemo(() => {
+        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
+            if (x instanceof MirabufSceneObject) {
+                return x.miraType === MiraType.ROBOT
+            }
+            return false
+        }) as MirabufSceneObject[]
+        return assemblies
+    }, [])
+
+    return (
+        <Panel
+            name="Configure Robot Brain"
+            icon={<FaGear />}
+            panelId={panelId}
+            openLocation={openLocation}
+            sidePadding={sidePadding}
+            onAccept={() => { }}
+            onCancel={() => { }}
+        >
+            {selectedRobot?.ejectorPreferences == undefined ? (
+                <>
+                    <Label>Select a robot</Label>
+                    {/** Scroll view for selecting a robot to configure */}
+                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
+                        {robots.map(mirabufSceneObject => {
+                            return (
+                                <Button
+                                    value={mirabufSceneObject.assemblyName}
+                                    onClick={() => {
+                                        setSelectedRobot(mirabufSceneObject)
+                                    }}
+                                    key={mirabufSceneObject.id}
+                                ></Button>
+                            )
+                        })}
+                    </div>
+                    {/* TODO: remove the accept button on this version */}
+                </>
+            ) : (
+                <>
+
+                    <div className="flex flex-col gap-2 bg-background-secondary rounded-md p-2">
+                        <ToggleButtonGroup
+                            value={viewType}
+                            exclusive
+                            onChange={(_, v) => v != null && setViewType(v)}
+                            sx={{
+                                alignSelf: "center",
+                            }}
+                        >
+                            <ToggleButton value={ConfigureRobotBrainTypes.SYNTHESIS}>SynthesisBrain</ToggleButton>
+                            <ToggleButton value={ConfigureRobotBrainTypes.WIPLIB}>WIPLIBBrain</ToggleButton>
+                        </ToggleButtonGroup>
+                        {viewType === ConfigureRobotBrainTypes.SYNTHESIS ? (
+                            <Label>hi</Label>
+                        ) : (
+                            <Label>hi2</Label>
+                        )}
+                    </div>
+                </>
+            )}
+        </Panel>
+    );
+}
+
+export default ConfigureRobotBrainPanel;
\ No newline at end of file

From 08eeed56f848bc3ea04f3c5cf2bb9b837e4f5754 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 18 Jul 2024 08:43:54 -0700
Subject: [PATCH 011/344] Auto calc weight saving integration

---
 .../src/UI/ConfigCommand.py                   | 706 +++++++++---------
 .../src/UI/GeneralConfigTab.py                |  18 +-
 2 files changed, 369 insertions(+), 355 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 1fdb9f5b5b..28ce7dd163 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -183,7 +183,7 @@ def notify(self, args):
             Creates the general tab.
                 - Parent container for all the command inputs in the tab.
             """
-            inputs = INPUTS_ROOT.addTabCommandInput("general_settings", "General").children
+            # inputs = INPUTS_ROOT.addTabCommandInput("general_settings", "General").children
 
             # ~~~~~~~~~~~~~~~~ HELP FILE ~~~~~~~~~~~~~~~~
             """
@@ -215,66 +215,66 @@ def notify(self, args):
             Table for weight config.
                 - Used this to align multiple commandInputs on the same row
             """
-            weightTableInput = self.createTableInput(
-                "weight_table",
-                "Weight Table",
-                inputs,
-                4,
-                "3:2:2:1",
-                1,
-            )
-            weightTableInput.tablePresentationStyle = 2  # set transparent background for table
-
-            weight_name = inputs.addStringValueInput("weight_name", "Weight")
-            weight_name.value = "Weight"
-            weight_name.isReadOnly = True
-
-            auto_calc_weight = self.createBooleanInput(
-                "auto_calc_weight",
-                "‎",
-                inputs,
-                checked=False,
-                tooltip="Approximate the weight of your robot assembly.",
-                tooltipadvanced="<i>This may take a moment...</i>",
-                enabled=True,
-                isCheckBox=False,
-            )
-            auto_calc_weight.resourceFolder = IconPaths.stringIcons["calculate-enabled"]
-            auto_calc_weight.isFullWidth = True
+            # weightTableInput = self.createTableInput(
+            #     "weight_table",
+            #     "Weight Table",
+            #     inputs,
+            #     4,
+            #     "3:2:2:1",
+            #     1,
+            # )
+            # weightTableInput.tablePresentationStyle = 2  # set transparent background for table
 
-            imperialUnits = exporterOptions.preferredUnits == PreferredUnits.IMPERIAL
-            if imperialUnits:
-                # ExporterOptions always contains the metric value
-                displayWeight = exporterOptions.robotWeight * 2.2046226218
-            else:
-                displayWeight = exporterOptions.robotWeight
+            # weight_name = inputs.addStringValueInput("weight_name", "Weight")
+            # weight_name.value = "Weight"
+            # weight_name.isReadOnly = True
 
-            weight_input = inputs.addValueInput(
-                "weight_input",
-                "Weight Input",
-                "",
-                adsk.core.ValueInput.createByReal(displayWeight),
-            )
-            weight_input.tooltip = "Robot weight"
-            weight_input.tooltipDescription = (
-                """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
-            )
+            # auto_calc_weight = self.createBooleanInput(
+            #     "auto_calc_weight",
+            #     "‎",
+            #     inputs,
+            #     checked=False,
+            #     tooltip="Approximate the weight of your robot assembly.",
+            #     tooltipadvanced="<i>This may take a moment...</i>",
+            #     enabled=True,
+            #     isCheckBox=False,
+            # )
+            # auto_calc_weight.resourceFolder = IconPaths.stringIcons["calculate-enabled"]
+            # auto_calc_weight.isFullWidth = True
 
-            weight_unit = inputs.addDropDownCommandInput(
-                "weight_unit",
-                "Weight Unit",
-                adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-            )
+            # imperialUnits = exporterOptions.preferredUnits == PreferredUnits.IMPERIAL
+            # if imperialUnits:
+            #     # ExporterOptions always contains the metric value
+            #     displayWeight = exporterOptions.robotWeight * 2.2046226218
+            # else:
+            #     displayWeight = exporterOptions.robotWeight
+
+            # weight_input = inputs.addValueInput(
+            #     "weight_input",
+            #     "Weight Input",
+            #     "",
+            #     adsk.core.ValueInput.createByReal(displayWeight),
+            # )
+            # weight_input.tooltip = "Robot weight"
+            # weight_input.tooltipDescription = (
+            #     """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
+            # )
+
+            # weight_unit = inputs.addDropDownCommandInput(
+            #     "weight_unit",
+            #     "Weight Unit",
+            #     adsk.core.DropDownStyles.LabeledIconDropDownStyle,
+            # )
 
-            weight_unit.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
-            weight_unit.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
-            weight_unit.tooltip = "Unit of mass"
-            weight_unit.tooltipDescription = "<hr>Configure the unit of mass for the weight calculation."
+            # weight_unit.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
+            # weight_unit.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
+            # weight_unit.tooltip = "Unit of mass"
+            # weight_unit.tooltipDescription = "<hr>Configure the unit of mass for the weight calculation."
 
-            weightTableInput.addCommandInput(weight_name, 0, 0)  # add command inputs to table
-            weightTableInput.addCommandInput(auto_calc_weight, 0, 1)  # add command inputs to table
-            weightTableInput.addCommandInput(weight_input, 0, 2)  # add command inputs to table
-            weightTableInput.addCommandInput(weight_unit, 0, 3)  # add command inputs to table
+            # weightTableInput.addCommandInput(weight_name, 0, 0)  # add command inputs to table
+            # weightTableInput.addCommandInput(auto_calc_weight, 0, 1)  # add command inputs to table
+            # weightTableInput.addCommandInput(weight_input, 0, 2)  # add command inputs to table
+            # weightTableInput.addCommandInput(weight_unit, 0, 3)  # add command inputs to table
 
             global jointConfigTab
             jointConfigTab = JointConfigTab(args)
@@ -310,134 +310,134 @@ def notify(self, args):
             Gamepiece group command input, isVisible=False by default
                 - Container for gamepiece selection table
             """
-            gamepieceConfig = inputs.addGroupCommandInput("gamepiece_config", "Gamepiece Configuration")
-            gamepieceConfig.isExpanded = True
-            gamepieceConfig.isVisible = False
-            gamepieceConfig.tooltip = "Select and define the gamepieces in your field."
-            gamepiece_inputs = gamepieceConfig.children
-
-            # GAMEPIECE MASS CONFIGURATION
-            """
-            Mass unit dropdown and calculation for gamepiece elements
-            """
-            weightTableInput_f = self.createTableInput(
-                "weight_table_f", "Weight Table", gamepiece_inputs, 3, "6:2:1", 1
-            )
-            weightTableInput_f.tablePresentationStyle = 2  # set to clear background
-
-            weight_name_f = gamepiece_inputs.addStringValueInput("weight_name", "Weight")
-            weight_name_f.value = "Unit of Mass"
-            weight_name_f.isReadOnly = True
-
-            auto_calc_weight_f = self.createBooleanInput(  # CALCULATE button
-                "auto_calc_weight_f",
-                "‎",
-                gamepiece_inputs,
-                checked=False,
-                tooltip="Approximate the weight of all your selected gamepieces.",
-                enabled=True,
-                isCheckBox=False,
-            )
-            auto_calc_weight_f.resourceFolder = IconPaths.stringIcons["calculate-enabled"]
-            auto_calc_weight_f.isFullWidth = True
-
-            weight_unit_f = gamepiece_inputs.addDropDownCommandInput(
-                "weight_unit_f",
-                "Unit of Mass",
-                adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-            )
-            weight_unit_f.listItems.add("‎", True, IconPaths.massIcons["LBS"])  # add listdropdown mass options
-            weight_unit_f.listItems.add("‎", False, IconPaths.massIcons["KG"])  # add listdropdown mass options
-            weight_unit_f.tooltip = "Unit of mass"
-            weight_unit_f.tooltipDescription = "<hr>Configure the unit of mass for for the weight calculation."
+            # gamepieceConfig = inputs.addGroupCommandInput("gamepiece_config", "Gamepiece Configuration")
+            # gamepieceConfig.isExpanded = True
+            # gamepieceConfig.isVisible = False
+            # gamepieceConfig.tooltip = "Select and define the gamepieces in your field."
+            # gamepiece_inputs = gamepieceConfig.children
+
+            # # GAMEPIECE MASS CONFIGURATION
+            # """
+            # Mass unit dropdown and calculation for gamepiece elements
+            # """
+            # weightTableInput_f = self.createTableInput(
+            #     "weight_table_f", "Weight Table", gamepiece_inputs, 3, "6:2:1", 1
+            # )
+            # weightTableInput_f.tablePresentationStyle = 2  # set to clear background
 
-            weightTableInput_f.addCommandInput(weight_name_f, 0, 0)  # add command inputs to table
-            weightTableInput_f.addCommandInput(auto_calc_weight_f, 0, 1)  # add command inputs to table
-            weightTableInput_f.addCommandInput(weight_unit_f, 0, 2)  # add command inputs to table
+            # weight_name_f = gamepiece_inputs.addStringValueInput("weight_name", "Weight")
+            # weight_name_f.value = "Unit of Mass"
+            # weight_name_f.isReadOnly = True
 
-            # GAMEPIECE SELECTION TABLE
-            """
-            All selected gamepieces appear here
-            """
-            gamepieceTableInput = self.createTableInput(
-                "gamepiece_table",
-                "Gamepiece",
-                gamepiece_inputs,
-                4,
-                "1:8:5:12",
-                50,
-            )
+            # auto_calc_weight_f = self.createBooleanInput(  # CALCULATE button
+            #     "auto_calc_weight_f",
+            #     "‎",
+            #     gamepiece_inputs,
+            #     checked=False,
+            #     tooltip="Approximate the weight of all your selected gamepieces.",
+            #     enabled=True,
+            #     isCheckBox=False,
+            # )
+            # auto_calc_weight_f.resourceFolder = IconPaths.stringIcons["calculate-enabled"]
+            # auto_calc_weight_f.isFullWidth = True
 
-            addFieldInput = gamepiece_inputs.addBoolValueInput("field_add", "Add", False)
+            # weight_unit_f = gamepiece_inputs.addDropDownCommandInput(
+            #     "weight_unit_f",
+            #     "Unit of Mass",
+            #     adsk.core.DropDownStyles.LabeledIconDropDownStyle,
+            # )
+            # weight_unit_f.listItems.add("‎", True, IconPaths.massIcons["LBS"])  # add listdropdown mass options
+            # weight_unit_f.listItems.add("‎", False, IconPaths.massIcons["KG"])  # add listdropdown mass options
+            # weight_unit_f.tooltip = "Unit of mass"
+            # weight_unit_f.tooltipDescription = "<hr>Configure the unit of mass for for the weight calculation."
+
+            # weightTableInput_f.addCommandInput(weight_name_f, 0, 0)  # add command inputs to table
+            # weightTableInput_f.addCommandInput(auto_calc_weight_f, 0, 1)  # add command inputs to table
+            # weightTableInput_f.addCommandInput(weight_unit_f, 0, 2)  # add command inputs to table
+
+            # # GAMEPIECE SELECTION TABLE
+            # """
+            # All selected gamepieces appear here
+            # """
+            # gamepieceTableInput = self.createTableInput(
+            #     "gamepiece_table",
+            #     "Gamepiece",
+            #     gamepiece_inputs,
+            #     4,
+            #     "1:8:5:12",
+            #     50,
+            # )
 
-            removeFieldInput = gamepiece_inputs.addBoolValueInput("field_delete", "Remove", False)
-            addFieldInput.isEnabled = removeFieldInput.isEnabled = True
+            # addFieldInput = gamepiece_inputs.addBoolValueInput("field_add", "Add", False)
 
-            removeFieldInput.tooltip = "Remove a field element"
-            addFieldInput.tooltip = "Add a field element"
+            # removeFieldInput = gamepiece_inputs.addBoolValueInput("field_delete", "Remove", False)
+            # addFieldInput.isEnabled = removeFieldInput.isEnabled = True
 
-            gamepieceSelectInput = gamepiece_inputs.addSelectionInput(
-                "gamepiece_select",
-                "Selection",
-                "Select the unique gamepieces in your field.",
-            )
-            gamepieceSelectInput.addSelectionFilter("Occurrences")
-            gamepieceSelectInput.setSelectionLimits(0)
-            gamepieceSelectInput.isEnabled = True
-            gamepieceSelectInput.isVisible = False
+            # removeFieldInput.tooltip = "Remove a field element"
+            # addFieldInput.tooltip = "Add a field element"
 
-            gamepieceTableInput.addToolbarCommandInput(addFieldInput)
-            gamepieceTableInput.addToolbarCommandInput(removeFieldInput)
-
-            """
-            Gamepiece table column headers. (the permanent captions in the first row of table)
-            """
-            gamepieceTableInput.addCommandInput(
-                self.createTextBoxInput(
-                    "e_header",
-                    "Gamepiece name",
-                    gamepiece_inputs,
-                    "Gamepiece",
-                    bold=False,
-                ),
-                0,
-                1,
-            )
+            # gamepieceSelectInput = gamepiece_inputs.addSelectionInput(
+            #     "gamepiece_select",
+            #     "Selection",
+            #     "Select the unique gamepieces in your field.",
+            # )
+            # gamepieceSelectInput.addSelectionFilter("Occurrences")
+            # gamepieceSelectInput.setSelectionLimits(0)
+            # gamepieceSelectInput.isEnabled = True
+            # gamepieceSelectInput.isVisible = False
+
+            # gamepieceTableInput.addToolbarCommandInput(addFieldInput)
+            # gamepieceTableInput.addToolbarCommandInput(removeFieldInput)
+
+            # """
+            # Gamepiece table column headers. (the permanent captions in the first row of table)
+            # """
+            # gamepieceTableInput.addCommandInput(
+            #     self.createTextBoxInput(
+            #         "e_header",
+            #         "Gamepiece name",
+            #         gamepiece_inputs,
+            #         "Gamepiece",
+            #         bold=False,
+            #     ),
+            #     0,
+            #     1,
+            # )
 
-            gamepieceTableInput.addCommandInput(
-                self.createTextBoxInput(
-                    "w_header",
-                    "Gamepiece weight",
-                    gamepiece_inputs,
-                    "Weight",
-                    background="#d9d9d9",
-                ),
-                0,
-                2,
-            )
+            # gamepieceTableInput.addCommandInput(
+            #     self.createTextBoxInput(
+            #         "w_header",
+            #         "Gamepiece weight",
+            #         gamepiece_inputs,
+            #         "Weight",
+            #         background="#d9d9d9",
+            #     ),
+            #     0,
+            #     2,
+            # )
 
-            gamepieceTableInput.addCommandInput(
-                self.createTextBoxInput(
-                    "f_header",
-                    "Friction coefficient",
-                    gamepiece_inputs,
-                    "Friction coefficient",
-                    background="#d9d9d9",
-                ),
-                0,
-                3,
-            )
+            # gamepieceTableInput.addCommandInput(
+            #     self.createTextBoxInput(
+            #         "f_header",
+            #         "Friction coefficient",
+            #         gamepiece_inputs,
+            #         "Friction coefficient",
+            #         background="#d9d9d9",
+            #     ),
+            #     0,
+            #     3,
+            # )
 
             # ====================================== ADVANCED TAB ======================================
             """
             Creates the advanced tab, which is the parent container for internal command inputs
             """
             # Transition: AARD-1683
-            advancedSettings = INPUTS_ROOT.addTabCommandInput("advanced_settings", "Advanced")
-            advancedSettings.tooltip = (
-                "Additional Advanced Settings to change how your model will be translated into Unity."
-            )
-            a_input = advancedSettings.children
+            # advancedSettings = INPUTS_ROOT.addTabCommandInput("advanced_settings", "Advanced")
+            # advancedSettings.tooltip = (
+            #     "Additional Advanced Settings to change how your model will be translated into Unity."
+            # )
+            # a_input = advancedSettings.children
 
             # Transition: AARD-1683
             # ~~~~~~~~~~~~~~~~ EXPORTER SETTINGS ~~~~~~~~~~~~~~~~
@@ -473,55 +473,55 @@ def notify(self, args):
             """
             Physics settings group command
             """
-            physicsSettings = a_input.addGroupCommandInput("physics_settings", "Physics Settings")
-
-            physicsSettings.isExpanded = False
-            physicsSettings.isEnabled = True
-            physicsSettings.tooltip = "tooltip"  # TODO: update tooltip
-            physics_settings = physicsSettings.children
-
-            # AARD-1687
-            # Should also be commented out / removed?
-            # This would cause problems elsewhere but I can't tell i f
-            # this is even being used.
-            frictionOverrideTable = self.createTableInput(
-                "friction_override_table",
-                "",
-                physics_settings,
-                2,
-                "1:2",
-                1,
-                columnSpacing=25,
-            )
-            frictionOverrideTable.tablePresentationStyle = 2
-            # frictionOverrideTable.isFullWidth = True
-
-            frictionOverride = self.createBooleanInput(
-                "friction_override",
-                "",
-                physics_settings,
-                checked=False,
-                tooltip="Manually override the default friction values on the bodies in the assembly.",
-                enabled=True,
-                isCheckBox=False,
-            )
-            frictionOverride.resourceFolder = IconPaths.stringIcons["friction_override-enabled"]
-            frictionOverride.isFullWidth = True
+            # physicsSettings = a_input.addGroupCommandInput("physics_settings", "Physics Settings")
+
+            # physicsSettings.isExpanded = False
+            # physicsSettings.isEnabled = True
+            # physicsSettings.tooltip = "tooltip"  # TODO: update tooltip
+            # physics_settings = physicsSettings.children
+
+            # # AARD-1687
+            # # Should also be commented out / removed?
+            # # This would cause problems elsewhere but I can't tell i f
+            # # this is even being used.
+            # frictionOverrideTable = self.createTableInput(
+            #     "friction_override_table",
+            #     "",
+            #     physics_settings,
+            #     2,
+            #     "1:2",
+            #     1,
+            #     columnSpacing=25,
+            # )
+            # frictionOverrideTable.tablePresentationStyle = 2
+            # # frictionOverrideTable.isFullWidth = True
+
+            # frictionOverride = self.createBooleanInput(
+            #     "friction_override",
+            #     "",
+            #     physics_settings,
+            #     checked=False,
+            #     tooltip="Manually override the default friction values on the bodies in the assembly.",
+            #     enabled=True,
+            #     isCheckBox=False,
+            # )
+            # frictionOverride.resourceFolder = IconPaths.stringIcons["friction_override-enabled"]
+            # frictionOverride.isFullWidth = True
 
-            valueList = [1]
-            for i in range(20):
-                valueList.append(i / 20)
+            # valueList = [1]
+            # for i in range(20):
+            #     valueList.append(i / 20)
 
-            frictionCoeff = physics_settings.addFloatSliderListCommandInput(
-                "friction_coeff_override", "Friction Coefficient", "", valueList
-            )
-            frictionCoeff.isVisible = False
-            frictionCoeff.valueOne = 0.5
-            frictionCoeff.tooltip = "Friction coefficient of field element."
-            frictionCoeff.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
+            # frictionCoeff = physics_settings.addFloatSliderListCommandInput(
+            #     "friction_coeff_override", "Friction Coefficient", "", valueList
+            # )
+            # frictionCoeff.isVisible = False
+            # frictionCoeff.valueOne = 0.5
+            # frictionCoeff.tooltip = "Friction coefficient of field element."
+            # frictionCoeff.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
 
-            frictionOverrideTable.addCommandInput(frictionOverride, 0, 0)
-            frictionOverrideTable.addCommandInput(frictionCoeff, 0, 1)
+            # frictionOverrideTable.addCommandInput(frictionOverride, 0, 0)
+            # frictionOverrideTable.addCommandInput(frictionCoeff, 0, 1)
 
             # ~~~~~~~~~~~~~~~~ JOINT SETTINGS ~~~~~~~~~~~~~~~~
             """
@@ -646,153 +646,153 @@ def notify(self, args):
                 "Failed:\n{}".format(traceback.format_exc())
             )
 
-    # Transition: AARD-1685
-    # Functionality will be fully moved to `CreateCommandInputsHelper` in AARD-1683
-    def createBooleanInput(
-        self,
-        _id: str,
-        name: str,
-        inputs: adsk.core.CommandInputs,
-        tooltip="",
-        tooltipadvanced="",
-        checked=True,
-        enabled=True,
-        isCheckBox=True,
-    ) -> adsk.core.BoolValueCommandInput:
-        """### Simple helper to generate all of the options for me to create a boolean command input
+    # # Transition: AARD-1685
+    # # Functionality will be fully moved to `CreateCommandInputsHelper` in AARD-1683
+    # def createBooleanInput(
+    #     self,
+    #     _id: str,
+    #     name: str,
+    #     inputs: adsk.core.CommandInputs,
+    #     tooltip="",
+    #     tooltipadvanced="",
+    #     checked=True,
+    #     enabled=True,
+    #     isCheckBox=True,
+    # ) -> adsk.core.BoolValueCommandInput:
+    #     """### Simple helper to generate all of the options for me to create a boolean command input
 
-        Args:
-            _id (str): id value of the object - pretty much lowercase name
-            name (str): name as displayed by the command prompt
-            inputs (adsk.core.CommandInputs): parent command input container
-            tooltip (str, optional): Description on hover of the checkbox. Defaults to "".
-            tooltipadvanced (str, optional): Long hover description. Defaults to "".
-            checked (bool, optional): Is checked by default?. Defaults to True.
+    #     Args:
+    #         _id (str): id value of the object - pretty much lowercase name
+    #         name (str): name as displayed by the command prompt
+    #         inputs (adsk.core.CommandInputs): parent command input container
+    #         tooltip (str, optional): Description on hover of the checkbox. Defaults to "".
+    #         tooltipadvanced (str, optional): Long hover description. Defaults to "".
+    #         checked (bool, optional): Is checked by default?. Defaults to True.
 
-        Returns:
-            adsk.core.BoolValueCommandInput: Recently created command input
-        """
-        try:
-            _input = inputs.addBoolValueInput(_id, name, isCheckBox)
-            _input.value = checked
-            _input.isEnabled = enabled
-            _input.tooltip = tooltip
-            _input.tooltipDescription = tooltipadvanced
-            return _input
-        except:
-            logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.{self.__class__.__name__}.createBooleanInput()").error(
-                "Failed:\n{}".format(traceback.format_exc())
-            )
+    #     Returns:
+    #         adsk.core.BoolValueCommandInput: Recently created command input
+    #     """
+    #     try:
+    #         _input = inputs.addBoolValueInput(_id, name, isCheckBox)
+    #         _input.value = checked
+    #         _input.isEnabled = enabled
+    #         _input.tooltip = tooltip
+    #         _input.tooltipDescription = tooltipadvanced
+    #         return _input
+    #     except:
+    #         logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.{self.__class__.__name__}.createBooleanInput()").error(
+    #             "Failed:\n{}".format(traceback.format_exc())
+    #         )
 
-    # Transition: AARD-1685
-    # Functionality will be fully moved to `CreateCommandInputsHelper` in AARD-1683
-    def createTableInput(
-        self,
-        _id: str,
-        name: str,
-        inputs: adsk.core.CommandInputs,
-        columns: int,
-        ratio: str,
-        maxRows: int,
-        minRows=1,
-        columnSpacing=0,
-        rowSpacing=0,
-    ) -> adsk.core.TableCommandInput:
-        """### Simple helper to generate all the TableCommandInput options.
+    # # Transition: AARD-1685
+    # # Functionality will be fully moved to `CreateCommandInputsHelper` in AARD-1683
+    # def createTableInput(
+    #     self,
+    #     _id: str,
+    #     name: str,
+    #     inputs: adsk.core.CommandInputs,
+    #     columns: int,
+    #     ratio: str,
+    #     maxRows: int,
+    #     minRows=1,
+    #     columnSpacing=0,
+    #     rowSpacing=0,
+    # ) -> adsk.core.TableCommandInput:
+    #     """### Simple helper to generate all the TableCommandInput options.
 
-        Args:
-            _id (str): unique ID of command
-            name (str): displayed name
-            inputs (adsk.core.CommandInputs): parent command input container
-            columns (int): column count
-            ratio (str): column width ratio
-            maxRows (int): the maximum number of displayed rows possible
-            minRows (int, optional): the minimum number of displayed rows. Defaults to 1.
-            columnSpacing (int, optional): spacing in between the columns, in pixels. Defaults to 0.
-            rowSpacing (int, optional): spacing in between the rows, in pixels. Defaults to 0.
+    #     Args:
+    #         _id (str): unique ID of command
+    #         name (str): displayed name
+    #         inputs (adsk.core.CommandInputs): parent command input container
+    #         columns (int): column count
+    #         ratio (str): column width ratio
+    #         maxRows (int): the maximum number of displayed rows possible
+    #         minRows (int, optional): the minimum number of displayed rows. Defaults to 1.
+    #         columnSpacing (int, optional): spacing in between the columns, in pixels. Defaults to 0.
+    #         rowSpacing (int, optional): spacing in between the rows, in pixels. Defaults to 0.
 
-        Returns:
-            adsk.core.TableCommandInput: created tableCommandInput
-        """
-        try:
-            _input = inputs.addTableCommandInput(_id, name, columns, ratio)
-            _input.minimumVisibleRows = minRows
-            _input.maximumVisibleRows = maxRows
-            _input.columnSpacing = columnSpacing
-            _input.rowSpacing = rowSpacing
-            return _input
-        except:
-            logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.{self.__class__.__name__}.createTableInput()").error(
-                "Failed:\n{}".format(traceback.format_exc())
-            )
+    #     Returns:
+    #         adsk.core.TableCommandInput: created tableCommandInput
+    #     """
+    #     try:
+    #         _input = inputs.addTableCommandInput(_id, name, columns, ratio)
+    #         _input.minimumVisibleRows = minRows
+    #         _input.maximumVisibleRows = maxRows
+    #         _input.columnSpacing = columnSpacing
+    #         _input.rowSpacing = rowSpacing
+    #         return _input
+    #     except:
+    #         logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.{self.__class__.__name__}.createTableInput()").error(
+    #             "Failed:\n{}".format(traceback.format_exc())
+    #         )
 
     # Transition: AARD-1685
     # Functionality will be fully moved to `CreateCommandInputsHelper` in AARD-1683
-    def createTextBoxInput(
-        self,
-        _id: str,
-        name: str,
-        inputs: adsk.core.CommandInputs,
-        text: str,
-        italics=True,
-        bold=True,
-        fontSize=10,
-        alignment="center",
-        rowCount=1,
-        read=True,
-        background="whitesmoke",
-        tooltip="",
-        advanced_tooltip="",
-    ) -> adsk.core.TextBoxCommandInput:
-        """### Helper to generate a textbox input from inputted options.
+    # def createTextBoxInput(
+    #     self,
+    #     _id: str,
+    #     name: str,
+    #     inputs: adsk.core.CommandInputs,
+    #     text: str,
+    #     italics=True,
+    #     bold=True,
+    #     fontSize=10,
+    #     alignment="center",
+    #     rowCount=1,
+    #     read=True,
+    #     background="whitesmoke",
+    #     tooltip="",
+    #     advanced_tooltip="",
+    # ) -> adsk.core.TextBoxCommandInput:
+    #     """### Helper to generate a textbox input from inputted options.
 
-        Args:
-            _id (str): unique ID
-            name (str): displayed name
-            inputs (adsk.core.CommandInputs): parent command input container
-            text (str): the user-visible text in command
-            italics (bool, optional): is italics? Defaults to True.
-            bold (bool, optional): isBold? Defaults to True.
-            fontSize (int, optional): fontsize. Defaults to 10.
-            alignment (str, optional): HTML style alignment (left, center, right). Defaults to "center".
-            rowCount (int, optional): number of rows in textbox. Defaults to 1.
-            read (bool, optional): read only? Defaults to True.
-            background (str, optional): background color (HTML color names or hex) Defaults to "whitesmoke".
+    #     Args:
+    #         _id (str): unique ID
+    #         name (str): displayed name
+    #         inputs (adsk.core.CommandInputs): parent command input container
+    #         text (str): the user-visible text in command
+    #         italics (bool, optional): is italics? Defaults to True.
+    #         bold (bool, optional): isBold? Defaults to True.
+    #         fontSize (int, optional): fontsize. Defaults to 10.
+    #         alignment (str, optional): HTML style alignment (left, center, right). Defaults to "center".
+    #         rowCount (int, optional): number of rows in textbox. Defaults to 1.
+    #         read (bool, optional): read only? Defaults to True.
+    #         background (str, optional): background color (HTML color names or hex) Defaults to "whitesmoke".
 
-        Returns:
-            adsk.core.TextBoxCommandInput: newly created textBoxCommandInput
-        """
-        try:
-            i = ["", ""]
-            b = ["", ""]
-
-            if bold:
-                b[0] = "<b>"
-                b[1] = "</b>"
-            if italics:
-                i[0] = "<i>"
-                i[1] = "</i>"
-
-            # simple wrapper for html formatting
-            wrapper = """<body style='background-color:%s;'>
-                         <div align='%s'>
-                         <p style='font-size:%spx'>
-                         %s%s{}%s%s
-                         </p>
-                         </body>
-                      """.format(
-                text
-            )
-            _text = wrapper % (background, alignment, fontSize, b[0], i[0], i[1], b[1])
+    #     Returns:
+    #         adsk.core.TextBoxCommandInput: newly created textBoxCommandInput
+    #     """
+    #     try:
+    #         i = ["", ""]
+    #         b = ["", ""]
+
+    #         if bold:
+    #             b[0] = "<b>"
+    #             b[1] = "</b>"
+    #         if italics:
+    #             i[0] = "<i>"
+    #             i[1] = "</i>"
+
+    #         # simple wrapper for html formatting
+    #         wrapper = """<body style='background-color:%s;'>
+    #                      <div align='%s'>
+    #                      <p style='font-size:%spx'>
+    #                      %s%s{}%s%s
+    #                      </p>
+    #                      </body>
+    #                   """.format(
+    #             text
+    #         )
+    #         _text = wrapper % (background, alignment, fontSize, b[0], i[0], i[1], b[1])
 
-            _input = inputs.addTextBoxCommandInput(_id, name, _text, rowCount, read)
-            _input.tooltip = tooltip
-            _input.tooltipDescription = advanced_tooltip
-            return _input
-        except:
-            logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.createTextBoxInput()").error(
-                "Failed:\n{}".format(traceback.format_exc())
-            )
+    #         _input = inputs.addTextBoxCommandInput(_id, name, _text, rowCount, read)
+    #         _input.tooltip = tooltip
+    #         _input.tooltipDescription = advanced_tooltip
+    #         return _input
+    #     except:
+    #         logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.createTextBoxInput()").error(
+    #             "Failed:\n{}".format(traceback.format_exc())
+    #         )
 
 
 class ConfigureCommandExecuteHandler(adsk.core.CommandEventHandler):
@@ -938,11 +938,11 @@ def notify(self, args):
                 exportMode=generalConfigTab.exportMode,
                 compressOutput=generalConfigTab.compress,
                 exportAsPart=generalConfigTab.exportAsPart,
+                autoCalcWeight=generalConfigTab.autoCalculateWeight,
             )
 
-            # TODO: Swap back
+            Parser(exporterOptions).export()
             exporterOptions.writeToDesign()
-            # Parser(exporterOptions).export()
 
             # All selections should be reset AFTER a successful export and save.
             # If we run into an exporting error we should return back to the panel with all current options
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index fe60a3b939..a92638b0f7 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -77,6 +77,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
             weightInput.tooltipDescription = (
                 """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
             )
+            weightInput.isEnabled = not exporterOptions.autoCalcWeight
 
             weightUnitDropdown = generalTabInputs.addDropDownCommandInput(
                 "weightUnitDropdown",
@@ -155,8 +156,21 @@ def selectedUnits(self) -> PreferredUnits:
 
     @property
     def robotWeight(self) -> KG:
-        weightInput: adsk.core.ValueCommandInput = self.generalOptionsTab.children.itemById("weightTable").getInputAtPosition(0, 1)
-        return KG(weightInput.value)
+        weightInput: adsk.core.ValueCommandInput = self.generalOptionsTab.children.itemById(
+            "weightTable"
+        ).getInputAtPosition(0, 1)
+        if self.currentUnits == PreferredUnits.METRIC:
+            return KG(weightInput.value)
+        else:
+            assert self.currentUnits == PreferredUnits.IMPERIAL
+            return toKg(weightInput.value)
+
+    @property
+    def autoCalculateWeight(self) -> bool:
+        autoCalcWeightButton: adsk.core.BoolValueCommandInput = self.generalOptionsTab.children.itemById(
+            "autoCalcWeightButton"
+        )
+        return autoCalcWeightButton.value
 
     def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
         try:

From ac500d5715c3c63c6cb5a85914e77ac1191e97d0 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 18 Jul 2024 08:48:47 -0700
Subject: [PATCH 012/344] Round to 2 decimal places

---
 exporter/SynthesisFusionAddin/src/TypesTmp.py            | 4 ++--
 exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/TypesTmp.py b/exporter/SynthesisFusionAddin/src/TypesTmp.py
index 7926bcd360..14572aa1ba 100644
--- a/exporter/SynthesisFusionAddin/src/TypesTmp.py
+++ b/exporter/SynthesisFusionAddin/src/TypesTmp.py
@@ -8,8 +8,8 @@ class KG(float):
 
 
 def toLbs(kgs: float) -> LBS:
-    return LBS(kgs * 2.2062)
+    return LBS(round(kgs * 2.2062, 2))
 
 
 def toKg(pounds: float) -> KG:
-    return KG(pounds / 2.2062)
+    return KG(round(pounds / 2.2062, 2))
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index a92638b0f7..052a721313 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -227,4 +227,4 @@ def designMassCalculation() -> KG:
             physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
             mass += physical.mass
 
-    return KG(mass)
+    return KG(round(mass, 2))

From 09ea0f3d5fee75386b149f8556906bb627f95b1d Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 18 Jul 2024 08:56:19 -0700
Subject: [PATCH 013/344] Added handling of unit description

---
 .../src/UI/ConfigCommand.py                   | 29 ++++++++++---------
 .../src/UI/GeneralConfigTab.py                | 11 ++++++-
 2 files changed, 25 insertions(+), 15 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 28ce7dd163..ba1939d1b8 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -1428,21 +1428,22 @@ def notify(self, args):
                 else:
                     frictionCoeff.isVisible = False
 
-            elif cmdInput.id == "weight_unit":
-                unitDropdown = adsk.core.DropDownCommandInput.cast(cmdInput)
-                weightInput = weightTableInput.getInputAtPosition(0, 2)
-                if unitDropdown.selectedItem.index == 0:
-                    self.isLbs = True
-
-                    weightInput.tooltipDescription = (
-                        """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
-                    )
-                elif unitDropdown.selectedItem.index == 1:
-                    self.isLbs = False
+            # Transition: AARD-1683
+            # elif cmdInput.id == "weight_unit":
+            #     unitDropdown = adsk.core.DropDownCommandInput.cast(cmdInput)
+            #     weightInput = weightTableInput.getInputAtPosition(0, 2)
+            #     if unitDropdown.selectedItem.index == 0:
+            #         self.isLbs = True
+
+            #         weightInput.tooltipDescription = (
+            #             """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
+            #         )
+            #     elif unitDropdown.selectedItem.index == 1:
+            #         self.isLbs = False
 
-                    weightInput.tooltipDescription = (
-                        """<tt>(in kilograms)</tt><hr>This is the weight of the entire robot assembly."""
-                    )
+            #         weightInput.tooltipDescription = (
+            #             """<tt>(in kilograms)</tt><hr>This is the weight of the entire robot assembly."""
+            #         )
 
             elif cmdInput.id == "weight_unit_f":
                 unitDropdown = adsk.core.DropDownCommandInput.cast(cmdInput)
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index 052a721313..8867847a34 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -75,7 +75,8 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
             )
             weightInput.tooltip = "Robot weight"
             weightInput.tooltipDescription = (
-                """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
+                f"<tt>(in {'pounds' if self.currentUnits == PreferredUnits.IMPERIAL else 'kilograms'})"
+                "</tt><hr>This is the weight of the entire robot assembly."
             )
             weightInput.isEnabled = not exporterOptions.autoCalcWeight
 
@@ -85,6 +86,8 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
                 adsk.core.DropDownStyles.LabeledIconDropDownStyle,
             )
 
+            # Invisible white space characters are required in the list item name field to make this work.
+            # I have no idea why, Fusion API needs some special education help - Brandon
             weightUnitDropdown.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
             weightUnitDropdown.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
             weightUnitDropdown.tooltip = "Unit of Mass"
@@ -185,10 +188,16 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
                 if weightUnitDropdown.selectedItem.index == 0:
                     self.currentUnits = PreferredUnits.IMPERIAL
                     weightInput.value = toLbs(weightInput.value)
+                    weightInput.tooltipDescription = (
+                        "<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."
+                    )
                 else:
                     assert weightUnitDropdown.selectedItem.index == 1
                     self.currentUnits = PreferredUnits.METRIC
                     weightInput.value = toKg(weightInput.value)
+                    weightInput.tooltipDescription = (
+                        "<tt>(in kilograms)</tt><hr>This is the weight of the entire robot assembly."
+                    )
 
                 self.previousSelectedUnitDropdownIndex = weightUnitDropdown.selectedItem.index
 

From cd8e7fa0a899b8867e1b940abe74081060952d05 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 18 Jul 2024 09:12:44 -0700
Subject: [PATCH 014/344] Handle transition tags

---
 .../src/UI/ConfigCommand.py                   | 678 ++----------------
 1 file changed, 70 insertions(+), 608 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index ba1939d1b8..73cec44751 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -16,12 +16,8 @@
 from ..general_imports import *
 from ..Parser.ExporterOptions import (
     ExporterOptions,
-    ExportMode,
-    Gamepiece,
-    PreferredUnits,
 )
 from ..Parser.SynthesisParser.Parser import Parser
-from ..Parser.SynthesisParser.Utilities import guid_occurrence
 from . import CustomGraphics, FileDialogConfig, Helper, IconPaths
 from .Configuration.SerialCommand import SerialCommand
 from .GeneralConfigTab import GeneralConfigTab
@@ -48,9 +44,6 @@
 """
 GamepieceListGlobal = []
 
-# Default to compressed files
-compress = True
-
 
 def GUID(arg):
     """### Will return command object when given a string GUID, or the string GUID of an object (depending on arg value)
@@ -93,44 +86,6 @@ class JointMotions(Enum):
     BALL = 6
 
 
-# Transition: AARD-1683
-# class FullMassCalculation:
-#     def __init__(self):
-#         self.totalMass = 0.0
-#         self.bRepMassInRoot()
-#         self.traverseOccurrenceHierarchy()
-
-#     def bRepMassInRoot(self):
-#         try:
-#             for body in gm.app.activeDocument.design.rootComponent.bRepBodies:
-#                 if not body.isLightBulbOn:
-#                     continue
-#                 physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
-#                 self.totalMass += physical.mass
-#         except:
-#             if gm.ui:
-#                 gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
-
-#     def traverseOccurrenceHierarchy(self):
-#         try:
-#             for occ in gm.app.activeDocument.design.rootComponent.allOccurrences:
-#                 if not occ.isLightBulbOn:
-#                     continue
-
-#                 for body in occ.component.bRepBodies:
-#                     if not body.isLightBulbOn:
-#                         continue
-#                     physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
-#                     self.totalMass += physical.mass
-#         except:
-#             pass
-#             if gm.ui:
-#                 gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
-
-#     def getTotalMass(self):
-#         return self.totalMass
-
-
 class ConfigureCommandCreatedHandler(adsk.core.CommandCreatedEventHandler):
     """### Start the Command Input Object and define all of the input groups to create our ParserOptions object.
 
@@ -178,13 +133,6 @@ def notify(self, args):
             global generalConfigTab
             generalConfigTab = GeneralConfigTab(args, exporterOptions)
 
-            # ====================================== GENERAL TAB ======================================
-            """
-            Creates the general tab.
-                - Parent container for all the command inputs in the tab.
-            """
-            # inputs = INPUTS_ROOT.addTabCommandInput("general_settings", "General").children
-
             # ~~~~~~~~~~~~~~~~ HELP FILE ~~~~~~~~~~~~~~~~
             """
             Sets the small "i" icon in bottom left of the panel.
@@ -192,90 +140,6 @@ def notify(self, args):
             """
             cmd.helpFile = os.path.join(".", "src", "Resources", "HTML", "info.html")
 
-            # Transition: AARD-1683
-            # ~~~~~~~~~~~~~~~~ EXPORT MODE ~~~~~~~~~~~~~~~~
-            """
-            Dropdown to choose whether to export robot or field element
-            """
-            # dropdownExportMode = inputs.addDropDownCommandInput(
-            #     "mode",
-            #     "Export Mode",
-            #     dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-            # )
-
-            # dynamic = exporterOptions.exportMode == ExportMode.ROBOT
-            # dropdownExportMode.listItems.add("Dynamic", dynamic)
-            # dropdownExportMode.listItems.add("Static", not dynamic)
-
-            # dropdownExportMode.tooltip = "Export Mode"
-            # dropdownExportMode.tooltipDescription = "<hr>Does this object move dynamically?"
-
-            # ~~~~~~~~~~~~~~~~ WEIGHT CONFIGURATION ~~~~~~~~~~~~~~~~
-            """
-            Table for weight config.
-                - Used this to align multiple commandInputs on the same row
-            """
-            # weightTableInput = self.createTableInput(
-            #     "weight_table",
-            #     "Weight Table",
-            #     inputs,
-            #     4,
-            #     "3:2:2:1",
-            #     1,
-            # )
-            # weightTableInput.tablePresentationStyle = 2  # set transparent background for table
-
-            # weight_name = inputs.addStringValueInput("weight_name", "Weight")
-            # weight_name.value = "Weight"
-            # weight_name.isReadOnly = True
-
-            # auto_calc_weight = self.createBooleanInput(
-            #     "auto_calc_weight",
-            #     "‎",
-            #     inputs,
-            #     checked=False,
-            #     tooltip="Approximate the weight of your robot assembly.",
-            #     tooltipadvanced="<i>This may take a moment...</i>",
-            #     enabled=True,
-            #     isCheckBox=False,
-            # )
-            # auto_calc_weight.resourceFolder = IconPaths.stringIcons["calculate-enabled"]
-            # auto_calc_weight.isFullWidth = True
-
-            # imperialUnits = exporterOptions.preferredUnits == PreferredUnits.IMPERIAL
-            # if imperialUnits:
-            #     # ExporterOptions always contains the metric value
-            #     displayWeight = exporterOptions.robotWeight * 2.2046226218
-            # else:
-            #     displayWeight = exporterOptions.robotWeight
-
-            # weight_input = inputs.addValueInput(
-            #     "weight_input",
-            #     "Weight Input",
-            #     "",
-            #     adsk.core.ValueInput.createByReal(displayWeight),
-            # )
-            # weight_input.tooltip = "Robot weight"
-            # weight_input.tooltipDescription = (
-            #     """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
-            # )
-
-            # weight_unit = inputs.addDropDownCommandInput(
-            #     "weight_unit",
-            #     "Weight Unit",
-            #     adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-            # )
-
-            # weight_unit.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
-            # weight_unit.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
-            # weight_unit.tooltip = "Unit of mass"
-            # weight_unit.tooltipDescription = "<hr>Configure the unit of mass for the weight calculation."
-
-            # weightTableInput.addCommandInput(weight_name, 0, 0)  # add command inputs to table
-            # weightTableInput.addCommandInput(auto_calc_weight, 0, 1)  # add command inputs to table
-            # weightTableInput.addCommandInput(weight_input, 0, 2)  # add command inputs to table
-            # weightTableInput.addCommandInput(weight_unit, 0, 3)  # add command inputs to table
-
             global jointConfigTab
             jointConfigTab = JointConfigTab(args)
 
@@ -428,170 +292,6 @@ def notify(self, args):
             #     3,
             # )
 
-            # ====================================== ADVANCED TAB ======================================
-            """
-            Creates the advanced tab, which is the parent container for internal command inputs
-            """
-            # Transition: AARD-1683
-            # advancedSettings = INPUTS_ROOT.addTabCommandInput("advanced_settings", "Advanced")
-            # advancedSettings.tooltip = (
-            #     "Additional Advanced Settings to change how your model will be translated into Unity."
-            # )
-            # a_input = advancedSettings.children
-
-            # Transition: AARD-1683
-            # ~~~~~~~~~~~~~~~~ EXPORTER SETTINGS ~~~~~~~~~~~~~~~~
-            """
-            Exporter settings group command
-            """
-            # exporterSettings = a_input.addGroupCommandInput("exporter_settings", "Exporter Settings")
-            # exporterSettings.isExpanded = True
-            # exporterSettings.isEnabled = True
-            # exporterSettings.tooltip = "tooltip"  # TODO: update tooltip
-            # exporter_settings = exporterSettings.children
-
-            # self.createBooleanInput(
-            #     "compress",
-            #     "Compress Output",
-            #     exporter_settings,
-            #     checked=exporterOptions.compressOutput,
-            #     tooltip="Compress the output file for a smaller file size.",
-            #     tooltipadvanced="<hr>Use the GZIP compression system to compress the resulting file which will be opened in the simulator, perfect if you want to share the file.<br>",
-            #     enabled=True,
-            # )
-
-            # self.createBooleanInput(
-            #     "export_as_part",
-            #     "Export As Part",
-            #     exporter_settings,
-            #     checked=exporterOptions.exportAsPart,
-            #     tooltip="Use to export as a part for Mix And Match",
-            #     enabled=True,
-            # )
-
-            # ~~~~~~~~~~~~~~~~ PHYSICS SETTINGS ~~~~~~~~~~~~~~~~
-            """
-            Physics settings group command
-            """
-            # physicsSettings = a_input.addGroupCommandInput("physics_settings", "Physics Settings")
-
-            # physicsSettings.isExpanded = False
-            # physicsSettings.isEnabled = True
-            # physicsSettings.tooltip = "tooltip"  # TODO: update tooltip
-            # physics_settings = physicsSettings.children
-
-            # # AARD-1687
-            # # Should also be commented out / removed?
-            # # This would cause problems elsewhere but I can't tell i f
-            # # this is even being used.
-            # frictionOverrideTable = self.createTableInput(
-            #     "friction_override_table",
-            #     "",
-            #     physics_settings,
-            #     2,
-            #     "1:2",
-            #     1,
-            #     columnSpacing=25,
-            # )
-            # frictionOverrideTable.tablePresentationStyle = 2
-            # # frictionOverrideTable.isFullWidth = True
-
-            # frictionOverride = self.createBooleanInput(
-            #     "friction_override",
-            #     "",
-            #     physics_settings,
-            #     checked=False,
-            #     tooltip="Manually override the default friction values on the bodies in the assembly.",
-            #     enabled=True,
-            #     isCheckBox=False,
-            # )
-            # frictionOverride.resourceFolder = IconPaths.stringIcons["friction_override-enabled"]
-            # frictionOverride.isFullWidth = True
-
-            # valueList = [1]
-            # for i in range(20):
-            #     valueList.append(i / 20)
-
-            # frictionCoeff = physics_settings.addFloatSliderListCommandInput(
-            #     "friction_coeff_override", "Friction Coefficient", "", valueList
-            # )
-            # frictionCoeff.isVisible = False
-            # frictionCoeff.valueOne = 0.5
-            # frictionCoeff.tooltip = "Friction coefficient of field element."
-            # frictionCoeff.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
-
-            # frictionOverrideTable.addCommandInput(frictionOverride, 0, 0)
-            # frictionOverrideTable.addCommandInput(frictionCoeff, 0, 1)
-
-            # ~~~~~~~~~~~~~~~~ JOINT SETTINGS ~~~~~~~~~~~~~~~~
-            """
-            Joint settings group command
-            """
-
-            # Transition: AARD-1689
-            # Should possibly be implemented later?
-
-            # jointsSettings = a_input.addGroupCommandInput(
-            #     "joints_settings", "Joints Settings"
-            # )
-            # jointsSettings.isExpanded = False
-            # jointsSettings.isEnabled = True
-            # jointsSettings.tooltip = "tooltip"  # TODO: update tooltip
-            # joints_settings = jointsSettings.children
-
-            # self.createBooleanInput(
-            #     "kinematic_only",
-            #     "Kinematic Only",
-            #     joints_settings,
-            #     checked=False,
-            #     tooltip="tooltip",  # TODO: update tooltip
-            #     enabled=True,
-            # )
-
-            # self.createBooleanInput(
-            #     "calculate_limits",
-            #     "Calculate Limits",
-            #     joints_settings,
-            #     checked=True,
-            #     tooltip="tooltip",  # TODO: update tooltip
-            #     enabled=True,
-            # )
-
-            # self.createBooleanInput(
-            #     "auto_assign_ids",
-            #     "Auto-Assign ID's",
-            #     joints_settings,
-            #     checked=True,
-            #     tooltip="tooltip",  # TODO: update tooltip
-            #     enabled=True,
-            # )
-
-            # ~~~~~~~~~~~~~~~~ CONTROLLER SETTINGS ~~~~~~~~~~~~~~~~
-            """
-            Controller settings group command
-            """
-
-            # Transition: AARD-1689
-            # Should possibly be implemented later?
-
-            # controllerSettings = a_input.addGroupCommandInput(
-            #     "controller_settings", "Controller Settings"
-            # )
-
-            # controllerSettings.isExpanded = False
-            # controllerSettings.isEnabled = True
-            # controllerSettings.tooltip = "tooltip"  # TODO: update tooltip
-            # controller_settings = controllerSettings.children
-
-            # self.createBooleanInput(  # export signals checkbox
-            #     "export_signals",
-            #     "Export Signals",
-            #     controller_settings,
-            #     checked=True,
-            #     tooltip="tooltip",
-            #     enabled=True,
-            # )
-
             # Transition: AARD-1683
             # Needed to comment this out because it throws if you don't login preventing anything from working
 
@@ -646,154 +346,6 @@ def notify(self, args):
                 "Failed:\n{}".format(traceback.format_exc())
             )
 
-    # # Transition: AARD-1685
-    # # Functionality will be fully moved to `CreateCommandInputsHelper` in AARD-1683
-    # def createBooleanInput(
-    #     self,
-    #     _id: str,
-    #     name: str,
-    #     inputs: adsk.core.CommandInputs,
-    #     tooltip="",
-    #     tooltipadvanced="",
-    #     checked=True,
-    #     enabled=True,
-    #     isCheckBox=True,
-    # ) -> adsk.core.BoolValueCommandInput:
-    #     """### Simple helper to generate all of the options for me to create a boolean command input
-
-    #     Args:
-    #         _id (str): id value of the object - pretty much lowercase name
-    #         name (str): name as displayed by the command prompt
-    #         inputs (adsk.core.CommandInputs): parent command input container
-    #         tooltip (str, optional): Description on hover of the checkbox. Defaults to "".
-    #         tooltipadvanced (str, optional): Long hover description. Defaults to "".
-    #         checked (bool, optional): Is checked by default?. Defaults to True.
-
-    #     Returns:
-    #         adsk.core.BoolValueCommandInput: Recently created command input
-    #     """
-    #     try:
-    #         _input = inputs.addBoolValueInput(_id, name, isCheckBox)
-    #         _input.value = checked
-    #         _input.isEnabled = enabled
-    #         _input.tooltip = tooltip
-    #         _input.tooltipDescription = tooltipadvanced
-    #         return _input
-    #     except:
-    #         logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.{self.__class__.__name__}.createBooleanInput()").error(
-    #             "Failed:\n{}".format(traceback.format_exc())
-    #         )
-
-    # # Transition: AARD-1685
-    # # Functionality will be fully moved to `CreateCommandInputsHelper` in AARD-1683
-    # def createTableInput(
-    #     self,
-    #     _id: str,
-    #     name: str,
-    #     inputs: adsk.core.CommandInputs,
-    #     columns: int,
-    #     ratio: str,
-    #     maxRows: int,
-    #     minRows=1,
-    #     columnSpacing=0,
-    #     rowSpacing=0,
-    # ) -> adsk.core.TableCommandInput:
-    #     """### Simple helper to generate all the TableCommandInput options.
-
-    #     Args:
-    #         _id (str): unique ID of command
-    #         name (str): displayed name
-    #         inputs (adsk.core.CommandInputs): parent command input container
-    #         columns (int): column count
-    #         ratio (str): column width ratio
-    #         maxRows (int): the maximum number of displayed rows possible
-    #         minRows (int, optional): the minimum number of displayed rows. Defaults to 1.
-    #         columnSpacing (int, optional): spacing in between the columns, in pixels. Defaults to 0.
-    #         rowSpacing (int, optional): spacing in between the rows, in pixels. Defaults to 0.
-
-    #     Returns:
-    #         adsk.core.TableCommandInput: created tableCommandInput
-    #     """
-    #     try:
-    #         _input = inputs.addTableCommandInput(_id, name, columns, ratio)
-    #         _input.minimumVisibleRows = minRows
-    #         _input.maximumVisibleRows = maxRows
-    #         _input.columnSpacing = columnSpacing
-    #         _input.rowSpacing = rowSpacing
-    #         return _input
-    #     except:
-    #         logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.{self.__class__.__name__}.createTableInput()").error(
-    #             "Failed:\n{}".format(traceback.format_exc())
-    #         )
-
-    # Transition: AARD-1685
-    # Functionality will be fully moved to `CreateCommandInputsHelper` in AARD-1683
-    # def createTextBoxInput(
-    #     self,
-    #     _id: str,
-    #     name: str,
-    #     inputs: adsk.core.CommandInputs,
-    #     text: str,
-    #     italics=True,
-    #     bold=True,
-    #     fontSize=10,
-    #     alignment="center",
-    #     rowCount=1,
-    #     read=True,
-    #     background="whitesmoke",
-    #     tooltip="",
-    #     advanced_tooltip="",
-    # ) -> adsk.core.TextBoxCommandInput:
-    #     """### Helper to generate a textbox input from inputted options.
-
-    #     Args:
-    #         _id (str): unique ID
-    #         name (str): displayed name
-    #         inputs (adsk.core.CommandInputs): parent command input container
-    #         text (str): the user-visible text in command
-    #         italics (bool, optional): is italics? Defaults to True.
-    #         bold (bool, optional): isBold? Defaults to True.
-    #         fontSize (int, optional): fontsize. Defaults to 10.
-    #         alignment (str, optional): HTML style alignment (left, center, right). Defaults to "center".
-    #         rowCount (int, optional): number of rows in textbox. Defaults to 1.
-    #         read (bool, optional): read only? Defaults to True.
-    #         background (str, optional): background color (HTML color names or hex) Defaults to "whitesmoke".
-
-    #     Returns:
-    #         adsk.core.TextBoxCommandInput: newly created textBoxCommandInput
-    #     """
-    #     try:
-    #         i = ["", ""]
-    #         b = ["", ""]
-
-    #         if bold:
-    #             b[0] = "<b>"
-    #             b[1] = "</b>"
-    #         if italics:
-    #             i[0] = "<i>"
-    #             i[1] = "</i>"
-
-    #         # simple wrapper for html formatting
-    #         wrapper = """<body style='background-color:%s;'>
-    #                      <div align='%s'>
-    #                      <p style='font-size:%spx'>
-    #                      %s%s{}%s%s
-    #                      </p>
-    #                      </body>
-    #                   """.format(
-    #             text
-    #         )
-    #         _text = wrapper % (background, alignment, fontSize, b[0], i[0], i[1], b[1])
-
-    #         _input = inputs.addTextBoxCommandInput(_id, name, _text, rowCount, read)
-    #         _input.tooltip = tooltip
-    #         _input.tooltipDescription = advanced_tooltip
-    #         return _input
-    #     except:
-    #         logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.createTextBoxInput()").error(
-    #             "Failed:\n{}".format(traceback.format_exc())
-    #         )
-
 
 class ConfigureCommandExecuteHandler(adsk.core.CommandEventHandler):
     """### Called when Ok is pressed confirming the export
@@ -828,26 +380,6 @@ def notify(self, args):
                 self.log.error("Could not execute configuration due to failure")
                 return
 
-            # Transition: AARD-1683
-            # export_as_part_boolean = (
-            #     eventArgs.command.commandInputs.itemById("advanced_settings")
-            #     .children.itemById("exporter_settings")
-            #     .children.itemById("export_as_part")
-            # ).value
-
-            # processedFileName = gm.app.activeDocument.name.replace(" ", "_")
-            # dropdownExportMode = INPUTS_ROOT.itemById("mode")
-            # if dropdownExportMode.selectedItem.index == 0:
-            #     isRobot = True
-            # elif dropdownExportMode.selectedItem.index == 1:
-            #     isRobot = False
-
-            # if isRobot:
-            #     savepath = FileDialogConfig.SaveFileDialog(
-            #         defaultPath=exporterOptions.fileLocation,
-            #         ext="Synthesis File (*.synth)",
-            #     )
-            # else:
             savepath = FileDialogConfig.SaveFileDialog(defaultPath=exporterOptions.fileLocation)
 
             if not savepath:
@@ -865,11 +397,9 @@ def notify(self, args):
             version = design.rootComponent.name.rsplit(" ", 1)[1]
 
             _exportGamepieces = []  # TODO work on the code to populate Gamepiece
-            _robotWeight = 0.0
-            _mode = ExportMode.ROBOT
 
             # Transition: AARD-1683
-            # This was never being used it appears, should be looped back to.
+            # TODO: Implement gamepiece things
             """
             Loops through all rows in the gamepiece table to extract the input values
             """
@@ -894,35 +424,6 @@ def notify(self, args):
             #         )
             #     )
 
-            """
-            Robot Weight
-            """
-            # weight_input = INPUTS_ROOT.itemById("weight_input")
-            # weight_unit = INPUTS_ROOT.itemById("weight_unit")
-
-            # if weight_unit.selectedItem.index == 0:
-            #     selectedUnits = PreferredUnits.IMPERIAL
-            #     _robotWeight = float(weight_input.value) / 2.2046226218
-            # else:
-            #     selectedUnits = PreferredUnits.METRIC
-            #     _robotWeight = float(weight_input.value)
-
-            """
-            Export Mode
-            """
-            # dropdownExportMode = INPUTS_ROOT.itemById("mode")
-            # if dropdownExportMode.selectedItem.index == 0:
-            #     _mode = ExportMode.ROBOT
-            # elif dropdownExportMode.selectedItem.index == 1:
-            #     _mode = ExportMode.FIELD
-
-            # global compress
-            # compress = (
-            #     eventArgs.command.commandInputs.itemById("advanced_settings")
-            #     .children.itemById("exporter_settings")
-            #     .children.itemById("compress")
-            # ).value
-
             selectedJoints, selectedWheels = jointConfigTab.getSelectedJointsAndWheels()
 
             exporterOptions = ExporterOptions(
@@ -1149,25 +650,28 @@ def notify(self, args: adsk.core.SelectionEventArgs):
             duplicateSelection = INPUTS_ROOT.itemById("duplicate_selection")
             # indicator = INPUTS_ROOT.itemById("algorithmic_indicator")
 
-            if self.selectedOcc:
-                self.cmd.setCursor("", 0, 0)
-                if dropdownExportMode.selectedItem.index == 1:
-                    occurrenceList = gm.app.activeDocument.design.rootComponent.allOccurrencesByComponent(
-                        self.selectedOcc.component
-                    )
-                    for occ in occurrenceList:
-                        if occ not in GamepieceListGlobal:
-                            addGamepieceToTable(occ)
-                        else:
-                            removeGamePieceFromTable(GamepieceListGlobal.index(occ))
-
-                    selectionInput.isEnabled = False
-                    selectionInput.isVisible = False
+
+            # Transition: AARD-1683
+            # TODO: Implement gamepiece things
+            # if self.selectedOcc:
+            #     self.cmd.setCursor("", 0, 0)
+            #     if dropdownExportMode.selectedItem.index == 1:
+            #         occurrenceList = gm.app.activeDocument.design.rootComponent.allOccurrencesByComponent(
+            #             self.selectedOcc.component
+            #         )
+            #         for occ in occurrenceList:
+            #             if occ not in GamepieceListGlobal:
+            #                 addGamepieceToTable(occ)
+            #             else:
+            #                 removeGamePieceFromTable(GamepieceListGlobal.index(occ))
+
+            #         selectionInput.isEnabled = False
+            #         selectionInput.isVisible = False
 
             # Transition: AARD-1685
             # This is how all handle selection events should be done in the future although it will look
             # slightly differently for each type of handle.
-            elif self.selectedJoint:
+            if self.selectedJoint:
                 jointConfigTab.handleSelectionEvent(args, self.selectedJoint)
         except:
             if gm.ui:
@@ -1202,6 +706,8 @@ def notify(self, args):
 
             preSelected = preSelectedOcc if preSelectedOcc else preSelectedJoint
 
+            # Transition: AARD-1683
+            # TODO: Implement gamepiece things
             # dropdownExportMode = INPUTS_ROOT.itemById("mode")
             # if preSelected and design:
             #     if dropdownExportMode.selectedItem.index == 0:  # Dynamic
@@ -1297,39 +803,6 @@ def reset(self):
                 "Failed:\n{}".format(traceback.format_exc())
             )
 
-    # Transition: AARD-1683
-    # def weight(self, isLbs=True):  # maybe add a progress dialog??
-    #     """### Get the total design weight using the predetermined units.
-
-    #     Args:
-    #         isLbs (bool, optional): Is selected mass unit pounds? Defaults to True.
-
-    #     Returns:
-    #         value (float): weight value in specified unit
-    #     """
-    #     try:
-    #         if gm.app.activeDocument.design:
-    #             massCalculation = FullMassCalculation()
-    #             totalMass = massCalculation.getTotalMass()
-
-    #             value = float
-
-    #             self.allWeights[0] = round(totalMass * 2.2046226218, 2)
-
-    #             self.allWeights[1] = round(totalMass, 2)
-
-    #             if isLbs:
-    #                 value = self.allWeights[0]
-    #             else:
-    #                 value = self.allWeights[1]
-
-    #             value = round(value, 2)  # round weight to 2 decimals places
-    #             return value
-    #     except:
-    #         logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.{self.__class__.__name__}.weight()").error(
-    #             "Failed:\n{}".format(traceback.format_exc())
-    #         )
-
     def notify(self, args):
         try:
             eventArgs = adsk.core.InputChangedEventArgs.cast(args)
@@ -1428,43 +901,31 @@ def notify(self, args):
                 else:
                     frictionCoeff.isVisible = False
 
+
             # Transition: AARD-1683
-            # elif cmdInput.id == "weight_unit":
+            # TODO: Implement gamepiece things
+            # elif cmdInput.id == "weight_unit_f":
             #     unitDropdown = adsk.core.DropDownCommandInput.cast(cmdInput)
-            #     weightInput = weightTableInput.getInputAtPosition(0, 2)
             #     if unitDropdown.selectedItem.index == 0:
-            #         self.isLbs = True
+            #         self.isLbs_f = True
 
-            #         weightInput.tooltipDescription = (
-            #             """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
-            #         )
+            #         for row in range(gamepieceTableInput.rowCount):
+            #             if row == 0:
+            #                 continue
+            #             weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
+            #             weightInput.tooltipDescription = "<tt>(in pounds)</tt>"
             #     elif unitDropdown.selectedItem.index == 1:
-            #         self.isLbs = False
-
-            #         weightInput.tooltipDescription = (
-            #             """<tt>(in kilograms)</tt><hr>This is the weight of the entire robot assembly."""
-            #         )
+            #         self.isLbs_f = False
 
-            elif cmdInput.id == "weight_unit_f":
-                unitDropdown = adsk.core.DropDownCommandInput.cast(cmdInput)
-                if unitDropdown.selectedItem.index == 0:
-                    self.isLbs_f = True
-
-                    for row in range(gamepieceTableInput.rowCount):
-                        if row == 0:
-                            continue
-                        weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-                        weightInput.tooltipDescription = "<tt>(in pounds)</tt>"
-                elif unitDropdown.selectedItem.index == 1:
-                    self.isLbs_f = False
-
-                    for row in range(gamepieceTableInput.rowCount):
-                        if row == 0:
-                            continue
-                        weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-                        weightInput.tooltipDescription = "<tt>(in kilograms)</tt>"
+            #         for row in range(gamepieceTableInput.rowCount):
+            #             if row == 0:
+            #                 continue
+            #             weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
+            #             weightInput.tooltipDescription = "<tt>(in kilograms)</tt>"
 
             # Transition: AARD-1683
+            # TODO: Implement gamepiece things???
+            # Is there even any here??
             # elif cmdInput.id == "auto_calc_weight":
             #     button = adsk.core.BoolValueCommandInput.cast(cmdInput)
 
@@ -1487,37 +948,34 @@ def notify(self, args):
             #                 else:
             #                     weight_input.value = self.allWeights[1]
 
-            # TODO: Figure out gamepiece stuff
-            elif cmdInput.id == "auto_calc_weight_f":
-                button = adsk.core.BoolValueCommandInput.cast(cmdInput)
-
-                if button.value == True:  # CALCULATE button pressed
-                    if self.isLbs_f:
-                        for row in range(gamepieceTableInput.rowCount):
-                            if row == 0:
-                                continue
-                            weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-                            physical = GamepieceListGlobal[row - 1].component.getPhysicalProperties(
-                                adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
-                            )
-                            value = round(physical.mass * 2.2046226218, 2)
-                            weightInput.value = value
-
-                    else:
-                        for row in range(gamepieceTableInput.rowCount):
-                            if row == 0:
-                                continue
-                            weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-                            physical = GamepieceListGlobal[row - 1].component.getPhysicalProperties(
-                                adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
-                            )
-                            value = round(physical.mass, 2)
-                            weightInput.value = value
-            elif cmdInput.id == "compress":
-                checkBox = adsk.core.BoolValueCommandInput.cast(cmdInput)
-                if checkBox.value:
-                    global compress
-                    compress = checkBox.value
+
+            # Transition: AARD-1683
+            # TODO: Implement gamepiece things
+            # elif cmdInput.id == "auto_calc_weight_f":
+            #     button = adsk.core.BoolValueCommandInput.cast(cmdInput)
+
+            #     if button.value == True:  # CALCULATE button pressed
+            #         if self.isLbs_f:
+            #             for row in range(gamepieceTableInput.rowCount):
+            #                 if row == 0:
+            #                     continue
+            #                 weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
+            #                 physical = GamepieceListGlobal[row - 1].component.getPhysicalProperties(
+            #                     adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
+            #                 )
+            #                 value = round(physical.mass * 2.2046226218, 2)
+            #                 weightInput.value = value
+
+            #         else:
+            #             for row in range(gamepieceTableInput.rowCount):
+            #                 if row == 0:
+            #                     continue
+            #                 weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
+            #                 physical = GamepieceListGlobal[row - 1].component.getPhysicalProperties(
+            #                     adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
+            #                 )
+            #                 value = round(physical.mass, 2)
+            #                 weightInput.value = value
         except:
             if gm.ui:
                 gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
@@ -1559,6 +1017,8 @@ def notify(self, args):
             )
 
 
+# Transition: AARD-1683
+# TODO: Implement gamepiece things
 def addGamepieceToTable(gamepiece: adsk.fusion.Occurrence) -> None:
     """### Adds a gamepiece occurrence to its global list and gamepiece table.
 
@@ -1634,6 +1094,8 @@ def addPreselections(child_occurrences):
         )
 
 
+# Transition: AARD-1683
+# TODO: Implement gamepiece things
 def removeGamePieceFromTable(index: int) -> None:
     """### Removes a gamepiece occurrence from its global list and gamepiece table.
 

From fdc7d6725aad74787710d45868faf77ce8fd8829 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 18 Jul 2024 09:13:22 -0700
Subject: [PATCH 015/344] Formatting

---
 exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 73cec44751..8e327d04d8 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -14,9 +14,7 @@
 from ..APS.APS import getAuth, getUserInfo, refreshAuthToken
 from ..configure import NOTIFIED, write_configuration
 from ..general_imports import *
-from ..Parser.ExporterOptions import (
-    ExporterOptions,
-)
+from ..Parser.ExporterOptions import ExporterOptions
 from ..Parser.SynthesisParser.Parser import Parser
 from . import CustomGraphics, FileDialogConfig, Helper, IconPaths
 from .Configuration.SerialCommand import SerialCommand
@@ -650,7 +648,6 @@ def notify(self, args: adsk.core.SelectionEventArgs):
             duplicateSelection = INPUTS_ROOT.itemById("duplicate_selection")
             # indicator = INPUTS_ROOT.itemById("algorithmic_indicator")
 
-
             # Transition: AARD-1683
             # TODO: Implement gamepiece things
             # if self.selectedOcc:
@@ -901,7 +898,6 @@ def notify(self, args):
                 else:
                     frictionCoeff.isVisible = False
 
-
             # Transition: AARD-1683
             # TODO: Implement gamepiece things
             # elif cmdInput.id == "weight_unit_f":
@@ -948,7 +944,6 @@ def notify(self, args):
             #                 else:
             #                     weight_input.value = self.allWeights[1]
 
-
             # Transition: AARD-1683
             # TODO: Implement gamepiece things
             # elif cmdInput.id == "auto_calc_weight_f":

From 4cb61f24e317fbdbc8685af582e96d9f3c378ade Mon Sep 17 00:00:00 2001
From: arorad1 <dhruv.arora1@autodesk.com>
Date: Thu, 18 Jul 2024 14:38:17 -0700
Subject: [PATCH 016/344] Formatting

---
 fission/src/Synthesis.tsx                     |  7 +++-
 fission/src/ui/components/MainHUD.tsx         |  6 +++-
 .../configuring/ConfigureRobotBrainPanel.tsx  | 33 ++++++++-----------
 3 files changed, 25 insertions(+), 21 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 5a2dcd44c8..1dff4b2c9d 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -244,7 +244,12 @@ const initialPanels: ReactElement[] = [
     <ZoneConfigPanel key="zone-config" panelId="zone-config" openLocation="right" sidePadding={8} />,
     <ImportMirabufPanel key="import-mirabuf" panelId="import-mirabuf" />,
     <PokerPanel key="poker" panelId="poker" />,
-    <ConfigureRobotBrainPanel key="config-robot-brain" panelId="config-robot-brain" openLocation="right" sidePadding={8} />,
+    <ConfigureRobotBrainPanel
+        key="config-robot-brain"
+        panelId="config-robot-brain"
+        openLocation="right"
+        sidePadding={8}
+    />,
 ]
 
 export default Synthesis
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 457ee80282..9a138905dc 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -189,7 +189,11 @@ const MainHUD: React.FC = () => {
                         }}
                     />
                     <MainHUDButton value={"Configure"} icon={<FaGear />} onClick={() => openModal("config-robot")} />
-                    <MainHUDButton value={"Configure Brain"} icon={<FaGear />} onClick={() => openPanel("config-robot-brain")} />
+                    <MainHUDButton
+                        value={"Configure Brain"}
+                        icon={<FaGear />}
+                        onClick={() => openPanel("config-robot-brain")}
+                    />
                 </div>
                 {userInfo ? (
                     <MainHUDButton
diff --git a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
index f94d5aad97..199fef056c 100644
--- a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
@@ -1,12 +1,12 @@
-import { MiraType } from "@/mirabuf/MirabufLoader";
-import MirabufSceneObject from "@/mirabuf/MirabufSceneObject";
-import World from "@/systems/World";
-import Label from "@/ui/components/Label";
-import Button from "@/ui/components/Button";
-import Panel, { PanelPropsImpl } from "@/ui/components/Panel";
-import { useMemo, useState } from "react";
-import { FaGear } from "react-icons/fa6";
-import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup";
+import { MiraType } from "@/mirabuf/MirabufLoader"
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import World from "@/systems/World"
+import Label from "@/ui/components/Label"
+import Button from "@/ui/components/Button"
+import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
+import { useMemo, useState } from "react"
+import { FaGear } from "react-icons/fa6"
+import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
 
 // eslint-disable-next-line react-refresh/only-export-components
 export enum ConfigureRobotBrainTypes {
@@ -34,8 +34,8 @@ const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
             panelId={panelId}
             openLocation={openLocation}
             sidePadding={sidePadding}
-            onAccept={() => { }}
-            onCancel={() => { }}
+            onAccept={() => {}}
+            onCancel={() => {}}
         >
             {selectedRobot?.ejectorPreferences == undefined ? (
                 <>
@@ -58,7 +58,6 @@ const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
                 </>
             ) : (
                 <>
-
                     <div className="flex flex-col gap-2 bg-background-secondary rounded-md p-2">
                         <ToggleButtonGroup
                             value={viewType}
@@ -71,16 +70,12 @@ const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
                             <ToggleButton value={ConfigureRobotBrainTypes.SYNTHESIS}>SynthesisBrain</ToggleButton>
                             <ToggleButton value={ConfigureRobotBrainTypes.WIPLIB}>WIPLIBBrain</ToggleButton>
                         </ToggleButtonGroup>
-                        {viewType === ConfigureRobotBrainTypes.SYNTHESIS ? (
-                            <Label>hi</Label>
-                        ) : (
-                            <Label>hi2</Label>
-                        )}
+                        {viewType === ConfigureRobotBrainTypes.SYNTHESIS ? <Label>hi</Label> : <Label>hi2</Label>}
                     </div>
                 </>
             )}
         </Panel>
-    );
+    )
 }
 
-export default ConfigureRobotBrainPanel;
\ No newline at end of file
+export default ConfigureRobotBrainPanel

From c2e80f72fb191b4c5ac3862b027ef54d650e74ec Mon Sep 17 00:00:00 2001
From: arorad1 <dhruv.arora1@autodesk.com>
Date: Fri, 19 Jul 2024 13:12:13 -0700
Subject: [PATCH 017/344] Added UI

---
 .../configuring/ConfigureRobotBrainPanel.tsx  | 38 ++++++++++++++++++-
 1 file changed, 36 insertions(+), 2 deletions(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
index 199fef056c..e13f244727 100644
--- a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
@@ -1,12 +1,13 @@
 import { MiraType } from "@/mirabuf/MirabufLoader"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import World from "@/systems/World"
-import Label from "@/ui/components/Label"
+import Label, { LabelSize } from "@/ui/components/Label"
 import Button from "@/ui/components/Button"
 import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 import { useMemo, useState } from "react"
 import { FaGear } from "react-icons/fa6"
 import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
+import { Divider, styled } from "@mui/material"
 
 // eslint-disable-next-line react-refresh/only-export-components
 export enum ConfigureRobotBrainTypes {
@@ -14,6 +15,15 @@ export enum ConfigureRobotBrainTypes {
     WIPLIB = 1,
 }
 
+const LabelStyled = styled(Label)({
+    fontWeight: 700,
+    margin: "0pt",
+})
+
+const DividerStyled = styled(Divider)({
+    borderColor: "white",
+})
+
 const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
     const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
     const [viewType, setViewType] = useState<ConfigureRobotBrainTypes>(ConfigureRobotBrainTypes.SYNTHESIS)
@@ -70,7 +80,31 @@ const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
                             <ToggleButton value={ConfigureRobotBrainTypes.SYNTHESIS}>SynthesisBrain</ToggleButton>
                             <ToggleButton value={ConfigureRobotBrainTypes.WIPLIB}>WIPLIBBrain</ToggleButton>
                         </ToggleButtonGroup>
-                        {viewType === ConfigureRobotBrainTypes.SYNTHESIS ? <Label>hi</Label> : <Label>hi2</Label>}
+                        {viewType === ConfigureRobotBrainTypes.SYNTHESIS ? (
+                            <>
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    Behaviors  
+                                </LabelStyled>
+                                <DividerStyled />
+
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    thing2
+                                </LabelStyled>
+                                <DividerStyled />
+
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    thing3
+                                </LabelStyled>
+                                <DividerStyled />
+
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    thing4
+                                </LabelStyled>
+                                <DividerStyled /> 
+                            </>
+                        ) : (
+                            <Label>hi2</Label>
+                        )}
                     </div>
                 </>
             )}

From 628a1aec4a55d4941c9d764bb54d391248707a15 Mon Sep 17 00:00:00 2001
From: arorad1 <dhruv.arora1@autodesk.com>
Date: Fri, 19 Jul 2024 13:14:58 -0700
Subject: [PATCH 018/344] Updated wiplibbrain

---
 .../configuring/ConfigureRobotBrainPanel.tsx  | 22 ++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
index e13f244727..ad04d5bb68 100644
--- a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
@@ -103,7 +103,27 @@ const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
                                 <DividerStyled /> 
                             </>
                         ) : (
-                            <Label>hi2</Label>
+                            <>
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    Example WIPLIB Brain 
+                                </LabelStyled>
+                                <DividerStyled />
+
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    Example 2
+                                </LabelStyled>
+                                <DividerStyled />
+
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    Example 3
+                                </LabelStyled>
+                                <DividerStyled />
+
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    Example 4
+                                </LabelStyled>
+                                <DividerStyled /> 
+                            </>
                         )}
                     </div>
                 </>

From 4f182f02735744565b81b7dcad0aa8d1eae0171f Mon Sep 17 00:00:00 2001
From: arorad1 <dhruv.arora1@autodesk.com>
Date: Fri, 19 Jul 2024 20:04:42 -0700
Subject: [PATCH 019/344] Adding basic Cascading Shadows implementation

---
 fission/src/systems/scene/CascadingShadows.ts | 94 +++++++++++++++++++
 fission/src/systems/scene/SceneRenderer.ts    | 36 ++++---
 2 files changed, 115 insertions(+), 15 deletions(-)
 create mode 100644 fission/src/systems/scene/CascadingShadows.ts

diff --git a/fission/src/systems/scene/CascadingShadows.ts b/fission/src/systems/scene/CascadingShadows.ts
new file mode 100644
index 0000000000..f80a61f237
--- /dev/null
+++ b/fission/src/systems/scene/CascadingShadows.ts
@@ -0,0 +1,94 @@
+import * as THREE from 'three';
+
+class CascadingShadows {
+    private _camera: THREE.PerspectiveCamera;
+    private _shadowCameras: THREE.OrthographicCamera[] = [];
+    private _scene: THREE.Scene;
+
+    private _renderer: THREE.WebGLRenderer;
+    private _light: THREE.DirectionalLight;
+    private _shadowMaps: THREE.WebGLRenderTarget[] = []; // One shadow map per cascade
+
+    private _numCascades: number;
+    private _cascadeSplits: number[];
+
+    constructor(camera: THREE.PerspectiveCamera, scene: THREE.Scene, renderer: THREE.WebGLRenderer, numCascades: number = 5) {
+        this._camera = camera;
+        this._scene = scene;
+        this._renderer = renderer;
+        this._numCascades = numCascades;
+
+        // Creating the directional light
+        this._light = new THREE.DirectionalLight(0xffffff, 3);
+        this._light.position.set(-1, 3, 2);
+        this._light.castShadow = true;
+        scene.add(this._light);
+        
+        // Split the camera frustum into numCascades cascades
+        this._cascadeSplits = new Array(numCascades).fill(0).map((_, i) => (i + 1) / numCascades);
+
+        // Create the shadow camera and shadow maps
+        for (let i = 0; i < numCascades; i++) {
+            const shadowCamera = new THREE.OrthographicCamera(-10, 10, 10, -10, 0.5, 500);
+            shadowCamera.position.copy(this._light.position);
+            shadowCamera.lookAt(0, 0, 0);
+            this._shadowCameras.push(shadowCamera);
+
+            const shadowMap = new THREE.WebGLRenderTarget(1024, 1024, {
+                minFilter: THREE.NearestFilter,
+                magFilter: THREE.NearestFilter,
+                format: THREE.RGBAFormat,
+            });
+            this._shadowMaps.push(shadowMap);
+        }
+    }
+
+    /** Updates the shadow maps */
+    public Update() {
+        const frustum = new THREE.Frustum();
+        const projScreenMatrix = new THREE.Matrix4();
+        projScreenMatrix.multiplyMatrices(this._camera.projectionMatrix, this._camera.matrixWorldInverse);
+        frustum.setFromProjectionMatrix(projScreenMatrix);
+
+        for (let i = 0; i < this._numCascades; i++) {
+            const near = this._camera.near + this._cascadeSplits[i] * (this._camera.far - this._camera.near);
+            const far = this._camera.near + this._cascadeSplits[i + 1] * (this._camera.far - this._camera.near);
+
+            const cascadeFrustum = new THREE.Frustum();
+            cascadeFrustum.setFromProjectionMatrix(this.GetCascadeMatrix(near, far));
+
+            const shadowCamera = this._shadowCameras[i];
+            shadowCamera.position.copy(this._light.position);
+            shadowCamera.lookAt(0, 0, 0);
+            shadowCamera.updateMatrixWorld();
+            shadowCamera.updateProjectionMatrix();
+
+            this._renderer.setRenderTarget(this._shadowMaps[i]);
+            this._renderer.render(this._scene, shadowCamera);
+        }
+
+        this._renderer.setRenderTarget(null);
+    }
+
+    /** Returns the projection matrix for the cascade */
+    private GetCascadeMatrix(near: number, far: number): THREE.Matrix4 {
+        const matrix = new THREE.Matrix4();
+        const projMatrix = new THREE.Matrix4().makePerspective(
+            this._camera.fov,
+            this._camera.aspect,
+            near,
+            far,
+            this._camera.near,
+            this._camera.far
+        );
+        const invMatrix = this._camera.matrixWorld.invert();
+        matrix.multiplyMatrices(projMatrix, invMatrix);
+        return matrix;
+    }
+
+    public getShadowMap(index: number): THREE.WebGLRenderTarget {
+        return this._shadowMaps[index];
+    }
+}
+
+export default CascadingShadows;
diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index 1590a15c9a..6458b6508a 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -14,6 +14,7 @@ import InputSystem from "../input/InputSystem"
 import { PixelSpaceCoord, SceneOverlayEvent, SceneOverlayEventKey } from "@/ui/components/SceneOverlayEvents"
 import {} from "@/ui/components/SceneOverlayEvents"
 import PreferencesSystem from "../preferences/PreferencesSystem"
+import CascadingShadows from "./CascadingShadows"
 
 const CLEAR_COLOR = 0x121212
 const GROUND_COLOR = 0x4066c7
@@ -34,6 +35,8 @@ class SceneRenderer extends WorldSystem {
     private _orbitControls: OrbitControls
     private _transformControls: Map<TransformControls, number> // maps all rendered transform controls to their size
 
+    private _light: CascadingShadows
+
     public get sceneObjects() {
         return this._sceneObjects
     }
@@ -74,23 +77,25 @@ class SceneRenderer extends WorldSystem {
         this._renderer.shadowMap.type = THREE.PCFSoftShadowMap
         this._renderer.setSize(window.innerWidth, window.innerHeight)
 
-        const directionalLight = new THREE.DirectionalLight(0xffffff, 3.0)
-        directionalLight.position.set(-1.0, 3.0, 2.0)
-        directionalLight.castShadow = true
-        this._scene.add(directionalLight)
+        // const directionalLight = new THREE.DirectionalLight(0xffffff, 3.0)
+        // directionalLight.position.set(-1.0, 3.0, 2.0)
+        // directionalLight.castShadow = true
+        // this._scene.add(directionalLight)
+
+        // const shadowMapSize = Math.min(4096, this._renderer.capabilities.maxTextureSize)
+        // const shadowCamSize = 15
+        // console.debug(`Shadow Map Size: ${shadowMapSize}`)
 
-        const shadowMapSize = Math.min(4096, this._renderer.capabilities.maxTextureSize)
-        const shadowCamSize = 15
-        console.debug(`Shadow Map Size: ${shadowMapSize}`)
+        // directionalLight.shadow.camera.top = shadowCamSize
+        // directionalLight.shadow.camera.bottom = -shadowCamSize
+        // directionalLight.shadow.camera.left = -shadowCamSize
+        // directionalLight.shadow.camera.right = shadowCamSize
+        // directionalLight.shadow.mapSize = new THREE.Vector2(shadowMapSize, shadowMapSize)
+        // directionalLight.shadow.blurSamples = 16
+        // directionalLight.shadow.normalBias = 0.01
+        // directionalLight.shadow.bias = 0.0
 
-        directionalLight.shadow.camera.top = shadowCamSize
-        directionalLight.shadow.camera.bottom = -shadowCamSize
-        directionalLight.shadow.camera.left = -shadowCamSize
-        directionalLight.shadow.camera.right = shadowCamSize
-        directionalLight.shadow.mapSize = new THREE.Vector2(shadowMapSize, shadowMapSize)
-        directionalLight.shadow.blurSamples = 16
-        directionalLight.shadow.normalBias = 0.01
-        directionalLight.shadow.bias = 0.0
+        this._light = new CascadingShadows(this._mainCamera, this._scene, this._renderer)
 
         const ambientLight = new THREE.AmbientLight(0xffffff, 0.1)
         this._scene.add(ambientLight)
@@ -143,6 +148,7 @@ class SceneRenderer extends WorldSystem {
         this._sceneObjects.forEach(obj => {
             obj.Update()
         })
+        this._light.Update()
 
         this._skybox.position.copy(this._mainCamera.position)
 

From 323386e0b7e0900e8ed0eed854597ec81983ac20 Mon Sep 17 00:00:00 2001
From: arorad1 <dhruv.arora1@autodesk.com>
Date: Fri, 19 Jul 2024 20:08:16 -0700
Subject: [PATCH 020/344] Formatting

---
 fission/src/systems/scene/CascadingShadows.ts | 109 +++++++++---------
 1 file changed, 57 insertions(+), 52 deletions(-)

diff --git a/fission/src/systems/scene/CascadingShadows.ts b/fission/src/systems/scene/CascadingShadows.ts
index f80a61f237..65d7a11667 100644
--- a/fission/src/systems/scene/CascadingShadows.ts
+++ b/fission/src/systems/scene/CascadingShadows.ts
@@ -1,78 +1,83 @@
-import * as THREE from 'three';
+import * as THREE from "three"
 
 class CascadingShadows {
-    private _camera: THREE.PerspectiveCamera;
-    private _shadowCameras: THREE.OrthographicCamera[] = [];
-    private _scene: THREE.Scene;
-
-    private _renderer: THREE.WebGLRenderer;
-    private _light: THREE.DirectionalLight;
-    private _shadowMaps: THREE.WebGLRenderTarget[] = []; // One shadow map per cascade
-
-    private _numCascades: number;
-    private _cascadeSplits: number[];
-
-    constructor(camera: THREE.PerspectiveCamera, scene: THREE.Scene, renderer: THREE.WebGLRenderer, numCascades: number = 5) {
-        this._camera = camera;
-        this._scene = scene;
-        this._renderer = renderer;
-        this._numCascades = numCascades;
+    private _camera: THREE.PerspectiveCamera
+    private _shadowCameras: THREE.OrthographicCamera[] = []
+    private _scene: THREE.Scene
+
+    private _renderer: THREE.WebGLRenderer
+    private _light: THREE.DirectionalLight
+    private _shadowMaps: THREE.WebGLRenderTarget[] = [] // One shadow map per cascade
+
+    private _numCascades: number
+    private _cascadeSplits: number[]
+
+    constructor(
+        camera: THREE.PerspectiveCamera,
+        scene: THREE.Scene,
+        renderer: THREE.WebGLRenderer,
+        numCascades: number = 5
+    ) {
+        this._camera = camera
+        this._scene = scene
+        this._renderer = renderer
+        this._numCascades = numCascades
 
         // Creating the directional light
-        this._light = new THREE.DirectionalLight(0xffffff, 3);
-        this._light.position.set(-1, 3, 2);
-        this._light.castShadow = true;
-        scene.add(this._light);
-        
+        this._light = new THREE.DirectionalLight(0xffffff, 3)
+        this._light.position.set(-1, 3, 2)
+        this._light.castShadow = true
+        scene.add(this._light)
+
         // Split the camera frustum into numCascades cascades
-        this._cascadeSplits = new Array(numCascades).fill(0).map((_, i) => (i + 1) / numCascades);
+        this._cascadeSplits = new Array(numCascades).fill(0).map((_, i) => (i + 1) / numCascades)
 
         // Create the shadow camera and shadow maps
         for (let i = 0; i < numCascades; i++) {
-            const shadowCamera = new THREE.OrthographicCamera(-10, 10, 10, -10, 0.5, 500);
-            shadowCamera.position.copy(this._light.position);
-            shadowCamera.lookAt(0, 0, 0);
-            this._shadowCameras.push(shadowCamera);
+            const shadowCamera = new THREE.OrthographicCamera(-10, 10, 10, -10, 0.5, 500)
+            shadowCamera.position.copy(this._light.position)
+            shadowCamera.lookAt(0, 0, 0)
+            this._shadowCameras.push(shadowCamera)
 
             const shadowMap = new THREE.WebGLRenderTarget(1024, 1024, {
                 minFilter: THREE.NearestFilter,
                 magFilter: THREE.NearestFilter,
                 format: THREE.RGBAFormat,
-            });
-            this._shadowMaps.push(shadowMap);
+            })
+            this._shadowMaps.push(shadowMap)
         }
     }
 
     /** Updates the shadow maps */
     public Update() {
-        const frustum = new THREE.Frustum();
-        const projScreenMatrix = new THREE.Matrix4();
-        projScreenMatrix.multiplyMatrices(this._camera.projectionMatrix, this._camera.matrixWorldInverse);
-        frustum.setFromProjectionMatrix(projScreenMatrix);
+        const frustum = new THREE.Frustum()
+        const projScreenMatrix = new THREE.Matrix4()
+        projScreenMatrix.multiplyMatrices(this._camera.projectionMatrix, this._camera.matrixWorldInverse)
+        frustum.setFromProjectionMatrix(projScreenMatrix)
 
         for (let i = 0; i < this._numCascades; i++) {
-            const near = this._camera.near + this._cascadeSplits[i] * (this._camera.far - this._camera.near);
-            const far = this._camera.near + this._cascadeSplits[i + 1] * (this._camera.far - this._camera.near);
+            const near = this._camera.near + this._cascadeSplits[i] * (this._camera.far - this._camera.near)
+            const far = this._camera.near + this._cascadeSplits[i + 1] * (this._camera.far - this._camera.near)
 
-            const cascadeFrustum = new THREE.Frustum();
-            cascadeFrustum.setFromProjectionMatrix(this.GetCascadeMatrix(near, far));
+            const cascadeFrustum = new THREE.Frustum()
+            cascadeFrustum.setFromProjectionMatrix(this.GetCascadeMatrix(near, far))
 
-            const shadowCamera = this._shadowCameras[i];
-            shadowCamera.position.copy(this._light.position);
-            shadowCamera.lookAt(0, 0, 0);
-            shadowCamera.updateMatrixWorld();
-            shadowCamera.updateProjectionMatrix();
+            const shadowCamera = this._shadowCameras[i]
+            shadowCamera.position.copy(this._light.position)
+            shadowCamera.lookAt(0, 0, 0)
+            shadowCamera.updateMatrixWorld()
+            shadowCamera.updateProjectionMatrix()
 
-            this._renderer.setRenderTarget(this._shadowMaps[i]);
-            this._renderer.render(this._scene, shadowCamera);
+            this._renderer.setRenderTarget(this._shadowMaps[i])
+            this._renderer.render(this._scene, shadowCamera)
         }
 
-        this._renderer.setRenderTarget(null);
+        this._renderer.setRenderTarget(null)
     }
 
     /** Returns the projection matrix for the cascade */
     private GetCascadeMatrix(near: number, far: number): THREE.Matrix4 {
-        const matrix = new THREE.Matrix4();
+        const matrix = new THREE.Matrix4()
         const projMatrix = new THREE.Matrix4().makePerspective(
             this._camera.fov,
             this._camera.aspect,
@@ -80,15 +85,15 @@ class CascadingShadows {
             far,
             this._camera.near,
             this._camera.far
-        );
-        const invMatrix = this._camera.matrixWorld.invert();
-        matrix.multiplyMatrices(projMatrix, invMatrix);
-        return matrix;
+        )
+        const invMatrix = this._camera.matrixWorld.invert()
+        matrix.multiplyMatrices(projMatrix, invMatrix)
+        return matrix
     }
 
     public getShadowMap(index: number): THREE.WebGLRenderTarget {
-        return this._shadowMaps[index];
+        return this._shadowMaps[index]
     }
 }
 
-export default CascadingShadows;
+export default CascadingShadows

From e716d0ba0c329f0ae3644981a36d0360f5536928 Mon Sep 17 00:00:00 2001
From: arorad1 <dhruv.arora1@autodesk.com>
Date: Mon, 22 Jul 2024 11:57:24 -0700
Subject: [PATCH 021/344] Changing light color and intensity and removing old
 lighting implementation

---
 fission/src/systems/scene/CascadingShadows.ts |  2 +-
 fission/src/systems/scene/SceneRenderer.ts    | 18 ------------------
 2 files changed, 1 insertion(+), 19 deletions(-)

diff --git a/fission/src/systems/scene/CascadingShadows.ts b/fission/src/systems/scene/CascadingShadows.ts
index 65d7a11667..b1b9d5b4a2 100644
--- a/fission/src/systems/scene/CascadingShadows.ts
+++ b/fission/src/systems/scene/CascadingShadows.ts
@@ -24,7 +24,7 @@ class CascadingShadows {
         this._numCascades = numCascades
 
         // Creating the directional light
-        this._light = new THREE.DirectionalLight(0xffffff, 3)
+        this._light = new THREE.DirectionalLight(0xb6c6e3, 5.0)
         this._light.position.set(-1, 3, 2)
         this._light.castShadow = true
         scene.add(this._light)
diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index 6458b6508a..a4af554078 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -77,24 +77,6 @@ class SceneRenderer extends WorldSystem {
         this._renderer.shadowMap.type = THREE.PCFSoftShadowMap
         this._renderer.setSize(window.innerWidth, window.innerHeight)
 
-        // const directionalLight = new THREE.DirectionalLight(0xffffff, 3.0)
-        // directionalLight.position.set(-1.0, 3.0, 2.0)
-        // directionalLight.castShadow = true
-        // this._scene.add(directionalLight)
-
-        // const shadowMapSize = Math.min(4096, this._renderer.capabilities.maxTextureSize)
-        // const shadowCamSize = 15
-        // console.debug(`Shadow Map Size: ${shadowMapSize}`)
-
-        // directionalLight.shadow.camera.top = shadowCamSize
-        // directionalLight.shadow.camera.bottom = -shadowCamSize
-        // directionalLight.shadow.camera.left = -shadowCamSize
-        // directionalLight.shadow.camera.right = shadowCamSize
-        // directionalLight.shadow.mapSize = new THREE.Vector2(shadowMapSize, shadowMapSize)
-        // directionalLight.shadow.blurSamples = 16
-        // directionalLight.shadow.normalBias = 0.01
-        // directionalLight.shadow.bias = 0.0
-
         this._light = new CascadingShadows(this._mainCamera, this._scene, this._renderer)
 
         const ambientLight = new THREE.AmbientLight(0xffffff, 0.1)

From adeccb677c6182190abd756b1ae4a78e4ebad740 Mon Sep 17 00:00:00 2001
From: arorad1 <dhruv.arora1@autodesk.com>
Date: Mon, 22 Jul 2024 15:05:05 -0700
Subject: [PATCH 022/344] Adding basic UI for displaying joints

---
 fission/src/mirabuf/MirabufSceneObject.ts     |   4 +
 .../behavior/ArcadeDriveBehavior.ts           |   4 +
 .../simulation/behavior/GenericArmBehavior.ts |   4 +
 .../behavior/GenericElevatorBehavior.ts       |   4 +
 .../systems/simulation/driver/HingeDriver.ts  |   4 +
 .../systems/simulation/driver/SliderDriver.ts |   4 +
 .../synthesis_brain/SynthesisBrain.ts         |   4 +
 .../configuring/ConfigureRobotBrainPanel.tsx  | 150 +++++++++++++++---
 8 files changed, 159 insertions(+), 19 deletions(-)

diff --git a/fission/src/mirabuf/MirabufSceneObject.ts b/fission/src/mirabuf/MirabufSceneObject.ts
index 4c4cdd1414..8dfc12fa8a 100644
--- a/fission/src/mirabuf/MirabufSceneObject.ts
+++ b/fission/src/mirabuf/MirabufSceneObject.ts
@@ -56,6 +56,10 @@ class MirabufSceneObject extends SceneObject {
         return this._mechanism
     }
 
+    get brain() {
+        return this._brain
+    }
+
     get assemblyName() {
         return this._assemblyName
     }
diff --git a/fission/src/systems/simulation/behavior/ArcadeDriveBehavior.ts b/fission/src/systems/simulation/behavior/ArcadeDriveBehavior.ts
index 374f5684d9..8d4392e349 100644
--- a/fission/src/systems/simulation/behavior/ArcadeDriveBehavior.ts
+++ b/fission/src/systems/simulation/behavior/ArcadeDriveBehavior.ts
@@ -12,6 +12,10 @@ class ArcadeDriveBehavior extends Behavior {
     private _driveSpeed = 30
     private _turnSpeed = 30
 
+    public get wheels(): WheelDriver[] {
+        return this.leftWheels.concat(this.rightWheels)
+    }
+
     constructor(
         leftWheels: WheelDriver[],
         rightWheels: WheelDriver[],
diff --git a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
index fc9e9bbd5d..6572bdb94a 100644
--- a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
@@ -11,6 +11,10 @@ class GenericArmBehavior extends Behavior {
 
     private _rotationalSpeed = 6
 
+    public get hingeDriver(): HingeDriver {
+        return this._hingeDriver
+    }
+
     constructor(
         hingeDriver: HingeDriver,
         hingeStimulus: HingeStimulus,
diff --git a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
index f1c01bde56..811b9211ec 100644
--- a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
@@ -11,6 +11,10 @@ class GenericElevatorBehavior extends Behavior {
 
     private _linearSpeed = 2.5
 
+    public get sliderDriver(): SliderDriver {
+        return this._sliderDriver
+    }
+
     constructor(
         sliderDriver: SliderDriver,
         sliderStimulus: SliderStimulus,
diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
index 6940afbc8c..f747c99f48 100644
--- a/fission/src/systems/simulation/driver/HingeDriver.ts
+++ b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -10,6 +10,10 @@ class HingeDriver extends Driver {
     private _targetVelocity: number = 0.0
     private _targetAngle: number
 
+    public get constraint(): Jolt.HingeConstraint {
+        return this._constraint
+    }
+
     public get targetVelocity(): number {
         return this._targetVelocity
     }
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index 6bf361d445..68fff04d85 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -10,6 +10,10 @@ class SliderDriver extends Driver {
     private _targetVelocity: number = 0.0
     private _targetPosition: number = 0.0
 
+    public get constraint(): Jolt.SliderConstraint {
+        return this._constraint
+    }
+
     public get targetVelocity(): number {
         return this._targetVelocity
     }
diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index a44411acaf..77030adae0 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -28,6 +28,10 @@ class SynthesisBrain extends Brain {
     private _assemblyName: string
     private _assemblyIndex: number = 0
 
+    public get behaviors(): Behavior[] {
+        return this._behaviors
+    }
+
     // Tracks the number of each specific mira file spawned
     public static numberRobotsSpawned: { [key: string]: number } = {}
 
diff --git a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
index ad04d5bb68..5ed2db3995 100644
--- a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
@@ -1,5 +1,5 @@
 import { MiraType } from "@/mirabuf/MirabufLoader"
-import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import MirabufSceneObject, { RigidNodeAssociate } from "@/mirabuf/MirabufSceneObject"
 import World from "@/systems/World"
 import Label, { LabelSize } from "@/ui/components/Label"
 import Button from "@/ui/components/Button"
@@ -8,6 +8,11 @@ import { useMemo, useState } from "react"
 import { FaGear } from "react-icons/fa6"
 import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
 import { Divider, styled } from "@mui/material"
+import ArcadeDriveBehavior from "@/systems/simulation/behavior/ArcadeDriveBehavior"
+import GenericArmBehavior from "@/systems/simulation/behavior/GenericArmBehavior"
+import GenericElevatorBehavior from "@/systems/simulation/behavior/GenericElevatorBehavior"
+import Stack, { StackDirection } from "@/ui/components/Stack"
+import { JSX } from "react/jsx-runtime"
 
 // eslint-disable-next-line react-refresh/only-export-components
 export enum ConfigureRobotBrainTypes {
@@ -24,6 +29,127 @@ const DividerStyled = styled(Divider)({
     borderColor: "white",
 })
 
+/**
+ * Retrieves the joints of a robot and generates JSX elements for each joint.
+ * @param robot The MirabufSceneObject representing the robot.
+ * @returns An array of JSX elements representing the joints of the robot.
+ */
+function GetJoints(robot: MirabufSceneObject): JSX.Element[] {
+    const output: JSX.Element[] = []
+    let elementKey = 0
+
+    /* Iterate through each behavior of the robot */
+    robot.brain?.behaviors.forEach(behavior => {
+        /* Adds the joints that the wheels are associated with */
+        if (behavior instanceof ArcadeDriveBehavior) {
+            behavior.wheels.forEach(wheel => {
+                const assoc = World.PhysicsSystem.GetBodyAssociation(
+                    wheel.constraint.GetVehicleBody().GetID()
+                ) as RigidNodeAssociate
+
+                if (!assoc || assoc.sceneObject !== robot) {
+                    return
+                }
+
+                output.push(
+                    <Stack
+                        key={`Behavior ${elementKey}`}
+                        direction={StackDirection.Horizontal}
+                        className="items-center"
+                    >
+                        <LabelStyled
+                            key={`wheel-node-notation ${elementKey}`}
+                            size={LabelSize.Small}
+                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                        >
+                            Wheel Node {elementKey}
+                        </LabelStyled>
+                        <LabelStyled
+                            key={`wheel-node-number ${elementKey}`}
+                            size={LabelSize.Small}
+                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                        >
+                            {assoc.rigidNodeId}
+                        </LabelStyled>
+                    </Stack>
+                )
+                elementKey++
+            })
+            output.push(<DividerStyled key={`divider-${elementKey}`} />)
+        } else if (behavior instanceof GenericArmBehavior) {
+
+        /* Adds the joints that the arm is associated with */
+            // Get the rigid node associates for the two bodies
+            const assoc1 = World.PhysicsSystem.GetBodyAssociation(
+                behavior.hingeDriver.constraint.GetBody1().GetID()
+            ) as RigidNodeAssociate
+            const assoc2 = World.PhysicsSystem.GetBodyAssociation(
+                behavior.hingeDriver.constraint.GetBody2().GetID()
+            ) as RigidNodeAssociate
+
+            if (!assoc1 || assoc1.sceneObject !== robot || !assoc2 || assoc2.sceneObject !== robot) {
+                return
+            }
+
+            output.push(
+                <Stack key={`Behavior ${elementKey}`} direction={StackDirection.Horizontal} className="items-center">
+                    <LabelStyled
+                        key={`arm-nodes-notation ${elementKey}`}
+                        size={LabelSize.Small}
+                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                    >
+                        Arm Nodes
+                    </LabelStyled>
+                    <LabelStyled
+                        key={`arm-nodes ${elementKey}`}
+                        size={LabelSize.Small}
+                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                    >
+                        {assoc1.rigidNodeId + " " + assoc2.rigidNodeId}
+                    </LabelStyled>
+                </Stack>
+            )
+            elementKey++
+        } else if (behavior instanceof GenericElevatorBehavior) {
+
+        /* Adds the joints that the elevator is associated with */
+            // Get the rigid node associates for the two bodies
+            const assoc1 = World.PhysicsSystem.GetBodyAssociation(
+                behavior.sliderDriver.constraint.GetBody1().GetID()
+            ) as RigidNodeAssociate
+            const assoc2 = World.PhysicsSystem.GetBodyAssociation(
+                behavior.sliderDriver.constraint.GetBody2().GetID()
+            ) as RigidNodeAssociate
+
+            if (!assoc1 || assoc1.sceneObject !== robot || !assoc2 || assoc2.sceneObject !== robot) {
+                return
+            }
+
+            output.push(
+                <Stack key={`Behavior ${elementKey}`} direction={StackDirection.Horizontal} className="items-center">
+                    <LabelStyled
+                        key={`elevator-nodes-notation ${elementKey}`}
+                        size={LabelSize.Small}
+                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                    >
+                        Elevator Nodes
+                    </LabelStyled>
+                    <LabelStyled
+                        key={`elevator-nodes ${elementKey}`}
+                        size={LabelSize.Small}
+                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                    >
+                        {assoc1.rigidNodeId + " " + assoc2.rigidNodeId}
+                    </LabelStyled>
+                </Stack>
+            )
+            elementKey++
+        }
+    })
+
+    return output
+}
+
 const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
     const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
     const [viewType, setViewType] = useState<ConfigureRobotBrainTypes>(ConfigureRobotBrainTypes.SYNTHESIS)
@@ -83,29 +209,15 @@ const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
                         {viewType === ConfigureRobotBrainTypes.SYNTHESIS ? (
                             <>
                                 <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Behaviors  
-                                </LabelStyled>
-                                <DividerStyled />
-
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    thing2
-                                </LabelStyled>
-                                <DividerStyled />
-
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    thing3
+                                    Behaviors
                                 </LabelStyled>
                                 <DividerStyled />
-
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    thing4
-                                </LabelStyled>
-                                <DividerStyled /> 
+                                {GetJoints(selectedRobot)}
                             </>
                         ) : (
                             <>
                                 <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Example WIPLIB Brain 
+                                    Example WIPLIB Brain
                                 </LabelStyled>
                                 <DividerStyled />
 
@@ -122,7 +234,7 @@ const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
                                 <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
                                     Example 4
                                 </LabelStyled>
-                                <DividerStyled /> 
+                                <DividerStyled />
                             </>
                         )}
                     </div>

From 676130ea572dc889d7524185f252c6b30864aab1 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 23 Jul 2024 10:57:40 -0700
Subject: [PATCH 023/344] Working gamepiece config tab

---
 .../src/Parser/ExporterOptions.py             |   5 +-
 .../src/UI/ConfigCommand.py                   |  49 ++-
 .../src/UI/GamepieceConfigTab.py              | 326 ++++++++++++++++++
 .../src/UI/GeneralConfigTab.py                |  17 +-
 .../src/UI/JointConfigTab.py                  |  19 +-
 .../src/UI/ShowAPSAuthCommand.py              |   9 +-
 6 files changed, 382 insertions(+), 43 deletions(-)
 create mode 100644 exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py

diff --git a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
index 603e71d382..b3a3507ce9 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
@@ -50,7 +50,7 @@ class Joint:
 @dataclass
 class Gamepiece:
     occurrenceToken: str = field(default=None)
-    weight: float = field(default=None)
+    weight: KG = field(default=None)
     friction: float = field(default=None)
 
 
@@ -98,7 +98,8 @@ class ExporterOptions:
 
     # Always stored in kg regardless of 'preferredUnits'
     robotWeight: KG = field(default=0.0)
-    autoCalcWeight: bool = field(default=False)
+    autoCalcRobotWeight: bool = field(default=False)
+    autoCalcGamepieceWeight: bool = field(default=False)
 
     compressOutput: bool = field(default=True)
     exportAsPart: bool = field(default=False)
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 8e327d04d8..7f6b52c5f3 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -18,6 +18,7 @@
 from ..Parser.SynthesisParser.Parser import Parser
 from . import CustomGraphics, FileDialogConfig, Helper, IconPaths
 from .Configuration.SerialCommand import SerialCommand
+from .GamepieceConfigTab import GamepieceConfigTab
 from .GeneralConfigTab import GeneralConfigTab
 
 # Transition: AARD-1685
@@ -29,6 +30,7 @@
 
 generalConfigTab: GeneralConfigTab
 jointConfigTab: JointConfigTab
+gamepieceConfigTab: GamepieceConfigTab
 
 """
 INPUTS_ROOT (adsk.fusion.CommandInputs):
@@ -131,6 +133,10 @@ def notify(self, args):
             global generalConfigTab
             generalConfigTab = GeneralConfigTab(args, exporterOptions)
 
+            global gamepieceConfigTab
+            gamepieceConfigTab = GamepieceConfigTab(args, exporterOptions)
+            gamepieceConfigTab.isVisible = True  # TODO: Should not be visible by default.
+
             # ~~~~~~~~~~~~~~~~ HELP FILE ~~~~~~~~~~~~~~~~
             """
             Sets the small "i" icon in bottom left of the panel.
@@ -140,6 +146,7 @@ def notify(self, args):
 
             global jointConfigTab
             jointConfigTab = JointConfigTab(args)
+            jointConfigTab.isVisible = False
 
             # Transition: AARD-1685
             # There remains some overlap between adding joints as wheels.
@@ -437,7 +444,7 @@ def notify(self, args):
                 exportMode=generalConfigTab.exportMode,
                 compressOutput=generalConfigTab.compress,
                 exportAsPart=generalConfigTab.exportAsPart,
-                autoCalcWeight=generalConfigTab.autoCalculateWeight,
+                autoCalcRobotWeight=generalConfigTab.autoCalculateWeight,
             )
 
             Parser(exporterOptions).export()
@@ -481,19 +488,20 @@ def notify(self, args):
             # Transition: AARD-1685
             # This is how all preview handles should be done in the future
             jointConfigTab.handlePreviewEvent(args)
+            gamepieceConfigTab.handlePreviewEvent(args)
 
-            gamepieceTableInput = gamepieceTable()
-            if gamepieceTableInput.rowCount <= 1:
-                removeFieldInput.isEnabled = auto_calc_weight_f.isEnabled = False
-            else:
-                removeFieldInput.isEnabled = auto_calc_weight_f.isEnabled = True
-
-            if not addFieldInput.isEnabled or not removeFieldInput:
-                for gamepiece in GamepieceListGlobal:
-                    gamepiece.component.opacity = 0.25
-                    CustomGraphics.createTextGraphics(gamepiece, GamepieceListGlobal)
-            else:
-                gm.app.activeDocument.design.rootComponent.opacity = 1
+            # gamepieceTableInput = gamepieceTable()
+            # if gamepieceTableInput.rowCount <= 1:
+            #     removeFieldInput.isEnabled = auto_calc_weight_f.isEnabled = False
+            # else:
+            #     removeFieldInput.isEnabled = auto_calc_weight_f.isEnabled = True
+
+            # if not addFieldInput.isEnabled or not removeFieldInput:
+            #     for gamepiece in GamepieceListGlobal:
+            #         gamepiece.component.opacity = 0.25
+            #         CustomGraphics.createTextGraphics(gamepiece, GamepieceListGlobal)
+            # else:
+            #     gm.app.activeDocument.design.rootComponent.opacity = 1
         except AttributeError:
             pass
         except:
@@ -665,11 +673,15 @@ def notify(self, args: adsk.core.SelectionEventArgs):
             #         selectionInput.isEnabled = False
             #         selectionInput.isVisible = False
 
+            if gamepieceConfigTab.isVisible:
+                self.cmd.setCursor("", 0, 0)  # Reset select cursor back to normal cursor.
+                gamepieceConfigTab.handleSelectionEvent(args, args.selection.entity)
+
             # Transition: AARD-1685
             # This is how all handle selection events should be done in the future although it will look
             # slightly differently for each type of handle.
-            if self.selectedJoint:
-                jointConfigTab.handleSelectionEvent(args, self.selectedJoint)
+            if jointConfigTab.isVisible:
+                jointConfigTab.handleSelectionEvent(args, args.selection.entity)
         except:
             if gm.ui:
                 gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
@@ -807,9 +819,14 @@ def notify(self, args):
 
             # Transition: AARD-1685
             # Should be how all input changed handles are done in the future
-            jointConfigTab.handleInputChanged(args, INPUTS_ROOT)
             generalConfigTab.handleInputChanged(args)
 
+            if jointConfigTab.isVisible:
+                jointConfigTab.handleInputChanged(args, INPUTS_ROOT)
+
+            if gamepieceConfigTab.isVisible:
+                gamepieceConfigTab.handleInputChanged(args, INPUTS_ROOT)
+
             MySelectHandler.lastInputCmd = cmdInput
             inputs = cmdInput.commandInputs
             onSelect = gm.handlers[3]
diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
new file mode 100644
index 0000000000..d69be45c2b
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -0,0 +1,326 @@
+import adsk.core
+import adsk.fusion
+
+from ..Parser.ExporterOptions import ExporterOptions, Gamepiece, PreferredUnits
+from ..TypesTmp import toKg, toLbs
+from . import IconPaths
+from .CreateCommandInputsHelper import (
+    createBooleanInput,
+    createTableInput,
+    createTextBoxInput,
+)
+
+
+class GamepieceConfigTab:
+    selectedGamepieceList: list[adsk.fusion.Occurrence] = []
+    selectedGamepieceEntityIDs: set[str] = set()
+    gamepieceConfigTab: adsk.core.TabCommandInput
+    gamepieceTable: adsk.core.TableCommandInput
+    previousAutoCalcWeightCheckboxState: bool
+    previousSelectedUnitDropdownIndex: int
+    currentUnits: PreferredUnits
+
+    def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: ExporterOptions) -> None:
+        inputs = args.command.commandInputs
+        self.gamepieceConfigTab = inputs.addTabCommandInput("gamepieceSettings", "Gamepiece Settings")
+        self.gamepieceConfigTab.tooltip = "Field gamepiece configuration options."
+        gamepieceTabInputs = self.gamepieceConfigTab.children
+
+        # Invisible by default, only becomes visible when the current export mode is static or 'field'.
+        self.gamepieceConfigTab.isVisible = False
+
+        createBooleanInput(
+            "autoCalcGamepieceWeight",
+            "Auto Calculate Gamepiece Weight",
+            gamepieceTabInputs,
+            checked=exporterOptions.autoCalcGamepieceWeight,
+            tooltip="Approximate the weight of each selected gamepiece.",
+        )
+        self.previousAutoCalcWeightCheckboxState = exporterOptions.autoCalcGamepieceWeight
+
+        self.currentUnits = exporterOptions.preferredUnits
+        imperialUnits = self.currentUnits == PreferredUnits.IMPERIAL
+        weightUnitTable = gamepieceTabInputs.addDropDownCommandInput(
+            "gamepieceWeightUnit", "Unit of Mass", adsk.core.DropDownStyles.LabeledIconDropDownStyle
+        )
+
+        # Invisible white space characters are required in the list item name field to make this work.
+        # I have no idea why, Fusion API needs some special education help - Brandon
+        weightUnitTable.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
+        weightUnitTable.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
+        weightUnitTable.tooltip = "Unit of mass"
+        weightUnitTable.tooltipDescription = "<hr>Configure the unit of mass for for the weight calculation."
+        self.previousSelectedUnitDropdownIndex = int(not imperialUnits)
+
+        self.gamepieceTable = createTableInput(
+            "gamepieceTable",
+            "Gamepiece",
+            gamepieceTabInputs,
+            4,
+            "8:5:12",
+        )
+
+        self.gamepieceTable.addCommandInput(
+            createTextBoxInput("gamepieceNameHeader", "Name", gamepieceTabInputs, "Name", bold=False), 0, 0
+        )
+        self.gamepieceTable.addCommandInput(
+            createTextBoxInput("gamepieceWeightHeader", "Weight", gamepieceTabInputs, "Weight", bold=False), 0, 1
+        )
+        self.gamepieceTable.addCommandInput(
+            createTextBoxInput(
+                "frictionHeader",
+                "Gamepiece Friction Coefficient",
+                gamepieceTabInputs,
+                "Gamepiece Friction Coefficient",
+                background="#d9d9d9",
+            ),
+            0,
+            2,
+        )
+        gamepieceTabInputs.addTextBoxCommandInput("gamepieceTabBlankSpacer", "", "", 1, True)
+
+        gamepieceSelectCancelButton = gamepieceTabInputs.addBoolValueInput(
+            "gamepieceSelectCancelButton", "Cancel", False
+        )
+        gamepieceSelectCancelButton.isEnabled = gamepieceSelectCancelButton.isVisible = False
+
+        gamepieceAddButton = gamepieceTabInputs.addBoolValueInput("gamepieceAddButton", "Add", False)
+        gamepieceRemoveButton = gamepieceTabInputs.addBoolValueInput("gamepieceRemoveButton", "Remove", False)
+        gamepieceAddButton.isEnabled = gamepieceRemoveButton.isEnabled = True
+
+        gamepieceSelect = gamepieceTabInputs.addSelectionInput(
+            "gamepieceSelect", "Selection", "Select the unique gamepieces in your field."
+        )
+        gamepieceSelect.addSelectionFilter("Occurrences")
+        gamepieceSelect.setSelectionLimits(0)
+        gamepieceSelect.isEnabled = gamepieceSelect.isVisible = False  # Visibility is triggered by `gamepieceAddButton`
+
+        self.gamepieceTable.addToolbarCommandInput(gamepieceAddButton)
+        self.gamepieceTable.addToolbarCommandInput(gamepieceRemoveButton)
+        self.gamepieceTable.addToolbarCommandInput(gamepieceSelectCancelButton)
+
+    @property
+    def isVisible(self) -> bool:
+        return self.gamepieceConfigTab.isVisible
+
+    @isVisible.setter
+    def isVisible(self, value: bool) -> None:
+        self.gamepieceConfigTab.isVisible = value
+
+    @property
+    def weightInputs(self) -> list[adsk.core.ValueCommandInput]:
+        gamepieceWeightInputs = []
+        for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
+            gamepieceWeightInputs.append(self.gamepieceTable.getInputAtPosition(row, 1))
+
+        return gamepieceWeightInputs
+
+    def addGamepiece(self, gamepiece: adsk.fusion.Occurrence, synGamepiece: Gamepiece | None = None) -> bool:
+        if gamepiece.entityToken in self.selectedGamepieceEntityIDs:
+            return False
+
+        def addChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None:
+            for occ in childOccurrences:
+                self.selectedGamepieceEntityIDs.add(occ.entityToken)
+
+                if occ.childOccurrences:
+                    addChildOccurrences(occ.childOccurrences)
+
+        if gamepiece.childOccurrences:
+            addChildOccurrences(gamepiece.childOccurrences)
+        else:
+            self.selectedGamepieceEntityIDs.add(gamepiece.entityToken)
+
+        self.selectedGamepieceList.append(gamepiece)
+
+        commandInputs = self.gamepieceTable.commandInputs
+        gamepieceName = commandInputs.addTextBoxCommandInput(
+            "gamepieceName", "Occurrence Name", gamepiece.name, 1, True
+        )
+        gamepieceName.tooltip = gamepiece.name
+
+        valueList = [1] + [i / 20 for i in range(20)]
+        frictionCoefficient = commandInputs.addFloatSliderListCommandInput(
+            "gamepieceFrictionCoefficient", "", "", valueList
+        )
+        frictionCoefficient.tooltip = "Friction coefficient of field element"
+        frictionCoefficient.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
+        if synGamepiece:
+            frictionCoefficient.valueOne = synGamepiece.friction
+
+        physical = gamepiece.component.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
+        if self.currentUnits == PreferredUnits.IMPERIAL:
+            gamepieceMass = toLbs(physical.mass)
+        else:
+            gamepieceMass = round(physical.mass, 2)
+
+        weight = commandInputs.addValueInput(
+            "gamepieceWeight", "Weight Input", "", adsk.core.ValueInput.createByString(str(gamepieceMass))
+        )
+        weight.tooltip = "Weight of field element"
+
+        weightUnitDropdown: adsk.core.DropDownCommandInput = self.gamepieceConfigTab.children.itemById(
+            "gamepieceWeightUnit"
+        )
+        if weightUnitDropdown.selectedItem.index == 0:
+            weight.tooltipDescription = "<tt>(in pounds)</tt>"
+        else:
+            assert weightUnitDropdown.selectedItem.index == 1
+            weight.tooltipDescription = "<tt>(in kilograms)</tt>"
+
+        row = self.gamepieceTable.rowCount
+        self.gamepieceTable.addCommandInput(gamepieceName, row, 0)
+        self.gamepieceTable.addCommandInput(weight, row, 1)
+        self.gamepieceTable.addCommandInput(frictionCoefficient, row, 2)
+
+        return True
+
+    def removeIndexedGamepiece(self, index: int) -> None:
+        self.removeGamepiece(self.selectedGamepieceList[index])
+
+    def removeGamepiece(self, gamepiece: adsk.fusion.Occurrence) -> None:
+        def removeChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None:
+            for occ in childOccurrences:
+                self.selectedGamepieceEntityIDs.remove(occ.entityToken)
+
+                if occ.childOccurrences:
+                    removeChildOccurrences(occ.childOccurrences)
+
+        if gamepiece.childOccurrences:
+            removeChildOccurrences(gamepiece.childOccurrences)
+        else:
+            self.selectedGamepieceEntityIDs.remove(gamepiece.entityToken)
+
+        i = self.selectedGamepieceList.index(gamepiece)
+        self.selectedGamepieceList.remove(gamepiece)
+        self.gamepieceTable.deleteRow(i + 1)  # Row is 1 indexed
+
+    def updateWeightTableToUnits(self, units: PreferredUnits) -> None:
+        assert units in {PreferredUnits.METRIC, PreferredUnits.IMPERIAL}
+        conversionFunc = toKg if units == PreferredUnits.METRIC else toLbs
+        for row in range(1, self.gamepieceTable.rowCount):
+            weightInput: adsk.core.ValueCommandInput = self.gamepieceTable.getInputAtPosition(row, 1)
+            weightInput.value = conversionFunc(weightInput.value)
+
+    def calcGamepieceWeights(self) -> None:
+        for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
+            weightInput: adsk.core.ValueCommandInput = self.gamepieceTable.getInputAtPosition(row, 1)
+            physical = self.selectedGamepieceList[row - 1].component.getPhysicalProperties(
+                adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
+            )
+            if self.currentUnits == PreferredUnits.IMPERIAL:
+                weightInput.value = toLbs(physical.mass)
+            else:
+                weightInput.value = round(physical.mass, 2)
+
+    def handleInputChanged(
+        self, args: adsk.core.InputChangedEventArgs, globalCommandInputs: adsk.core.CommandInputs
+    ) -> None:
+        commandInput = args.input
+        if commandInput.id == "autoCalcGamepieceWeight":
+            autoCalcWeightButton = adsk.core.BoolValueCommandInput.cast(commandInput)
+            if autoCalcWeightButton.value == self.previousAutoCalcWeightCheckboxState:
+                return
+
+            if autoCalcWeightButton.value:
+                self.calcGamepieceWeights()
+                for weightInput in self.weightInputs:
+                    weightInput.isEnabled = False
+            else:
+                for weightInput in self.weightInputs:
+                    weightInput.isEnabled = True
+
+            self.previousAutoCalcWeightCheckboxState = autoCalcWeightButton.value
+
+        elif commandInput.id == "gamepieceWeightUnit":
+            weightUnitDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
+            if weightUnitDropdown.selectedItem.index == self.previousSelectedUnitDropdownIndex:
+                return
+
+            if weightUnitDropdown.selectedItem.index == 0:
+                self.currentUnits = PreferredUnits.IMPERIAL
+            else:
+                assert weightUnitDropdown.selectedItem.index == 1
+                self.currentUnits = PreferredUnits.METRIC
+
+            self.updateWeightTableToUnits(self.currentUnits)
+            self.previousSelectedUnitDropdownIndex = weightUnitDropdown.selectedItem.index
+
+        elif commandInput.id == "gamepieceAddButton":
+            gamepieceAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("gamepieceAddButton")
+            gamepieceRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
+                "gamepieceRemoveButton"
+            )
+            gamepieceSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
+                "gamepieceSelectCancelButton"
+            )
+            gamepieceSelection: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById(
+                "gamepieceSelect"
+            )
+
+            gamepieceSelection.isVisible = gamepieceSelection.isEnabled = True
+            gamepieceSelection.clearSelection()
+            gamepieceAddButton.isEnabled = gamepieceRemoveButton.isEnabled = False
+            gamepieceSelectCancelButton.isVisible = gamepieceSelectCancelButton.isEnabled = True
+
+        elif commandInput.id == "gamepieceRemoveButton":
+            gamepieceAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("gamepieceAddButton")
+            gamepieceTable: adsk.core.TableCommandInput = args.inputs.itemById("gamepieceTable")
+
+            gamepieceAddButton.isEnabled = True
+            if gamepieceTable.selectedRow == -1 or gamepieceTable.selectedRow == 0:
+                ui = adsk.core.Application.get().userInterface
+                ui.messageBox("Select a row to delete.")
+            else:
+                self.removeIndexedGamepiece(gamepieceTable.selectedRow - 1)  # selectedRow is 1 indexed
+
+        elif commandInput.id == "gamepieceSelectCancelButton":
+            gamepieceAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("gamepieceAddButton")
+            gamepieceRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
+                "gamepieceRemoveButton"
+            )
+            gamepieceSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
+                "gamepieceSelectCancelButton"
+            )
+            gamepieceSelection: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById(
+                "gamepieceSelect"
+            )
+
+            gamepieceSelection.isEnabled = gamepieceSelection.isVisible = False
+            gamepieceSelectCancelButton.isEnabled = gamepieceSelectCancelButton.isVisible = False
+            gamepieceAddButton.isEnabled = gamepieceRemoveButton.isEnabled = True
+
+    def handleSelectionEvent(self, args: adsk.core.SelectionEventArgs, selectedOcc: adsk.fusion.Occurrence) -> None:
+        selectionInput = args.activeInput
+        rootComponent = adsk.core.Application.get().activeDocument.design.rootComponent
+        occurrenceList: list[adsk.fusion.Occurrence] = rootComponent.allOccurrencesByComponent(selectedOcc.component)
+        for occ in occurrenceList:
+            if not self.addGamepiece(occ):
+                ui = adsk.core.Application.get().userInterface
+                result = ui.messageBox(
+                    "You have already selected this Gamepiece.\n" "Would you like to remove it?",
+                    "Synthesis: Remove Gamepiece Confirmation",
+                    adsk.core.MessageBoxButtonTypes.YesNoButtonType,
+                    adsk.core.MessageBoxIconTypes.QuestionIconType,
+                )
+
+                if result == adsk.core.DialogResults.DialogYes:
+                    self.removeGamepiece(occ)
+
+        selectionInput.isEnabled = selectionInput.isVisible = False
+
+    def handlePreviewEvent(self, args: adsk.core.CommandEventArgs) -> None:
+        commandInputs = args.command.commandInputs
+        gamepieceAddButton: adsk.core.BoolValueCommandInput = commandInputs.itemById("gamepieceAddButton")
+        gamepieceRemoveButton: adsk.core.BoolValueCommandInput = commandInputs.itemById("gamepieceRemoveButton")
+        gamepieceSelectCancelButton: adsk.core.BoolValueCommandInput = commandInputs.itemById(
+            "gamepieceSelectCancelButton"
+        )
+        gamepieceSelection: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById(
+            "gamepieceSelect"
+        )
+
+        gamepieceRemoveButton.isEnabled = self.gamepieceTable.rowCount > 1
+        if not gamepieceSelection.isEnabled:
+            gamepieceAddButton.isEnabled = True
+            gamepieceSelectCancelButton.isVisible = gamepieceSelectCancelButton.isEnabled = False
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index 8867847a34..693068326f 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -15,6 +15,7 @@ class GeneralConfigTab:
     generalOptionsTab: adsk.core.TabCommandInput
     previousAutoCalcWeightCheckboxState: bool
     previousSelectedUnitDropdownIndex: int
+    currentUnits: PreferredUnits
 
     def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: ExporterOptions) -> None:
         try:
@@ -53,11 +54,10 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
                 "autoCalcWeightButton",
                 "Auto Calculate Robot Weight",
                 generalTabInputs,
-                checked=exporterOptions.autoCalcWeight,
+                checked=exporterOptions.autoCalcRobotWeight,
                 tooltip="Approximate the weight of your robot assembly.",
-                enabled=True,
             )
-            self.previousAutoCalcWeightCheckboxState = exporterOptions.autoCalcWeight
+            self.previousAutoCalcWeightCheckboxState = exporterOptions.autoCalcRobotWeight
 
             self.currentUnits = exporterOptions.preferredUnits
             imperialUnits = self.currentUnits == PreferredUnits.IMPERIAL
@@ -78,7 +78,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
                 f"<tt>(in {'pounds' if self.currentUnits == PreferredUnits.IMPERIAL else 'kilograms'})"
                 "</tt><hr>This is the weight of the entire robot assembly."
             )
-            weightInput.isEnabled = not exporterOptions.autoCalcWeight
+            weightInput.isEnabled = not exporterOptions.autoCalcRobotWeight
 
             weightUnitDropdown = generalTabInputs.addDropDownCommandInput(
                 "weightUnitDropdown",
@@ -148,14 +148,7 @@ def exportAsPart(self) -> bool:
 
     @property
     def selectedUnits(self) -> PreferredUnits:
-        weightUnitDropdown: adsk.core.DropDownCommandInput = self.generalOptionsTab.children.itemById(
-            "weightTable"
-        ).getInputAtPosition(0, 2)
-        if weightUnitDropdown.selectedItem.index == 0:
-            return PreferredUnits.IMPERIAL
-        else:
-            assert weightUnitDropdown.selectedItem.index == 1
-            return PreferredUnits.METRIC
+        return self.currentUnits
 
     @property
     def robotWeight(self) -> KG:
diff --git a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
index 5f9be302b3..2b5fe08696 100644
--- a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
@@ -117,6 +117,14 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
         except BaseException:
             logging.getLogger("{INTERNAL_ID}.UI.JointConfigTab").error("Failed:\n{}".format(traceback.format_exc()))
 
+    @property
+    def isVisible(self) -> bool:
+        return self.jointConfigTab.isVisible
+
+    @isVisible.setter
+    def isVisible(self, value: bool) -> None:
+        self.jointConfigTab.isVisible = value
+
     def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None) -> bool:
         try:
             if fusionJoint in self.selectedJointList:
@@ -316,6 +324,9 @@ def addWheel(self, joint: adsk.fusion.Joint, wheel: Wheel | None = None) -> None
             signalType.tooltip = "Wheel signal type is linked with the respective joint signal type."
             i = self.selectedJointList.index(joint)
             jointSignalType = SignalType(self.jointConfigTable.getInputAtPosition(i + 1, 3).selectedItem.index + 1)
+
+            # Invisible white space characters are required in the list item name field to make this work.
+            # I have no idea why, Fusion API needs some special education help - Brandon
             signalType.listItems.add("‎", jointSignalType is SignalType.PWM, IconPaths.signalIcons["PWM"])
             signalType.listItems.add("‎", jointSignalType is SignalType.CAN, IconPaths.signalIcons["CAN"])
             signalType.listItems.add("‎", jointSignalType is SignalType.PASSIVE, IconPaths.signalIcons["PASSIVE"])
@@ -342,7 +353,7 @@ def removeJoint(self, joint: adsk.fusion.Joint) -> None:
             i = self.selectedJointList.index(joint)
             self.selectedJointList.remove(joint)
             self.previousWheelCheckboxState.pop(i)
-            self.jointConfigTable.deleteRow(i + 1)
+            self.jointConfigTable.deleteRow(i + 1)  # Row is 1 indexed
             for row in range(1, self.jointConfigTable.rowCount):  # Row is 1 indexed
                 # TODO: Step through this in the debugger and figure out if this is all necessary.
                 listItems = self.jointConfigTable.getInputAtPosition(row, 2).listItems
@@ -534,11 +545,9 @@ def handlePreviewEvent(self, args: adsk.core.CommandEventArgs) -> None:
             jointSelectCancelButton: adsk.core.BoolValueCommandInput = commandInputs.itemById("jointSelectCancelButton")
             jointSelection: adsk.core.SelectionCommandInput = commandInputs.itemById("jointSelection")
 
-            if self.jointConfigTable.rowCount <= 1:
-                jointRemoveButton.isEnabled = False
-
+            jointRemoveButton.isEnabled = self.jointConfigTable.rowCount > 1
             if not jointSelection.isEnabled:
-                jointAddButton.isEnabled = jointRemoveButton.isEnabled = True
+                jointAddButton.isEnabled = True
                 jointSelectCancelButton.isVisible = jointSelectCancelButton.isEnabled = False
         except BaseException:
             logging.getLogger("{INTERNAL_ID}.UI.JointConfigTab").error("Failed:\n{}".format(traceback.format_exc()))
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
index bacc6e094b..12978dbc16 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
@@ -10,14 +10,7 @@
 import adsk.core
 
 from src.APS.APS import CLIENT_ID, auth_path, convertAuthToken, getCodeChallenge
-from src.general_imports import (
-    APP_NAME,
-    DESCRIPTION,
-    INTERNAL_ID,
-    gm,
-    my_addin_path,
-    root_logger,
-)
+from src.general_imports import APP_NAME, DESCRIPTION, INTERNAL_ID, gm, my_addin_path
 
 palette = None
 

From 2d6dca428f32a29bcb874ec2cfcfb2f4d4d23fe0 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 23 Jul 2024 10:59:51 -0700
Subject: [PATCH 024/344] Gamepiece config panel reset button

---
 exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index d69be45c2b..8268c4abaf 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -99,6 +99,8 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
         self.gamepieceTable.addToolbarCommandInput(gamepieceRemoveButton)
         self.gamepieceTable.addToolbarCommandInput(gamepieceSelectCancelButton)
 
+        self.reset()
+
     @property
     def isVisible(self) -> bool:
         return self.gamepieceConfigTab.isVisible
@@ -195,6 +197,10 @@ def removeChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None
         self.selectedGamepieceList.remove(gamepiece)
         self.gamepieceTable.deleteRow(i + 1)  # Row is 1 indexed
 
+    def reset(self) -> None:
+        self.selectedGamepieceEntityIDs.clear()
+        self.selectedGamepieceList.clear()
+
     def updateWeightTableToUnits(self, units: PreferredUnits) -> None:
         assert units in {PreferredUnits.METRIC, PreferredUnits.IMPERIAL}
         conversionFunc = toKg if units == PreferredUnits.METRIC else toLbs

From ffc2d3e3d3f36367b0e5d20c95ff61159865a766 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 23 Jul 2024 11:18:32 -0700
Subject: [PATCH 025/344] Swap between export modes now toggles active settings
 tabs

---
 .../src/UI/ConfigCommand.py                   |  4 ++--
 .../src/UI/GeneralConfigTab.py                | 23 ++++++++++++++++++-
 2 files changed, 24 insertions(+), 3 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 7f6b52c5f3..3e5d6089b1 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -135,7 +135,7 @@ def notify(self, args):
 
             global gamepieceConfigTab
             gamepieceConfigTab = GamepieceConfigTab(args, exporterOptions)
-            gamepieceConfigTab.isVisible = True  # TODO: Should not be visible by default.
+            generalConfigTab.gamepieceConfigTab = gamepieceConfigTab
 
             # ~~~~~~~~~~~~~~~~ HELP FILE ~~~~~~~~~~~~~~~~
             """
@@ -146,7 +146,7 @@ def notify(self, args):
 
             global jointConfigTab
             jointConfigTab = JointConfigTab(args)
-            jointConfigTab.isVisible = False
+            generalConfigTab.jointConfigTab = jointConfigTab
 
             # Transition: AARD-1685
             # There remains some overlap between adding joints as wheels.
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index 693068326f..074a53ec1a 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -9,13 +9,18 @@
 from ..TypesTmp import KG, toKg, toLbs
 from . import IconPaths
 from .CreateCommandInputsHelper import createBooleanInput, createTableInput
+from .GamepieceConfigTab import GamepieceConfigTab
+from .JointConfigTab import JointConfigTab
 
 
 class GeneralConfigTab:
     generalOptionsTab: adsk.core.TabCommandInput
     previousAutoCalcWeightCheckboxState: bool
     previousSelectedUnitDropdownIndex: int
+    previousSelectedModeDropdownIndex: int
     currentUnits: PreferredUnits
+    jointConfigTab: JointConfigTab
+    gamepieceConfigTab: GamepieceConfigTab
 
     def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: ExporterOptions) -> None:
         try:
@@ -35,6 +40,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
             dropdownExportMode.listItems.add("Static", not dynamic)
             dropdownExportMode.tooltip = "Export Mode"
             dropdownExportMode.tooltipDescription = "<hr>Does this object move dynamically?"
+            self.previousSelectedModeDropdownIndex = int(not dynamic)
 
             weightTableInput = createTableInput(
                 "weightTable",
@@ -171,7 +177,22 @@ def autoCalculateWeight(self) -> bool:
     def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
         try:
             commandInput = args.input
-            if commandInput.id == "weightUnitDropdown":
+            if commandInput.id == "exportModeDropdown":
+                modeDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
+                if modeDropdown.selectedItem.index == self.previousSelectedModeDropdownIndex:
+                    return
+
+                if modeDropdown.selectedItem.index == 0:
+                    self.jointConfigTab.isVisible = True
+                    self.gamepieceConfigTab.isVisible = False
+                else:
+                    assert modeDropdown.selectedItem.index == 1
+                    self.jointConfigTab.isVisible = False
+                    self.gamepieceConfigTab.isVisible = True
+
+                self.previousSelectedModeDropdownIndex = modeDropdown.selectedItem.index
+
+            elif commandInput.id == "weightUnitDropdown":
                 weightUnitDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
                 weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
                 weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)

From 1f936431a1166fc934c123144445398982181efd Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 23 Jul 2024 16:56:41 -0700
Subject: [PATCH 026/344] Basic parenting UI for sequential joints

---
 fission/src/Synthesis.tsx                     |   2 +
 .../simulation/behavior/GenericArmBehavior.ts |   6 +
 .../behavior/GenericElevatorBehavior.ts       |   6 +
 fission/src/ui/components/MainHUD.tsx         |   9 +-
 .../src/ui/panels/SequentialJointsPanel.tsx   | 299 ++++++++++++++++++
 .../configuring/ConfigureRobotBrainPanel.tsx  |   6 +-
 6 files changed, 322 insertions(+), 6 deletions(-)
 create mode 100644 fission/src/ui/panels/SequentialJointsPanel.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index dd3cf5985c..e39d2cddd1 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -67,6 +67,7 @@ import SceneOverlay from "./ui/components/SceneOverlay.tsx"
 import WPILibWSWorker from "@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker"
 import WSViewPanel from "./ui/panels/WSViewPanel.tsx"
 import Lazy from "./util/Lazy.ts"
+import SequentialJointsPanel from "./ui/panels/SequentialJointsPanel.tsx"
 
 const DEFAULT_MIRA_PATH = "/api/mira/Robots/Team 2471 (2018)_v7.mira"
 
@@ -274,6 +275,7 @@ const initialPanels: ReactElement[] = [
         sidePadding={8}
     />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
+    <SequentialJointsPanel key="sequential-joints" panelId="sequential-joints" />,
 ]
 
 export default Synthesis
diff --git a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
index 6572bdb94a..86243d0d45 100644
--- a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
@@ -6,6 +6,7 @@ import InputSystem from "@/systems/input/InputSystem"
 class GenericArmBehavior extends Behavior {
     private _hingeDriver: HingeDriver
     private _inputName: string
+    private _jointIndex: number
     private _assemblyName: string
     private _assemblyIndex: number
 
@@ -15,6 +16,10 @@ class GenericArmBehavior extends Behavior {
         return this._hingeDriver
     }
 
+    public get jointIndex(): number {
+        return this._jointIndex
+    }
+
     constructor(
         hingeDriver: HingeDriver,
         hingeStimulus: HingeStimulus,
@@ -26,6 +31,7 @@ class GenericArmBehavior extends Behavior {
 
         this._hingeDriver = hingeDriver
         this._inputName = "joint " + jointIndex
+        this._jointIndex = jointIndex
         this._assemblyName = assemblyName
         this._assemblyIndex = assemblyIndex
     }
diff --git a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
index 811b9211ec..90a8737e1a 100644
--- a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
@@ -6,6 +6,7 @@ import InputSystem from "@/systems/input/InputSystem"
 class GenericElevatorBehavior extends Behavior {
     private _sliderDriver: SliderDriver
     private _inputName: string
+    private _jointIndex: number
     private _assemblyName: string
     private _assemblyIndex: number
 
@@ -15,6 +16,10 @@ class GenericElevatorBehavior extends Behavior {
         return this._sliderDriver
     }
 
+    public get jointIndex(): number {
+        return this._jointIndex
+    }
+
     constructor(
         sliderDriver: SliderDriver,
         sliderStimulus: SliderStimulus,
@@ -26,6 +31,7 @@ class GenericElevatorBehavior extends Behavior {
 
         this._sliderDriver = sliderDriver
         this._inputName = "joint " + jointIndex
+        this._jointIndex = jointIndex
         this._assemblyName = assemblyName
         this._assemblyIndex = assemblyIndex
     }
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 083a89f1fd..1715198771 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -181,7 +181,7 @@ const MainHUD: React.FC = () => {
                             openPanel("scoring-zones")
                         }}
                     />
-                    <MainHUDButton value={"Drivetrain"} icon={<FaCar />} onClick={() => openModal("drivetrain")} />
+                    {/* <MainHUDButton value={"Drivetrain"} icon={<FaCar />} onClick={() => openModal("drivetrain")} />
                     <MainHUDButton
                         value={"WS Test"}
                         icon={<FaCar />}
@@ -205,8 +205,13 @@ const MainHUD: React.FC = () => {
                             const type: ToastType = ["info", "warning", "error"][Math.floor(Random() * 3)] as ToastType
                             addToast(type, type, "This is a test toast to test the toast system")
                         }}
-                    />
+                    /> */}
                     <MainHUDButton value={"Configure"} icon={<FaGear />} onClick={() => openModal("config-robot")} />
+                    <MainHUDButton
+                        value={"Sequential Joints"}
+                        icon={<FaGear />}
+                        onClick={() => openPanel("sequential-joints")}
+                    />
                     <MainHUDButton
                         value={"Configure Brain"}
                         icon={<FaGear />}
diff --git a/fission/src/ui/panels/SequentialJointsPanel.tsx b/fission/src/ui/panels/SequentialJointsPanel.tsx
new file mode 100644
index 0000000000..16b75585b2
--- /dev/null
+++ b/fission/src/ui/panels/SequentialJointsPanel.tsx
@@ -0,0 +1,299 @@
+import React, { useMemo, useReducer, useState } from "react"
+import Panel, { PanelPropsImpl } from "../components/Panel"
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import Label, { LabelSize } from "../components/Label"
+import World from "@/systems/World"
+import { MiraType } from "@/mirabuf/MirabufLoader"
+import { FaArrowLeft, FaArrowRight, FaChevronDown, FaChevronUp, FaGear } from "react-icons/fa6"
+import { Box, Button as MUIButton, Divider, styled } from "@mui/material"
+import Button from "../components/Button"
+import GenericArmBehavior from "@/systems/simulation/behavior/GenericArmBehavior"
+import GenericElevatorBehavior from "@/systems/simulation/behavior/GenericElevatorBehavior"
+import Behavior from "@/systems/simulation/behavior/Behavior"
+
+const ShiftRight = <FaArrowRight size={"1.25rem"} />
+const ShiftLeft = <FaArrowLeft size={"1.25rem"} />
+const UpArrow = <FaChevronUp size={"1.25rem"} />
+const DownArrow = <FaChevronDown size={"1.25rem"} />
+
+const LabelStyled = styled(Label)({
+    fontWeight: 700,
+    margin: "0pt",
+})
+
+const ChildLabelStyled = styled(Label)({
+    fontWeight: 700,
+    margin: "0pt",
+    color: "grey",
+})
+
+const DividerStyled = styled(Divider)({
+    borderColor: "white",
+})
+
+function shiftArrayElementUp<T>(arr: T[], elem: T): void {
+    const index = arr.indexOf(elem)
+    if (index > 0 && index < arr.length) {
+        let temp = arr[index]
+        arr[index] = arr[index - 1]
+        arr[index - 1] = temp
+    }
+}
+
+function shiftArrayElementDown<T>(arr: T[], elem: T): void {
+    const index = arr.indexOf(elem)
+    if (index >= 0 && index < arr.length - 1) {
+        let temp = arr[index]
+        arr[index] = arr[index + 1]
+        arr[index + 1] = temp
+    }
+}
+
+type BehaviorConfiguration = {
+    behavior: Behavior
+    child: boolean
+}
+
+interface BehaviorCardProps {
+    elementKey: number
+    name: string
+    behavior: BehaviorConfiguration
+    update: () => void
+    shiftUp: () => void
+    shiftDown: () => void
+    canShiftUp: boolean
+    canShiftDown: boolean
+    canBecomeChild: boolean
+}
+
+const BehaviorCard: React.FC<BehaviorCardProps> = ({
+    elementKey,
+    name,
+    behavior,
+    update,
+    shiftUp,
+    shiftDown,
+    canShiftUp,
+    canShiftDown,
+    canBecomeChild,
+}) => {
+    return (
+        <Box display="flex" textAlign={"center"} key={elementKey}>
+            <Box position="absolute" alignSelf={"center"} display="flex">
+                {behavior.child ? (
+                    <>
+                        <Box width="25px" />
+                        <ChildLabelStyled
+                            key={`arm-nodes-notation ${elementKey}`}
+                            size={LabelSize.Small}
+                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                        >
+                            {name}
+                        </ChildLabelStyled>
+                    </>
+                ) : (
+                    <>
+                        <LabelStyled
+                            key={`arm-nodes-notation ${elementKey}`}
+                            size={LabelSize.Small}
+                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                        >
+                            {name}
+                        </LabelStyled>
+                    </>
+                )}
+            </Box>
+            <MUIButton fullWidth={true}></MUIButton>
+            <Box display="flex" gap="3px">
+                <>
+                    <Button
+                        key="up"
+                        sizeOverrideClass="px-1 py-0.5"
+                        value={UpArrow}
+                        onClick={() => {
+                            shiftUp()
+                            update()
+                        }}
+                        colorOverrideClass={canShiftUp ? undefined : "disabled"}
+                    />
+                    <Button
+                        key="down"
+                        sizeOverrideClass="px-1 py-0.5"
+                        value={DownArrow}
+                        onClick={() => {
+                            shiftDown()
+                            update()
+                        }}
+                        colorOverrideClass={canShiftDown ? undefined : "disabled"}
+                    />
+
+                    {behavior.child ? (
+                        <Button
+                            key="shift"
+                            sizeOverrideClass="px-1 py-0.5"
+                            value={ShiftLeft}
+                            onClick={() => {
+                                behavior.child = false
+                                update()
+                            }}
+                        />
+                    ) : (
+                        <Button
+                            key="shift"
+                            sizeOverrideClass="px-1 py-0.5"
+                            value={ShiftRight}
+                            onClick={() => {
+                                if (canBecomeChild) {
+                                    behavior.child = true
+                                    update()
+                                }
+                            }}
+                            colorOverrideClass={canBecomeChild ? undefined : "disabled"}
+                        />
+                    )}
+                </>
+            </Box>
+        </Box>
+    )
+}
+
+function GetBehaviorCards(behaviors: BehaviorConfiguration[], update: () => void): JSX.Element[] {
+    const output: JSX.Element[] = []
+    let elementKey = 0
+
+    /* Iterate through each behavior of the robot */
+    behaviors.forEach(behavior => {
+        if (behavior.behavior instanceof GenericArmBehavior) {
+            output.push(
+                <BehaviorCard
+                    elementKey={elementKey}
+                    name={`Joint ${behavior.behavior.jointIndex} (Arm)`}
+                    behavior={behavior}
+                    key={elementKey}
+                    update={update}
+                    shiftUp={() => {
+                        shiftArrayElementUp(behaviors, behavior)
+                    }}
+                    shiftDown={() => {
+                        shiftArrayElementDown(behaviors, behavior)
+                    }}
+                    canShiftUp={behaviors.indexOf(behavior) > 0}
+                    canShiftDown={behaviors.indexOf(behavior) < behaviors.length - 1}
+                    canBecomeChild={(() => {
+                        const index = behaviors.indexOf(behavior)
+                        if (index < behaviors.length - 1 && behaviors[index + 1].child) return false
+
+                        for (let i = index; i > 0; i--)
+                            if (!behaviors[i].child) {
+                                return true
+                            }
+                        return false
+                    })()}
+                />
+            )
+            elementKey++
+        } else if (behavior.behavior instanceof GenericElevatorBehavior) {
+            /* Adds the joints that the elevator is associated with */
+            // Get the rigid node associates for the two bodies
+            output.push(
+                <BehaviorCard
+                    elementKey={elementKey}
+                    name={`Joint ${behavior.behavior.jointIndex} (Elevator)`}
+                    behavior={behavior}
+                    key={elementKey}
+                    update={update}
+                    shiftUp={() => {
+                        shiftArrayElementUp(behaviors, behavior)
+                    }}
+                    shiftDown={() => {
+                        shiftArrayElementDown(behaviors, behavior)
+                    }}
+                    canShiftUp={behaviors.indexOf(behavior) > 0}
+                    canShiftDown={behaviors.indexOf(behavior) < behaviors.length - 1}
+                    canBecomeChild={(() => {
+                        const index = behaviors.indexOf(behavior)
+                        if (index < behaviors.length - 1 && behaviors[index + 1].child) return false
+
+                        for (let i = index; i > 0; i--)
+                            if (!behaviors[i].child) {
+                                return true
+                            }
+                        return false
+                    })()}
+                />
+            )
+            elementKey++
+        }
+    })
+
+    return output
+}
+
+const SequentialJointsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
+    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
+    const [behaviors, setBehaviors] = useState<BehaviorConfiguration[] | undefined>(undefined)
+
+    const robots = useMemo(() => {
+        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
+            if (x instanceof MirabufSceneObject) {
+                return x.miraType === MiraType.ROBOT
+            }
+            return false
+        }) as MirabufSceneObject[]
+        return assemblies
+    }, [])
+
+    const [_, update] = useReducer(x => !x, false)
+
+    return (
+        <Panel
+            openLocation="right"
+            name={"Sequential Joints"}
+            icon={<FaGear />}
+            panelId={panelId}
+            acceptEnabled={false}
+            cancelName="Close"
+        >
+            {selectedRobot == undefined || behaviors == undefined ? (
+                <>
+                    <Label>Select a robot</Label>
+                    {/** Scroll view for selecting a robot to configure */}
+                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
+                        {robots.map(mirabufSceneObject => {
+                            return (
+                                <Button
+                                    value={mirabufSceneObject.assemblyName}
+                                    onClick={() => {
+                                        setSelectedRobot(mirabufSceneObject)
+                                        setBehaviors(
+                                            mirabufSceneObject.brain?.behaviors
+                                                .map(b => {
+                                                    return { behavior: b, child: false }
+                                                })
+                                                .filter(
+                                                    b =>
+                                                        b.behavior instanceof GenericElevatorBehavior ||
+                                                        b.behavior instanceof GenericArmBehavior
+                                                )
+                                        )
+                                    }}
+                                    key={mirabufSceneObject.id}
+                                ></Button>
+                            )
+                        })}
+                    </div>
+                </>
+            ) : (
+                <>
+                    <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                        Behaviors
+                    </LabelStyled>
+                    <DividerStyled />
+                    {GetBehaviorCards(behaviors, update)}
+                </>
+            )}
+        </Panel>
+    )
+}
+
+export default SequentialJointsPanel
diff --git a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
index 5ed2db3995..ba3c7b85b3 100644
--- a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
@@ -77,8 +77,7 @@ function GetJoints(robot: MirabufSceneObject): JSX.Element[] {
             })
             output.push(<DividerStyled key={`divider-${elementKey}`} />)
         } else if (behavior instanceof GenericArmBehavior) {
-
-        /* Adds the joints that the arm is associated with */
+            /* Adds the joints that the arm is associated with */
             // Get the rigid node associates for the two bodies
             const assoc1 = World.PhysicsSystem.GetBodyAssociation(
                 behavior.hingeDriver.constraint.GetBody1().GetID()
@@ -111,8 +110,7 @@ function GetJoints(robot: MirabufSceneObject): JSX.Element[] {
             )
             elementKey++
         } else if (behavior instanceof GenericElevatorBehavior) {
-
-        /* Adds the joints that the elevator is associated with */
+            /* Adds the joints that the elevator is associated with */
             // Get the rigid node associates for the two bodies
             const assoc1 = World.PhysicsSystem.GetBodyAssociation(
                 behavior.sliderDriver.constraint.GetBody1().GetID()

From 57c2f4a02c7b0b30c45200f7bcdedefaddfa1eed Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 24 Jul 2024 10:20:10 -0700
Subject: [PATCH 027/344] Working so so integration

---
 .../src/UI/ConfigCommand.py                   | 600 +++---------------
 .../src/UI/GamepieceConfigTab.py              |  17 +-
 2 files changed, 98 insertions(+), 519 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 5db66b066d..8b93885316 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -143,6 +143,14 @@ def notify(self, args):
             gamepieceConfigTab = GamepieceConfigTab(args, exporterOptions)
             generalConfigTab.gamepieceConfigTab = gamepieceConfigTab
 
+            if not exporterOptions.exportMode == ExportMode.FIELD:
+                gamepieceConfigTab.isVisible = False
+
+            if exporterOptions.gamepieces:
+                for synGamepiece in exporterOptions.gamepieces:
+                    fusionOccurrence = gm.app.activeDocument.design.findEntityByToken(synGamepiece.occurrenceToken)[0]
+                    gamepieceConfigTab.addGamepiece(fusionOccurrence, synGamepiece)
+
             # ~~~~~~~~~~~~~~~~ HELP FILE ~~~~~~~~~~~~~~~~
             """
             Sets the small "i" icon in bottom left of the panel.
@@ -150,109 +158,13 @@ def notify(self, args):
             """
             cmd.helpFile = os.path.join(".", "src", "Resources", "HTML", "info.html")
 
-            # ~~~~~~~~~~~~~~~~ EXPORT MODE ~~~~~~~~~~~~~~~~
-            """
-            Dropdown to choose whether to export robot or field element
-            """
-            # TODO: Integration with GH-1004
-            # dropdownExportMode = inputs.addDropDownCommandInput(
-            #     "mode",
-            #     "Export Mode",
-            #     dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-            # )
-
-            # dynamic = exporterOptions.exportMode == ExportMode.ROBOT
-            # dropdownExportMode.listItems.add("Dynamic", dynamic)
-            # dropdownExportMode.listItems.add("Static", not dynamic)
-
-            # dropdownExportMode.tooltip = "Export Mode"
-            # dropdownExportMode.tooltipDescription = "<hr>Does this object move dynamically?"
-
-            # ~~~~~~~~~~~~~~~~ EXPORT LOCATION ~~~~~~~~~~~~~~~~~~
-
-            # dropdownExportLocation = inputs.addDropDownCommandInput(
-            #     "location", "Export Location", dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle
-            # )
-
-            # upload: bool = exporterOptions.exportLocation == ExportLocation.UPLOAD
-            # dropdownExportLocation.listItems.add("Upload", upload)
-            # dropdownExportLocation.listItems.add("Download", not upload)
-
-            # dropdownExportLocation.tooltip = "Export Location"
-            # dropdownExportLocation.tooltipDescription = (
-            #     "<hr>Do you want to upload this mirabuf file to APS, or download it to your local machine?"
-            # )
-
-            # ~~~~~~~~~~~~~~~~ WEIGHT CONFIGURATION ~~~~~~~~~~~~~~~~
-            """
-            Table for weight config.
-                - Used this to align multiple commandInputs on the same row
-            """
-            # weightTableInput = self.createTableInput(
-            #     "weight_table",
-            #     "Weight Table",
-            #     inputs,
-            #     4,
-            #     "3:2:2:1",
-            #     1,
-            # )
-            # weightTableInput.tablePresentationStyle = 2  # set transparent background for table
-
-            # weight_name = inputs.addStringValueInput("weight_name", "Weight")
-            # weight_name.value = "Weight"
-            # weight_name.isReadOnly = True
-
-            # auto_calc_weight = self.createBooleanInput(
-            #     "auto_calc_weight",
-            #     "‎",
-            #     inputs,
-            #     checked=False,
-            #     tooltip="Approximate the weight of your robot assembly.",
-            #     tooltipadvanced="<i>This may take a moment...</i>",
-            #     enabled=True,
-            #     isCheckBox=False,
-            # )
-            # auto_calc_weight.resourceFolder = IconPaths.stringIcons["calculate-enabled"]
-            # auto_calc_weight.isFullWidth = True
-
-            # imperialUnits = exporterOptions.preferredUnits == PreferredUnits.IMPERIAL
-            # if imperialUnits:
-            #     # ExporterOptions always contains the metric value
-            #     displayWeight = exporterOptions.robotWeight * 2.2046226218
-            # else:
-            #     displayWeight = exporterOptions.robotWeight
-
-            # weight_input = inputs.addValueInput(
-            #     "weight_input",
-            #     "Weight Input",
-            #     "",
-            #     adsk.core.ValueInput.createByReal(displayWeight),
-            # )
-            # weight_input.tooltip = "Robot weight"
-            # weight_input.tooltipDescription = (
-            #     """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
-            # )
-
-            # weight_unit = inputs.addDropDownCommandInput(
-            #     "weight_unit",
-            #     "Weight Unit",
-            #     adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-            # )
-
-            # weight_unit.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
-            # weight_unit.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
-            # weight_unit.tooltip = "Unit of mass"
-            # weight_unit.tooltipDescription = "<hr>Configure the unit of mass for the weight calculation."
-
-            # weightTableInput.addCommandInput(weight_name, 0, 0)  # add command inputs to table
-            # weightTableInput.addCommandInput(auto_calc_weight, 0, 1)  # add command inputs to table
-            # weightTableInput.addCommandInput(weight_input, 0, 2)  # add command inputs to table
-            # weightTableInput.addCommandInput(weight_unit, 0, 3)  # add command inputs to table
-
             global jointConfigTab
             jointConfigTab = JointConfigTab(args)
             generalConfigTab.jointConfigTab = jointConfigTab
 
+            if not exporterOptions.exportMode == ExportMode.ROBOT:
+                jointConfigTab.isVisible = False
+
             # Transition: AARD-1685
             # There remains some overlap between adding joints as wheels.
             # Should investigate changes to improve performance.
@@ -279,129 +191,6 @@ def notify(self, args):
                     fusionJoint = gm.app.activeDocument.design.findEntityByToken(wheel.jointToken)[0]
                     jointConfigTab.addWheel(fusionJoint, wheel)
 
-            # ~~~~~~~~~~~~~~~~ GAMEPIECE CONFIGURATION ~~~~~~~~~~~~~~~~
-            """
-            Gamepiece group command input, isVisible=False by default
-                - Container for gamepiece selection table
-            """
-            # gamepieceConfig = inputs.addGroupCommandInput("gamepiece_config", "Gamepiece Configuration")
-            # gamepieceConfig.isExpanded = True
-            # gamepieceConfig.isVisible = False
-            # gamepieceConfig.tooltip = "Select and define the gamepieces in your field."
-            # gamepiece_inputs = gamepieceConfig.children
-
-            # # GAMEPIECE MASS CONFIGURATION
-            # """
-            # Mass unit dropdown and calculation for gamepiece elements
-            # """
-            # weightTableInput_f = self.createTableInput(
-            #     "weight_table_f", "Weight Table", gamepiece_inputs, 3, "6:2:1", 1
-            # )
-            # weightTableInput_f.tablePresentationStyle = 2  # set to clear background
-
-            # weight_name_f = gamepiece_inputs.addStringValueInput("weight_name", "Weight")
-            # weight_name_f.value = "Unit of Mass"
-            # weight_name_f.isReadOnly = True
-
-            # auto_calc_weight_f = self.createBooleanInput(  # CALCULATE button
-            #     "auto_calc_weight_f",
-            #     "‎",
-            #     gamepiece_inputs,
-            #     checked=False,
-            #     tooltip="Approximate the weight of all your selected gamepieces.",
-            #     enabled=True,
-            #     isCheckBox=False,
-            # )
-            # auto_calc_weight_f.resourceFolder = IconPaths.stringIcons["calculate-enabled"]
-            # auto_calc_weight_f.isFullWidth = True
-
-            # weight_unit_f = gamepiece_inputs.addDropDownCommandInput(
-            #     "weight_unit_f",
-            #     "Unit of Mass",
-            #     adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-            # )
-            # weight_unit_f.listItems.add("‎", True, IconPaths.massIcons["LBS"])  # add listdropdown mass options
-            # weight_unit_f.listItems.add("‎", False, IconPaths.massIcons["KG"])  # add listdropdown mass options
-            # weight_unit_f.tooltip = "Unit of mass"
-            # weight_unit_f.tooltipDescription = "<hr>Configure the unit of mass for for the weight calculation."
-
-            # weightTableInput_f.addCommandInput(weight_name_f, 0, 0)  # add command inputs to table
-            # weightTableInput_f.addCommandInput(auto_calc_weight_f, 0, 1)  # add command inputs to table
-            # weightTableInput_f.addCommandInput(weight_unit_f, 0, 2)  # add command inputs to table
-
-            # # GAMEPIECE SELECTION TABLE
-            # """
-            # All selected gamepieces appear here
-            # """
-            # gamepieceTableInput = self.createTableInput(
-            #     "gamepiece_table",
-            #     "Gamepiece",
-            #     gamepiece_inputs,
-            #     4,
-            #     "1:8:5:12",
-            #     50,
-            # )
-
-            # addFieldInput = gamepiece_inputs.addBoolValueInput("field_add", "Add", False)
-
-            # removeFieldInput = gamepiece_inputs.addBoolValueInput("field_delete", "Remove", False)
-            # addFieldInput.isEnabled = removeFieldInput.isEnabled = True
-
-            # removeFieldInput.tooltip = "Remove a field element"
-            # addFieldInput.tooltip = "Add a field element"
-
-            # gamepieceSelectInput = gamepiece_inputs.addSelectionInput(
-            #     "gamepiece_select",
-            #     "Selection",
-            #     "Select the unique gamepieces in your field.",
-            # )
-            # gamepieceSelectInput.addSelectionFilter("Occurrences")
-            # gamepieceSelectInput.setSelectionLimits(0)
-            # gamepieceSelectInput.isEnabled = True
-            # gamepieceSelectInput.isVisible = False
-
-            # gamepieceTableInput.addToolbarCommandInput(addFieldInput)
-            # gamepieceTableInput.addToolbarCommandInput(removeFieldInput)
-
-            # """
-            # Gamepiece table column headers. (the permanent captions in the first row of table)
-            # """
-            # gamepieceTableInput.addCommandInput(
-            #     self.createTextBoxInput(
-            #         "e_header",
-            #         "Gamepiece name",
-            #         gamepiece_inputs,
-            #         "Gamepiece",
-            #         bold=False,
-            #     ),
-            #     0,
-            #     1,
-            # )
-
-            # gamepieceTableInput.addCommandInput(
-            #     self.createTextBoxInput(
-            #         "w_header",
-            #         "Gamepiece weight",
-            #         gamepiece_inputs,
-            #         "Weight",
-            #         background="#d9d9d9",
-            #     ),
-            #     0,
-            #     2,
-            # )
-
-            # gamepieceTableInput.addCommandInput(
-            #     self.createTextBoxInput(
-            #         "f_header",
-            #         "Friction coefficient",
-            #         gamepiece_inputs,
-            #         "Friction coefficient",
-            #         background="#d9d9d9",
-            #     ),
-            #     0,
-            #     3,
-            # )
-
             # ~~~~~~~~~~~~~~~~ PHYSICS SETTINGS ~~~~~~~~~~~~~~~~
             """
             Physics settings group command
@@ -594,20 +383,21 @@ def notify(self, args):
                 return
 
             processedFileName = gm.app.activeDocument.name.replace(" ", "_")
-            dropdownExportMode = INPUTS_ROOT.itemById("mode")
-            if dropdownExportMode.selectedItem.index == 0:
-                isRobot = True
-            elif dropdownExportMode.selectedItem.index == 1:
-                isRobot = False
+            # dropdownExportMode = INPUTS_ROOT.itemById("mode")
+            # if dropdownExportMode.selectedItem.index == 0:
+            #     isRobot = True
+            # elif dropdownExportMode.selectedItem.index == 1:
+            #     isRobot = False
 
-            processedFileName = gm.app.activeDocument.name.replace(" ", "_")
-            dropdownExportMode = INPUTS_ROOT.itemById("mode")
-            if dropdownExportMode.selectedItem.index == 0:
-                isRobot = True
-            elif dropdownExportMode.selectedItem.index == 1:
-                isRobot = False
-            dropdownExportLocation = INPUTS_ROOT.itemById("location")
-            if dropdownExportLocation.selectedItem.index == 1:  # Download
+            # processedFileName = gm.app.activeDocument.name.replace(" ", "_")
+            # dropdownExportMode = INPUTS_ROOT.itemById("mode")
+            # if dropdownExportMode.selectedItem.index == 0:
+            #     isRobot = True
+            # elif dropdownExportMode.selectedItem.index == 1:
+            #     isRobot = False
+            # dropdownExportLocation = INPUTS_ROOT.itemById("location")
+
+            if True:
                 savepath = FileDialogConfig.saveFileDialog(defaultPath=exporterOptions.fileLocation)
 
                 if savepath == False:
@@ -626,8 +416,7 @@ def notify(self, args):
             name = design.rootComponent.name.rsplit(" ", 1)[0]
             version = design.rootComponent.name.rsplit(" ", 1)[1]
 
-            _exportGamepieces = []  # TODO work on the code to populate Gamepiece
-            # _location: ExportLocation
+            # _exportGamepieces = []  # TODO work on the code to populate Gamepiece
 
             # Transition: AARD-1683
             # TODO: Implement gamepiece things
@@ -655,16 +444,14 @@ def notify(self, args):
             #     )
             # )
 
-            """
-            Export Location
-            """
-            # dropdownExportLocation = INPUTS_ROOT.itemById("location")
-            # if dropdownExportLocation.selectedItem.index == 0:
-            #     _location = ExportLocation.UPLOAD
-            # elif dropdownExportLocation.selectedItem.index == 1:
-            #     _location = ExportLocation.DOWNLOAD
-
             selectedJoints, selectedWheels = jointConfigTab.getSelectedJointsAndWheels()
+            selectedGamepieces = gamepieceConfigTab.getGamepieces()
+
+            if generalConfigTab.exportMode == ExportMode.ROBOT:
+                units = generalConfigTab.selectedUnits
+            else:
+                assert generalConfigTab.exportMode == ExportMode.FIELD
+                units = gamepieceConfigTab.selectedUnits
 
             exporterOptions = ExporterOptions(
                 savepath,
@@ -673,8 +460,8 @@ def notify(self, args):
                 materials=0,
                 joints=selectedJoints,
                 wheels=selectedWheels,
-                gamepieces=_exportGamepieces,  # TODO
-                preferredUnits=generalConfigTab.selectedUnits,
+                gamepieces=selectedGamepieces,
+                preferredUnits=units,
                 robotWeight=generalConfigTab.robotWeight,
                 exportMode=generalConfigTab.exportMode,
                 exportLocation=generalConfigTab.exportLocation,
@@ -690,6 +477,7 @@ def notify(self, args):
             # If we run into an exporting error we should return back to the panel with all current options
             # still in tact. Even if they did not save.
             jointConfigTab.reset()
+            gamepieceConfigTab.reset()
         except:
             if gm.ui:
                 gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
@@ -886,29 +674,6 @@ def notify(self, args: adsk.core.SelectionEventArgs):
             self.selectedOcc = adsk.fusion.Occurrence.cast(args.selection.entity)
             self.selectedJoint = args.selection.entity
 
-            selectionInput = args.activeInput
-
-            dropdownExportMode = INPUTS_ROOT.itemById("mode")
-            duplicateSelection = INPUTS_ROOT.itemById("duplicate_selection")
-            # indicator = INPUTS_ROOT.itemById("algorithmic_indicator")
-
-            # Transition: AARD-1683
-            # TODO: Implement gamepiece things
-            # if self.selectedOcc:
-            #     self.cmd.setCursor("", 0, 0)
-            #     if dropdownExportMode.selectedItem.index == 1:
-            #         occurrenceList = gm.app.activeDocument.design.rootComponent.allOccurrencesByComponent(
-            #             self.selectedOcc.component
-            #         )
-            #         for occ in occurrenceList:
-            #             if occ not in GamepieceListGlobal:
-            #                 addGamepieceToTable(occ)
-            #             else:
-            #                 removeGamePieceFromTable(GamepieceListGlobal.index(occ))
-
-            #         selectionInput.isEnabled = False
-            #         selectionInput.isVisible = False
-
             if gamepieceConfigTab.isVisible:
                 self.cmd.setCursor("", 0, 0)  # Reset select cursor back to normal cursor.
                 gamepieceConfigTab.handleSelectionEvent(args, args.selection.entity)
@@ -953,7 +718,8 @@ def notify(self, args):
             preSelected = preSelectedOcc if preSelectedOcc else preSelectedJoint
 
             # Transition: AARD-1683
-            # TODO: Implement gamepiece things
+            # Leaving this section of commented code here to be used in the `ConfigCommand.py` refactor.
+
             # dropdownExportMode = INPUTS_ROOT.itemById("mode")
             # if preSelected and design:
             #     if dropdownExportMode.selectedItem.index == 0:  # Dynamic
@@ -1065,166 +831,80 @@ def notify(self, args):
                 gamepieceConfigTab.handleInputChanged(args, INPUTS_ROOT)
 
             MySelectHandler.lastInputCmd = cmdInput
-            inputs = cmdInput.commandInputs
-            onSelect = gm.handlers[3]
 
             frictionCoeff = INPUTS_ROOT.itemById("friction_override_coeff")
 
-            gamepieceSelect = inputs.itemById("gamepiece_select")
-            gamepieceTableInput = gamepieceTable()
-            weightTableInput = inputs.itemById("weight_table")
-
-            weight_input = INPUTS_ROOT.itemById("weight_input")
-            gamepieceConfig = inputs.itemById("gamepiece_config")
-            addFieldInput = INPUTS_ROOT.itemById("field_add")
-
-            indicator = INPUTS_ROOT.itemById("algorithmic_indicator")
-
             # gm.ui.messageBox(cmdInput.id) # DEBUG statement, displays CommandInput user-defined id
 
-            position = int
+            # position = int
 
-            if cmdInput.id == "mode":
-                modeDropdown = adsk.core.DropDownCommandInput.cast(cmdInput)
+            # if cmdInput.id == "mode":
+            #     modeDropdown = adsk.core.DropDownCommandInput.cast(cmdInput)
 
-                if modeDropdown.selectedItem.index == 0:
-                    if gamepieceConfig:
-                        gm.ui.activeSelections.clear()
-                        gm.app.activeDocument.design.rootComponent.opacity = 1
+            #     if modeDropdown.selectedItem.index == 0:
+            #         if gamepieceConfig:
+            #             gm.ui.activeSelections.clear()
+            #             gm.app.activeDocument.design.rootComponent.opacity = 1
 
-                        gamepieceConfig.isVisible = False
-                        weightTableInput.isVisible = True
+            #             gamepieceConfig.isVisible = False
+            #             weightTableInput.isVisible = True
 
-                        addFieldInput.isEnabled = True
+            #             addFieldInput.isEnabled = True
 
-                elif modeDropdown.selectedItem.index == 1:
-                    if gamepieceConfig:
-                        gm.ui.activeSelections.clear()
-                        gm.app.activeDocument.design.rootComponent.opacity = 1
+            #     elif modeDropdown.selectedItem.index == 1:
+            #         if gamepieceConfig:
+            #             gm.ui.activeSelections.clear()
+            #             gm.app.activeDocument.design.rootComponent.opacity = 1
 
-            elif cmdInput.id == "blank_gp" or cmdInput.id == "name_gp" or cmdInput.id == "weight_gp":
-                self.reset()
+            # elif cmdInput.id == "blank_gp" or cmdInput.id == "name_gp" or cmdInput.id == "weight_gp":
+            #     self.reset()
 
-                gamepieceSelect.isEnabled = False
-                addFieldInput.isEnabled = True
+            #     gamepieceSelect.isEnabled = False
+            #     addFieldInput.isEnabled = True
 
-                cmdInput_str = cmdInput.id
+            #     cmdInput_str = cmdInput.id
 
-                if cmdInput_str == "name_gp":
-                    position = gamepieceTableInput.getPosition(adsk.core.TextBoxCommandInput.cast(cmdInput))[1] - 1
-                elif cmdInput_str == "weight_gp":
-                    position = gamepieceTableInput.getPosition(adsk.core.ValueCommandInput.cast(cmdInput))[1] - 1
-                elif cmdInput_str == "blank_gp":
-                    position = gamepieceTableInput.getPosition(adsk.core.ImageCommandInput.cast(cmdInput))[1] - 1
-                else:
-                    position = gamepieceTableInput.getPosition(adsk.core.FloatSliderCommandInput.cast(cmdInput))[1] - 1
+            #     if cmdInput_str == "name_gp":
+            #         position = gamepieceTableInput.getPosition(adsk.core.TextBoxCommandInput.cast(cmdInput))[1] - 1
+            #     elif cmdInput_str == "weight_gp":
+            #         position = gamepieceTableInput.getPosition(adsk.core.ValueCommandInput.cast(cmdInput))[1] - 1
+            #     elif cmdInput_str == "blank_gp":
+            #         position = gamepieceTableInput.getPosition(adsk.core.ImageCommandInput.cast(cmdInput))[1] - 1
+            #     else:
+            #         position = gamepieceTableInput.getPosition(adsk.core.FloatSliderCommandInput.cast(cmdInput))[1] - 1
 
-                gm.ui.activeSelections.add(GamepieceListGlobal[position])
+            #     gm.ui.activeSelections.add(GamepieceListGlobal[position])
 
-            elif cmdInput.id == "field_add":
-                self.reset()
+            # elif cmdInput.id == "field_add":
+            #     self.reset()
 
-                gamepieceSelect.isVisible = True
-                gamepieceSelect.isEnabled = True
-                gamepieceSelect.clearSelection()
-                addFieldInput.isEnabled = False
+            #     gamepieceSelect.isVisible = True
+            #     gamepieceSelect.isEnabled = True
+            #     gamepieceSelect.clearSelection()
+            #     addFieldInput.isEnabled = False
 
-            elif cmdInput.id == "field_delete":
-                gm.ui.activeSelections.clear()
+            # elif cmdInput.id == "field_delete":
+            #     gm.ui.activeSelections.clear()
 
-                addFieldInput.isEnabled = True
+            #     addFieldInput.isEnabled = True
 
-                if gamepieceTableInput.selectedRow == -1 or gamepieceTableInput.selectedRow == 0:
-                    gamepieceTableInput.selectedRow = gamepieceTableInput.rowCount - 1
-                    gm.ui.messageBox("Select a row to delete.")
-                else:
-                    index = gamepieceTableInput.selectedRow - 1
-                    removeGamePieceFromTable(index)
+            #     if gamepieceTableInput.selectedRow == -1 or gamepieceTableInput.selectedRow == 0:
+            #         gamepieceTableInput.selectedRow = gamepieceTableInput.rowCount - 1
+            #         gm.ui.messageBox("Select a row to delete.")
+            #     else:
+            #         index = gamepieceTableInput.selectedRow - 1
+            #         removeGamePieceFromTable(index)
 
-            elif cmdInput.id == "gamepiece_select":
-                addFieldInput.isEnabled = True
+            # elif cmdInput.id == "gamepiece_select":
+            #     addFieldInput.isEnabled = True
 
-            elif cmdInput.id == "friction_override":
+            if cmdInput.id == "friction_override":
                 boolValue = adsk.core.BoolValueCommandInput.cast(cmdInput)
 
                 if boolValue.value:
                     frictionCoeff.isVisible = True
                 else:
                     frictionCoeff.isVisible = False
-
-            # Transition: AARD-1683
-            # TODO: Implement gamepiece things
-            # elif cmdInput.id == "weight_unit_f":
-            #     unitDropdown = adsk.core.DropDownCommandInput.cast(cmdInput)
-            #     if unitDropdown.selectedItem.index == 0:
-            #         self.isLbs_f = True
-
-            #         for row in range(gamepieceTableInput.rowCount):
-            #             if row == 0:
-            #                 continue
-            #             weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-            #             weightInput.tooltipDescription = "<tt>(in pounds)</tt>"
-            #     elif unitDropdown.selectedItem.index == 1:
-            #         self.isLbs_f = False
-
-            #         for row in range(gamepieceTableInput.rowCount):
-            #             if row == 0:
-            #                 continue
-            #             weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-            #             weightInput.tooltipDescription = "<tt>(in kilograms)</tt>"
-
-            # Transition: AARD-1683
-            # TODO: Implement gamepiece things???
-            # Is there even any here??
-            # elif cmdInput.id == "auto_calc_weight":
-            #     button = adsk.core.BoolValueCommandInput.cast(cmdInput)
-
-            #     if button.value == True:  # CALCULATE button pressed
-            #         if self.allWeights.count(None) == 2:  # if button is pressed for the first time
-            #             if self.isLbs:  # if pounds unit selected
-            #                 self.allWeights[0] = self.weight()
-            #                 weight_input.value = self.allWeights[0]
-            #             else:  # if kg unit selected
-            #                 self.allWeights[1] = self.weight(False)
-            #                 weight_input.value = self.allWeights[1]
-            #         else:  # if a mass value has already been configured
-            #             if (
-            #                 weight_input.value != self.allWeights[0]
-            #                 or weight_input.value != self.allWeights[1]
-            #                 or not weight_input.isValidExpression
-            #             ):
-            #                 if self.isLbs:
-            #                     weight_input.value = self.allWeights[0]
-            #                 else:
-            #                     weight_input.value = self.allWeights[1]
-
-            # Transition: AARD-1683
-            # TODO: Implement gamepiece things
-            # elif cmdInput.id == "auto_calc_weight_f":
-            #     button = adsk.core.BoolValueCommandInput.cast(cmdInput)
-
-            #     if button.value == True:  # CALCULATE button pressed
-            #         if self.isLbs_f:
-            #             for row in range(gamepieceTableInput.rowCount):
-            #                 if row == 0:
-            #                     continue
-            #                 weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-            #                 physical = GamepieceListGlobal[row - 1].component.getPhysicalProperties(
-            #                     adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
-            #                 )
-            #                 value = round(physical.mass * 2.2046226218, 2)
-            #                 weightInput.value = value
-
-            #         else:
-            #             for row in range(gamepieceTableInput.rowCount):
-            #                 if row == 0:
-            #                     continue
-            #                 weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-            #                 physical = GamepieceListGlobal[row - 1].component.getPhysicalProperties(
-            #                     adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
-            #                 )
-            #                 value = round(physical.mass, 2)
-            #                 weightInput.value = value
         except:
             if gm.ui:
                 gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
@@ -1264,115 +944,3 @@ def notify(self, args):
             logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.{self.__class__.__name__}").error(
                 "Failed:\n{}".format(traceback.format_exc())
             )
-
-
-# Transition: AARD-1683
-# TODO: Implement gamepiece things
-def addGamepieceToTable(gamepiece: adsk.fusion.Occurrence) -> None:
-    """### Adds a gamepiece occurrence to its global list and gamepiece table.
-
-    Args:
-        gamepiece (adsk.fusion.Occurrence): Gamepiece occurrence to be added
-    """
-    try:
-        onSelect = gm.handlers[3]
-        gamepieceTableInput = gamepieceTable()
-
-        def addPreselections(child_occurrences):
-            for occ in child_occurrences:
-                onSelect.allGamepiecePreselections.append(occ.entityToken)
-
-                if occ.childOccurrences:
-                    addPreselections(occ.childOccurrences)
-
-        if gamepiece.childOccurrences:
-            addPreselections(gamepiece.childOccurrences)
-        else:
-            onSelect.allGamepiecePreselections.append(gamepiece.entityToken)
-
-        GamepieceListGlobal.append(gamepiece)
-        cmdInputs = adsk.core.CommandInputs.cast(gamepieceTableInput.commandInputs)
-        blankIcon = cmdInputs.addImageCommandInput("blank_gp", "Blank", IconPaths.gamepieceIcons["blank"])
-
-        type = cmdInputs.addTextBoxCommandInput("name_gp", "Occurrence name", gamepiece.name, 1, True)
-
-        value = 0.0
-        physical = gamepiece.component.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
-        value = physical.mass
-
-        # check if dropdown unit is kg or lbs. bool value taken from ConfigureCommandInputChanged
-        massUnitInString = ""
-        onInputChanged = gm.handlers[1]
-        if onInputChanged.isLbs_f:
-            value = round(value * 2.2046226218, 2)  # lbs
-            massUnitInString = "<tt>(in pounds)</tt>"
-        else:
-            value = round(value, 2)  # kg
-            massUnitInString = "<tt>(in kilograms)</tt>"
-
-        weight = cmdInputs.addValueInput(
-            "weight_gp",
-            "Weight Input",
-            "",
-            adsk.core.ValueInput.createByString(str(value)),
-        )
-
-        valueList = [1]
-        for i in range(20):
-            valueList.append(i / 20)
-
-        friction_coeff = cmdInputs.addFloatSliderListCommandInput("friction_coeff", "", "", valueList)
-        friction_coeff.valueOne = 0.5
-
-        type.tooltip = gamepiece.name
-
-        weight.tooltip = "Weight of field element"
-        weight.tooltipDescription = massUnitInString
-
-        friction_coeff.tooltip = "Friction coefficient of field element"
-        friction_coeff.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
-        row = gamepieceTableInput.rowCount
-
-        gamepieceTableInput.addCommandInput(blankIcon, row, 0)
-        gamepieceTableInput.addCommandInput(type, row, 1)
-        gamepieceTableInput.addCommandInput(weight, row, 2)
-        gamepieceTableInput.addCommandInput(friction_coeff, row, 3)
-    except:
-        logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.addGamepieceToTable()").error(
-            "Failed:\n{}".format(traceback.format_exc())
-        )
-
-
-# Transition: AARD-1683
-# TODO: Implement gamepiece things
-def removeGamePieceFromTable(index: int) -> None:
-    """### Removes a gamepiece occurrence from its global list and gamepiece table.
-
-    Args:
-        index (int): index of gamepiece item in its global list.
-    """
-    onSelect = gm.handlers[3]
-    gamepieceTableInput = gamepieceTable()
-    gamepiece = GamepieceListGlobal[index]
-
-    def removePreselections(child_occurrences):
-        for occ in child_occurrences:
-            onSelect.allGamepiecePreselections.remove(occ.entityToken)
-
-            if occ.childOccurrences:
-                removePreselections(occ.childOccurrences)
-
-    try:
-        if gamepiece.childOccurrences:
-            removePreselections(GamepieceListGlobal[index].childOccurrences)
-        else:
-            onSelect.allGamepiecePreselections.remove(gamepiece.entityToken)
-
-        del GamepieceListGlobal[index]
-        gamepieceTableInput.deleteRow(index + 1)
-    except IndexError:
-        pass
-    except:
-        logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.removeGamePieceFromTable()").error(
-            "Failed:\n{}".format(traceback.format_exc())
-        )
diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index 8268c4abaf..31b1a42358 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -26,9 +26,6 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
         self.gamepieceConfigTab.tooltip = "Field gamepiece configuration options."
         gamepieceTabInputs = self.gamepieceConfigTab.children
 
-        # Invisible by default, only becomes visible when the current export mode is static or 'field'.
-        self.gamepieceConfigTab.isVisible = False
-
         createBooleanInput(
             "autoCalcGamepieceWeight",
             "Auto Calculate Gamepiece Weight",
@@ -109,6 +106,10 @@ def isVisible(self) -> bool:
     def isVisible(self, value: bool) -> None:
         self.gamepieceConfigTab.isVisible = value
 
+    @property
+    def selectedUnits(self) -> PreferredUnits:
+        return self.currentUnits
+
     @property
     def weightInputs(self) -> list[adsk.core.ValueCommandInput]:
         gamepieceWeightInputs = []
@@ -197,6 +198,16 @@ def removeChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None
         self.selectedGamepieceList.remove(gamepiece)
         self.gamepieceTable.deleteRow(i + 1)  # Row is 1 indexed
 
+    def getGamepieces(self) -> list[Gamepiece]:
+        gamepieces: list[Gamepiece] = []
+        for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
+            gamepieceEntityToken = self.selectedGamepieceList[row - 1].entityToken
+            gamepieceWeight = self.gamepieceTable.getInputAtPosition(row, 1).value
+            gamepieceFrictionCoefficient = self.gamepieceTable.getInputAtPosition(row, 2).valueOne
+            gamepieces.append(Gamepiece(gamepieceEntityToken, gamepieceWeight, gamepieceFrictionCoefficient))
+
+        return gamepieces
+
     def reset(self) -> None:
         self.selectedGamepieceEntityIDs.clear()
         self.selectedGamepieceList.clear()

From 2bf1319afcd4a10168a45fed139e77db360b7617 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 24 Jul 2024 10:42:52 -0700
Subject: [PATCH 028/344] Smooth end to end gamepiece config tab integration

---
 .../src/UI/ConfigCommand.py                   |  1 +
 .../src/UI/GeneralConfigTab.py                | 20 +++++++++++++++++--
 2 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 8b93885316..c5d2cc5fe4 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -164,6 +164,7 @@ def notify(self, args):
 
             if not exporterOptions.exportMode == ExportMode.ROBOT:
                 jointConfigTab.isVisible = False
+                # INPUTS_ROOT.itemById("weightTable").isVisible = False
 
             # Transition: AARD-1685
             # There remains some overlap between adding joints as wheels.
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index b5529f1b99..76e60c98e0 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -73,7 +73,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
             weightName.value = "Weight"
             weightName.isReadOnly = True
 
-            createBooleanInput(
+            autoCalcWeightButton = createBooleanInput(
                 "autoCalcWeightButton",
                 "Auto Calculate Robot Weight",
                 generalTabInputs,
@@ -132,7 +132,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
                 enabled=True,
             )
 
-            createBooleanInput(
+            exportAsPartButton = createBooleanInput(
                 "exportAsPartButton",
                 "Export As Part",
                 generalTabInputs,
@@ -141,6 +141,11 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
                 enabled=True,
             )
 
+            if exporterOptions.exportMode == ExportMode.FIELD:
+                autoCalcWeightButton.isVisible = False
+                exportAsPartButton.isVisible = False
+                weightInput.isVisible = weightTableInput.isVisible = False
+
         except BaseException:
             logging.getLogger("{INTERNAL_ID}.UI.GeneralConfigTab").error("Failed:\n{}".format(traceback.format_exc()))
 
@@ -207,17 +212,28 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
             commandInput = args.input
             if commandInput.id == "exportModeDropdown":
                 modeDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
+                autoCalcWeightButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("autoCalcWeightButton")
+                weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
+                exportAsPartButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("exportAsPartButton")
                 if modeDropdown.selectedItem.index == self.previousSelectedModeDropdownIndex:
                     return
 
                 if modeDropdown.selectedItem.index == 0:
                     self.jointConfigTab.isVisible = True
                     self.gamepieceConfigTab.isVisible = False
+
+                    autoCalcWeightButton.isVisible = True
+                    weightTable.isVisible = True
+                    exportAsPartButton.isVisible = True
                 else:
                     assert modeDropdown.selectedItem.index == 1
                     self.jointConfigTab.isVisible = False
                     self.gamepieceConfigTab.isVisible = True
 
+                    autoCalcWeightButton.isVisible = False
+                    weightTable.isVisible = False
+                    exportAsPartButton.isVisible = False
+
                 self.previousSelectedModeDropdownIndex = modeDropdown.selectedItem.index
 
             elif commandInput.id == "weightUnitDropdown":

From b535be1abfe5480aa60461f510ed04a84303ba4c Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 24 Jul 2024 10:47:24 -0700
Subject: [PATCH 029/344] Removed replaced code

---
 .../src/UI/ConfigCommand.py                   | 186 +-----------------
 1 file changed, 5 insertions(+), 181 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index c5d2cc5fe4..80bedbb0ac 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -14,15 +14,9 @@
 from ..APS.APS import getAuth, getUserInfo, refreshAuthToken
 from ..configure import NOTIFIED, write_configuration
 from ..general_imports import *
-from ..Parser.ExporterOptions import (
-    ExporterOptions,
-    ExportLocation,
-    ExportMode,
-    Gamepiece,
-    PreferredUnits,
-)
+from ..Parser.ExporterOptions import ExporterOptions, ExportMode
 from ..Parser.SynthesisParser.Parser import Parser
-from . import CustomGraphics, FileDialogConfig, Helper, IconPaths
+from . import FileDialogConfig, Helper
 from .Configuration.SerialCommand import SerialCommand
 from .GamepieceConfigTab import GamepieceConfigTab
 from .GeneralConfigTab import GeneralConfigTab
@@ -44,12 +38,6 @@
 """
 INPUTS_ROOT = None
 
-"""
-These lists are crucial, and contain all of the relevant object selections.
-- GamepieceListGlobal: list of gamepieces (adsk.fusion.Occurrence)
-"""
-GamepieceListGlobal = []
-
 
 def GUID(arg):
     """### Will return command object when given a string GUID, or the string GUID of an object (depending on arg value)
@@ -67,15 +55,6 @@ def GUID(arg):
         return arg.entityToken
 
 
-def gamepieceTable():
-    """### Returns the gamepiece table command input
-
-    Returns:
-        adsk.fusion.TableCommandInput
-    """
-    return INPUTS_ROOT.itemById("gamepiece_table")
-
-
 class JointMotions(Enum):
     """### Corresponds to the API JointMotions enum
 
@@ -134,8 +113,6 @@ def notify(self, args):
             global INPUTS_ROOT  # Global CommandInputs arg
             INPUTS_ROOT = cmd.commandInputs
 
-            # Transition: AARD-1683
-            # Working on replacing all of the general tab stuff
             global generalConfigTab
             generalConfigTab = GeneralConfigTab(args, exporterOptions)
 
@@ -164,7 +141,6 @@ def notify(self, args):
 
             if not exporterOptions.exportMode == ExportMode.ROBOT:
                 jointConfigTab.isVisible = False
-                # INPUTS_ROOT.itemById("weightTable").isVisible = False
 
             # Transition: AARD-1685
             # There remains some overlap between adding joints as wheels.
@@ -417,34 +393,6 @@ def notify(self, args):
             name = design.rootComponent.name.rsplit(" ", 1)[0]
             version = design.rootComponent.name.rsplit(" ", 1)[1]
 
-            # _exportGamepieces = []  # TODO work on the code to populate Gamepiece
-
-            # Transition: AARD-1683
-            # TODO: Implement gamepiece things
-            """
-            Loops through all rows in the gamepiece table to extract the input values
-            """
-            # gamepieceTableInput = gamepieceTable()
-            # weight_unit_f = INPUTS_ROOT.itemById("weight_unit_f")
-            # for row in range(gamepieceTableInput.rowCount):
-            #     if row == 0:
-            #         continue
-
-            #     weightValue = gamepieceTableInput.getInputAtPosition(row, 2).value  # weight/mass input, float
-
-            #     if weight_unit_f.selectedItem.index == 0:
-            #         weightValue /= 2.2046226218
-
-            #     frictionValue = gamepieceTableInput.getInputAtPosition(row, 3).valueOne  # friction value, float
-
-            # _exportGamepieces.append(
-            #     Gamepiece(
-            #         guid_occurrence(GamepieceListGlobal[row - 1]),
-            #         weightValue,
-            #         frictionValue,
-            #     )
-            # )
-
             selectedJoints, selectedWheels = jointConfigTab.getSelectedJointsAndWheels()
             selectedGamepieces = gamepieceConfigTab.getGamepieces()
 
@@ -502,31 +450,8 @@ def notify(self, args):
             args (CommandEventArgs): command event argument
         """
         try:
-            eventArgs = adsk.core.CommandEventArgs.cast(args)
-            # inputs = eventArgs.command.commandInputs # equivalent to INPUTS_ROOT global
-
-            auto_calc_weight_f = INPUTS_ROOT.itemById("auto_calc_weight_f")
-
-            addFieldInput = INPUTS_ROOT.itemById("field_add")
-            removeFieldInput = INPUTS_ROOT.itemById("field_delete")
-
-            # Transition: AARD-1685
-            # This is how all preview handles should be done in the future
             jointConfigTab.handlePreviewEvent(args)
             gamepieceConfigTab.handlePreviewEvent(args)
-
-            # gamepieceTableInput = gamepieceTable()
-            # if gamepieceTableInput.rowCount <= 1:
-            #     removeFieldInput.isEnabled = auto_calc_weight_f.isEnabled = False
-            # else:
-            #     removeFieldInput.isEnabled = auto_calc_weight_f.isEnabled = True
-
-            # if not addFieldInput.isEnabled or not removeFieldInput:
-            #     for gamepiece in GamepieceListGlobal:
-            #         gamepiece.component.opacity = 0.25
-            #         CustomGraphics.createTextGraphics(gamepiece, GamepieceListGlobal)
-            # else:
-            #     gm.app.activeDocument.design.rootComponent.opacity = 1
         except AttributeError:
             pass
         except:
@@ -717,41 +642,8 @@ def notify(self, args):
                 return
 
             preSelected = preSelectedOcc if preSelectedOcc else preSelectedJoint
-
-            # Transition: AARD-1683
-            # Leaving this section of commented code here to be used in the `ConfigCommand.py` refactor.
-
-            # dropdownExportMode = INPUTS_ROOT.itemById("mode")
-            # if preSelected and design:
-            #     if dropdownExportMode.selectedItem.index == 0:  # Dynamic
-            #         if preSelected.entityToken in onSelect.allWheelPreselections:
-            #             self.cmd.setCursor(
-            #                 IconPaths.mouseIcons["remove"],
-            #                 0,
-            #                 0,
-            #             )
-            #         else:
-            #             self.cmd.setCursor(
-            #                 IconPaths.mouseIcons["add"],
-            #                 0,
-            #                 0,
-            #             )
-
-            #     elif dropdownExportMode.selectedItem.index == 1:  # Static
-            #         if preSelected.entityToken in onSelect.allGamepiecePreselections:
-            #             self.cmd.setCursor(
-            #                 IconPaths.mouseIcons["remove"],
-            #                 0,
-            #                 0,
-            #             )
-            #         else:
-            #             self.cmd.setCursor(
-            #                 IconPaths.mouseIcons["add"],
-            #                 0,
-            #                 0,
-            #             )
-            # else:  # Should literally be impossible? - Brandon
-            #     self.cmd.setCursor("", 0, 0)
+            if not preSelected:
+                self.cmd.setCursor("", 0, 0)
         except:
             if gm.ui:
                 gm.ui.messageBox("Failed:\n{}".format(traceback.format_exc()))
@@ -835,70 +727,6 @@ def notify(self, args):
 
             frictionCoeff = INPUTS_ROOT.itemById("friction_override_coeff")
 
-            # gm.ui.messageBox(cmdInput.id) # DEBUG statement, displays CommandInput user-defined id
-
-            # position = int
-
-            # if cmdInput.id == "mode":
-            #     modeDropdown = adsk.core.DropDownCommandInput.cast(cmdInput)
-
-            #     if modeDropdown.selectedItem.index == 0:
-            #         if gamepieceConfig:
-            #             gm.ui.activeSelections.clear()
-            #             gm.app.activeDocument.design.rootComponent.opacity = 1
-
-            #             gamepieceConfig.isVisible = False
-            #             weightTableInput.isVisible = True
-
-            #             addFieldInput.isEnabled = True
-
-            #     elif modeDropdown.selectedItem.index == 1:
-            #         if gamepieceConfig:
-            #             gm.ui.activeSelections.clear()
-            #             gm.app.activeDocument.design.rootComponent.opacity = 1
-
-            # elif cmdInput.id == "blank_gp" or cmdInput.id == "name_gp" or cmdInput.id == "weight_gp":
-            #     self.reset()
-
-            #     gamepieceSelect.isEnabled = False
-            #     addFieldInput.isEnabled = True
-
-            #     cmdInput_str = cmdInput.id
-
-            #     if cmdInput_str == "name_gp":
-            #         position = gamepieceTableInput.getPosition(adsk.core.TextBoxCommandInput.cast(cmdInput))[1] - 1
-            #     elif cmdInput_str == "weight_gp":
-            #         position = gamepieceTableInput.getPosition(adsk.core.ValueCommandInput.cast(cmdInput))[1] - 1
-            #     elif cmdInput_str == "blank_gp":
-            #         position = gamepieceTableInput.getPosition(adsk.core.ImageCommandInput.cast(cmdInput))[1] - 1
-            #     else:
-            #         position = gamepieceTableInput.getPosition(adsk.core.FloatSliderCommandInput.cast(cmdInput))[1] - 1
-
-            #     gm.ui.activeSelections.add(GamepieceListGlobal[position])
-
-            # elif cmdInput.id == "field_add":
-            #     self.reset()
-
-            #     gamepieceSelect.isVisible = True
-            #     gamepieceSelect.isEnabled = True
-            #     gamepieceSelect.clearSelection()
-            #     addFieldInput.isEnabled = False
-
-            # elif cmdInput.id == "field_delete":
-            #     gm.ui.activeSelections.clear()
-
-            #     addFieldInput.isEnabled = True
-
-            #     if gamepieceTableInput.selectedRow == -1 or gamepieceTableInput.selectedRow == 0:
-            #         gamepieceTableInput.selectedRow = gamepieceTableInput.rowCount - 1
-            #         gm.ui.messageBox("Select a row to delete.")
-            #     else:
-            #         index = gamepieceTableInput.selectedRow - 1
-            #         removeGamePieceFromTable(index)
-
-            # elif cmdInput.id == "gamepiece_select":
-            #     addFieldInput.isEnabled = True
-
             if cmdInput.id == "friction_override":
                 boolValue = adsk.core.BoolValueCommandInput.cast(cmdInput)
 
@@ -926,12 +754,8 @@ def __init__(self):
 
     def notify(self, args):
         try:
-            onSelect = gm.handlers[3]
-
             jointConfigTab.reset()
-            GamepieceListGlobal.clear()
-            onSelect.allWheelPreselections.clear()
-            onSelect.wheelJointList.clear()
+            gamepieceConfigTab.reset()
 
             for group in gm.app.activeDocument.design.rootComponent.customGraphicsGroups:
                 group.deleteMe()

From 96ca9586339bcc4c3819213be50249acf0bb0472 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 24 Jul 2024 11:21:48 -0700
Subject: [PATCH 030/344] Working behavior parenting with a 'set' button,
 highlighting, and sorting

---
 fission/src/Synthesis.tsx                     |   4 +-
 .../ui/panels/SequentialBehaviorsPanel.tsx    | 274 ++++++++++++++++
 .../src/ui/panels/SequentialJointsPanel.tsx   | 299 ------------------
 3 files changed, 276 insertions(+), 301 deletions(-)
 create mode 100644 fission/src/ui/panels/SequentialBehaviorsPanel.tsx
 delete mode 100644 fission/src/ui/panels/SequentialJointsPanel.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index e39d2cddd1..e8613d339a 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -67,7 +67,7 @@ import SceneOverlay from "./ui/components/SceneOverlay.tsx"
 import WPILibWSWorker from "@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker"
 import WSViewPanel from "./ui/panels/WSViewPanel.tsx"
 import Lazy from "./util/Lazy.ts"
-import SequentialJointsPanel from "./ui/panels/SequentialJointsPanel.tsx"
+import SequentialBehaviorsPanel from "./ui/panels/SequentialBehaviorsPanel.tsx"
 
 const DEFAULT_MIRA_PATH = "/api/mira/Robots/Team 2471 (2018)_v7.mira"
 
@@ -275,7 +275,7 @@ const initialPanels: ReactElement[] = [
         sidePadding={8}
     />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
-    <SequentialJointsPanel key="sequential-joints" panelId="sequential-joints" />,
+    <SequentialBehaviorsPanel key="sequential-joints" panelId="sequential-joints" />,
 ]
 
 export default Synthesis
diff --git a/fission/src/ui/panels/SequentialBehaviorsPanel.tsx b/fission/src/ui/panels/SequentialBehaviorsPanel.tsx
new file mode 100644
index 0000000000..f0a10484de
--- /dev/null
+++ b/fission/src/ui/panels/SequentialBehaviorsPanel.tsx
@@ -0,0 +1,274 @@
+import React, { useMemo, useReducer, useState } from "react"
+import Panel, { PanelPropsImpl } from "../components/Panel"
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import Label, { LabelSize } from "../components/Label"
+import World from "@/systems/World"
+import { MiraType } from "@/mirabuf/MirabufLoader"
+import { FaGear, FaXmark } from "react-icons/fa6"
+import { Box, Button as MUIButton, Divider, styled, alpha } from "@mui/material"
+import Button, { ButtonSize } from "../components/Button"
+import GenericArmBehavior from "@/systems/simulation/behavior/GenericArmBehavior"
+import GenericElevatorBehavior from "@/systems/simulation/behavior/GenericElevatorBehavior"
+import Behavior from "@/systems/simulation/behavior/Behavior"
+
+const UnselectParent = <FaXmark size={"1.25rem"} />
+
+const LabelStyled = styled(Label)({
+    fontWeight: 700,
+    margin: "0pt",
+})
+
+const ChildLabelStyled = styled(Label)({
+    fontWeight: 700,
+    margin: "0pt",
+    color: "grey",
+})
+
+const DividerStyled = styled(Divider)({
+    borderColor: "white",
+})
+
+const CustomButton = styled(MUIButton)({
+    "borderStyle": "solid",
+    "borderWidth": "1px",
+    "transition": "border-color 0.3s ease",
+    "&:hover": {
+        borderColor: "white",
+    },
+    "position": "relative",
+    "overflow": "hidden",
+    "& .MuiTouchRipple-root span": {
+        backgroundColor: alpha("#ffffff", 0.3), // Set your desired ripple color here
+        animationDuration: "300ms",
+    },
+})
+
+type BehaviorConfiguration = {
+    behavior: Behavior
+    parent: BehaviorConfiguration | undefined
+}
+
+interface BehaviorCardProps {
+    elementKey: number
+    name: string
+    behavior: BehaviorConfiguration
+    update: () => void
+    onParentPressed: () => void
+    parentPressed: BehaviorConfiguration | undefined
+    onBehaviorSelected: () => void
+    hasChild: boolean
+}
+
+const BehaviorCard: React.FC<BehaviorCardProps> = ({
+    elementKey,
+    name,
+    behavior,
+    update,
+    onParentPressed,
+    parentPressed,
+    onBehaviorSelected,
+    hasChild,
+}) => {
+    return (
+        <Box display="flex" textAlign={"center"} key={elementKey}>
+            <Box position="absolute" alignSelf={"center"} display="flex">
+                <Box width={behavior.parent != undefined || parentPressed == behavior ? "25px" : "8px"} />
+                {behavior.parent != undefined ? (
+                    <>
+                        <ChildLabelStyled
+                            key={`arm-nodes-notation ${elementKey}`}
+                            size={LabelSize.Small}
+                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                        >
+                            {name}
+                        </ChildLabelStyled>
+                    </>
+                ) : (
+                    <>
+                        <LabelStyled
+                            key={`arm-nodes-notation ${elementKey}`}
+                            size={LabelSize.Small}
+                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                        >
+                            {name}
+                        </LabelStyled>
+                    </>
+                )}
+            </Box>
+            <CustomButton
+                fullWidth={true}
+                onClick={() => {
+                    onBehaviorSelected()
+                    update()
+                }}
+                disabled={parentPressed == undefined || parentPressed == behavior || behavior.parent != undefined}
+                sx={{
+                    borderColor:
+                        parentPressed == undefined || parentPressed == behavior || behavior.parent != undefined
+                            ? "transparent"
+                            : "#888888",
+                }}
+            />
+            <Box display="flex" gap="3px">
+                <Box width={"5px"} />
+
+                <Button
+                    key="set"
+                    size={ButtonSize.Small}
+                    value={parentPressed == behavior || behavior.parent != undefined ? UnselectParent : "set"}
+                    onClick={() => {
+                        if (hasChild) return
+
+                        onParentPressed()
+                        update()
+                    }}
+                    colorOverrideClass={hasChild ? "bg-background-secondary hover:brightness-100" : undefined}
+                />
+            </Box>
+        </Box>
+    )
+}
+
+function sortBehaviors(behaviors: BehaviorConfiguration[] | undefined): BehaviorConfiguration[] | undefined {
+    if (behaviors == undefined) return undefined
+    behaviors.sort((a, b) => {
+        if (!(a.behavior instanceof GenericArmBehavior) && !(a.behavior instanceof GenericElevatorBehavior))
+            throw new Error("Wrong behavior type")
+        if (!(b.behavior instanceof GenericArmBehavior) && !(b.behavior instanceof GenericElevatorBehavior))
+            throw new Error("Wrong behavior type")
+
+        return a.behavior.jointIndex - b.behavior.jointIndex
+    })
+
+    const sortedBehaviors: BehaviorConfiguration[] = []
+
+    behaviors.forEach(b => {
+        if (b.parent == undefined) sortedBehaviors.push(b)
+    })
+
+    for (let i = behaviors.length - 1; i >= 0; i--) {
+        const b = behaviors[i]
+
+        if (b.parent == undefined) continue
+
+        const parentIndex = sortedBehaviors.findIndex(sb => b.parent == sb)
+
+        if (parentIndex == -1) throw new Error("Parent behavior not found!")
+
+        sortedBehaviors.splice(parentIndex + 1, 0, b)
+    }
+
+    return sortedBehaviors
+}
+
+const SequentialBehaviorsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
+    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
+    const [behaviors, setBehaviors] = useState<BehaviorConfiguration[] | undefined>(undefined)
+    const [lookingForParent, setLookingForParent] = useState<BehaviorConfiguration | undefined>(undefined)
+
+    const robots = useMemo(() => {
+        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
+            if (x instanceof MirabufSceneObject) {
+                return x.miraType === MiraType.ROBOT
+            }
+            return false
+        }) as MirabufSceneObject[]
+        return assemblies
+    }, [])
+
+    const [_, update] = useReducer(x => {
+        setBehaviors(sortBehaviors(behaviors))
+        return !x
+    }, false)
+
+    return (
+        <Panel
+            openLocation="right"
+            name={"Sequential Joints"}
+            icon={<FaGear />}
+            panelId={panelId}
+            acceptEnabled={false}
+            cancelName="Close"
+        >
+            {selectedRobot == undefined || behaviors == undefined ? (
+                <>
+                    <Label>Select a robot</Label>
+                    {/** Scroll view for selecting a robot to configure */}
+                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
+                        {robots.map(mirabufSceneObject => {
+                            return (
+                                <Button
+                                    value={mirabufSceneObject.assemblyName}
+                                    onClick={() => {
+                                        setSelectedRobot(mirabufSceneObject)
+                                        setBehaviors(
+                                            mirabufSceneObject.brain?.behaviors
+                                                .map(b => {
+                                                    return { behavior: b, parent: undefined }
+                                                })
+                                                .filter(
+                                                    b =>
+                                                        b.behavior instanceof GenericElevatorBehavior ||
+                                                        b.behavior instanceof GenericArmBehavior
+                                                )
+                                        )
+                                        update()
+                                    }}
+                                    key={mirabufSceneObject.id}
+                                ></Button>
+                            )
+                        })}
+                    </div>
+                </>
+            ) : (
+                <>
+                    <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                        Set Parent Behaviors
+                    </LabelStyled>
+                    <DividerStyled />
+                    {behaviors.map(behavior => {
+                        if (
+                            behavior.behavior instanceof GenericArmBehavior ||
+                            behavior.behavior instanceof GenericElevatorBehavior
+                        ) {
+                            const jointIndex = behavior.behavior.jointIndex
+                            return (
+                                <BehaviorCard
+                                    elementKey={jointIndex}
+                                    name={
+                                        behavior.behavior instanceof GenericArmBehavior
+                                            ? `Joint ${jointIndex} (Arm)`
+                                            : `Joint ${jointIndex} (Elevator)`
+                                    }
+                                    behavior={behavior}
+                                    key={jointIndex}
+                                    update={update}
+                                    onParentPressed={() => {
+                                        if (behavior.parent != undefined) {
+                                            behavior.parent = undefined
+                                            update()
+                                        } else {
+                                            setLookingForParent(lookingForParent == behavior ? undefined : behavior)
+                                        }
+                                        update()
+                                    }}
+                                    parentPressed={lookingForParent}
+                                    onBehaviorSelected={() => {
+                                        if (lookingForParent) lookingForParent.parent = behavior
+                                        setLookingForParent(undefined)
+                                        update()
+                                    }}
+                                    hasChild={behaviors.some(b => b.parent == behavior)}
+                                />
+                            )
+                        } else {
+                            throw new Error("Behavior not of correct type")
+                        }
+                    })}
+                </>
+            )}
+        </Panel>
+    )
+}
+
+export default SequentialBehaviorsPanel
diff --git a/fission/src/ui/panels/SequentialJointsPanel.tsx b/fission/src/ui/panels/SequentialJointsPanel.tsx
deleted file mode 100644
index 16b75585b2..0000000000
--- a/fission/src/ui/panels/SequentialJointsPanel.tsx
+++ /dev/null
@@ -1,299 +0,0 @@
-import React, { useMemo, useReducer, useState } from "react"
-import Panel, { PanelPropsImpl } from "../components/Panel"
-import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
-import Label, { LabelSize } from "../components/Label"
-import World from "@/systems/World"
-import { MiraType } from "@/mirabuf/MirabufLoader"
-import { FaArrowLeft, FaArrowRight, FaChevronDown, FaChevronUp, FaGear } from "react-icons/fa6"
-import { Box, Button as MUIButton, Divider, styled } from "@mui/material"
-import Button from "../components/Button"
-import GenericArmBehavior from "@/systems/simulation/behavior/GenericArmBehavior"
-import GenericElevatorBehavior from "@/systems/simulation/behavior/GenericElevatorBehavior"
-import Behavior from "@/systems/simulation/behavior/Behavior"
-
-const ShiftRight = <FaArrowRight size={"1.25rem"} />
-const ShiftLeft = <FaArrowLeft size={"1.25rem"} />
-const UpArrow = <FaChevronUp size={"1.25rem"} />
-const DownArrow = <FaChevronDown size={"1.25rem"} />
-
-const LabelStyled = styled(Label)({
-    fontWeight: 700,
-    margin: "0pt",
-})
-
-const ChildLabelStyled = styled(Label)({
-    fontWeight: 700,
-    margin: "0pt",
-    color: "grey",
-})
-
-const DividerStyled = styled(Divider)({
-    borderColor: "white",
-})
-
-function shiftArrayElementUp<T>(arr: T[], elem: T): void {
-    const index = arr.indexOf(elem)
-    if (index > 0 && index < arr.length) {
-        let temp = arr[index]
-        arr[index] = arr[index - 1]
-        arr[index - 1] = temp
-    }
-}
-
-function shiftArrayElementDown<T>(arr: T[], elem: T): void {
-    const index = arr.indexOf(elem)
-    if (index >= 0 && index < arr.length - 1) {
-        let temp = arr[index]
-        arr[index] = arr[index + 1]
-        arr[index + 1] = temp
-    }
-}
-
-type BehaviorConfiguration = {
-    behavior: Behavior
-    child: boolean
-}
-
-interface BehaviorCardProps {
-    elementKey: number
-    name: string
-    behavior: BehaviorConfiguration
-    update: () => void
-    shiftUp: () => void
-    shiftDown: () => void
-    canShiftUp: boolean
-    canShiftDown: boolean
-    canBecomeChild: boolean
-}
-
-const BehaviorCard: React.FC<BehaviorCardProps> = ({
-    elementKey,
-    name,
-    behavior,
-    update,
-    shiftUp,
-    shiftDown,
-    canShiftUp,
-    canShiftDown,
-    canBecomeChild,
-}) => {
-    return (
-        <Box display="flex" textAlign={"center"} key={elementKey}>
-            <Box position="absolute" alignSelf={"center"} display="flex">
-                {behavior.child ? (
-                    <>
-                        <Box width="25px" />
-                        <ChildLabelStyled
-                            key={`arm-nodes-notation ${elementKey}`}
-                            size={LabelSize.Small}
-                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                        >
-                            {name}
-                        </ChildLabelStyled>
-                    </>
-                ) : (
-                    <>
-                        <LabelStyled
-                            key={`arm-nodes-notation ${elementKey}`}
-                            size={LabelSize.Small}
-                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                        >
-                            {name}
-                        </LabelStyled>
-                    </>
-                )}
-            </Box>
-            <MUIButton fullWidth={true}></MUIButton>
-            <Box display="flex" gap="3px">
-                <>
-                    <Button
-                        key="up"
-                        sizeOverrideClass="px-1 py-0.5"
-                        value={UpArrow}
-                        onClick={() => {
-                            shiftUp()
-                            update()
-                        }}
-                        colorOverrideClass={canShiftUp ? undefined : "disabled"}
-                    />
-                    <Button
-                        key="down"
-                        sizeOverrideClass="px-1 py-0.5"
-                        value={DownArrow}
-                        onClick={() => {
-                            shiftDown()
-                            update()
-                        }}
-                        colorOverrideClass={canShiftDown ? undefined : "disabled"}
-                    />
-
-                    {behavior.child ? (
-                        <Button
-                            key="shift"
-                            sizeOverrideClass="px-1 py-0.5"
-                            value={ShiftLeft}
-                            onClick={() => {
-                                behavior.child = false
-                                update()
-                            }}
-                        />
-                    ) : (
-                        <Button
-                            key="shift"
-                            sizeOverrideClass="px-1 py-0.5"
-                            value={ShiftRight}
-                            onClick={() => {
-                                if (canBecomeChild) {
-                                    behavior.child = true
-                                    update()
-                                }
-                            }}
-                            colorOverrideClass={canBecomeChild ? undefined : "disabled"}
-                        />
-                    )}
-                </>
-            </Box>
-        </Box>
-    )
-}
-
-function GetBehaviorCards(behaviors: BehaviorConfiguration[], update: () => void): JSX.Element[] {
-    const output: JSX.Element[] = []
-    let elementKey = 0
-
-    /* Iterate through each behavior of the robot */
-    behaviors.forEach(behavior => {
-        if (behavior.behavior instanceof GenericArmBehavior) {
-            output.push(
-                <BehaviorCard
-                    elementKey={elementKey}
-                    name={`Joint ${behavior.behavior.jointIndex} (Arm)`}
-                    behavior={behavior}
-                    key={elementKey}
-                    update={update}
-                    shiftUp={() => {
-                        shiftArrayElementUp(behaviors, behavior)
-                    }}
-                    shiftDown={() => {
-                        shiftArrayElementDown(behaviors, behavior)
-                    }}
-                    canShiftUp={behaviors.indexOf(behavior) > 0}
-                    canShiftDown={behaviors.indexOf(behavior) < behaviors.length - 1}
-                    canBecomeChild={(() => {
-                        const index = behaviors.indexOf(behavior)
-                        if (index < behaviors.length - 1 && behaviors[index + 1].child) return false
-
-                        for (let i = index; i > 0; i--)
-                            if (!behaviors[i].child) {
-                                return true
-                            }
-                        return false
-                    })()}
-                />
-            )
-            elementKey++
-        } else if (behavior.behavior instanceof GenericElevatorBehavior) {
-            /* Adds the joints that the elevator is associated with */
-            // Get the rigid node associates for the two bodies
-            output.push(
-                <BehaviorCard
-                    elementKey={elementKey}
-                    name={`Joint ${behavior.behavior.jointIndex} (Elevator)`}
-                    behavior={behavior}
-                    key={elementKey}
-                    update={update}
-                    shiftUp={() => {
-                        shiftArrayElementUp(behaviors, behavior)
-                    }}
-                    shiftDown={() => {
-                        shiftArrayElementDown(behaviors, behavior)
-                    }}
-                    canShiftUp={behaviors.indexOf(behavior) > 0}
-                    canShiftDown={behaviors.indexOf(behavior) < behaviors.length - 1}
-                    canBecomeChild={(() => {
-                        const index = behaviors.indexOf(behavior)
-                        if (index < behaviors.length - 1 && behaviors[index + 1].child) return false
-
-                        for (let i = index; i > 0; i--)
-                            if (!behaviors[i].child) {
-                                return true
-                            }
-                        return false
-                    })()}
-                />
-            )
-            elementKey++
-        }
-    })
-
-    return output
-}
-
-const SequentialJointsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
-    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
-    const [behaviors, setBehaviors] = useState<BehaviorConfiguration[] | undefined>(undefined)
-
-    const robots = useMemo(() => {
-        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
-            if (x instanceof MirabufSceneObject) {
-                return x.miraType === MiraType.ROBOT
-            }
-            return false
-        }) as MirabufSceneObject[]
-        return assemblies
-    }, [])
-
-    const [_, update] = useReducer(x => !x, false)
-
-    return (
-        <Panel
-            openLocation="right"
-            name={"Sequential Joints"}
-            icon={<FaGear />}
-            panelId={panelId}
-            acceptEnabled={false}
-            cancelName="Close"
-        >
-            {selectedRobot == undefined || behaviors == undefined ? (
-                <>
-                    <Label>Select a robot</Label>
-                    {/** Scroll view for selecting a robot to configure */}
-                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
-                        {robots.map(mirabufSceneObject => {
-                            return (
-                                <Button
-                                    value={mirabufSceneObject.assemblyName}
-                                    onClick={() => {
-                                        setSelectedRobot(mirabufSceneObject)
-                                        setBehaviors(
-                                            mirabufSceneObject.brain?.behaviors
-                                                .map(b => {
-                                                    return { behavior: b, child: false }
-                                                })
-                                                .filter(
-                                                    b =>
-                                                        b.behavior instanceof GenericElevatorBehavior ||
-                                                        b.behavior instanceof GenericArmBehavior
-                                                )
-                                        )
-                                    }}
-                                    key={mirabufSceneObject.id}
-                                ></Button>
-                            )
-                        })}
-                    </div>
-                </>
-            ) : (
-                <>
-                    <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                        Behaviors
-                    </LabelStyled>
-                    <DividerStyled />
-                    {GetBehaviorCards(behaviors, update)}
-                </>
-            )}
-        </Panel>
-    )
-}
-
-export default SequentialJointsPanel

From f66720a57127e9b6493f351ea38580551a085560 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 24 Jul 2024 11:32:07 -0700
Subject: [PATCH 031/344] Fix merge conflicts

---
 .../src/UI/ConfigCommand.py                   | 99 ++++++++++---------
 .../src/UI/GamepieceConfigTab.py              |  7 ++
 .../src/UI/ShowAPSAuthCommand.py              |  7 --
 3 files changed, 57 insertions(+), 56 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 89eff97461..7b733e7220 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -11,8 +11,8 @@
 
 from ..APS.APS import getAuth, getUserInfo, refreshAuthToken
 from ..general_imports import *
-from ..Parser.ExporterOptions import ExporterOptions, ExportMode
 from ..Logging import getLogger, logFailure
+from ..Parser.ExporterOptions import ExporterOptions, ExportLocation, ExportMode
 from ..Parser.SynthesisParser.Parser import Parser
 from . import FileDialogConfig, Helper
 from .Configuration.SerialCommand import SerialCommand
@@ -99,13 +99,6 @@ def notify(self, args):
         global INPUTS_ROOT  # Global CommandInputs arg
         INPUTS_ROOT = cmd.commandInputs
 
-        # ====================================== GENERAL TAB ======================================
-        """
-        Creates the general tab.
-            - Parent container for all the command inputs in the tab.
-        """
-        inputs = INPUTS_ROOT.addTabCommandInput("general_settings", "General").children
-
         # ~~~~~~~~~~~~~~~~ HELP FILE ~~~~~~~~~~~~~~~~
         """
         Sets the small "i" icon in bottom left of the panel.
@@ -113,20 +106,6 @@ def notify(self, args):
         """
         cmd.helpFile = os.path.join(".", "src", "Resources", "HTML", "info.html")
 
-        # ~~~~~~~~~~~~~~~~ EXPORT MODE ~~~~~~~~~~~~~~~~
-        """
-        Dropdown to choose whether to export robot or field element
-        """
-        dropdownExportMode = inputs.addDropDownCommandInput(
-            "mode",
-            "Export Mode",
-            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-        )
-
-        dynamic = exporterOptions.exportMode == ExportMode.ROBOT
-        dropdownExportMode.listItems.add("Dynamic", dynamic)
-        dropdownExportMode.listItems.add("Static", not dynamic)
-
         global generalConfigTab
         generalConfigTab = GeneralConfigTab(args, exporterOptions)
 
@@ -149,6 +128,32 @@ def notify(self, args):
         if not exporterOptions.exportMode == ExportMode.ROBOT:
             jointConfigTab.isVisible = False
 
+        # Transition: AARD-1685
+        # There remains some overlap between adding joints as wheels.
+        # Should investigate changes to improve performance.
+        if exporterOptions.joints:
+            for synJoint in exporterOptions.joints:
+                fusionJoint = gm.app.activeDocument.design.findEntityByToken(synJoint.jointToken)[0]
+                jointConfigTab.addJoint(fusionJoint, synJoint)
+        else:
+            for joint in [
+                *gm.app.activeDocument.design.rootComponent.allJoints,
+                *gm.app.activeDocument.design.rootComponent.allAsBuiltJoints,
+            ]:
+                if (
+                    joint.jointMotion.jointType in (JointMotions.REVOLUTE.value, JointMotions.SLIDER.value)
+                    and not joint.isSuppressed
+                ):
+                    jointConfigTab.addJoint(joint)
+
+        # Adding saved wheels must take place after joints are added as a result of how the two types are connected.
+        # Transition: AARD-1685
+        # Should consider changing how the parser handles wheels and joints to avoid overlap
+        if exporterOptions.wheels:
+            for wheel in exporterOptions.wheels:
+                fusionJoint = gm.app.activeDocument.design.findEntityByToken(wheel.jointToken)[0]
+                jointConfigTab.addWheel(fusionJoint, wheel)
+
         # frictionOverrideInput = self.createBooleanInput(
         #     "friction_override",
         #     "Friction Override",
@@ -202,13 +207,13 @@ def notify(self, args):
         #     enabled=True,
         # )
 
-        getAuth()
-        user_info = getUserInfo()
-        apsSettings = INPUTS_ROOT.addTabCommandInput(
-            "aps_settings", f"APS Settings ({user_info.given_name if user_info else 'Not Signed In'})"
-        )
-        apsSettings.tooltip = "Configuration settings for Autodesk Platform Services."
-        aps_input = apsSettings.children
+        # getAuth()
+        # user_info = getUserInfo()
+        # apsSettings = INPUTS_ROOT.addTabCommandInput(
+        #     "aps_settings", f"APS Settings ({user_info.given_name if user_info else 'Not Signed In'})"
+        # )
+        # apsSettings.tooltip = "Configuration settings for Autodesk Platform Services."
+        # aps_input = apsSettings.children
 
         # clear all selections before instantiating handlers.
         gm.ui.activeSelections.clear()
@@ -287,33 +292,25 @@ def notify(self, args):
             logger.error("Could not execute configuration due to failure")
             return
 
-        # processedFileName = gm.app.activeDocument.name.replace(" ", "_")
-        # dropdownExportLocation = INPUTS_ROOT.itemById("location")
-        # if dropdownExportLocation.selectedItem.index == 1:  # Download
-        #     savepath = FileDialogConfig.saveFileDialog(defaultPath=exporterOptions.fileLocation)
+        processedFileName = gm.app.activeDocument.name.replace(" ", "_")
+        if generalConfigTab.exportLocation == ExportLocation.DOWNLOAD:
+            savepath = FileDialogConfig.saveFileDialog(defaultPath=exporterOptions.fileLocation)
 
-        #     if savepath == False:
-        #         # save was canceled
-        #         return
+            if savepath == False:
+                # save was canceled
+                return
 
-        #     if True:
-        #         savepath = FileDialogConfig.saveFileDialog(defaultPath=exporterOptions.fileLocation)
-        #     processedFileName = gm.app.activeDocument.name.replace(" ", "_")
-        #     dropdownExportLocation = INPUTS_ROOT.itemById("location")
-        #     if dropdownExportLocation.selectedItem.index == 1:  # Download
-        #         savepath = FileDialogConfig.saveFileDialog(defaultPath=exporterOptions.fileLocation)
+            updatedPath = pathlib.Path(savepath).parent
+            if updatedPath != self.current.filePath:
+                self.current.filePath = str(updatedPath)
+        else:
+            savepath = processedFileName
 
         adsk.doEvents()
-        # get active document
         design = gm.app.activeDocument.design
         name = design.rootComponent.name.rsplit(" ", 1)[0]
         version = design.rootComponent.name.rsplit(" ", 1)[1]
 
-        _exportGamepieces = []  # TODO work on the code to populate Gamepiece
-        _robotWeight = float
-        _mode: ExportMode
-        _location: ExportLocation
-
         selectedJoints, selectedWheels = jointConfigTab.getSelectedJointsAndWheels()
         selectedGamepieces = gamepieceConfigTab.getGamepieces()
 
@@ -333,13 +330,17 @@ def notify(self, args):
             gamepieces=selectedGamepieces,
             preferredUnits=units,
             robotWeight=generalConfigTab.robotWeight,
+            autoCalcRobotWeight=generalConfigTab.autoCalculateWeight,
+            autoCalcGamepieceWeight=gamepieceConfigTab.autoCalculateWeight,
             exportMode=generalConfigTab.exportMode,
             exportLocation=generalConfigTab.exportLocation,
             compressOutput=generalConfigTab.compress,
             exportAsPart=generalConfigTab.exportAsPart,
-            autoCalcRobotWeight=generalConfigTab.autoCalculateWeight,
         )
 
+        Parser(exporterOptions).export()
+        exporterOptions.writeToDesign()
+
         # All selections should be reset AFTER a successful export and save.
         # If we run into an exporting error we should return back to the panel with all current options
         # still in tact. Even if they did not save.
diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index 31b1a42358..57b61b0fa4 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -110,6 +110,13 @@ def isVisible(self, value: bool) -> None:
     def selectedUnits(self) -> PreferredUnits:
         return self.currentUnits
 
+    @property
+    def autoCalculateWeight(self) -> bool:
+        autoCalcWeightButton: adsk.core.BoolValueCommandInput = self.gamepieceConfigTab.children.itemById(
+            "autoCalcGamepieceWeight"
+        )
+        return autoCalcWeightButton.value
+
     @property
     def weightInputs(self) -> list[adsk.core.ValueCommandInput]:
         gamepieceWeightInputs = []
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
index 615284d534..bd45cfc062 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
@@ -10,13 +10,6 @@
 
 from src.APS.APS import CLIENT_ID, auth_path, convertAuthToken, getCodeChallenge
 from src.general_imports import APP_NAME, DESCRIPTION, INTERNAL_ID, gm, my_addin_path
-from src.general_imports import (
-    APP_NAME,
-    DESCRIPTION,
-    INTERNAL_ID,
-    gm,
-    my_addin_path,
-)
 from src.Logging import getLogger
 
 logger = getLogger()

From 96a809c5df49513d32daed15cf2c1417ce05779a Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 24 Jul 2024 11:37:37 -0700
Subject: [PATCH 032/344] Fix add gamepiece weight input enabled state

---
 exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index 57b61b0fa4..033f2080d2 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -168,6 +168,7 @@ def addChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None:
             "gamepieceWeight", "Weight Input", "", adsk.core.ValueInput.createByString(str(gamepieceMass))
         )
         weight.tooltip = "Weight of field element"
+        weight.isEnabled = not self.previousAutoCalcWeightCheckboxState
 
         weightUnitDropdown: adsk.core.DropDownCommandInput = self.gamepieceConfigTab.children.itemById(
             "gamepieceWeightUnit"

From 9d77d9495012a6546053533912b77b6d2e880f28 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 24 Jul 2024 11:42:32 -0700
Subject: [PATCH 033/344] Integrate GH-1010

---
 .../src/UI/GamepieceConfigTab.py              |  12 +
 .../src/UI/GeneralConfigTab.py                | 383 +++++++++---------
 2 files changed, 199 insertions(+), 196 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index 033f2080d2..661c2cb6e6 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -1,6 +1,7 @@
 import adsk.core
 import adsk.fusion
 
+from ..Logging import logFailure
 from ..Parser.ExporterOptions import ExporterOptions, Gamepiece, PreferredUnits
 from ..TypesTmp import toKg, toLbs
 from . import IconPaths
@@ -20,6 +21,7 @@ class GamepieceConfigTab:
     previousSelectedUnitDropdownIndex: int
     currentUnits: PreferredUnits
 
+    @logFailure
     def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: ExporterOptions) -> None:
         inputs = args.command.commandInputs
         self.gamepieceConfigTab = inputs.addTabCommandInput("gamepieceSettings", "Gamepiece Settings")
@@ -117,6 +119,7 @@ def autoCalculateWeight(self) -> bool:
         )
         return autoCalcWeightButton.value
 
+    @logFailure
     @property
     def weightInputs(self) -> list[adsk.core.ValueCommandInput]:
         gamepieceWeightInputs = []
@@ -125,6 +128,7 @@ def weightInputs(self) -> list[adsk.core.ValueCommandInput]:
 
         return gamepieceWeightInputs
 
+    @logFailure
     def addGamepiece(self, gamepiece: adsk.fusion.Occurrence, synGamepiece: Gamepiece | None = None) -> bool:
         if gamepiece.entityToken in self.selectedGamepieceEntityIDs:
             return False
@@ -186,9 +190,11 @@ def addChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None:
 
         return True
 
+    @logFailure
     def removeIndexedGamepiece(self, index: int) -> None:
         self.removeGamepiece(self.selectedGamepieceList[index])
 
+    @logFailure
     def removeGamepiece(self, gamepiece: adsk.fusion.Occurrence) -> None:
         def removeChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None:
             for occ in childOccurrences:
@@ -206,6 +212,7 @@ def removeChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None
         self.selectedGamepieceList.remove(gamepiece)
         self.gamepieceTable.deleteRow(i + 1)  # Row is 1 indexed
 
+    @logFailure
     def getGamepieces(self) -> list[Gamepiece]:
         gamepieces: list[Gamepiece] = []
         for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
@@ -220,6 +227,7 @@ def reset(self) -> None:
         self.selectedGamepieceEntityIDs.clear()
         self.selectedGamepieceList.clear()
 
+    @logFailure
     def updateWeightTableToUnits(self, units: PreferredUnits) -> None:
         assert units in {PreferredUnits.METRIC, PreferredUnits.IMPERIAL}
         conversionFunc = toKg if units == PreferredUnits.METRIC else toLbs
@@ -227,6 +235,7 @@ def updateWeightTableToUnits(self, units: PreferredUnits) -> None:
             weightInput: adsk.core.ValueCommandInput = self.gamepieceTable.getInputAtPosition(row, 1)
             weightInput.value = conversionFunc(weightInput.value)
 
+    @logFailure
     def calcGamepieceWeights(self) -> None:
         for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
             weightInput: adsk.core.ValueCommandInput = self.gamepieceTable.getInputAtPosition(row, 1)
@@ -238,6 +247,7 @@ def calcGamepieceWeights(self) -> None:
             else:
                 weightInput.value = round(physical.mass, 2)
 
+    @logFailure
     def handleInputChanged(
         self, args: adsk.core.InputChangedEventArgs, globalCommandInputs: adsk.core.CommandInputs
     ) -> None:
@@ -315,6 +325,7 @@ def handleInputChanged(
             gamepieceSelectCancelButton.isEnabled = gamepieceSelectCancelButton.isVisible = False
             gamepieceAddButton.isEnabled = gamepieceRemoveButton.isEnabled = True
 
+    @logFailure
     def handleSelectionEvent(self, args: adsk.core.SelectionEventArgs, selectedOcc: adsk.fusion.Occurrence) -> None:
         selectionInput = args.activeInput
         rootComponent = adsk.core.Application.get().activeDocument.design.rootComponent
@@ -334,6 +345,7 @@ def handleSelectionEvent(self, args: adsk.core.SelectionEventArgs, selectedOcc:
 
         selectionInput.isEnabled = selectionInput.isVisible = False
 
+    @logFailure
     def handlePreviewEvent(self, args: adsk.core.CommandEventArgs) -> None:
         commandInputs = args.command.commandInputs
         gamepieceAddButton: adsk.core.BoolValueCommandInput = commandInputs.itemById("gamepieceAddButton")
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index 76e60c98e0..e7050b4949 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -1,10 +1,7 @@
-import logging
-import traceback
-
 import adsk.core
 import adsk.fusion
 
-from ..general_imports import INTERNAL_ID
+from ..Logging import logFailure
 from ..Parser.ExporterOptions import (
     ExporterOptions,
     ExportLocation,
@@ -27,127 +24,124 @@ class GeneralConfigTab:
     jointConfigTab: JointConfigTab
     gamepieceConfigTab: GamepieceConfigTab
 
+    @logFailure
     def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: ExporterOptions) -> None:
-        try:
-            inputs = args.command.commandInputs
-            self.generalOptionsTab = inputs.addTabCommandInput("generalSettings", "General Settings")
-            self.generalOptionsTab.tooltip = "General configuration options for your robot export."
-            generalTabInputs = self.generalOptionsTab.children
-
-            dropdownExportMode = generalTabInputs.addDropDownCommandInput(
-                "exportModeDropdown",
-                "Export Mode",
-                dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-            )
-
-            dynamic = exporterOptions.exportMode == ExportMode.ROBOT
-            dropdownExportMode.listItems.add("Dynamic", dynamic)
-            dropdownExportMode.listItems.add("Static", not dynamic)
-            dropdownExportMode.tooltip = "Export Mode"
-            dropdownExportMode.tooltipDescription = "<hr>Does this object move dynamically?"
-            self.previousSelectedModeDropdownIndex = int(not dynamic)
-
-            dropdownExportLocation = generalTabInputs.addDropDownCommandInput(
-                "exportLocation", "Export Location", dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle
-            )
-
-            upload: bool = exporterOptions.exportLocation == ExportLocation.UPLOAD
-            dropdownExportLocation.listItems.add("Upload", upload)
-            dropdownExportLocation.listItems.add("Download", not upload)
-            dropdownExportLocation.tooltip = "Export Location"
-            dropdownExportLocation.tooltipDescription = (
-                "<hr>Do you want to upload this mirabuf file to APS, or download it to your local machine?"
-            )
-
-            weightTableInput = createTableInput(
-                "weightTable",
-                "Weight Table",
-                generalTabInputs,
-                4,
-                "2:1:1",
-                1,
-            )
-            weightTableInput.tablePresentationStyle = 2  # Transparent background
-
-            weightName = generalTabInputs.addStringValueInput("weightName", "Weight")
-            weightName.value = "Weight"
-            weightName.isReadOnly = True
-
-            autoCalcWeightButton = createBooleanInput(
-                "autoCalcWeightButton",
-                "Auto Calculate Robot Weight",
-                generalTabInputs,
-                checked=exporterOptions.autoCalcRobotWeight,
-                tooltip="Approximate the weight of your robot assembly.",
-            )
-            self.previousAutoCalcWeightCheckboxState = exporterOptions.autoCalcRobotWeight
-
-            self.currentUnits = exporterOptions.preferredUnits
-            imperialUnits = self.currentUnits == PreferredUnits.IMPERIAL
-            if imperialUnits:
-                # ExporterOptions always contains the metric value
-                displayWeight = exporterOptions.robotWeight * 2.2046226218
-            else:
-                displayWeight = exporterOptions.robotWeight
-
-            weightInput = generalTabInputs.addValueInput(
-                "weightInput",
-                "Weight Input",
-                "",
-                adsk.core.ValueInput.createByReal(displayWeight),
-            )
-            weightInput.tooltip = "Robot weight"
-            weightInput.tooltipDescription = (
-                f"<tt>(in {'pounds' if self.currentUnits == PreferredUnits.IMPERIAL else 'kilograms'})"
-                "</tt><hr>This is the weight of the entire robot assembly."
-            )
-            weightInput.isEnabled = not exporterOptions.autoCalcRobotWeight
-
-            weightUnitDropdown = generalTabInputs.addDropDownCommandInput(
-                "weightUnitDropdown",
-                "Weight Unit",
-                adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-            )
-
-            # Invisible white space characters are required in the list item name field to make this work.
-            # I have no idea why, Fusion API needs some special education help - Brandon
-            weightUnitDropdown.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
-            weightUnitDropdown.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
-            weightUnitDropdown.tooltip = "Unit of Mass"
-            weightUnitDropdown.tooltipDescription = "<hr>Configure the unit of mass for the weight calculation."
-            self.previousSelectedUnitDropdownIndex = int(not imperialUnits)
-
-            weightTableInput.addCommandInput(weightName, 0, 0)
-            weightTableInput.addCommandInput(weightInput, 0, 1)
-            weightTableInput.addCommandInput(weightUnitDropdown, 0, 2)
-
-            createBooleanInput(
-                "compressOutputButton",
-                "Compress Output",
-                generalTabInputs,
-                checked=exporterOptions.compressOutput,
-                tooltip="Compress the output file for a smaller file size.",
-                tooltipadvanced="<hr>Use the GZIP compression system to compress the resulting file, "
-                "perfect if you want to share your robot design around.<br>",
-                enabled=True,
-            )
-
-            exportAsPartButton = createBooleanInput(
-                "exportAsPartButton",
-                "Export As Part",
-                generalTabInputs,
-                checked=exporterOptions.exportAsPart,
-                tooltip="Use to export as a part for Mix And Match",
-                enabled=True,
-            )
-
-            if exporterOptions.exportMode == ExportMode.FIELD:
-                autoCalcWeightButton.isVisible = False
-                exportAsPartButton.isVisible = False
-                weightInput.isVisible = weightTableInput.isVisible = False
+        inputs = args.command.commandInputs
+        self.generalOptionsTab = inputs.addTabCommandInput("generalSettings", "General Settings")
+        self.generalOptionsTab.tooltip = "General configuration options for your robot export."
+        generalTabInputs = self.generalOptionsTab.children
+
+        dropdownExportMode = generalTabInputs.addDropDownCommandInput(
+            "exportModeDropdown",
+            "Export Mode",
+            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
+        )
+
+        dynamic = exporterOptions.exportMode == ExportMode.ROBOT
+        dropdownExportMode.listItems.add("Dynamic", dynamic)
+        dropdownExportMode.listItems.add("Static", not dynamic)
+        dropdownExportMode.tooltip = "Export Mode"
+        dropdownExportMode.tooltipDescription = "<hr>Does this object move dynamically?"
+        self.previousSelectedModeDropdownIndex = int(not dynamic)
+
+        dropdownExportLocation = generalTabInputs.addDropDownCommandInput(
+            "exportLocation", "Export Location", dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle
+        )
+
+        upload: bool = exporterOptions.exportLocation == ExportLocation.UPLOAD
+        dropdownExportLocation.listItems.add("Upload", upload)
+        dropdownExportLocation.listItems.add("Download", not upload)
+        dropdownExportLocation.tooltip = "Export Location"
+        dropdownExportLocation.tooltipDescription = (
+            "<hr>Do you want to upload this mirabuf file to APS, or download it to your local machine?"
+        )
+
+        weightTableInput = createTableInput(
+            "weightTable",
+            "Weight Table",
+            generalTabInputs,
+            4,
+            "2:1:1",
+            1,
+        )
+        weightTableInput.tablePresentationStyle = 2  # Transparent background
+
+        weightName = generalTabInputs.addStringValueInput("weightName", "Weight")
+        weightName.value = "Weight"
+        weightName.isReadOnly = True
+
+        autoCalcWeightButton = createBooleanInput(
+            "autoCalcWeightButton",
+            "Auto Calculate Robot Weight",
+            generalTabInputs,
+            checked=exporterOptions.autoCalcRobotWeight,
+            tooltip="Approximate the weight of your robot assembly.",
+        )
+        self.previousAutoCalcWeightCheckboxState = exporterOptions.autoCalcRobotWeight
+
+        self.currentUnits = exporterOptions.preferredUnits
+        imperialUnits = self.currentUnits == PreferredUnits.IMPERIAL
+        if imperialUnits:
+            # ExporterOptions always contains the metric value
+            displayWeight = exporterOptions.robotWeight * 2.2046226218
+        else:
+            displayWeight = exporterOptions.robotWeight
+
+        weightInput = generalTabInputs.addValueInput(
+            "weightInput",
+            "Weight Input",
+            "",
+            adsk.core.ValueInput.createByReal(displayWeight),
+        )
+        weightInput.tooltip = "Robot weight"
+        weightInput.tooltipDescription = (
+            f"<tt>(in {'pounds' if self.currentUnits == PreferredUnits.IMPERIAL else 'kilograms'})"
+            "</tt><hr>This is the weight of the entire robot assembly."
+        )
+        weightInput.isEnabled = not exporterOptions.autoCalcRobotWeight
 
-        except BaseException:
-            logging.getLogger("{INTERNAL_ID}.UI.GeneralConfigTab").error("Failed:\n{}".format(traceback.format_exc()))
+        weightUnitDropdown = generalTabInputs.addDropDownCommandInput(
+            "weightUnitDropdown",
+            "Weight Unit",
+            adsk.core.DropDownStyles.LabeledIconDropDownStyle,
+        )
+
+        # Invisible white space characters are required in the list item name field to make this work.
+        # I have no idea why, Fusion API needs some special education help - Brandon
+        weightUnitDropdown.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
+        weightUnitDropdown.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
+        weightUnitDropdown.tooltip = "Unit of Mass"
+        weightUnitDropdown.tooltipDescription = "<hr>Configure the unit of mass for the weight calculation."
+        self.previousSelectedUnitDropdownIndex = int(not imperialUnits)
+
+        weightTableInput.addCommandInput(weightName, 0, 0)
+        weightTableInput.addCommandInput(weightInput, 0, 1)
+        weightTableInput.addCommandInput(weightUnitDropdown, 0, 2)
+
+        createBooleanInput(
+            "compressOutputButton",
+            "Compress Output",
+            generalTabInputs,
+            checked=exporterOptions.compressOutput,
+            tooltip="Compress the output file for a smaller file size.",
+            tooltipadvanced="<hr>Use the GZIP compression system to compress the resulting file, "
+            "perfect if you want to share your robot design around.<br>",
+            enabled=True,
+        )
+
+        exportAsPartButton = createBooleanInput(
+            "exportAsPartButton",
+            "Export As Part",
+            generalTabInputs,
+            checked=exporterOptions.exportAsPart,
+            tooltip="Use to export as a part for Mix And Match",
+            enabled=True,
+        )
+
+        if exporterOptions.exportMode == ExportMode.FIELD:
+            autoCalcWeightButton.isVisible = False
+            exportAsPartButton.isVisible = False
+            weightInput.isVisible = weightTableInput.isVisible = False
 
     @property
     def exportMode(self) -> ExportMode:
@@ -207,81 +201,78 @@ def exportLocation(self) -> ExportLocation:
             assert exportLocationDropdown.selectedItem.index == 1
             return ExportLocation.DOWNLOAD
 
+    @logFailure
     def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
-        try:
-            commandInput = args.input
-            if commandInput.id == "exportModeDropdown":
-                modeDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
-                autoCalcWeightButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("autoCalcWeightButton")
-                weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
-                exportAsPartButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("exportAsPartButton")
-                if modeDropdown.selectedItem.index == self.previousSelectedModeDropdownIndex:
-                    return
-
-                if modeDropdown.selectedItem.index == 0:
-                    self.jointConfigTab.isVisible = True
-                    self.gamepieceConfigTab.isVisible = False
-
-                    autoCalcWeightButton.isVisible = True
-                    weightTable.isVisible = True
-                    exportAsPartButton.isVisible = True
-                else:
-                    assert modeDropdown.selectedItem.index == 1
-                    self.jointConfigTab.isVisible = False
-                    self.gamepieceConfigTab.isVisible = True
-
-                    autoCalcWeightButton.isVisible = False
-                    weightTable.isVisible = False
-                    exportAsPartButton.isVisible = False
-
-                self.previousSelectedModeDropdownIndex = modeDropdown.selectedItem.index
-
-            elif commandInput.id == "weightUnitDropdown":
-                weightUnitDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
-                weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
-                weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)
-                if weightUnitDropdown.selectedItem.index == self.previousSelectedUnitDropdownIndex:
-                    return
-
-                if weightUnitDropdown.selectedItem.index == 0:
-                    self.currentUnits = PreferredUnits.IMPERIAL
-                    weightInput.value = toLbs(weightInput.value)
-                    weightInput.tooltipDescription = (
-                        "<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."
-                    )
-                else:
-                    assert weightUnitDropdown.selectedItem.index == 1
-                    self.currentUnits = PreferredUnits.METRIC
-                    weightInput.value = toKg(weightInput.value)
-                    weightInput.tooltipDescription = (
-                        "<tt>(in kilograms)</tt><hr>This is the weight of the entire robot assembly."
-                    )
-
-                self.previousSelectedUnitDropdownIndex = weightUnitDropdown.selectedItem.index
-
-            elif commandInput.id == "autoCalcWeightButton":
-                autoCalcWeightButton = adsk.core.BoolValueCommandInput.cast(commandInput)
-                if autoCalcWeightButton.value == self.previousAutoCalcWeightCheckboxState:
-                    return
-
-                weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
-                weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)
-
-                if autoCalcWeightButton.value:
-                    robotMass = designMassCalculation()
-                    weightInput.value = robotMass if self.currentUnits is PreferredUnits.METRIC else toLbs(robotMass)
-                    weightInput.isEnabled = False
-                else:
-                    weightInput.isEnabled = True
-
-                self.previousAutoCalcWeightCheckboxState = autoCalcWeightButton.value
-
-        except BaseException:
-            logging.getLogger(f"{INTERNAL_ID}.UI.GeneralConfigTab").error("Failed:\n{}".format(traceback.format_exc()))
-
-
-# TODO: GH-1010 for failure logging with message box
+        commandInput = args.input
+        if commandInput.id == "exportModeDropdown":
+            modeDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
+            autoCalcWeightButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("autoCalcWeightButton")
+            weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
+            exportAsPartButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("exportAsPartButton")
+            if modeDropdown.selectedItem.index == self.previousSelectedModeDropdownIndex:
+                return
+
+            if modeDropdown.selectedItem.index == 0:
+                self.jointConfigTab.isVisible = True
+                self.gamepieceConfigTab.isVisible = False
+
+                autoCalcWeightButton.isVisible = True
+                weightTable.isVisible = True
+                exportAsPartButton.isVisible = True
+            else:
+                assert modeDropdown.selectedItem.index == 1
+                self.jointConfigTab.isVisible = False
+                self.gamepieceConfigTab.isVisible = True
+
+                autoCalcWeightButton.isVisible = False
+                weightTable.isVisible = False
+                exportAsPartButton.isVisible = False
+
+            self.previousSelectedModeDropdownIndex = modeDropdown.selectedItem.index
+
+        elif commandInput.id == "weightUnitDropdown":
+            weightUnitDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
+            weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
+            weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)
+            if weightUnitDropdown.selectedItem.index == self.previousSelectedUnitDropdownIndex:
+                return
+
+            if weightUnitDropdown.selectedItem.index == 0:
+                self.currentUnits = PreferredUnits.IMPERIAL
+                weightInput.value = toLbs(weightInput.value)
+                weightInput.tooltipDescription = (
+                    "<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."
+                )
+            else:
+                assert weightUnitDropdown.selectedItem.index == 1
+                self.currentUnits = PreferredUnits.METRIC
+                weightInput.value = toKg(weightInput.value)
+                weightInput.tooltipDescription = (
+                    "<tt>(in kilograms)</tt><hr>This is the weight of the entire robot assembly."
+                )
+
+            self.previousSelectedUnitDropdownIndex = weightUnitDropdown.selectedItem.index
+
+        elif commandInput.id == "autoCalcWeightButton":
+            autoCalcWeightButton = adsk.core.BoolValueCommandInput.cast(commandInput)
+            if autoCalcWeightButton.value == self.previousAutoCalcWeightCheckboxState:
+                return
+
+            weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
+            weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)
+
+            if autoCalcWeightButton.value:
+                robotMass = designMassCalculation()
+                weightInput.value = robotMass if self.currentUnits is PreferredUnits.METRIC else toLbs(robotMass)
+                weightInput.isEnabled = False
+            else:
+                weightInput.isEnabled = True
+
+            self.previousAutoCalcWeightCheckboxState = autoCalcWeightButton.value
+
+
 # TODO: Perhaps move this into a different module
+@logFailure
 def designMassCalculation() -> KG:
     app = adsk.core.Application.get()
     mass = 0.0

From 965bed1d1b4808ea6a7ceee60e748dba203e7ad2 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 24 Jul 2024 12:06:33 -0700
Subject: [PATCH 034/344] Comments, cleanup, and format

---
 .../systems/simulation/behavior/Behavior.ts   |   4 +
 .../simulation/behavior/GenericArmBehavior.ts |   4 +-
 .../behavior/GenericElevatorBehavior.ts       |   4 +-
 fission/src/ui/components/MainHUD.tsx         |  14 +-
 .../ui/panels/SequentialBehaviorsPanel.tsx    | 191 ++++++++++--------
 5 files changed, 117 insertions(+), 100 deletions(-)

diff --git a/fission/src/systems/simulation/behavior/Behavior.ts b/fission/src/systems/simulation/behavior/Behavior.ts
index 2dd0fcb190..f9125f0514 100644
--- a/fission/src/systems/simulation/behavior/Behavior.ts
+++ b/fission/src/systems/simulation/behavior/Behavior.ts
@@ -20,4 +20,8 @@ abstract class Behavior {
     public abstract Update(deltaT: number): void
 }
 
+export interface SequenceableBehavior {
+    get jointIndex(): number
+}
+
 export default Behavior
diff --git a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
index 86243d0d45..6c184f2f92 100644
--- a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
@@ -1,9 +1,9 @@
 import HingeDriver from "../driver/HingeDriver"
 import HingeStimulus from "../stimulus/HingeStimulus"
-import Behavior from "./Behavior"
+import Behavior, { SequenceableBehavior } from "./Behavior"
 import InputSystem from "@/systems/input/InputSystem"
 
-class GenericArmBehavior extends Behavior {
+class GenericArmBehavior extends Behavior implements SequenceableBehavior {
     private _hingeDriver: HingeDriver
     private _inputName: string
     private _jointIndex: number
diff --git a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
index 90a8737e1a..f79989c60f 100644
--- a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
@@ -1,9 +1,9 @@
 import SliderDriver from "../driver/SliderDriver"
 import SliderStimulus from "../stimulus/SliderStimulus"
-import Behavior from "./Behavior"
+import Behavior, { SequenceableBehavior } from "./Behavior"
 import InputSystem from "@/systems/input/InputSystem"
 
-class GenericElevatorBehavior extends Behavior {
+class GenericElevatorBehavior extends Behavior implements SequenceableBehavior {
     private _sliderDriver: SliderDriver
     private _inputName: string
     private _jointIndex: number
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 1715198771..43aca20504 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -160,6 +160,11 @@ const MainHUD: React.FC = () => {
                         icon={<GiSteeringWheel />}
                         onClick={() => openPanel("driver-station")}
                     />
+                    <MainHUDButton
+                        value={"Sequential Joints"}
+                        icon={<FaGear />}
+                        onClick={() => openPanel("sequential-joints")}
+                    />
                     {/* MiraMap and OPFS Temp Buttons */}
                     <MainHUDButton
                         value={"Print Mira Maps"}
@@ -181,7 +186,7 @@ const MainHUD: React.FC = () => {
                             openPanel("scoring-zones")
                         }}
                     />
-                    {/* <MainHUDButton value={"Drivetrain"} icon={<FaCar />} onClick={() => openModal("drivetrain")} />
+                    <MainHUDButton value={"Drivetrain"} icon={<FaCar />} onClick={() => openModal("drivetrain")} />
                     <MainHUDButton
                         value={"WS Test"}
                         icon={<FaCar />}
@@ -205,13 +210,8 @@ const MainHUD: React.FC = () => {
                             const type: ToastType = ["info", "warning", "error"][Math.floor(Random() * 3)] as ToastType
                             addToast(type, type, "This is a test toast to test the toast system")
                         }}
-                    /> */}
-                    <MainHUDButton value={"Configure"} icon={<FaGear />} onClick={() => openModal("config-robot")} />
-                    <MainHUDButton
-                        value={"Sequential Joints"}
-                        icon={<FaGear />}
-                        onClick={() => openPanel("sequential-joints")}
                     />
+                    <MainHUDButton value={"Configure"} icon={<FaGear />} onClick={() => openModal("config-robot")} />
                     <MainHUDButton
                         value={"Configure Brain"}
                         icon={<FaGear />}
diff --git a/fission/src/ui/panels/SequentialBehaviorsPanel.tsx b/fission/src/ui/panels/SequentialBehaviorsPanel.tsx
index f0a10484de..c5107e1c62 100644
--- a/fission/src/ui/panels/SequentialBehaviorsPanel.tsx
+++ b/fission/src/ui/panels/SequentialBehaviorsPanel.tsx
@@ -8,16 +8,17 @@ import { FaGear, FaXmark } from "react-icons/fa6"
 import { Box, Button as MUIButton, Divider, styled, alpha } from "@mui/material"
 import Button, { ButtonSize } from "../components/Button"
 import GenericArmBehavior from "@/systems/simulation/behavior/GenericArmBehavior"
-import GenericElevatorBehavior from "@/systems/simulation/behavior/GenericElevatorBehavior"
-import Behavior from "@/systems/simulation/behavior/Behavior"
+import { SequenceableBehavior } from "@/systems/simulation/behavior/Behavior"
 
 const UnselectParent = <FaXmark size={"1.25rem"} />
 
+/** White label for a behavior name */
 const LabelStyled = styled(Label)({
     fontWeight: 700,
     margin: "0pt",
 })
 
+/** Grey label for a child behavior name */
 const ChildLabelStyled = styled(Label)({
     fontWeight: 700,
     margin: "0pt",
@@ -28,6 +29,7 @@ const DividerStyled = styled(Divider)({
     borderColor: "white",
 })
 
+/** A button used to select a parent behavior. Appears at a grey outline when the 'set' button is pressed on a different behavior */
 const CustomButton = styled(MUIButton)({
     "borderStyle": "solid",
     "borderWidth": "1px",
@@ -44,17 +46,19 @@ const CustomButton = styled(MUIButton)({
 })
 
 type BehaviorConfiguration = {
-    behavior: Behavior
+    behavior: SequenceableBehavior
     parent: BehaviorConfiguration | undefined
 }
 
 interface BehaviorCardProps {
     elementKey: number
     name: string
+    // The behavior displayed in this card
     behavior: BehaviorConfiguration
+    // The behavior whose 'set' button was just pressed
+    lookingForParent: BehaviorConfiguration | undefined
     update: () => void
-    onParentPressed: () => void
-    parentPressed: BehaviorConfiguration | undefined
+    onSetPressed: () => void
     onBehaviorSelected: () => void
     hasChild: boolean
 }
@@ -64,91 +68,108 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
     name,
     behavior,
     update,
-    onParentPressed,
-    parentPressed,
+    onSetPressed,
+    lookingForParent,
     onBehaviorSelected,
     hasChild,
 }) => {
     return (
+        /* Box containing the entire card */
         <Box display="flex" textAlign={"center"} key={elementKey}>
+            {/* Box containing the label */}
             <Box position="absolute" alignSelf={"center"} display="flex">
-                <Box width={behavior.parent != undefined || parentPressed == behavior ? "25px" : "8px"} />
+                {/* Indentation before the name */}
+                <Box width={behavior.parent != undefined || lookingForParent == behavior ? "25px" : "8px"} />
+                {/* Label for joint index and type (grey if child) */}
                 {behavior.parent != undefined ? (
-                    <>
-                        <ChildLabelStyled
-                            key={`arm-nodes-notation ${elementKey}`}
-                            size={LabelSize.Small}
-                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                        >
-                            {name}
-                        </ChildLabelStyled>
-                    </>
+                    <ChildLabelStyled
+                        key={`arm-nodes-notation ${elementKey}`}
+                        size={LabelSize.Small}
+                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                    >
+                        {name}
+                    </ChildLabelStyled>
                 ) : (
-                    <>
-                        <LabelStyled
-                            key={`arm-nodes-notation ${elementKey}`}
-                            size={LabelSize.Small}
-                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                        >
-                            {name}
-                        </LabelStyled>
-                    </>
+                    <LabelStyled
+                        key={`arm-nodes-notation ${elementKey}`}
+                        size={LabelSize.Small}
+                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                    >
+                        {name}
+                    </LabelStyled>
                 )}
             </Box>
+
+            {/* Button used for selecting a parent (shows up as an outline) */}
             <CustomButton
                 fullWidth={true}
                 onClick={() => {
                     onBehaviorSelected()
                     update()
                 }}
-                disabled={parentPressed == undefined || parentPressed == behavior || behavior.parent != undefined}
+                disabled={lookingForParent == undefined || lookingForParent == behavior || behavior.parent != undefined}
                 sx={{
                     borderColor:
-                        parentPressed == undefined || parentPressed == behavior || behavior.parent != undefined
+                        lookingForParent == undefined || lookingForParent == behavior || behavior.parent != undefined
                             ? "transparent"
                             : "#888888",
                 }}
             />
-            <Box display="flex" gap="3px">
-                <Box width={"5px"} />
 
-                <Button
-                    key="set"
-                    size={ButtonSize.Small}
-                    value={parentPressed == behavior || behavior.parent != undefined ? UnselectParent : "set"}
-                    onClick={() => {
-                        if (hasChild) return
+            {/* Spacer between the CustomButton and 'set' button */}
+            <Box width={"8px"} />
 
-                        onParentPressed()
-                        update()
-                    }}
-                    colorOverrideClass={hasChild ? "bg-background-secondary hover:brightness-100" : undefined}
-                />
-            </Box>
+            {/* Button to set the parent of this behavior */}
+            <Button
+                key="set"
+                size={ButtonSize.Small}
+                value={lookingForParent == behavior || behavior.parent != undefined ? UnselectParent : "set"}
+                onClick={() => {
+                    if (hasChild) return
+
+                    onSetPressed()
+                    update()
+                }}
+                colorOverrideClass={hasChild ? "bg-background-secondary hover:brightness-100" : undefined}
+            />
         </Box>
     )
 }
 
+/** Groups behaviors by putting children after parents, sorting by joint index as much as possible
+ *
+ * @param behaviors a list of behaviors sorted in any order
+ *
+ * Example:
+ *
+ * Joint 1
+ * * Joint 3 (child of 1)
+ * * Joint 5 (child of 1)
+ *
+ * Joint 4
+ * * Joint 2 (child of 4)
+ */
 function sortBehaviors(behaviors: BehaviorConfiguration[] | undefined): BehaviorConfiguration[] | undefined {
     if (behaviors == undefined) return undefined
-    behaviors.sort((a, b) => {
-        if (!(a.behavior instanceof GenericArmBehavior) && !(a.behavior instanceof GenericElevatorBehavior))
-            throw new Error("Wrong behavior type")
-        if (!(b.behavior instanceof GenericArmBehavior) && !(b.behavior instanceof GenericElevatorBehavior))
-            throw new Error("Wrong behavior type")
 
+    // Sort the behaviors in order of joint index
+    behaviors.sort((a, b) => {
         return a.behavior.jointIndex - b.behavior.jointIndex
     })
 
     const sortedBehaviors: BehaviorConfiguration[] = []
 
+    // Append all parent behaviors to the sorted list
     behaviors.forEach(b => {
         if (b.parent == undefined) sortedBehaviors.push(b)
     })
 
+    // Append all child behaviors to the sorted list directly after their parent
+    // This loop is backwards so that the children say in the right order
     for (let i = behaviors.length - 1; i >= 0; i--) {
         const b = behaviors[i]
 
+        // Skip parent behaviors (they were added to the array in the previous step)
         if (b.parent == undefined) continue
 
         const parentIndex = sortedBehaviors.findIndex(sb => b.parent == sb)
@@ -203,14 +224,13 @@ const SequentialBehaviorsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                                         setSelectedRobot(mirabufSceneObject)
                                         setBehaviors(
                                             mirabufSceneObject.brain?.behaviors
+                                                .filter(b => "jointIndex" in b)
                                                 .map(b => {
-                                                    return { behavior: b, parent: undefined }
+                                                    return {
+                                                        behavior: b as SequenceableBehavior,
+                                                        parent: undefined,
+                                                    }
                                                 })
-                                                .filter(
-                                                    b =>
-                                                        b.behavior instanceof GenericElevatorBehavior ||
-                                                        b.behavior instanceof GenericArmBehavior
-                                                )
                                         )
                                         update()
                                     }}
@@ -227,43 +247,36 @@ const SequentialBehaviorsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     </LabelStyled>
                     <DividerStyled />
                     {behaviors.map(behavior => {
-                        if (
-                            behavior.behavior instanceof GenericArmBehavior ||
-                            behavior.behavior instanceof GenericElevatorBehavior
-                        ) {
-                            const jointIndex = behavior.behavior.jointIndex
-                            return (
-                                <BehaviorCard
-                                    elementKey={jointIndex}
-                                    name={
-                                        behavior.behavior instanceof GenericArmBehavior
-                                            ? `Joint ${jointIndex} (Arm)`
-                                            : `Joint ${jointIndex} (Elevator)`
-                                    }
-                                    behavior={behavior}
-                                    key={jointIndex}
-                                    update={update}
-                                    onParentPressed={() => {
-                                        if (behavior.parent != undefined) {
-                                            behavior.parent = undefined
-                                            update()
-                                        } else {
-                                            setLookingForParent(lookingForParent == behavior ? undefined : behavior)
-                                        }
-                                        update()
-                                    }}
-                                    parentPressed={lookingForParent}
-                                    onBehaviorSelected={() => {
-                                        if (lookingForParent) lookingForParent.parent = behavior
-                                        setLookingForParent(undefined)
+                        const jointIndex = behavior.behavior.jointIndex
+                        return (
+                            <BehaviorCard
+                                elementKey={jointIndex}
+                                name={
+                                    behavior.behavior instanceof GenericArmBehavior
+                                        ? `Joint ${jointIndex} (Arm)`
+                                        : `Joint ${jointIndex} (Elevator)`
+                                }
+                                behavior={behavior}
+                                key={jointIndex}
+                                update={update}
+                                onSetPressed={() => {
+                                    if (behavior.parent != undefined) {
+                                        behavior.parent = undefined
                                         update()
-                                    }}
-                                    hasChild={behaviors.some(b => b.parent == behavior)}
-                                />
-                            )
-                        } else {
-                            throw new Error("Behavior not of correct type")
-                        }
+                                    } else {
+                                        setLookingForParent(lookingForParent == behavior ? undefined : behavior)
+                                    }
+                                    update()
+                                }}
+                                lookingForParent={lookingForParent}
+                                onBehaviorSelected={() => {
+                                    if (lookingForParent) lookingForParent.parent = behavior
+                                    setLookingForParent(undefined)
+                                    update()
+                                }}
+                                hasChild={behaviors.some(b => b.parent == behavior)}
+                            />
+                        )
                     })}
                 </>
             )}

From b34039251ad500fb198a5f00a7729684f2d14614 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 24 Jul 2024 14:20:04 -0700
Subject: [PATCH 035/344] begin working on talonfx

---
 fission/src/Synthesis.tsx                     |  4 ++--
 .../java/com/autodesk/synthesis/CANMotor.java |  8 +++++++
 .../com/autodesk/synthesis/ctre/TalonFX.java  | 22 ++++++++++++++++---
 .../synthesis/revrobotics/CANSparkMax.java    |  1 -
 .../src/main/java/frc/robot/Robot.java        |  1 +
 5 files changed, 30 insertions(+), 6 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index a01e129834..c0256b82b1 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -34,7 +34,6 @@ import PracticeSettingsModal from "@/modals/configuring/PracticeSettingsModal"
 import RoboRIOModal from "@/modals/configuring/RoboRIOModal"
 import SettingsModal from "@/modals/configuring/SettingsModal"
 import RCConfigEncoderModal from "@/modals/configuring/rio-config/RCConfigEncoderModal"
-import RCConfigPWMGroupModal from "@/modals/configuring/rio-config/RCConfigPWMGroupModal"
 import RCCreateDeviceModal from "@/modals/configuring/rio-config/RCCreateDeviceModal"
 import DeleteAllThemesModal from "@/modals/configuring/theme-editor/DeleteAllThemesModal"
 import DeleteThemeModal from "@/modals/configuring/theme-editor/DeleteThemeModal"
@@ -66,7 +65,8 @@ import SceneOverlay from "./ui/components/SceneOverlay.tsx"
 import WPILibWSWorker from "@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker"
 import WSViewPanel from "./ui/panels/WSViewPanel.tsx"
 import Lazy from "./util/Lazy.ts"
-import RCConfigCANGroupModal from "./ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx"
+import RCConfigCANGroupModal from "@/modals/configuring/rio-config/RCConfigCANGroupModal.tsx"
+import RCConfigPWMGroupModal from "@/modals/configuring/rio-config/RCConfigPwmGroupModal.tsx"
 
 const DEFAULT_MIRA_PATH = "/api/mira/Robots/Team 2471 (2018)_v7.mira"
 
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
index eeca38ed7b..1793aabddc 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
@@ -79,6 +79,14 @@ public void setNeutralDeadband(double deadband) {
         m_neutralDeadband.set(Math.min(1.0, Math.max(0.0, deadband)));
     }
 
+    /**
+     * Sets the supply current, simulated.
+     * 
+     */
+    public void setSupplyCurrent(int current) {
+        m_supplyCurrent.set(current);
+    }
+
     /**
      * Get the supply current, simulated.
      * 
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
index 63ed5b1e9c..e2e4016e9a 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
@@ -1,13 +1,29 @@
 package com.autodesk.synthesis.ctre;
 
 import com.autodesk.synthesis.CANMotor;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 
 public class TalonFX extends com.ctre.phoenix6.hardware.TalonFX {
     private CANMotor m_motor;
 
-    public TalonFX(int deviceId) {
-        super(deviceId);
+    public TalonFX(int deviceNumber) {
+        super(deviceNumber);
 
-        m_motor = new CANMotor("SYN TalonFX", deviceId, 0.0, false, 0.3);
+        m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3);
+    }
+    
+    public void set(double speed) {
+        super.set(speed);
+        this.m_motor.setPercentOutput(speed);
+    }
+
+    public void setNeutralMode(NeutralMode mode) {
+        super.setNeutralMode(mode);
+
+        this.m_motor.setBrakeMode(mode == NeutralMode.Brake);
+    }
+
+    public void configureNeutralDeadaband(double deadband) {
+        this.m_motor.setNeutralDeadband(deadband);
     }
 }
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index da2087e7ab..105161b114 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -39,5 +39,4 @@ public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) {
 
         return super.setIdleMode(mode);
     }
-
 }
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 8a9aa5024b..2d2bea7a07 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -15,6 +15,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import com.autodesk.synthesis.revrobotics.CANSparkMax;
+import com.autodesk.synthesis.ctre.TalonFX;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to

From 0fd38cb906a3a8e098d9c8be5218087532c62e66 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 24 Jul 2024 15:28:17 -0700
Subject: [PATCH 036/344] Removed replaced code

---
 .../src/UI/TableUtilities.py                  | 374 ------------------
 1 file changed, 374 deletions(-)
 delete mode 100644 exporter/SynthesisFusionAddin/src/UI/TableUtilities.py

diff --git a/exporter/SynthesisFusionAddin/src/UI/TableUtilities.py b/exporter/SynthesisFusionAddin/src/UI/TableUtilities.py
deleted file mode 100644
index 9e274e7148..0000000000
--- a/exporter/SynthesisFusionAddin/src/UI/TableUtilities.py
+++ /dev/null
@@ -1,374 +0,0 @@
-'''
-from curses.textpad import Textbox
-import adsk.fusion, adsk.core, traceback
-from ..general_imports import *
-from . import IconPaths, OsHelper
-from . ConfigCommand import *
-
-def addWheelToTable(wheel: adsk.fusion.Joint) -> None:
-    """### Adds a wheel joint to its global list and wheel table.
-
-    Args:
-        wheel (adsk.fusion.Joint): wheel Joint object to be added.
-    """
-    try:
-        onSelect = gm.handlers[3]
-        wheelTableInput = INPUTS_ROOT.itemById("wheel_table")
-        
-        # def addPreselections(child_occurrences):
-        #     for occ in child_occurrences:
-        #         onSelect.allWheelPreselections.append(occ.entityToken)
-
-        #         if occ.childOccurrences:
-        #             addPreselections(occ.childOccurrences)
-
-        # if wheel.childOccurrences:    
-        #     addPreselections(wheel.childOccurrences)
-        # else:
-        #     onSelect.allWheelPreselections.append(wheel.entityToken)
-        onSelect.allWheelPreselections.append(wheel.entityToken)
-
-        WheelListGlobal.append(wheel)
-        cmdInputs = adsk.core.CommandInputs.cast(wheelTableInput.commandInputs)
-
-        icon = cmdInputs.addImageCommandInput(
-            "placeholder_w", "Placeholder", IconPaths.wheelIcons["standard"]
-        )
-
-        name = cmdInputs.addTextBoxCommandInput(
-            "name_w", "Joint name", wheel.name, 1, True
-        )
-        name.tooltip = wheel.name
-
-        wheelType = cmdInputs.addDropDownCommandInput(
-            "wheel_type_w",
-            "Wheel Type",
-            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-        )
-        wheelType.listItems.add("Standard", True, "")
-        wheelType.listItems.add("Omni", False, "")
-        wheelType.listItems.add("Mecanum", False, "")
-        wheelType.tooltip = "Wheel type"
-        wheelType.tooltipDescription = "<Br>Omni-directional wheels can be used just like regular drive wheels but they have the advantage of being able to roll freely perpendicular to the drive direction.</Br>"
-        wheelType.toolClipFilename = OsHelper.getOSPath(".", "src", "Resources") + os.path.join("WheelIcons", "omni-wheel-preview.png")
-
-        signalType = cmdInputs.addDropDownCommandInput(
-            "signal_type_w",
-            "Signal Type",
-            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-        )
-        signalType.isFullWidth = True
-        signalType.listItems.add("‎", True, IconPaths.signalIcons["PWM"])
-        signalType.listItems.add("‎", False, IconPaths.signalIcons["CAN"])
-        signalType.listItems.add("‎", False, IconPaths.signalIcons["PASSIVE"])
-        signalType.tooltip = "Signal type"
-
-        row = wheelTableInput.rowCount
-
-        wheelTableInput.addCommandInput(icon, row, 0)
-        wheelTableInput.addCommandInput(name, row, 1)
-        wheelTableInput.addCommandInput(wheelType, row, 2)
-        wheelTableInput.addCommandInput(signalType, row, 3)
-
-    except:
-        logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.addWheelToTable()").error(
-        "Failed:\n{}".format(traceback.format_exc())
-    )
-
-def addJointToTable(joint: adsk.fusion.Joint) -> None:
-    """### Adds a Joint object to its global list and joint table.
-
-    Args:
-        joint (adsk.fusion.Joint): Joint object to be added
-    """
-    try:
-        JointListGlobal.append(joint)
-        jointTableInput = INPUTS_ROOT.itemById("joint_table")
-        cmdInputs = adsk.core.CommandInputs.cast(jointTableInput.commandInputs)
-
-        # joint type icons
-        if joint.jointMotion.jointType == adsk.fusion.JointTypes.RigidJointType:
-            icon = cmdInputs.addImageCommandInput(
-                "placeholder", "Rigid", IconPaths.jointIcons["rigid"]
-            )
-            icon.tooltip = "Rigid joint"
-
-        elif joint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:
-            icon = cmdInputs.addImageCommandInput(
-                "placeholder", "Revolute", IconPaths.jointIcons["revolute"]
-            )
-            icon.tooltip = "Revolute joint"
-
-        elif joint.jointMotion.jointType == adsk.fusion.JointTypes.SliderJointType:
-            icon = cmdInputs.addImageCommandInput(
-                "placeholder", "Slider", IconPaths.jointIcons["slider"]
-            )
-            icon.tooltip = "Slider joint"
-
-        elif joint.jointMotion.jointType == adsk.fusion.JointTypes.PlanarJointType:
-            icon = cmdInputs.addImageCommandInput(
-                "placeholder", "Planar", IconPaths.jointIcons["planar"]
-            )
-            icon.tooltip = "Planar joint"
-
-        elif joint.jointMotion.jointType == adsk.fusion.JointTypes.PinSlotJointType:
-            icon = cmdInputs.addImageCommandInput(
-                "placeholder", "Pin Slot", IconPaths.jointIcons["pin_slot"]
-            )
-            icon.tooltip = "Pin slot joint"
-
-        elif joint.jointMotion.jointType == adsk.fusion.JointTypes.CylindricalJointType:
-            icon = cmdInputs.addImageCommandInput(
-                "placeholder", "Cylindrical", IconPaths.jointIcons["cylindrical"]
-            )
-            icon.tooltip = "Cylindrical joint"
-
-        elif joint.jointMotion.jointType == adsk.fusion.JointTypes.BallJointType:
-            icon = cmdInputs.addImageCommandInput(
-                "placeholder", "Ball", IconPaths.jointIcons["ball"]
-            )
-            icon.tooltip = "Ball joint"
-
-        # joint name
-        name = cmdInputs.addTextBoxCommandInput(
-            "name_j", "Occurrence name", "", 1, True
-        )
-        name.tooltip = joint.name
-        name.formattedText = "<p style='font-size:11px'>{}</p>".format(joint.name)
-
-        jointType = cmdInputs.addDropDownCommandInput(
-            "joint_parent",
-            "Joint Type",
-            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-        )
-        jointType.isFullWidth = True
-        jointType.listItems.add("Root", True)
-
-        # after each additional joint added, add joint to the dropdown of all preview rows/joints
-        for row in range(jointTableInput.rowCount):
-            if row != 0:
-                dropDown = jointTableInput.getInputAtPosition(row, 2)
-                dropDown.listItems.add(JointListGlobal[-1].name, False)
-
-        # add all parent joint options to added joint dropdown
-        for j in range(len(JointListGlobal) - 1):
-            jointType.listItems.add(JointListGlobal[j].name, False)
-
-        jointType.tooltip = "Possible parent joints"
-        jointType.tooltipDescription = "<hr>The root component is usually the parent."
-
-        signalType = cmdInputs.addDropDownCommandInput(
-            "signal_type",
-            "Signal Type",
-            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-        )
-        signalType.listItems.add("‎", True, IconPaths.signalIcons["PWM"])
-        signalType.listItems.add("‎", False, IconPaths.signalIcons["CAN"])
-        signalType.listItems.add("‎", False, IconPaths.signalIcons["PASSIVE"])
-        signalType.tooltip = "Signal type"
-
-        defaultMotorSpeed = adsk.core.ValueInput()
-        defaultMotorSpeed.realValue = 90
-        testMotorSpeed = cmdInputs.addTextBoxCommandInput(
-            "test_j", "Omfg", "", 1, True
-        )
-        testMotorSpeed.formattedText = 'j'
-
-        row = jointTableInput.rowCount
-
-        jointTableInput.addCommandInput(icon, row, 0)
-        jointTableInput.addCommandInput(name, row, 1)
-        jointTableInput.addCommandInput(jointType, row, 2)
-        jointTableInput.addCommandInput(signalType, row, 3)
-        jointTableInput.addCommandInput(testMotorSpeed, row, 4)
-    except:
-        logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.addJointToTable()").error(
-        "Failed:\n{}".format(traceback.format_exc())
-    )
-
-def addGamepieceToTable(gamepiece: adsk.fusion.Occurrence) -> None:
-    """### Adds a gamepiece occurrence to its global list and gamepiece table.
-
-    Args:
-        gamepiece (adsk.fusion.Occurrence): Gamepiece occurrence to be added
-    """
-    try:
-        onSelect = gm.handlers[3]
-        gamepieceTableInput = INPUTS_ROOT.itemById("gamepiece_table")
-        def addPreselections(child_occurrences):
-            for occ in child_occurrences:
-                onSelect.allGamepiecePreselections.append(occ.entityToken)
-                
-                if occ.childOccurrences:
-                    addPreselections(occ.childOccurrences)
-
-        if gamepiece.childOccurrences:
-            addPreselections(gamepiece.childOccurrences)
-        else:
-            onSelect.allGamepiecePreselections.append(gamepiece.entityToken)
-
-        GamepieceListGlobal.append(gamepiece)
-        cmdInputs = adsk.core.CommandInputs.cast(gamepieceTableInput.commandInputs)
-        blankIcon = cmdInputs.addImageCommandInput(
-            "blank_gp", "Blank", IconPaths.gamepieceIcons["blank"]
-        )
-
-        type = cmdInputs.addTextBoxCommandInput(
-            "name_gp", "Occurrence name", gamepiece.name, 1, True
-        )
-
-        value = 0.0
-        physical = gamepiece.component.getPhysicalProperties(
-            adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
-        )
-        value = physical.mass
-
-        # check if dropdown unit is kg or lbs. bool value taken from ConfigureCommandInputChanged
-        massUnitInString = ""
-        onInputChanged = gm.handlers[1]
-        if onInputChanged.isLbs_f:
-            value = round(
-                value * 2.2046226218, 2 # lbs
-            )
-            massUnitInString = "<tt>(in pounds)</tt>"
-        else:
-            value = round(
-                value, 2 # kg
-            )
-            massUnitInString = "<tt>(in kilograms)</tt>"
-
-        weight = cmdInputs.addValueInput(
-            "weight_gp", "Weight Input", "", adsk.core.ValueInput.createByString(str(value))
-        )
-
-        valueList = [1]
-        for i in range(20):
-            valueList.append(i / 20)
-
-        friction_coeff = cmdInputs.addFloatSliderListCommandInput(
-            "friction_coeff", "", "", valueList
-        )
-        friction_coeff.valueOne = 0.5
-        
-        type.tooltip = gamepiece.name
-
-        weight.tooltip = "Weight of field element"
-        weight.tooltipDescription = massUnitInString
-
-        friction_coeff.tooltip = "Friction coefficient of field element"
-        friction_coeff.tooltipDescription = (
-            "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
-        )
-        row = gamepieceTableInput.rowCount
-
-        gamepieceTableInput.addCommandInput(blankIcon, row, 0)
-        gamepieceTableInput.addCommandInput(type, row, 1)
-        gamepieceTableInput.addCommandInput(weight, row, 2)
-        gamepieceTableInput.addCommandInput(friction_coeff, row, 3)
-    except:
-        logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.addGamepieceToTable()").error(
-        "Failed:\n{}".format(traceback.format_exc())
-    )
-
-def removeWheelFromTable(index: int) -> None:
-    """### Removes a wheel occurrence from its global list and wheel table.
-
-    Args:
-        index (int): index of wheel item in its global list
-    """
-    try:
-        onSelect = gm.handlers[3]
-        wheelTableInput = INPUTS_ROOT.itemById("wheel_table")
-        wheel = WheelListGlobal[index]
-
-        def removePreselections(child_occurrences):
-            for occ in child_occurrences:
-                onSelect.allWheelPreselections.remove(occ.entityToken)
-
-                if occ.childOccurrences:
-                    removePreselections(occ.childOccurrences)
-
-        if wheel.childOccurrences:
-            removePreselections(wheel.childOccurrences)
-        else:
-            onSelect.allWheelPreselections.remove(wheel.entityToken)
-
-        del WheelListGlobal[index]
-        wheelTableInput.deleteRow(index + 1)
-
-        #updateJointTable(wheel)
-    except IndexError:
-        pass
-    except:
-        logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.removeWheelFromTable()").error(
-        "Failed:\n{}".format(traceback.format_exc())
-    )
-
-def removeJointFromTable(joint: adsk.fusion.Joint) -> None:
-    """### Removes a joint occurrence from its global list and joint table.
-
-    Args:
-        joint (adsk.fusion.Joint): Joint object to be removed
-    """
-    try:
-        index = JointListGlobal.index(joint)
-        jointTableInput = INPUTS_ROOT.itemById("joint_table")
-        JointListGlobal.remove(joint)
-
-        jointTableInput.deleteRow(index + 1)
-
-        for row in range(jointTableInput.rowCount):
-            if row == 0:
-                continue
-
-            dropDown = jointTableInput.getInputAtPosition(row, 2)
-            listItems = dropDown.listItems
-
-            if row > index:
-                if listItems.item(index + 1).isSelected:
-                    listItems.item(index).isSelected = True
-                    listItems.item(index + 1).deleteMe()
-                else:
-                    listItems.item(index + 1).deleteMe()
-            else:
-                if listItems.item(index).isSelected:
-                    listItems.item(index - 1).isSelected = True
-                    listItems.item(index).deleteMe()
-                else:
-                    listItems.item(index).deleteMe()
-    except:
-        logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.removeJointFromTable()").error(
-        "Failed:\n{}".format(traceback.format_exc())
-    )
-
-def removeGamePieceFromTable(index: int) -> None:
-    """### Removes a gamepiece occurrence from its global list and gamepiece table.
-
-    Args:
-        index (int): index of gamepiece item in its global list.
-    """
-    onSelect = gm.handlers[3]
-    gamepieceTableInput = INPUTS_ROOT.itemById("gamepiece_table")
-    gamepiece = GamepieceListGlobal[index]
-
-    def removePreselections(child_occurrences):
-        for occ in child_occurrences:
-            onSelect.allGamepiecePreselections.remove(occ.entityToken)
-            
-            if occ.childOccurrences:
-                removePreselections(occ.childOccurrences)
-    try:
-        if gamepiece.childOccurrences:
-            removePreselections(GamepieceListGlobal[index].childOccurrences)
-        else:
-            onSelect.allGamepiecePreselections.remove(gamepiece.entityToken)
-
-        del GamepieceListGlobal[index]
-        gamepieceTableInput.deleteRow(index + 1)
-    except IndexError:
-        pass
-    except:
-        logging.getLogger("{INTERNAL_ID}.UI.ConfigCommand.removeGamePieceFromTable()").error(
-        "Failed:\n{}".format(traceback.format_exc())
-    )
-'''

From d363aac633bff602c6ab038d4167c7340b3cb0a5 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 24 Jul 2024 15:37:05 -0700
Subject: [PATCH 037/344] More merge conflicts

---
 .../src/UI/ConfigCommand.py                   | 83 +++++++++++++++----
 1 file changed, 65 insertions(+), 18 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 7b733e7220..44353d4d00 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -154,17 +154,20 @@ def notify(self, args):
                 fusionJoint = gm.app.activeDocument.design.findEntityByToken(wheel.jointToken)[0]
                 jointConfigTab.addWheel(fusionJoint, wheel)
 
-        # frictionOverrideInput = self.createBooleanInput(
-        #     "friction_override",
-        #     "Friction Override",
-        #     physics_settings,
-        #     checked=True,  # object is missing attribute
-        #     tooltip="Manually override the default friction values on the bodies in the assembly.",
-        #     enabled=True,
-        #     isCheckBox=False,
+        # Transition: AARD-1769
+        # Waiting for GH-1014 to merge
+        # ~~~~~~~~~~~~~~~~ PHYSICS SETTINGS ~~~~~~~~~~~~~~~~
+        """
+        Physics settings group command
+        """
+        # physicsSettings: adsk.core.GroupCommandInput = a_input.addGroupCommandInput(
+        #     "physics_settings", "Physics Settings"
         # )
-        # frictionOverrideInput.resourceFolder = IconPaths.stringIcons["friction_override-enabled"]
-        # frictionOverrideInput.isFullWidth = True
+
+        # physicsSettings.isExpanded = True
+        # physicsSettings.isEnabled = True
+        # physicsSettings.tooltip = "Settings relating to the custom physics of the robot, like the wheel friction"
+        # physics_settings: adsk.core.CommandInputs = physicsSettings.children
 
         # frictionOverrideInput = self.createBooleanInput(
         #     "friction_override",
@@ -178,6 +181,10 @@ def notify(self, args):
         # frictionOverrideInput.resourceFolder = IconPaths.stringIcons["friction_override-enabled"]
         # frictionOverrideInput.isFullWidth = True
 
+        # valueList = [1]
+        # for i in range(20):
+        #     valueList.append(i / 20)
+
         # frictionCoeffSlider: adsk.core.FloatSliderCommandInput = physics_settings.addFloatSliderListCommandInput(
         #     "friction_override_coeff", "Friction Coefficient", "", valueList
         # )
@@ -186,6 +193,54 @@ def notify(self, args):
         # frictionCoeffSlider.tooltip = "Friction coefficient of field element."
         # frictionCoeffSlider.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
 
+        # ~~~~~~~~~~~~~~~~ JOINT SETTINGS ~~~~~~~~~~~~~~~~
+        """
+        Joint settings group command
+        """
+
+        # Transition: AARD-1689
+        # Should possibly be implemented later?
+
+        # jointsSettings = a_input.addGroupCommandInput(
+        #     "joints_settings", "Joints Settings"
+        # )
+        # jointsSettings.isExpanded = False
+        # jointsSettings.isEnabled = True
+        # jointsSettings.tooltip = "tooltip"  # TODO: update tooltip
+        # joints_settings = jointsSettings.children
+
+        # self.createBooleanInput(
+        #     "kinematic_only",
+        #     "Kinematic Only",
+        #     joints_settings,
+        #     checked=False,
+        #     tooltip="tooltip",  # TODO: update tooltip
+        #     enabled=True,
+        # )
+
+        # self.createBooleanInput(
+        #     "calculate_limits",
+        #     "Calculate Limits",
+        #     joints_settings,
+        #     checked=True,
+        #     tooltip="tooltip",  # TODO: update tooltip
+        #     enabled=True,
+        # )
+
+        # self.createBooleanInput(
+        #     "auto_assign_ids",
+        #     "Auto-Assign ID's",
+        #     joints_settings,
+        #     checked=True,
+        #     tooltip="tooltip",  # TODO: update tooltip
+        #     enabled=True,
+        # )
+
+        # ~~~~~~~~~~~~~~~~ CONTROLLER SETTINGS ~~~~~~~~~~~~~~~~
+        """
+        Controller settings group command
+        """
+
         # Transition: AARD-1689
         # Should possibly be implemented later?
 
@@ -239,14 +294,6 @@ def notify(self, args):
         cmd.select.add(onSelect)
         gm.handlers.append(onSelect)  # 3
 
-        # getAuth()
-        # user_info = getUserInfo()
-        # apsSettings = INPUTS_ROOT.addTabCommandInput(
-        #     "aps_settings", f"APS Settings ({user_info.given_name if user_info else 'Not Signed In'})"
-        # )
-        # apsSettings.tooltip = "Configuration settings for Autodesk Platform Services."
-        # aps_input = apsSettings.children
-
         onPreSelect = MyPreSelectHandler(cmd)
         cmd.preSelect.add(onPreSelect)
         gm.handlers.append(onPreSelect)  # 4

From ee7fb4e5287ac37e9720a3bdac2ec9148859190f Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 24 Jul 2024 15:46:38 -0700
Subject: [PATCH 038/344] No need for a try except here

---
 exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 44353d4d00..8ff13d2a74 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -413,11 +413,8 @@ def notify(self, args):
         Args:
             args (CommandEventArgs): command event argument
         """
-        try:
-            jointConfigTab.handlePreviewEvent(args)
-            gamepieceConfigTab.handlePreviewEvent(args)
-        except AttributeError:
-            pass
+        jointConfigTab.handlePreviewEvent(args)
+        gamepieceConfigTab.handlePreviewEvent(args)
 
 
 class MySelectHandler(adsk.core.SelectionEventHandler):

From c85ad83d2d85e1c35346b03af05a20126e7bcdfa Mon Sep 17 00:00:00 2001
From: arorad1 <dhruv.arora1@autodesk.com>
Date: Wed, 24 Jul 2024 15:57:10 -0700
Subject: [PATCH 039/344] Adding changes to using the implementation built in

---
 fission/src/mirabuf/MirabufInstance.ts        |  2 +
 fission/src/systems/scene/CascadingShadows.ts | 99 -------------------
 fission/src/systems/scene/SceneRenderer.ts    | 59 +++++++++--
 3 files changed, 54 insertions(+), 106 deletions(-)
 delete mode 100644 fission/src/systems/scene/CascadingShadows.ts

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 174cbcbff3..d1a75656a6 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -149,8 +149,10 @@ class MirabufInstance {
                         opacity: opacity,
                         transparent: opacity < 1.0,
                     })
+                    World.SceneRenderer.SetupMaterial(material)
                 } else if (materialStyle == MaterialStyle.Normals) {
                     material = new THREE.MeshNormalMaterial()
+                    World.SceneRenderer.SetupMaterial(material)
                 } else if (materialStyle == MaterialStyle.Toon) {
                     material = World.SceneRenderer.CreateToonMaterial(hex, 5)
                     console.debug("Toon Material")
diff --git a/fission/src/systems/scene/CascadingShadows.ts b/fission/src/systems/scene/CascadingShadows.ts
deleted file mode 100644
index b1b9d5b4a2..0000000000
--- a/fission/src/systems/scene/CascadingShadows.ts
+++ /dev/null
@@ -1,99 +0,0 @@
-import * as THREE from "three"
-
-class CascadingShadows {
-    private _camera: THREE.PerspectiveCamera
-    private _shadowCameras: THREE.OrthographicCamera[] = []
-    private _scene: THREE.Scene
-
-    private _renderer: THREE.WebGLRenderer
-    private _light: THREE.DirectionalLight
-    private _shadowMaps: THREE.WebGLRenderTarget[] = [] // One shadow map per cascade
-
-    private _numCascades: number
-    private _cascadeSplits: number[]
-
-    constructor(
-        camera: THREE.PerspectiveCamera,
-        scene: THREE.Scene,
-        renderer: THREE.WebGLRenderer,
-        numCascades: number = 5
-    ) {
-        this._camera = camera
-        this._scene = scene
-        this._renderer = renderer
-        this._numCascades = numCascades
-
-        // Creating the directional light
-        this._light = new THREE.DirectionalLight(0xb6c6e3, 5.0)
-        this._light.position.set(-1, 3, 2)
-        this._light.castShadow = true
-        scene.add(this._light)
-
-        // Split the camera frustum into numCascades cascades
-        this._cascadeSplits = new Array(numCascades).fill(0).map((_, i) => (i + 1) / numCascades)
-
-        // Create the shadow camera and shadow maps
-        for (let i = 0; i < numCascades; i++) {
-            const shadowCamera = new THREE.OrthographicCamera(-10, 10, 10, -10, 0.5, 500)
-            shadowCamera.position.copy(this._light.position)
-            shadowCamera.lookAt(0, 0, 0)
-            this._shadowCameras.push(shadowCamera)
-
-            const shadowMap = new THREE.WebGLRenderTarget(1024, 1024, {
-                minFilter: THREE.NearestFilter,
-                magFilter: THREE.NearestFilter,
-                format: THREE.RGBAFormat,
-            })
-            this._shadowMaps.push(shadowMap)
-        }
-    }
-
-    /** Updates the shadow maps */
-    public Update() {
-        const frustum = new THREE.Frustum()
-        const projScreenMatrix = new THREE.Matrix4()
-        projScreenMatrix.multiplyMatrices(this._camera.projectionMatrix, this._camera.matrixWorldInverse)
-        frustum.setFromProjectionMatrix(projScreenMatrix)
-
-        for (let i = 0; i < this._numCascades; i++) {
-            const near = this._camera.near + this._cascadeSplits[i] * (this._camera.far - this._camera.near)
-            const far = this._camera.near + this._cascadeSplits[i + 1] * (this._camera.far - this._camera.near)
-
-            const cascadeFrustum = new THREE.Frustum()
-            cascadeFrustum.setFromProjectionMatrix(this.GetCascadeMatrix(near, far))
-
-            const shadowCamera = this._shadowCameras[i]
-            shadowCamera.position.copy(this._light.position)
-            shadowCamera.lookAt(0, 0, 0)
-            shadowCamera.updateMatrixWorld()
-            shadowCamera.updateProjectionMatrix()
-
-            this._renderer.setRenderTarget(this._shadowMaps[i])
-            this._renderer.render(this._scene, shadowCamera)
-        }
-
-        this._renderer.setRenderTarget(null)
-    }
-
-    /** Returns the projection matrix for the cascade */
-    private GetCascadeMatrix(near: number, far: number): THREE.Matrix4 {
-        const matrix = new THREE.Matrix4()
-        const projMatrix = new THREE.Matrix4().makePerspective(
-            this._camera.fov,
-            this._camera.aspect,
-            near,
-            far,
-            this._camera.near,
-            this._camera.far
-        )
-        const invMatrix = this._camera.matrixWorld.invert()
-        matrix.multiplyMatrices(projMatrix, invMatrix)
-        return matrix
-    }
-
-    public getShadowMap(index: number): THREE.WebGLRenderTarget {
-        return this._shadowMaps[index]
-    }
-}
-
-export default CascadingShadows
diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index a4af554078..2567e0a6b6 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -12,9 +12,9 @@ import { Theme } from "@/ui/ThemeContext"
 import InputSystem from "../input/InputSystem"
 
 import { PixelSpaceCoord, SceneOverlayEvent, SceneOverlayEventKey } from "@/ui/components/SceneOverlayEvents"
-import {} from "@/ui/components/SceneOverlayEvents"
 import PreferencesSystem from "../preferences/PreferencesSystem"
-import CascadingShadows from "./CascadingShadows"
+import { CSM } from "three/examples/jsm/csm/CSM.js"
+import { CSMHelper } from "three/examples/jsm/csm/CSMHelper.js"
 
 const CLEAR_COLOR = 0x121212
 const GROUND_COLOR = 0x4066c7
@@ -35,7 +35,8 @@ class SceneRenderer extends WorldSystem {
     private _orbitControls: OrbitControls
     private _transformControls: Map<TransformControls, number> // maps all rendered transform controls to their size
 
-    private _light: CascadingShadows
+    private _csm: CSM
+    // private _csmHelper: CSMHelper
 
     public get sceneObjects() {
         return this._sceneObjects
@@ -77,7 +78,35 @@ class SceneRenderer extends WorldSystem {
         this._renderer.shadowMap.type = THREE.PCFSoftShadowMap
         this._renderer.setSize(window.innerWidth, window.innerHeight)
 
-        this._light = new CascadingShadows(this._mainCamera, this._scene, this._renderer)
+        // this._light = new CascadingShadows(this._mainCamera, this._scene, this._renderer)
+        const shadowMapSize = Math.min(4096, this._renderer.capabilities.maxTextureSize)
+        this._csm = new CSM({
+            maxFar: 30,
+            cascades: 3,
+            mode: 'custom',
+            parent: this._scene,
+            shadowMapSize: shadowMapSize,
+            lightDirection: new THREE.Vector3( 0.5, -0.5, 0.5 ).normalize(),
+            lightIntensity: 3,
+            camera: this._mainCamera,
+            customSplitsCallback: (cascades: number, near: number, far: number, breaks: number[]) => {
+                const blend = 0.4;
+                for (let i = 1; i < cascades; i++) {
+                    const uniformFactor = (near + (far - near) * i / cascades) / far;
+                    const logarithmicFactor = (near * (far / near) ** (i / cascades)) / far;
+                    const combinedFactor = uniformFactor * (1 - blend) + logarithmicFactor * blend;
+                    
+                    breaks.push(combinedFactor);
+                }
+            
+                breaks.push(1);
+            }
+        })
+        this._csm.fade = true
+        
+        // this._csmHelper = new CSMHelper(this._csm)
+        // this._csmHelper.visible = true
+        // this._scene.add(this._csmHelper)
 
         const ambientLight = new THREE.AmbientLight(0xffffff, 0.1)
         this._scene.add(ambientLight)
@@ -85,7 +114,7 @@ class SceneRenderer extends WorldSystem {
         const ground = new THREE.Mesh(new THREE.BoxGeometry(10, 1, 10), this.CreateToonMaterial(GROUND_COLOR))
         ground.position.set(0.0, -2.0, 0.0)
         ground.receiveShadow = true
-        ground.castShadow = true
+        ground.castShadow = false
         this._scene.add(ground)
 
         // Adding spherical skybox mesh
@@ -117,6 +146,11 @@ class SceneRenderer extends WorldSystem {
         // Orbit controls
         this._orbitControls = new OrbitControls(this._mainCamera, this._renderer.domElement)
         this._orbitControls.update()
+
+        const cube = new THREE.Mesh(new THREE.BoxGeometry(1, 1, 1), this.CreateToonMaterial())
+        cube.castShadow = true
+        cube.receiveShadow = true
+        this._scene.add(cube)
     }
 
     public UpdateCanvasSize() {
@@ -130,7 +164,11 @@ class SceneRenderer extends WorldSystem {
         this._sceneObjects.forEach(obj => {
             obj.Update()
         })
-        this._light.Update()
+
+        this._mainCamera.updateMatrixWorld()
+
+        this._csm.update()
+        // this._csmHelper.update()
 
         this._skybox.position.copy(this._mainCamera.position)
 
@@ -177,6 +215,7 @@ class SceneRenderer extends WorldSystem {
     public CreateSphere(radius: number, material?: THREE.Material | undefined): THREE.Mesh {
         const geo = new THREE.SphereGeometry(radius)
         if (material) {
+            this._csm.setupMaterial(material)
             return new THREE.Mesh(geo, material)
         } else {
             return new THREE.Mesh(geo, this.CreateToonMaterial())
@@ -191,10 +230,12 @@ class SceneRenderer extends WorldSystem {
         }
         const gradientMap = new THREE.DataTexture(colors, colors.length, 1, format)
         gradientMap.needsUpdate = true
-        return new THREE.MeshToonMaterial({
+        const material = new THREE.MeshToonMaterial({
             color: color,
             gradientMap: gradientMap,
         })
+        this._csm.setupMaterial(material)
+        return material
     }
 
     /**
@@ -337,6 +378,10 @@ class SceneRenderer extends WorldSystem {
     public RemoveObject(obj: THREE.Object3D) {
         this._scene.remove(obj)
     }
+
+    public SetupMaterial(material: THREE.Material) {
+        this._csm.setupMaterial(material)
+    }
 }
 
 export default SceneRenderer

From a5b25a794390e1def48fd9bfdfeb193287b1056c Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 24 Jul 2024 16:15:30 -0700
Subject: [PATCH 040/344] Sequential join behavior, saving, reversal, and UI
 improvements

---
 .../systems/preferences/PreferenceTypes.ts    |  20 ++-
 .../systems/simulation/behavior/Behavior.ts   |   4 -
 .../simulation/behavior/GenericArmBehavior.ts |  36 ++---
 .../behavior/GenericElevatorBehavior.ts       |  36 ++---
 .../behavior/SequenceableBehavior.tsx         |  49 ++++++
 .../synthesis_brain/SynthesisBrain.ts         |  35 +++-
 fission/src/ui/components/Checkbox.tsx        |  11 +-
 .../ui/panels/SequentialBehaviorsPanel.tsx    | 152 +++++++++++-------
 8 files changed, 221 insertions(+), 122 deletions(-)
 create mode 100644 fission/src/systems/simulation/behavior/SequenceableBehavior.tsx

diff --git a/fission/src/systems/preferences/PreferenceTypes.ts b/fission/src/systems/preferences/PreferenceTypes.ts
index 9f088d7d97..81d471a647 100644
--- a/fission/src/systems/preferences/PreferenceTypes.ts
+++ b/fission/src/systems/preferences/PreferenceTypes.ts
@@ -39,10 +39,29 @@ export type EjectorPreferences = {
     parentNode: string | undefined
 }
 
+export type BehaviorType = "Elevator" | "Arm"
+
+export type SequentialBehaviorPreferences = {
+    jointIndex: number
+    parentJointIndex: number | undefined
+    type: BehaviorType
+    inverted: boolean
+}
+
+export function DefaultSequentialConfig(index: number, type: BehaviorType): SequentialBehaviorPreferences {
+    return {
+        jointIndex: index,
+        parentJointIndex: undefined,
+        type: type,
+        inverted: false,
+    }
+}
+
 export type RobotPreferences = {
     inputsSchemes: InputScheme[]
     intake: IntakePreferences
     ejector: EjectorPreferences
+    sequentialConfig?: SequentialBehaviorPreferences[]
 }
 
 export type Alliance = "red" | "blue"
@@ -56,7 +75,6 @@ export type ScoringZonePreferences = {
     persistentPoints: boolean
 
     deltaTransformation: number[]
-    //scale: [number, number, number]
 }
 
 export type FieldPreferences = {
diff --git a/fission/src/systems/simulation/behavior/Behavior.ts b/fission/src/systems/simulation/behavior/Behavior.ts
index f9125f0514..2dd0fcb190 100644
--- a/fission/src/systems/simulation/behavior/Behavior.ts
+++ b/fission/src/systems/simulation/behavior/Behavior.ts
@@ -20,8 +20,4 @@ abstract class Behavior {
     public abstract Update(deltaT: number): void
 }
 
-export interface SequenceableBehavior {
-    get jointIndex(): number
-}
-
 export default Behavior
diff --git a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
index 6c184f2f92..b5f6df3fb9 100644
--- a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
@@ -1,50 +1,32 @@
+import { SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
 import HingeDriver from "../driver/HingeDriver"
 import HingeStimulus from "../stimulus/HingeStimulus"
-import Behavior, { SequenceableBehavior } from "./Behavior"
-import InputSystem from "@/systems/input/InputSystem"
+import SequenceableBehavior from "./SequenceableBehavior"
 
-class GenericArmBehavior extends Behavior implements SequenceableBehavior {
+class GenericArmBehavior extends SequenceableBehavior {
     private _hingeDriver: HingeDriver
-    private _inputName: string
-    private _jointIndex: number
-    private _assemblyName: string
-    private _assemblyIndex: number
-
-    private _rotationalSpeed = 6
 
     public get hingeDriver(): HingeDriver {
         return this._hingeDriver
     }
 
-    public get jointIndex(): number {
-        return this._jointIndex
-    }
+    maxVelocity: number = 6
 
     constructor(
         hingeDriver: HingeDriver,
         hingeStimulus: HingeStimulus,
         jointIndex: number,
         assemblyName: string,
-        assemblyIndex: number
+        assemblyIndex: number,
+        sequentialConfig: SequentialBehaviorPreferences | undefined
     ) {
-        super([hingeDriver], [hingeStimulus])
+        super(jointIndex, assemblyName, assemblyIndex, [hingeDriver], [hingeStimulus], sequentialConfig)
 
         this._hingeDriver = hingeDriver
-        this._inputName = "joint " + jointIndex
-        this._jointIndex = jointIndex
-        this._assemblyName = assemblyName
-        this._assemblyIndex = assemblyIndex
-    }
-
-    // Sets the arms target rotational velocity
-    rotateArm(rotationalVelocity: number) {
-        this._hingeDriver.targetVelocity = rotationalVelocity
     }
 
-    public Update(_: number): void {
-        this.rotateArm(
-            InputSystem.getInput(this._inputName, this._assemblyName, this._assemblyIndex) * this._rotationalSpeed
-        )
+    applyInput = (velocity: number) => {
+        this._hingeDriver.targetVelocity = velocity
     }
 }
 
diff --git a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
index f79989c60f..d13485fc6a 100644
--- a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
@@ -1,50 +1,32 @@
+import { SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
 import SliderDriver from "../driver/SliderDriver"
 import SliderStimulus from "../stimulus/SliderStimulus"
-import Behavior, { SequenceableBehavior } from "./Behavior"
-import InputSystem from "@/systems/input/InputSystem"
+import SequenceableBehavior from "./SequenceableBehavior"
 
-class GenericElevatorBehavior extends Behavior implements SequenceableBehavior {
+class GenericElevatorBehavior extends SequenceableBehavior {
     private _sliderDriver: SliderDriver
-    private _inputName: string
-    private _jointIndex: number
-    private _assemblyName: string
-    private _assemblyIndex: number
 
-    private _linearSpeed = 2.5
+    maxVelocity = 6
 
     public get sliderDriver(): SliderDriver {
         return this._sliderDriver
     }
 
-    public get jointIndex(): number {
-        return this._jointIndex
-    }
-
     constructor(
         sliderDriver: SliderDriver,
         sliderStimulus: SliderStimulus,
         jointIndex: number,
         assemblyName: string,
-        assemblyIndex: number
+        assemblyIndex: number,
+        sequentialConfig: SequentialBehaviorPreferences | undefined
     ) {
-        super([sliderDriver], [sliderStimulus])
+        super(jointIndex, assemblyName, assemblyIndex, [sliderDriver], [sliderStimulus], sequentialConfig)
 
         this._sliderDriver = sliderDriver
-        this._inputName = "joint " + jointIndex
-        this._jointIndex = jointIndex
-        this._assemblyName = assemblyName
-        this._assemblyIndex = assemblyIndex
-    }
-
-    // Changes the elevators target position
-    moveElevator(linearVelocity: number) {
-        this._sliderDriver.targetVelocity = linearVelocity
     }
 
-    public Update(_: number): void {
-        this.moveElevator(
-            InputSystem.getInput(this._inputName, this._assemblyName, this._assemblyIndex) * this._linearSpeed
-        )
+    applyInput = (velocity: number) => {
+        this._sliderDriver.targetVelocity = velocity
     }
 }
 
diff --git a/fission/src/systems/simulation/behavior/SequenceableBehavior.tsx b/fission/src/systems/simulation/behavior/SequenceableBehavior.tsx
new file mode 100644
index 0000000000..16c805ecbc
--- /dev/null
+++ b/fission/src/systems/simulation/behavior/SequenceableBehavior.tsx
@@ -0,0 +1,49 @@
+import { SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
+import Driver from "../driver/Driver"
+import Stimulus from "../stimulus/Stimulus"
+import Behavior from "./Behavior"
+import InputSystem from "@/systems/input/InputSystem"
+
+abstract class SequenceableBehavior extends Behavior {
+    private _jointIndex: number
+    private _assemblyName: string
+    private _assemblyIndex: number
+    private _sequentialConfig: SequentialBehaviorPreferences | undefined
+
+    abstract maxVelocity: number
+
+    public get jointIndex(): number {
+        return this._jointIndex
+    }
+
+    constructor(
+        jointIndex: number,
+        assemblyName: string,
+        assemblyIndex: number,
+        drivers: Driver[],
+        stimuli: Stimulus[],
+        sequentialConfig: SequentialBehaviorPreferences | undefined
+    ) {
+        super(drivers, stimuli)
+
+        this._jointIndex = jointIndex
+        this._assemblyName = assemblyName
+        this._assemblyIndex = assemblyIndex
+        this._sequentialConfig = sequentialConfig
+    }
+
+    abstract applyInput: (velocity: number) => void
+
+    public Update(_: number): void {
+        const inputName = "joint " + (this._sequentialConfig?.parentJointIndex ?? this._jointIndex)
+        const inverted = this._sequentialConfig?.inverted ?? false
+
+        this.applyInput(
+            InputSystem.getInput(inputName, this._assemblyName, this._assemblyIndex) *
+                this.maxVelocity *
+                (inverted ? -1 : 1)
+        )
+    }
+}
+
+export default SequenceableBehavior
diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index 77030adae0..bad98565e2 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -17,6 +17,7 @@ import GenericElevatorBehavior from "../behavior/GenericElevatorBehavior"
 import { AxisInput, ButtonInput, Input } from "@/systems/input/InputSystem"
 import DefaultInputs, { InputScheme } from "@/systems/input/DefaultInputs"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import { DefaultSequentialConfig } from "@/systems/preferences/PreferenceTypes"
 
 class SynthesisBrain extends Brain {
     private _behaviors: Behavior[] = []
@@ -153,13 +154,28 @@ class SynthesisBrain extends Brain {
         ) as HingeStimulus[]
 
         for (let i = 0; i < hingeDrivers.length; i++) {
+            let sequentialConfig = PreferencesSystem.getRobotPreferences(this._assemblyName).sequentialConfig?.find(
+                sc => sc.jointIndex == this._currentJointIndex
+            )
+
+            if (sequentialConfig == undefined) {
+                sequentialConfig = DefaultSequentialConfig(this._currentJointIndex, "Arm")
+
+                if (PreferencesSystem.getRobotPreferences(this._assemblyName).sequentialConfig == undefined)
+                    PreferencesSystem.getRobotPreferences(this._assemblyName).sequentialConfig = []
+
+                PreferencesSystem.getRobotPreferences(this._assemblyName).sequentialConfig?.push(sequentialConfig)
+                PreferencesSystem.savePreferences()
+            }
+
             this._behaviors.push(
                 new GenericArmBehavior(
                     hingeDrivers[i],
                     hingeStimuli[i],
                     this._currentJointIndex,
                     this._assemblyName,
-                    this._assemblyIndex
+                    this._assemblyIndex,
+                    sequentialConfig
                 )
             )
             this._currentJointIndex++
@@ -176,13 +192,28 @@ class SynthesisBrain extends Brain {
         ) as SliderStimulus[]
 
         for (let i = 0; i < sliderDrivers.length; i++) {
+            let sequentialConfig = PreferencesSystem.getRobotPreferences(this._assemblyName).sequentialConfig?.find(
+                sc => sc.jointIndex == this._currentJointIndex
+            )
+
+            if (sequentialConfig == undefined) {
+                sequentialConfig = DefaultSequentialConfig(this._currentJointIndex, "Elevator")
+
+                if (PreferencesSystem.getRobotPreferences(this._assemblyName).sequentialConfig == undefined)
+                    PreferencesSystem.getRobotPreferences(this._assemblyName).sequentialConfig = []
+
+                PreferencesSystem.getRobotPreferences(this._assemblyName).sequentialConfig?.push(sequentialConfig)
+                PreferencesSystem.savePreferences()
+            }
+
             this._behaviors.push(
                 new GenericElevatorBehavior(
                     sliderDrivers[i],
                     sliderStimuli[i],
                     this._currentJointIndex,
                     this._assemblyName,
-                    this._assemblyIndex
+                    this._assemblyIndex,
+                    sequentialConfig
                 )
             )
             this._currentJointIndex++
diff --git a/fission/src/ui/components/Checkbox.tsx b/fission/src/ui/components/Checkbox.tsx
index 34958153a6..49939ff27b 100644
--- a/fission/src/ui/components/Checkbox.tsx
+++ b/fission/src/ui/components/Checkbox.tsx
@@ -8,16 +8,19 @@ type CheckboxProps = {
     className?: string
     defaultState: boolean
     stateOverride?: boolean
+    hideLabel?: boolean
     onClick?: (checked: boolean) => void
 }
 
-const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, stateOverride, onClick }) => {
+const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, stateOverride, hideLabel, onClick }) => {
     const [state] = useState(defaultState)
     return (
         <Stack direction={StackDirection.Horizontal} className="items-center">
-            <Label size={LabelSize.Medium} className={`mr-8 ${className} whitespace-nowrap`}>
-                {label}
-            </Label>
+            {hideLabel ? null : (
+                <Label size={LabelSize.Medium} className={`mr-8 ${className} whitespace-nowrap`}>
+                    {label}
+                </Label>
+            )}
             <Switch
                 onChange={(e: React.ChangeEvent<HTMLInputElement>) => onClick && onClick(e.target.checked)}
                 slotProps={{
diff --git a/fission/src/ui/panels/SequentialBehaviorsPanel.tsx b/fission/src/ui/panels/SequentialBehaviorsPanel.tsx
index c5107e1c62..213261bc6b 100644
--- a/fission/src/ui/panels/SequentialBehaviorsPanel.tsx
+++ b/fission/src/ui/panels/SequentialBehaviorsPanel.tsx
@@ -4,25 +4,31 @@ import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import Label, { LabelSize } from "../components/Label"
 import World from "@/systems/World"
 import { MiraType } from "@/mirabuf/MirabufLoader"
-import { FaGear, FaXmark } from "react-icons/fa6"
-import { Box, Button as MUIButton, Divider, styled, alpha } from "@mui/material"
+import { FaArrowRightArrowLeft, FaGear, FaXmark } from "react-icons/fa6"
+import { Box, Button as MUIButton, Divider, styled, alpha, Icon } from "@mui/material"
 import Button, { ButtonSize } from "../components/Button"
 import GenericArmBehavior from "@/systems/simulation/behavior/GenericArmBehavior"
-import { SequenceableBehavior } from "@/systems/simulation/behavior/Behavior"
+import { DefaultSequentialConfig, SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
+import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import SequenceableBehavior from "@/systems/simulation/behavior/SequenceableBehavior"
+import Checkbox from "../components/Checkbox"
 
-const UnselectParent = <FaXmark size={"1.25rem"} />
+const UnselectParentIcon = <FaXmark size={"1.25rem"} />
+const InvertIcon = <FaArrowRightArrowLeft size={"1.25rem"} style={{ transform: "rotate(90deg)" }} />
 
 /** White label for a behavior name */
 const LabelStyled = styled(Label)({
     fontWeight: 700,
     margin: "0pt",
+    textWrap: "nowrap",
 })
 
 /** Grey label for a child behavior name */
 const ChildLabelStyled = styled(Label)({
     fontWeight: 700,
     margin: "0pt",
-    color: "grey",
+    color: "#bbbbbb",
+    textWrap: "nowrap",
 })
 
 const DividerStyled = styled(Divider)({
@@ -45,18 +51,13 @@ const CustomButton = styled(MUIButton)({
     },
 })
 
-type BehaviorConfiguration = {
-    behavior: SequenceableBehavior
-    parent: BehaviorConfiguration | undefined
-}
-
 interface BehaviorCardProps {
     elementKey: number
     name: string
     // The behavior displayed in this card
-    behavior: BehaviorConfiguration
+    behavior: SequentialBehaviorPreferences
     // The behavior whose 'set' button was just pressed
-    lookingForParent: BehaviorConfiguration | undefined
+    lookingForParent: SequentialBehaviorPreferences | undefined
     update: () => void
     onSetPressed: () => void
     onBehaviorSelected: () => void
@@ -79,9 +80,9 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
             {/* Box containing the label */}
             <Box position="absolute" alignSelf={"center"} display="flex">
                 {/* Indentation before the name */}
-                <Box width={behavior.parent != undefined || lookingForParent == behavior ? "25px" : "8px"} />
+                <Box width={behavior.parentJointIndex != undefined || lookingForParent == behavior ? "25px" : "8px"} />
                 {/* Label for joint index and type (grey if child) */}
-                {behavior.parent != undefined ? (
+                {behavior.parentJointIndex != undefined ? (
                     <ChildLabelStyled
                         key={`arm-nodes-notation ${elementKey}`}
                         size={LabelSize.Small}
@@ -107,31 +108,54 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
                     onBehaviorSelected()
                     update()
                 }}
-                disabled={lookingForParent == undefined || lookingForParent == behavior || behavior.parent != undefined}
+                disabled={
+                    lookingForParent == undefined ||
+                    lookingForParent == behavior ||
+                    behavior.parentJointIndex != undefined
+                }
                 sx={{
                     borderColor:
-                        lookingForParent == undefined || lookingForParent == behavior || behavior.parent != undefined
+                        lookingForParent == undefined ||
+                        lookingForParent == behavior ||
+                        behavior.parentJointIndex != undefined
                             ? "transparent"
                             : "#888888",
                 }}
             />
 
-            {/* Spacer between the CustomButton and 'set' button */}
-            <Box width={"8px"} />
+            {/* Spacer between the CustomButton and invert button */}
+            <Box width={"16px"} />
 
-            {/* Button to set the parent of this behavior */}
-            <Button
-                key="set"
-                size={ButtonSize.Small}
-                value={lookingForParent == behavior || behavior.parent != undefined ? UnselectParent : "set"}
-                onClick={() => {
-                    if (hasChild) return
+            <Box display="flex" position="relative" alignSelf={"center"} alignItems={"center"}>
+                {/* Invert joint icon & checkbox */}
+                <Icon>{InvertIcon}</Icon>
+                <Checkbox
+                    label={""}
+                    defaultState={behavior.inverted}
+                    onClick={val => (behavior.inverted = val)}
+                    hideLabel={true}
+                />
+            </Box>
 
-                    onSetPressed()
-                    update()
-                }}
-                colorOverrideClass={hasChild ? "bg-background-secondary hover:brightness-100" : undefined}
-            />
+            <Box display="flex" position="relative" alignSelf={"center"} alignItems={"center"}>
+                {/* Button to set the parent of this behavior */}
+                <Button
+                    key="set"
+                    size={ButtonSize.Small}
+                    value={
+                        lookingForParent == behavior || behavior.parentJointIndex != undefined
+                            ? UnselectParentIcon
+                            : "set"
+                    }
+                    onClick={() => {
+                        if (hasChild) return
+
+                        onSetPressed()
+                        update()
+                    }}
+                    colorOverrideClass={hasChild ? "bg-background hover:brightness-100" : undefined}
+                />
+            </Box>
         </Box>
     )
 }
@@ -149,19 +173,21 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
  * Joint 4
  * * Joint 2 (child of 4)
  */
-function sortBehaviors(behaviors: BehaviorConfiguration[] | undefined): BehaviorConfiguration[] | undefined {
+function sortBehaviors(
+    behaviors: SequentialBehaviorPreferences[] | undefined
+): SequentialBehaviorPreferences[] | undefined {
     if (behaviors == undefined) return undefined
 
     // Sort the behaviors in order of joint index
     behaviors.sort((a, b) => {
-        return a.behavior.jointIndex - b.behavior.jointIndex
+        return a.jointIndex - b.jointIndex
     })
 
-    const sortedBehaviors: BehaviorConfiguration[] = []
+    const sortedBehaviors: SequentialBehaviorPreferences[] = []
 
     // Append all parent behaviors to the sorted list
     behaviors.forEach(b => {
-        if (b.parent == undefined) sortedBehaviors.push(b)
+        if (b.parentJointIndex == undefined) sortedBehaviors.push(b)
     })
 
     // Append all child behaviors to the sorted list directly after their parent
@@ -170,9 +196,9 @@ function sortBehaviors(behaviors: BehaviorConfiguration[] | undefined): Behavior
         const b = behaviors[i]
 
         // Skip parent behaviors (they were added to the array in the previous step)
-        if (b.parent == undefined) continue
+        if (b.parentJointIndex == undefined) continue
 
-        const parentIndex = sortedBehaviors.findIndex(sb => b.parent == sb)
+        const parentIndex = sortedBehaviors.findIndex(sb => b.parentJointIndex == sb.jointIndex)
 
         if (parentIndex == -1) throw new Error("Parent behavior not found!")
 
@@ -184,8 +210,8 @@ function sortBehaviors(behaviors: BehaviorConfiguration[] | undefined): Behavior
 
 const SequentialBehaviorsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
-    const [behaviors, setBehaviors] = useState<BehaviorConfiguration[] | undefined>(undefined)
-    const [lookingForParent, setLookingForParent] = useState<BehaviorConfiguration | undefined>(undefined)
+    const [behaviors, setBehaviors] = useState<SequentialBehaviorPreferences[] | undefined>(undefined)
+    const [lookingForParent, setLookingForParent] = useState<SequentialBehaviorPreferences | undefined>(undefined)
 
     const robots = useMemo(() => {
         const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
@@ -208,8 +234,12 @@ const SequentialBehaviorsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             name={"Sequential Joints"}
             icon={<FaGear />}
             panelId={panelId}
-            acceptEnabled={false}
-            cancelName="Close"
+            cancelEnabled={false}
+            onAccept={() => {
+                if (selectedRobot == undefined || behaviors == undefined) return
+                PreferencesSystem.getRobotPreferences(selectedRobot.assemblyName).sequentialConfig = behaviors
+                PreferencesSystem.savePreferences()
+            }}
         >
             {selectedRobot == undefined || behaviors == undefined ? (
                 <>
@@ -222,16 +252,24 @@ const SequentialBehaviorsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                                     value={mirabufSceneObject.assemblyName}
                                     onClick={() => {
                                         setSelectedRobot(mirabufSceneObject)
-                                        setBehaviors(
-                                            mirabufSceneObject.brain?.behaviors
-                                                .filter(b => "jointIndex" in b)
-                                                .map(b => {
-                                                    return {
-                                                        behavior: b as SequenceableBehavior,
-                                                        parent: undefined,
-                                                    }
-                                                })
+
+                                        const prefs = PreferencesSystem.getRobotPreferences(
+                                            mirabufSceneObject.assemblyName
                                         )
+                                        if (prefs.sequentialConfig) setBehaviors(prefs.sequentialConfig)
+                                        else {
+                                            setBehaviors(
+                                                mirabufSceneObject.brain?.behaviors
+                                                    .filter(b => b instanceof SequenceableBehavior)
+                                                    .map(b => {
+                                                        return DefaultSequentialConfig(
+                                                            b.jointIndex,
+                                                            b instanceof GenericArmBehavior ? "Arm" : "Elevator"
+                                                        )
+                                                    })
+                                            )
+                                        }
+
                                         update()
                                     }}
                                     key={mirabufSceneObject.id}
@@ -241,18 +279,18 @@ const SequentialBehaviorsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     </div>
                 </>
             ) : (
-                <>
+                <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
                     <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
                         Set Parent Behaviors
                     </LabelStyled>
                     <DividerStyled />
                     {behaviors.map(behavior => {
-                        const jointIndex = behavior.behavior.jointIndex
+                        const jointIndex = behavior.jointIndex
                         return (
                             <BehaviorCard
                                 elementKey={jointIndex}
                                 name={
-                                    behavior.behavior instanceof GenericArmBehavior
+                                    behavior.type == "Arm"
                                         ? `Joint ${jointIndex} (Arm)`
                                         : `Joint ${jointIndex} (Elevator)`
                                 }
@@ -260,8 +298,8 @@ const SequentialBehaviorsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                                 key={jointIndex}
                                 update={update}
                                 onSetPressed={() => {
-                                    if (behavior.parent != undefined) {
-                                        behavior.parent = undefined
+                                    if (behavior.parentJointIndex != undefined) {
+                                        behavior.parentJointIndex = undefined
                                         update()
                                     } else {
                                         setLookingForParent(lookingForParent == behavior ? undefined : behavior)
@@ -270,15 +308,15 @@ const SequentialBehaviorsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                                 }}
                                 lookingForParent={lookingForParent}
                                 onBehaviorSelected={() => {
-                                    if (lookingForParent) lookingForParent.parent = behavior
+                                    if (lookingForParent) lookingForParent.parentJointIndex = behavior.jointIndex
                                     setLookingForParent(undefined)
                                     update()
                                 }}
-                                hasChild={behaviors.some(b => b.parent == behavior)}
+                                hasChild={behaviors.some(b => b.parentJointIndex == behavior.jointIndex)}
                             />
                         )
                     })}
-                </>
+                </div>
             )}
         </Panel>
     )

From 4916e313b8fa4e9c645e1a9cb733c6374f99286c Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 25 Jul 2024 09:01:39 -0700
Subject: [PATCH 041/344] Integration with GH-1045

---
 exporter/SynthesisFusionAddin/src/TypesTmp.py     | 15 ---------------
 .../src/UI/GamepieceConfigTab.py                  |  2 +-
 .../src/UI/GeneralConfigTab.py                    |  2 +-
 3 files changed, 2 insertions(+), 17 deletions(-)
 delete mode 100644 exporter/SynthesisFusionAddin/src/TypesTmp.py

diff --git a/exporter/SynthesisFusionAddin/src/TypesTmp.py b/exporter/SynthesisFusionAddin/src/TypesTmp.py
deleted file mode 100644
index 14572aa1ba..0000000000
--- a/exporter/SynthesisFusionAddin/src/TypesTmp.py
+++ /dev/null
@@ -1,15 +0,0 @@
-# Pure typing hints.
-class LBS(float):
-    """Mass Unit in Pounds."""
-
-
-class KG(float):
-    """Mass Unit in Kilograms."""
-
-
-def toLbs(kgs: float) -> LBS:
-    return LBS(round(kgs * 2.2062, 2))
-
-
-def toKg(pounds: float) -> KG:
-    return KG(round(pounds / 2.2062, 2))
diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index 661c2cb6e6..7cace76db7 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -3,7 +3,7 @@
 
 from ..Logging import logFailure
 from ..Parser.ExporterOptions import ExporterOptions, Gamepiece, PreferredUnits
-from ..TypesTmp import toKg, toLbs
+from ..Types import toKg, toLbs
 from . import IconPaths
 from .CreateCommandInputsHelper import (
     createBooleanInput,
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index e7050b4949..d74b51f22d 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -8,7 +8,7 @@
     ExportMode,
     PreferredUnits,
 )
-from ..TypesTmp import KG, toKg, toLbs
+from ..Types import KG, toKg, toLbs
 from . import IconPaths
 from .CreateCommandInputsHelper import createBooleanInput, createTableInput
 from .GamepieceConfigTab import GamepieceConfigTab

From ce2e848283af5b958280afb26b8fc8a774bcc6e5 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 25 Jul 2024 11:11:59 -0700
Subject: [PATCH 042/344] moved repeated UI components to a single file

---
 fission/src/Synthesis.tsx                     |   4 +-
 .../src/ui/components/StyledComponents.tsx    |  84 ++++++++++++
 .../{ => inputs}/ChangeInputsModal.tsx        |  24 +---
 .../{ => inputs}/ResetAllInputsModal.tsx      |   0
 .../configuring/ChooseInputSchemePanel.tsx    | 126 +++++++-----------
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  | 123 +++++------------
 6 files changed, 171 insertions(+), 190 deletions(-)
 create mode 100644 fission/src/ui/components/StyledComponents.tsx
 rename fission/src/ui/modals/configuring/{ => inputs}/ChangeInputsModal.tsx (97%)
 rename fission/src/ui/modals/configuring/{ => inputs}/ResetAllInputsModal.tsx (100%)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index b406cec7d9..0923cb53ab 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -20,7 +20,7 @@ import UpdateAvailableModal from "@/modals/UpdateAvailableModal"
 import ViewModal from "@/modals/ViewModal"
 import ConnectToMultiplayerModal from "@/modals/aether/ConnectToMultiplayerModal"
 import ServerHostingModal from "@/modals/aether/ServerHostingModal"
-import ChangeInputsModal from "@/ui/modals/configuring/ChangeInputsModal.tsx"
+import ChangeInputsModal from "@/ui/modals/configuring/inputs/ChangeInputsModal.tsx"
 import ChooseMultiplayerModeModal from "@/modals/configuring/ChooseMultiplayerModeModal"
 import ChooseSingleplayerModeModal from "@/modals/configuring/ChooseSingleplayerModeModal"
 import ConfigMotorModal from "@/modals/configuring/ConfigMotorModal"
@@ -54,7 +54,7 @@ import Skybox from "./ui/components/Skybox.tsx"
 import ChooseInputSchemePanel from "./ui/panels/configuring/ChooseInputSchemePanel.tsx"
 import ProgressNotifications from "./ui/components/ProgressNotification.tsx"
 import ConfigureRobotModal from "./ui/modals/configuring/ConfigureRobotModal.tsx"
-import ResetAllInputsModal from "./ui/modals/configuring/ResetAllInputsModal.tsx"
+import ResetAllInputsModal from "./ui/modals/configuring/inputs/ResetAllInputsModal.tsx"
 import ZoneConfigPanel from "./ui/panels/configuring/scoring/ZoneConfigPanel.tsx"
 import SceneOverlay from "./ui/components/SceneOverlay.tsx"
 
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
new file mode 100644
index 0000000000..1f8145c05d
--- /dev/null
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -0,0 +1,84 @@
+import { Divider, styled } from "@mui/material"
+import Label from "./Label"
+import Button, { ButtonProps, ButtonSize } from "./Button"
+import { IoCheckmark, IoPencil, IoTrashBin } from "react-icons/io5"
+import { HiDownload } from "react-icons/hi"
+import { AiOutlinePlus } from "react-icons/ai"
+import { BiRefresh } from "react-icons/bi"
+
+export const DeleteIcon = <IoTrashBin size={"1.25rem"} />
+export const DownloadIcon = <HiDownload size={"1.25rem"} />
+export const AddIcon = <AiOutlinePlus size={"1.25rem"} />
+export const RefreshIcon = <BiRefresh size={"1.25rem"} />
+export const SelectIcon = <IoCheckmark size={"1.25rem"} />
+export const EditIcon = <IoPencil size={"1.25rem"} />
+
+export const SectionDivider = styled(Divider)({
+    borderColor: "white",
+})
+
+export const SectionLabel = styled(Label)({
+    fontWeight: 700,
+    margin: "0pt",
+})
+
+export const PositiveButton: React.FC<ButtonProps> = ({ value, onClick }) => {
+    return (
+        <Button
+            size={ButtonSize.Medium}
+            value={value}
+            onClick={onClick}
+            colorOverrideClass="bg-accept-button hover:brightness-90"
+        />
+    )
+}
+
+export const DownloadButton = (onClick: () => void) => {
+    return <PositiveButton value={DeleteIcon} onClick={onClick} />
+}
+
+export const AddButton = (onClick: () => void) => {
+    return <PositiveButton value={DeleteIcon} onClick={onClick} />
+}
+
+export const SelectButton = (onClick: () => void) => {
+    return <PositiveButton value={SelectIcon} onClick={onClick} />
+}
+
+export const EditButton = (onClick: () => void) => {
+    return <PositiveButton value={EditIcon} onClick={onClick} />
+}
+
+export const NegativeButton: React.FC<ButtonProps> = ({ value, onClick }) => {
+    return (
+        <Button
+            size={ButtonSize.Medium}
+            value={value}
+            onClick={onClick}
+            colorOverrideClass="bg-cancel-button hover:brightness-90"
+        />
+    )
+}
+
+export const DeleteButton = (onClick: () => void) => {
+    return <NegativeButton value={DeleteIcon} onClick={onClick} />
+}
+
+export const ButtonIcon: React.FC<ButtonProps> = ({ value, onClick }) => {
+    return (
+        <Button
+            value={value}
+            onClick={onClick}
+            colorOverrideClass="bg-[#00000000] hover:brightness-90"
+            sizeOverrideClass="p-[0.25rem]"
+        />
+    )
+}
+
+export const RefreshButton = (onClick: () => void) => {
+    return <ButtonIcon value={RefreshIcon} onClick={onClick} />
+}
+
+export const AddButtonInteractiveColor = (onClick: () => void) => {
+    return <Button value={AddIcon} onClick={onClick} />
+}
diff --git a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
similarity index 97%
rename from fission/src/ui/modals/configuring/ChangeInputsModal.tsx
rename to fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
index 7a45282847..5fd6cd81fb 100644
--- a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
@@ -3,21 +3,15 @@ import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { FaGamepad } from "react-icons/fa6"
 import Stack, { StackDirection } from "@/ui/components/Stack"
 import Label, { LabelSize } from "@/ui/components/Label"
-import LabeledButton, { LabelPlacement } from "../../components/LabeledButton"
+import LabeledButton, { LabelPlacement } from "../../../components/LabeledButton"
 import InputSystem, { AxisInput, ButtonInput, ModifierState, EmptyModifierState } from "@/systems/input/InputSystem"
 import Dropdown from "@/ui/components/Dropdown"
 import Checkbox from "@/ui/components/Checkbox"
 import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
 import Button from "@/ui/components/Button"
 import { useModalControlContext } from "@/ui/ModalContext"
-import { Box, Divider, styled } from "@mui/material"
-import { AiOutlinePlus } from "react-icons/ai"
-
-const AddIcon = <AiOutlinePlus size={"1.25rem"} />
-
-const DividerStyled = styled(Divider)({
-    borderColor: "white",
-})
+import { Box } from "@mui/material"
+import { AddButtonInteractiveColor, SectionDivider } from "@/ui/components/StyledComponents"
 
 // capitalize first letter
 const transformKeyName = (keyCode: string, keyModifiers: ModifierState) => {
@@ -378,13 +372,9 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                     InputSystem.selectedScheme = schemeData
                                 }}
                             />
-                            <Button
-                                value={AddIcon}
-                                onClick={() => {
-                                    openModal("new-scheme")
-                                }}
-                            />
-
+                            {AddButtonInteractiveColor(() => {
+                                openModal("new-scheme")
+                            })}
                             {selectedScheme ? (
                                 <>
                                     <Checkbox
@@ -396,7 +386,7 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                         }}
                                     />
                                     <Box height={10} />
-                                    <DividerStyled />
+                                    <SectionDivider />
                                     <Box height={15}></Box>
 
                                     <Box display="flex" justifyContent="center" alignItems="center">
diff --git a/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx b/fission/src/ui/modals/configuring/inputs/ResetAllInputsModal.tsx
similarity index 100%
rename from fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
rename to fission/src/ui/modals/configuring/inputs/ResetAllInputsModal.tsx
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index c6cfdceab3..dfc48f78e9 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -4,14 +4,19 @@ import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeMana
 import InputSystem from "@/systems/input/InputSystem"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
-import Button from "@/ui/components/Button"
-import Label, { LabelSize } from "@/ui/components/Label"
+import { LabelSize } from "@/ui/components/Label"
+import {
+    EditButton,
+    DeleteButton,
+    SelectButton,
+    AddButtonInteractiveColor,
+    SectionLabel,
+    SectionDivider,
+} from "@/ui/components/StyledComponents"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
-import { Box, Divider, styled } from "@mui/material"
+import { Box } from "@mui/material"
 import { useEffect, useReducer } from "react"
-import { AiOutlinePlus } from "react-icons/ai"
-import { IoCheckmark, IoPencil, IoTrashBin } from "react-icons/io5"
 
 const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { closePanel } = usePanelControlContext()
@@ -19,20 +24,6 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
     const [_, update] = useReducer(x => !x, false)
 
-    const AddIcon = <AiOutlinePlus size={"1.25rem"} />
-    const DeleteIcon = <IoTrashBin size={"1.25rem"} />
-    const SelectIcon = <IoCheckmark size={"1.25rem"} />
-    const EditIcon = <IoPencil size={"1.25rem"} />
-
-    const LabelStyled = styled(Label)({
-        fontWeight: 700,
-        margin: "0pt",
-    })
-
-    const DividerStyled = styled(Divider)({
-        borderColor: "white",
-    })
-
     useEffect(() => {
         closePanel("import-mirabuf")
 
@@ -63,10 +54,10 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             {/** A scroll view with buttons to select default and custom input schemes */}
             <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[45vh] bg-background-secondary rounded-md p-2">
                 {/** The label and divider at the top of the scroll view */}
-                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                <SectionLabel size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
                     {`${InputSchemeManager.availableInputSchemes.length} Input Schemes`}
-                </LabelStyled>
-                <DividerStyled />
+                </SectionLabel>
+                <SectionDivider />
 
                 {/** Creates list items with buttons */}
                 {InputSchemeManager.availableInputSchemes.map(scheme => {
@@ -79,9 +70,9 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                             gap={"1rem"}
                             key={scheme.schemeName}
                         >
-                            <LabelStyled>
+                            <SectionLabel>
                                 {`${scheme.schemeName} | ${scheme.customized ? "Custom" : scheme.descriptiveName}`}
-                            </LabelStyled>
+                            </SectionLabel>
                             <Box
                                 component={"div"}
                                 display={"flex"}
@@ -91,55 +82,35 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                                 alignItems={"center"}
                             >
                                 {/** Select button */}
-                                <Button
-                                    value={SelectIcon}
-                                    onClick={() => {
-                                        InputSystem.brainIndexSchemeMap.set(
-                                            SynthesisBrain.brainIndexMap.size - 1,
-                                            scheme
-                                        )
-                                        closePanel(panelId)
-                                    }}
-                                    colorOverrideClass="bg-accept-button hover:brightness-90"
-                                />
+                                {SelectButton(() => {
+                                    InputSystem.brainIndexSchemeMap.set(SynthesisBrain.brainIndexMap.size - 1, scheme)
+                                    closePanel(panelId)
+                                })}
                                 {/** Edit button - same as select but opens the inputs modal */}
-                                <Button
-                                    value={EditIcon}
-                                    onClick={() => {
-                                        InputSystem.brainIndexSchemeMap.set(
-                                            SynthesisBrain.brainIndexMap.size - 1,
-                                            scheme
-                                        )
-                                        InputSystem.selectedScheme = scheme
-                                        openModal("change-inputs")
-                                    }}
-                                    colorOverrideClass="bg-accept-button hover:brightness-90"
-                                />
+                                {EditButton(() => {
+                                    InputSystem.brainIndexSchemeMap.set(SynthesisBrain.brainIndexMap.size - 1, scheme)
+                                    InputSystem.selectedScheme = scheme
+                                    openModal("change-inputs")
+                                })}
                                 {/** Delete button (only if the scheme is customized) */}
                                 {scheme.customized ? (
-                                    <>
-                                        <Button
-                                            value={DeleteIcon}
-                                            onClick={() => {
-                                                // Fetch current custom schemes
-                                                InputSchemeManager.saveSchemes()
-                                                InputSchemeManager.resetDefaultSchemes()
-                                                const schemes =
-                                                    PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
-
-                                                // Find and remove this input scheme
-                                                const index = schemes.indexOf(scheme)
-                                                schemes.splice(index, 1)
-
-                                                // Save to preferences
-                                                PreferencesSystem.setGlobalPreference("InputSchemes", schemes)
-                                                PreferencesSystem.savePreferences()
-
-                                                update()
-                                            }}
-                                            colorOverrideClass="bg-cancel-button hover:brightness-90"
-                                        />
-                                    </>
+                                    DeleteButton(() => {
+                                        // Fetch current custom schemes
+                                        InputSchemeManager.saveSchemes()
+                                        InputSchemeManager.resetDefaultSchemes()
+                                        const schemes =
+                                            PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
+
+                                        // Find and remove this input scheme
+                                        const index = schemes.indexOf(scheme)
+                                        schemes.splice(index, 1)
+
+                                        // Save to preferences
+                                        PreferencesSystem.setGlobalPreference("InputSchemes", schemes)
+                                        PreferencesSystem.savePreferences()
+
+                                        update()
+                                    })
                                 ) : (
                                     <></>
                                 )}
@@ -149,16 +120,11 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 })}
             </div>
             {/** New scheme with a randomly assigned name button */}
-            <Button
-                value={AddIcon}
-                onClick={() => {
-                    InputSystem.brainIndexSchemeMap.set(
-                        SynthesisBrain.brainIndexMap.size - 1,
-                        DefaultInputs.newBlankScheme
-                    )
-                    openModal("assign-new-scheme")
-                }}
-            />
+            {AddButtonInteractiveColor(() => {
+                InputSystem.brainIndexSchemeMap.set(SynthesisBrain.brainIndexMap.size - 1, DefaultInputs.newBlankScheme)
+                openModal("assign-new-scheme")
+            })}
+
             <Box height="12px"></Box>
         </Panel>
     )
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index 76947a4cbc..a7e5cc2816 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -1,5 +1,5 @@
 import React, { ReactNode, useCallback, useEffect, useMemo, useState } from "react"
-import Label, { LabelSize } from "@/components/Label"
+import { LabelSize } from "@/components/Label"
 import {
     Data,
     GetMirabufFiles,
@@ -12,82 +12,31 @@ import MirabufCachingService, { MirabufCacheInfo, MirabufRemoteInfo, MiraType }
 import World from "@/systems/World"
 import { useTooltipControlContext } from "@/ui/TooltipContext"
 import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
-import { Box, Divider, styled } from "@mui/material"
-import { HiDownload } from "react-icons/hi"
-import Button, { ButtonProps, ButtonSize } from "@/ui/components/Button"
+import { Box } from "@mui/material"
 import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
-import { IoTrashBin } from "react-icons/io5"
-import { AiOutlinePlus } from "react-icons/ai"
-import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 import { usePanelControlContext } from "@/ui/PanelContext"
 import TaskStatus from "@/util/TaskStatus"
-import { BiRefresh } from "react-icons/bi"
+import {
+    PositiveButton,
+    SectionDivider,
+    SectionLabel,
+    AddIcon,
+    DeleteButton,
+    DownloadIcon,
+    RefreshButton,
+} from "@/ui/components/StyledComponents"
 import { ProgressHandle } from "@/ui/components/ProgressNotificationData"
-
-const DownloadIcon = <HiDownload size={"1.25rem"} />
-const AddIcon = <AiOutlinePlus size={"1.25rem"} />
-const DeleteIcon = <IoTrashBin size={"1.25rem"} />
-const RefreshIcon = <BiRefresh size={"1.25rem"} />
-
-const LabelStyled = styled(Label)({
-    fontWeight: 700,
-    margin: "0pt",
-})
-
-const DividerStyled = styled(Divider)({
-    borderColor: "white",
-})
-
-const ButtonPrimary: React.FC<ButtonProps> = ({ value, onClick }) => {
-    return (
-        <Button
-            size={ButtonSize.Medium}
-            value={value}
-            onClick={onClick}
-            colorOverrideClass="bg-accept-button hover:brightness-90"
-        ></Button>
-    )
-}
-
-const ButtonSecondary: React.FC<ButtonProps> = ({ value, onClick }) => {
-    return (
-        <Button
-            size={ButtonSize.Medium}
-            value={value}
-            onClick={onClick}
-            colorOverrideClass="bg-cancel-button hover:brightness-90"
-        ></Button>
-    )
-}
-
-const ButtonIcon: React.FC<ButtonProps> = ({ value, onClick }) => {
-    return (
-        <Button
-            value={value}
-            onClick={onClick}
-            colorOverrideClass="bg-[#00000000] hover:brightness-90"
-            sizeOverrideClass="p-[0.25rem]"
-        ></Button>
-    )
-}
+import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 
 interface ItemCardProps {
     id: string
     name: string
     primaryButtonNode: ReactNode
-    secondaryButtonNode?: ReactNode
     primaryOnClick: () => void
     secondaryOnClick?: () => void
 }
 
-const ItemCard: React.FC<ItemCardProps> = ({
-    id,
-    name,
-    primaryButtonNode,
-    secondaryButtonNode,
-    primaryOnClick,
-    secondaryOnClick,
-}) => {
+const ItemCard: React.FC<ItemCardProps> = ({ id, name, primaryButtonNode, primaryOnClick, secondaryOnClick }) => {
     return (
         <Box
             component={"div"}
@@ -97,7 +46,7 @@ const ItemCard: React.FC<ItemCardProps> = ({
             alignItems={"center"}
             gap={"1rem"}
         >
-            <LabelStyled className="text-wrap break-all">{name.replace(/.mira$/, "")}</LabelStyled>
+            <SectionLabel className="text-wrap break-all">{name.replace(/.mira$/, "")}</SectionLabel>
             <Box
                 component={"div"}
                 display={"flex"}
@@ -107,10 +56,8 @@ const ItemCard: React.FC<ItemCardProps> = ({
                 justifyContent={"center"}
                 alignItems={"center"}
             >
-                <ButtonPrimary value={primaryButtonNode} onClick={primaryOnClick} />
-                {secondaryButtonNode && secondaryOnClick && (
-                    <ButtonSecondary value={secondaryButtonNode} onClick={secondaryOnClick} />
-                )}
+                <PositiveButton value={primaryButtonNode} onClick={primaryOnClick} />
+                {secondaryOnClick && DeleteButton(secondaryOnClick)}
             </Box>
         </Box>
     )
@@ -298,7 +245,6 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         console.log(`Selecting cached robot: ${info.cacheKey}`)
                         selectCache(info, MiraType.ROBOT)
                     },
-                    secondaryButtonNode: DeleteIcon,
                     secondaryOnClick: () => {
                         console.log(`Deleting cache of: ${info.cacheKey}`)
                         MirabufCachingService.Remove(info.cacheKey, info.id, MiraType.ROBOT)
@@ -322,7 +268,6 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         console.log(`Selecting cached field: ${info.cacheKey}`)
                         selectCache(info, MiraType.FIELD)
                     },
-                    secondaryButtonNode: DeleteIcon,
                     secondaryOnClick: () => {
                         console.log(`Deleting cache of: ${info.cacheKey}`)
                         MirabufCachingService.Remove(info.cacheKey, info.id, MiraType.FIELD)
@@ -410,22 +355,22 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 </ToggleButtonGroup>
                 {viewType == MiraType.ROBOT ? (
                     <>
-                        <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                        <SectionLabel size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
                             {cachedRobotElements
                                 ? `${cachedRobotElements.length} Saved Robot${cachedRobotElements.length == 1 ? "" : "s"}`
                                 : "Loading Saved Robots"}
-                        </LabelStyled>
-                        <DividerStyled />
+                        </SectionLabel>
+                        <SectionDivider />
                         {cachedRobotElements}
                     </>
                 ) : (
                     <>
-                        <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                        <SectionLabel size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
                             {cachedFieldElements
                                 ? `${cachedFieldElements.length} Saved Field${cachedFieldElements.length == 1 ? "" : "s"}`
                                 : "Loading Saved Fields"}
-                        </LabelStyled>
-                        <DividerStyled />
+                        </SectionLabel>
+                        <SectionDivider />
                         {cachedFieldElements}
                     </>
                 )}
@@ -438,37 +383,33 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     justifyContent={"center"}
                     alignItems={"center"}
                 >
-                    <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                    <SectionLabel size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
                         {hubElements
                             ? `${hubElements.length} Remote Asset${hubElements.length == 1 ? "" : "s"}`
                             : filesStatus.message}
-                    </LabelStyled>
-                    {hubElements && filesStatus.isDone ? (
-                        <ButtonIcon value={RefreshIcon} onClick={() => RequestMirabufFiles()} />
-                    ) : (
-                        <></>
-                    )}
+                    </SectionLabel>
+                    {hubElements && filesStatus.isDone ? RefreshButton(() => RequestMirabufFiles()) : <></>}
                 </Box>
-                <DividerStyled />
+                <SectionDivider />
                 {hubElements}
                 {viewType == MiraType.ROBOT ? (
                     <>
-                        <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                        <SectionLabel size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
                             {remoteRobotElements
                                 ? `${remoteRobotElements.length} Default Robot${remoteRobotElements.length == 1 ? "" : "s"}`
                                 : "Loading Default Robots"}
-                        </LabelStyled>
-                        <DividerStyled />
+                        </SectionLabel>
+                        <SectionDivider />
                         {remoteRobotElements}
                     </>
                 ) : (
                     <>
-                        <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                        <SectionLabel size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
                             {remoteFieldElements
                                 ? `${remoteFieldElements.length} Default Field${remoteFieldElements.length == 1 ? "" : "s"}`
                                 : "Loading Default Fields"}
-                        </LabelStyled>
-                        <DividerStyled />
+                        </SectionLabel>
+                        <SectionDivider />
                         {remoteFieldElements}
                     </>
                 )}

From 698658fb477d5bf318329982fe9fae7517c5f4db Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 25 Jul 2024 11:25:46 -0700
Subject: [PATCH 043/344] fix behavior inputs

---
 .../simulation/synthesis_brain/SynthesisBrain.ts   |  6 +++---
 .../java/com/autodesk/synthesis/ctre/TalonFX.java  | 14 +++++++++-----
 .../JavaSample/src/main/java/frc/robot/Robot.java  |  4 ++--
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index feb87d70bf..d6565d56a3 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -4,16 +4,16 @@ import Behavior from "../behavior/Behavior"
 import World from "@/systems/World"
 import WheelDriver from "../driver/WheelDriver"
 import WheelRotationStimulus from "../stimulus/WheelStimulus"
-import ArcadeDriveBehavior from "../behavior/ArcadeDriveBehavior"
+import ArcadeDriveBehavior from "../behavior/synthesis/ArcadeDriveBehavior"
 import { SimulationLayer } from "../SimulationSystem"
 import Jolt from "@barclah/jolt-physics"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import HingeDriver from "../driver/HingeDriver"
 import HingeStimulus from "../stimulus/HingeStimulus"
-import GenericArmBehavior from "../behavior/GenericArmBehavior"
+import GenericArmBehavior from "../behavior/synthesis/GenericArmBehavior"
 import SliderDriver from "../driver/SliderDriver"
 import SliderStimulus from "../stimulus/SliderStimulus"
-import GenericElevatorBehavior from "../behavior/GenericElevatorBehavior"
+import GenericElevatorBehavior from "../behavior/synthesis/GenericElevatorBehavior"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import InputSystem from "@/systems/input/InputSystem"
 
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
index e2e4016e9a..6b54db84b9 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
@@ -1,7 +1,9 @@
 package com.autodesk.synthesis.ctre;
 
 import com.autodesk.synthesis.CANMotor;
-import com.ctre.phoenix.motorcontrol.NeutralMode;
+// import com.ctre.phoenix6.configs.TalonFXConfigurator;
+// import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.NeutralModeValue;
 
 public class TalonFX extends com.ctre.phoenix6.hardware.TalonFX {
     private CANMotor m_motor;
@@ -11,19 +13,21 @@ public TalonFX(int deviceNumber) {
 
         m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3);
     }
-    
+
     public void set(double speed) {
         super.set(speed);
         this.m_motor.setPercentOutput(speed);
     }
 
-    public void setNeutralMode(NeutralMode mode) {
+    public void setNeutralMode(NeutralModeValue mode) {
         super.setNeutralMode(mode);
 
-        this.m_motor.setBrakeMode(mode == NeutralMode.Brake);
+        this.m_motor.setBrakeMode(mode == NeutralModeValue.Brake);
     }
 
-    public void configureNeutralDeadaband(double deadband) {
+    public void configureNeutralDeadband(double deadband) {
+        //super.configureNeutralDeadband(deadband);
+        // TODO: Find actual deadband config method
         this.m_motor.setNeutralDeadband(deadband);
     }
 }
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 2d2bea7a07..f2f913bb8c 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -4,8 +4,8 @@
 
 package frc.robot;
 
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.revrobotics.CANSparkBase.IdleMode;
+// import com.ctre.phoenix6.hardware.TalonFX;
+// import com.revrobotics.CANSparkBase.IdleMode;
 // import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 

From 337914e277d4bc77de07b1926fe1a9de67617b77 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 25 Jul 2024 15:35:00 -0700
Subject: [PATCH 044/344] Re-enable APS

---
 .../SynthesisFusionAddin/src/UI/ConfigCommand.py    | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 28969c01b0..13401aacb1 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -264,13 +264,12 @@ def notify(self, args):
         #     enabled=True,
         # )
 
-        # getAuth()
-        # user_info = getUserInfo()
-        # apsSettings = INPUTS_ROOT.addTabCommandInput(
-        #     "aps_settings", f"APS Settings ({user_info.given_name if user_info else 'Not Signed In'})"
-        # )
-        # apsSettings.tooltip = "Configuration settings for Autodesk Platform Services."
-        # aps_input = apsSettings.children
+        getAuth()
+        user_info = getUserInfo()
+        apsSettings = INPUTS_ROOT.addTabCommandInput(
+            "aps_settings", f"APS Settings ({user_info.given_name if user_info else 'Not Signed In'})"
+        )
+        apsSettings.tooltip = "Configuration settings for Autodesk Platform Services."
 
         # clear all selections before instantiating handlers.
         gm.ui.activeSelections.clear()

From 511c0ac04f147225ada14b115583ff9ddfa59c85 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 25 Jul 2024 16:02:49 -0700
Subject: [PATCH 045/344] Integration with GH-1014

---
 .../src/UI/ConfigCommand.py                   | 41 +----------------
 .../src/UI/GeneralConfigTab.py                | 46 +++++++++++++++++++
 2 files changed, 48 insertions(+), 39 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 13401aacb1..843fbb1d8e 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -156,45 +156,6 @@ def notify(self, args):
                 fusionJoint = gm.app.activeDocument.design.findEntityByToken(wheel.jointToken)[0]
                 jointConfigTab.addWheel(fusionJoint, wheel)
 
-        # Transition: AARD-1769
-        # Waiting for GH-1014 to merge
-        # ~~~~~~~~~~~~~~~~ PHYSICS SETTINGS ~~~~~~~~~~~~~~~~
-        """
-        Physics settings group command
-        """
-        # physicsSettings: adsk.core.GroupCommandInput = a_input.addGroupCommandInput(
-        #     "physics_settings", "Physics Settings"
-        # )
-
-        # physicsSettings.isExpanded = True
-        # physicsSettings.isEnabled = True
-        # physicsSettings.tooltip = "Settings relating to the custom physics of the robot, like the wheel friction"
-        # physics_settings: adsk.core.CommandInputs = physicsSettings.children
-
-        # frictionOverrideInput = self.createBooleanInput(
-        #     "friction_override",
-        #     "Friction Override",
-        #     physics_settings,
-        #     checked=True,  # object is missing attribute
-        #     tooltip="Manually override the default friction values on the bodies in the assembly.",
-        #     enabled=True,
-        #     isCheckBox=False,
-        # )
-        # frictionOverrideInput.resourceFolder = IconPaths.stringIcons["friction_override-enabled"]
-        # frictionOverrideInput.isFullWidth = True
-
-        # valueList = [1]
-        # for i in range(20):
-        #     valueList.append(i / 20)
-
-        # frictionCoeffSlider: adsk.core.FloatSliderCommandInput = physics_settings.addFloatSliderListCommandInput(
-        #     "friction_override_coeff", "Friction Coefficient", "", valueList
-        # )
-        # frictionCoeffSlider.isVisible = True
-        # frictionCoeffSlider.valueOne = 0.5
-        # frictionCoeffSlider.tooltip = "Friction coefficient of field element."
-        # frictionCoeffSlider.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
-
         # ~~~~~~~~~~~~~~~~ JOINT SETTINGS ~~~~~~~~~~~~~~~~
         """
         Joint settings group command
@@ -384,6 +345,8 @@ def notify(self, args):
             exportLocation=generalConfigTab.exportLocation,
             compressOutput=generalConfigTab.compress,
             exportAsPart=generalConfigTab.exportAsPart,
+            frictionOverride=generalConfigTab.overrideFriction,
+            frictionOverrideCoeff=generalConfigTab.frictionOverrideCoeff,
         )
 
         Parser(exporterOptions).export()
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index d74b51f22d..b6e088581e 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -18,6 +18,7 @@
 class GeneralConfigTab:
     generalOptionsTab: adsk.core.TabCommandInput
     previousAutoCalcWeightCheckboxState: bool
+    previousFrictionOverrideCheckboxState: bool
     previousSelectedUnitDropdownIndex: int
     previousSelectedModeDropdownIndex: int
     currentUnits: PreferredUnits
@@ -138,10 +139,26 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
             enabled=True,
         )
 
+        frictionOverrideButton = createBooleanInput(
+            "frictionOverride",
+            "Friction Override",
+            generalTabInputs,
+            checked=exporterOptions.frictionOverride,
+            tooltip="Manually override the default friction values on the bodies in the assembly.",
+        )
+        self.previousFrictionOverrideCheckboxState = exporterOptions.frictionOverride
+
+        valueList = [1] + [i / 20 for i in range(20)]
+        frictionCoefficient = generalTabInputs.addFloatSliderListCommandInput("frictionCoefficient", "", "", valueList)
+        frictionCoefficient.valueOne = exporterOptions.frictionOverrideCoeff
+        frictionCoefficient.tooltip = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
+        frictionCoefficient.isVisible = exporterOptions.frictionOverride
+
         if exporterOptions.exportMode == ExportMode.FIELD:
             autoCalcWeightButton.isVisible = False
             exportAsPartButton.isVisible = False
             weightInput.isVisible = weightTableInput.isVisible = False
+            frictionOverrideButton.isVisible = frictionCoefficient.isVisible = False
 
     @property
     def exportMode(self) -> ExportMode:
@@ -201,6 +218,20 @@ def exportLocation(self) -> ExportLocation:
             assert exportLocationDropdown.selectedItem.index == 1
             return ExportLocation.DOWNLOAD
 
+    @property
+    def overrideFriction(self) -> bool:
+        overrideFrictionButton: adsk.core.BoolValueCommandInput = self.generalOptionsTab.children.itemById(
+            "frictionOverride"
+        )
+        return overrideFrictionButton.value
+
+    @property
+    def frictionOverrideCoeff(self) -> float:
+        frictionSlider: adsk.core.FloatSliderCommandInput = self.generalOptionsTab.children.itemById(
+            "frictionCoefficient"
+        )
+        return frictionSlider.valueOne
+
     @logFailure
     def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
         commandInput = args.input
@@ -209,6 +240,8 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
             autoCalcWeightButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("autoCalcWeightButton")
             weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
             exportAsPartButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("exportAsPartButton")
+            overrideFrictionButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("frictionOverride")
+            frictionSlider: adsk.core.FloatSliderCommandInput = args.inputs.itemById("frictionCoefficient")
             if modeDropdown.selectedItem.index == self.previousSelectedModeDropdownIndex:
                 return
 
@@ -219,6 +252,8 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
                 autoCalcWeightButton.isVisible = True
                 weightTable.isVisible = True
                 exportAsPartButton.isVisible = True
+                overrideFrictionButton.isVisible = True
+                frictionSlider.isVisible = overrideFrictionButton.value
             else:
                 assert modeDropdown.selectedItem.index == 1
                 self.jointConfigTab.isVisible = False
@@ -227,6 +262,7 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
                 autoCalcWeightButton.isVisible = False
                 weightTable.isVisible = False
                 exportAsPartButton.isVisible = False
+                overrideFrictionButton.isVisible = frictionSlider.isVisible = False
 
             self.previousSelectedModeDropdownIndex = modeDropdown.selectedItem.index
 
@@ -270,6 +306,16 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
 
             self.previousAutoCalcWeightCheckboxState = autoCalcWeightButton.value
 
+        elif commandInput.id == "frictionOverride":
+            frictionOverrideButton = adsk.core.BoolValueCommandInput.cast(commandInput)
+            frictionSlider: adsk.core.FloatSliderCommandInput = args.inputs.itemById("frictionCoefficient")
+            if frictionOverrideButton.value == self.previousFrictionOverrideCheckboxState:
+                return
+
+            frictionSlider.isVisible = frictionOverrideButton.value
+
+            self.previousFrictionOverrideCheckboxState = frictionOverrideButton.value
+
 
 # TODO: Perhaps move this into a different module
 @logFailure

From 28dab58f3782d4f929f5300ec147d5c5664c3a83 Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Thu, 25 Jul 2024 16:24:12 -0700
Subject: [PATCH 046/344] Adding quality changing functionality

Co-authored-by: BrandonPacewic <brandon.pacewic@autodesk.com>
---
 fission/src/systems/scene/SceneRenderer.ts    | 47 +++++++++++++++----
 .../ui/modals/configuring/SettingsModal.tsx   |  4 +-
 2 files changed, 42 insertions(+), 9 deletions(-)

diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index 2567e0a6b6..8905670b64 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -79,18 +79,14 @@ class SceneRenderer extends WorldSystem {
         this._renderer.setSize(window.innerWidth, window.innerHeight)
 
         // this._light = new CascadingShadows(this._mainCamera, this._scene, this._renderer)
-        const shadowMapSize = Math.min(4096, this._renderer.capabilities.maxTextureSize)
         this._csm = new CSM({
-            maxFar: 30,
-            cascades: 3,
-            mode: 'custom',
             parent: this._scene,
-            shadowMapSize: shadowMapSize,
+            camera: this._mainCamera,
+            cascades: 3,
             lightDirection: new THREE.Vector3( 0.5, -0.5, 0.5 ).normalize(),
             lightIntensity: 3,
-            camera: this._mainCamera,
             customSplitsCallback: (cascades: number, near: number, far: number, breaks: number[]) => {
-                const blend = 0.4;
+                const blend = 0.7;
                 for (let i = 1; i < cascades; i++) {
                     const uniformFactor = (near + (far - near) * i / cascades) / far;
                     const logarithmicFactor = (near * (far / near) ** (i / cascades)) / far;
@@ -103,7 +99,9 @@ class SceneRenderer extends WorldSystem {
             }
         })
         this._csm.fade = true
-        
+
+        this.ChangeQuality(PreferencesSystem.getGlobalPreference<string>("QualitySettings"))
+
         // this._csmHelper = new CSMHelper(this._csm)
         // this._csmHelper.visible = true
         // this._scene.add(this._csmHelper)
@@ -168,6 +166,7 @@ class SceneRenderer extends WorldSystem {
         this._mainCamera.updateMatrixWorld()
 
         this._csm.update()
+        console.log(this._csm.shadowMapSize)
         // this._csmHelper.update()
 
         this._skybox.position.copy(this._mainCamera.position)
@@ -192,6 +191,38 @@ class SceneRenderer extends WorldSystem {
         this.RemoveAllSceneObjects()
     }
 
+    public ChangeQuality(quality: string): void {
+        console.log("Changing quality to", quality)
+
+        if (quality === "Low") {
+            
+            this._csm.shadowMapSize = Math.min(1024, this._renderer.capabilities.maxTextureSize)
+            this._csm.mode = "uniform"
+            this._csm.maxFar = 10
+
+        } else if (quality === "Medium") {
+
+            this.renderer.setPixelRatio(window.devicePixelRatio)
+
+            this._csm.shadowMapSize = Math.min(2048, this._renderer.capabilities.maxTextureSize)
+            this._csm.mode = "practical"
+            this._csm.maxFar = 20
+
+        } else if (quality === "High") {
+            
+            this.renderer.setPixelRatio(window.devicePixelRatio)
+
+            this._csm.shadowMapSize = Math.min(4096, this._renderer.capabilities.maxTextureSize)
+            this._csm.mode = "custom"
+            this._csm.maxFar = 30
+
+        }
+
+        this._csm.initCascades()
+        this._csm.updateShadowBounds()
+        this._csm.updateFrustums()
+    }
+
     public RegisterSceneObject<T extends SceneObject>(obj: T): number {
         const id = nextSceneObjectId++
         obj.id = id
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index 4c001c5771..bdde73f20b 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -9,6 +9,7 @@ import Slider from "@/components/Slider"
 import Checkbox from "@/components/Checkbox"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { SceneOverlayEvent, SceneOverlayEventKey } from "@/ui/components/SceneOverlayEvents"
+import World from "@/systems/World"
 
 const moveElementToTop = (arr: string[], element: string | undefined) => {
     if (element == undefined) {
@@ -20,7 +21,7 @@ const moveElementToTop = (arr: string[], element: string | undefined) => {
 }
 
 const screenModeOptions = ["Windowed", "Fullscreen"]
-const qualitySettingsOptions = ["Low", "Medium", "High", "Ultra"]
+const qualitySettingsOptions = ["Low", "Medium", "High"]
 
 const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -91,6 +92,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 )}
                 onSelect={selected => {
                     setQualitySettings(selected)
+                    World.SceneRenderer.ChangeQuality(selected)
                 }}
             />
             <Button value="Theme Editor" onClick={() => openModal("theme-editor")} />

From c725a235de3438e4a85bc689058a7cdeca32c350 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 25 Jul 2024 16:38:00 -0700
Subject: [PATCH 047/344] Gamepiece tab spacing fix

---
 .../src/UI/GamepieceConfigTab.py                     | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index 7cace76db7..865c77c6dc 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -76,8 +76,6 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
             0,
             2,
         )
-        gamepieceTabInputs.addTextBoxCommandInput("gamepieceTabBlankSpacer", "", "", 1, True)
-
         gamepieceSelectCancelButton = gamepieceTabInputs.addBoolValueInput(
             "gamepieceSelectCancelButton", "Cancel", False
         )
@@ -98,6 +96,8 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
         self.gamepieceTable.addToolbarCommandInput(gamepieceRemoveButton)
         self.gamepieceTable.addToolbarCommandInput(gamepieceSelectCancelButton)
 
+        gamepieceTabInputs.addTextBoxCommandInput("gamepieceTabSpacer", "", "", 1, True)
+
         self.reset()
 
     @property
@@ -292,11 +292,13 @@ def handleInputChanged(
             gamepieceSelection: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById(
                 "gamepieceSelect"
             )
+            spacer: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById("gamepieceTabSpacer")
 
             gamepieceSelection.isVisible = gamepieceSelection.isEnabled = True
             gamepieceSelection.clearSelection()
             gamepieceAddButton.isEnabled = gamepieceRemoveButton.isEnabled = False
             gamepieceSelectCancelButton.isVisible = gamepieceSelectCancelButton.isEnabled = True
+            spacer.isVisible = False
 
         elif commandInput.id == "gamepieceRemoveButton":
             gamepieceAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("gamepieceAddButton")
@@ -320,10 +322,12 @@ def handleInputChanged(
             gamepieceSelection: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById(
                 "gamepieceSelect"
             )
+            spacer: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById("gamepieceTabSpacer")
 
             gamepieceSelection.isEnabled = gamepieceSelection.isVisible = False
             gamepieceSelectCancelButton.isEnabled = gamepieceSelectCancelButton.isVisible = False
             gamepieceAddButton.isEnabled = gamepieceRemoveButton.isEnabled = True
+            spacer.isVisible = True
 
     @logFailure
     def handleSelectionEvent(self, args: adsk.core.SelectionEventArgs, selectedOcc: adsk.fusion.Occurrence) -> None:
@@ -334,7 +338,7 @@ def handleSelectionEvent(self, args: adsk.core.SelectionEventArgs, selectedOcc:
             if not self.addGamepiece(occ):
                 ui = adsk.core.Application.get().userInterface
                 result = ui.messageBox(
-                    "You have already selected this Gamepiece.\n" "Would you like to remove it?",
+                    "You have already selected this Gamepiece.\nWould you like to remove it?",
                     "Synthesis: Remove Gamepiece Confirmation",
                     adsk.core.MessageBoxButtonTypes.YesNoButtonType,
                     adsk.core.MessageBoxIconTypes.QuestionIconType,
@@ -356,8 +360,10 @@ def handlePreviewEvent(self, args: adsk.core.CommandEventArgs) -> None:
         gamepieceSelection: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById(
             "gamepieceSelect"
         )
+        spacer: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById("gamepieceTabSpacer")
 
         gamepieceRemoveButton.isEnabled = self.gamepieceTable.rowCount > 1
         if not gamepieceSelection.isEnabled:
             gamepieceAddButton.isEnabled = True
             gamepieceSelectCancelButton.isVisible = gamepieceSelectCancelButton.isEnabled = False
+            spacer.isVisible = True

From 34a7933a5cd93e49eb0cd83b62353466f7a28262 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 25 Jul 2024 20:04:32 -0700
Subject: [PATCH 048/344] Send all data through CANMotor to the websocket

---
 .../synthesis/revrobotics/CANSparkMax.java    |  13 +-
 .../src/main/java/frc/robot/Robot.java        | 240 ++++++++++--------
 2 files changed, 141 insertions(+), 112 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 105161b114..e60f82cc4d 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -15,8 +15,9 @@ public class CANSparkMax extends com.revrobotics.CANSparkMax {
     /**
      * Creates a new CANSparkMax, wrapped with simulation support.
      * 
-     * @param deviceId CAN Device ID.
-     * @param motorType Motortype. For Simulation purposes, this is discarded at the moment.
+     * @param deviceId  CAN Device ID.
+     * @param motorType Motortype. For Simulation purposes, this is discarded at the
+     *                  moment.
      */
     public CANSparkMax(int deviceId, MotorType motorType) {
         super(deviceId, motorType);
@@ -31,6 +32,14 @@ public void set(double percent) {
         m_motor.setPercentOutput(percent);
     }
 
+    public void test() {
+        System.out.println("test");
+    }
+
+    public void setNeutralDeadband(double n) {
+        m_motor.setNeutralDeadband(n);
+    }
+
     @Override
     public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) {
         if (mode != null) {
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index f2f913bb8c..6f78dca9c9 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -4,9 +4,6 @@
 
 package frc.robot;
 
-// import com.ctre.phoenix6.hardware.TalonFX;
-// import com.revrobotics.CANSparkBase.IdleMode;
-// import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.TimedRobot;
@@ -18,115 +15,138 @@
 import com.autodesk.synthesis.ctre.TalonFX;
 
 /**
- * The VM is configured to automatically run this class, and to call the functions corresponding to
- * each mode, as described in the TimedRobot documentation. If you change the name of this class or
- * the package after creating this project, you must also update the build.gradle file in the
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the
+ * name of this class or
+ * the package after creating this project, you must also update the
+ * build.gradle file in the
  * project.
  */
 public class Robot extends TimedRobot {
-  private static final String kDefaultAuto = "Default";
-  private static final String kCustomAuto = "My Auto";
-  private String m_autoSelected;
-  private final SendableChooser<String> m_chooser = new SendableChooser<>();
-
-  private Spark m_Spark = new Spark(0);
-  private CANSparkMax m_SparkMax = new CANSparkMax(1, MotorType.kBrushless);
-  private TalonFX m_Talon = new TalonFX(2);
-
-  /**
-   * This function is run when the robot is first started up and should be used for any
-   * initialization code.
-   */
-  @Override
-  public void robotInit() {
-    m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
-    m_chooser.addOption("My Auto", kCustomAuto);
-    SmartDashboard.putData("Auto choices", m_chooser);
-  }
-
-  /**
-   * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
-   * that you want ran during disabled, autonomous, teleoperated and test.
-   *
-   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
-   * SmartDashboard integrated updating.
-   */
-  @Override
-  public void robotPeriodic() {}
-
-  /**
-   * This autonomous (along with the chooser code above) shows how to select between different
-   * autonomous modes using the dashboard. The sendable chooser code works with the Java
-   * SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the chooser code and
-   * uncomment the getString line to get the auto name from the text box below the Gyro
-   *
-   * <p>You can add additional auto modes by adding additional comparisons to the switch structure
-   * below with additional strings. If using the SendableChooser make sure to add them to the
-   * chooser code above as well.
-   */
-  @Override
-  public void autonomousInit() {
-    m_autoSelected = m_chooser.getSelected();
-    // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
-    System.out.println("Auto selected: " + m_autoSelected);
-  }
-
-  /** This function is called periodically during autonomous. */
-  @Override
-  public void autonomousPeriodic() {
-
-    m_Spark.set(0.5);
-    m_SparkMax.set(1.0);
-    m_Talon.set(-1.0);
-
-    switch (m_autoSelected) {
-      case kCustomAuto:
-        // Put custom auto code here
-        break;
-      case kDefaultAuto:
-      default:
-        // Put default auto code here
-        break;
+    private static final String kDefaultAuto = "Default";
+    private static final String kCustomAuto = "My Auto";
+    private String m_autoSelected;
+    private final SendableChooser<String> m_chooser = new SendableChooser<>();
+
+    // private Spark m_Spark = new Spark(0);
+    private CANSparkMax m_SparkMax = new CANSparkMax(1, MotorType.kBrushless);
+    private TalonFX m_Talon = new TalonFX(2);
+
+    /**
+     * This function is run when the robot is first started up and should be used
+     * for any
+     * initialization code.
+     */
+    @Override
+    public void robotInit() {
+        m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
+        m_chooser.addOption("My Auto", kCustomAuto);
+        SmartDashboard.putData("Auto choices", m_chooser);
+    }
+
+    /**
+     * This function is called every 20 ms, no matter the mode. Use this for items
+     * like diagnostics
+     * that you want ran during disabled, autonomous, teleoperated and test.
+     *
+     * <p>
+     * This runs after the mode specific periodic functions, but before LiveWindow
+     * and
+     * SmartDashboard integrated updating.
+     */
+    @Override
+    public void robotPeriodic() {
+    }
+
+    /**
+     * This autonomous (along with the chooser code above) shows how to select
+     * between different
+     * autonomous modes using the dashboard. The sendable chooser code works with
+     * the Java
+     * SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the
+     * chooser code and
+     * uncomment the getString line to get the auto name from the text box below the
+     * Gyro
+     *
+     * <p>
+     * You can add additional auto modes by adding additional comparisons to the
+     * switch structure
+     * below with additional strings. If using the SendableChooser make sure to add
+     * them to the
+     * chooser code above as well.
+     */
+    @Override
+    public void autonomousInit() {
+        m_autoSelected = m_chooser.getSelected();
+        // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
+        System.out.println("Auto selected: " + m_autoSelected);
+    }
+
+    /** This function is called periodically during autonomous. */
+    @Override
+    public void autonomousPeriodic() {
+
+        // m_Spark.set(0.5);
+        m_SparkMax.set(1.0);
+        // m_SparkMax.setNeutralDeadband(0.01); // FIXME: for some reason I can't set
+        // the deadband even after defining the function in the child
+        m_Talon.set(-1.0);
+
+        switch (m_autoSelected) {
+            case kCustomAuto:
+                // Put custom auto code here
+                break;
+            case kDefaultAuto:
+            default:
+                // Put default auto code here
+                break;
+        }
+    }
+
+    /** This function is called once when teleop is enabled. */
+    @Override
+    public void teleopInit() {
+    }
+
+    /** This function is called periodically during operator control. */
+    @Override
+    public void teleopPeriodic() {
+        // m_Spark.set(0.25);
+        m_SparkMax.set(0.75);
+        m_Talon.set(-0.5);
+    }
+
+    /** This function is called once when the robot is disabled. */
+    @Override
+    public void disabledInit() {
+        // m_Spark.set(0.0);
+        m_SparkMax.set(0.0);
+        m_Talon.set(0.0);
+    }
+
+    /** This function is called periodically when disabled. */
+    @Override
+    public void disabledPeriodic() {
+    }
+
+    /** This function is called once when test mode is enabled. */
+    @Override
+    public void testInit() {
+    }
+
+    /** This function is called periodically during test mode. */
+    @Override
+    public void testPeriodic() {
+    }
+
+    /** This function is called once when the robot is first started up. */
+    @Override
+    public void simulationInit() {
+    }
+
+    /** This function is called periodically whilst in simulation. */
+    @Override
+    public void simulationPeriodic() {
     }
-  }
-
-  /** This function is called once when teleop is enabled. */
-  @Override
-  public void teleopInit() {}
-
-  /** This function is called periodically during operator control. */
-  @Override
-  public void teleopPeriodic() {
-    m_Spark.set(0.25);
-    m_SparkMax.set(0.75);
-    m_Talon.set(-0.5);
-  }
-
-  /** This function is called once when the robot is disabled. */
-  @Override
-  public void disabledInit() {
-    m_Spark.set(0.0);
-    m_SparkMax.set(0.0);
-    m_Talon.set(0.0);
-  }
-
-  /** This function is called periodically when disabled. */
-  @Override
-  public void disabledPeriodic() {}
-
-  /** This function is called once when test mode is enabled. */
-  @Override
-  public void testInit() {}
-
-  /** This function is called periodically during test mode. */
-  @Override
-  public void testPeriodic() {}
-
-  /** This function is called once when the robot is first started up. */
-  @Override
-  public void simulationInit() {}
-
-  /** This function is called periodically whilst in simulation. */
-  @Override
-  public void simulationPeriodic() {}
 }

From 55a9c6ef540b6a385ba88190cdcf8f1b17042e0e Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Fri, 26 Jul 2024 09:57:56 -0700
Subject: [PATCH 049/344] Weight table bug fixes

---
 .../src/UI/GamepieceConfigTab.py                    | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index 865c77c6dc..f0d2f7d4bd 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -2,8 +2,8 @@
 import adsk.fusion
 
 from ..Logging import logFailure
-from ..Parser.ExporterOptions import ExporterOptions, Gamepiece, PreferredUnits
-from ..Types import toKg, toLbs
+from ..Parser.ExporterOptions import ExporterOptions
+from ..Types import Gamepiece, PreferredUnits, toKg, toLbs
 from . import IconPaths
 from .CreateCommandInputsHelper import (
     createBooleanInput,
@@ -120,7 +120,6 @@ def autoCalculateWeight(self) -> bool:
         return autoCalcWeightButton.value
 
     @logFailure
-    @property
     def weightInputs(self) -> list[adsk.core.ValueCommandInput]:
         gamepieceWeightInputs = []
         for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
@@ -161,6 +160,8 @@ def addChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None:
         frictionCoefficient.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
         if synGamepiece:
             frictionCoefficient.valueOne = synGamepiece.friction
+        else:
+            frictionCoefficient.valueOne = 0.5
 
         physical = gamepiece.component.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
         if self.currentUnits == PreferredUnits.IMPERIAL:
@@ -231,7 +232,7 @@ def reset(self) -> None:
     def updateWeightTableToUnits(self, units: PreferredUnits) -> None:
         assert units in {PreferredUnits.METRIC, PreferredUnits.IMPERIAL}
         conversionFunc = toKg if units == PreferredUnits.METRIC else toLbs
-        for row in range(1, self.gamepieceTable.rowCount):
+        for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
             weightInput: adsk.core.ValueCommandInput = self.gamepieceTable.getInputAtPosition(row, 1)
             weightInput.value = conversionFunc(weightInput.value)
 
@@ -259,10 +260,10 @@ def handleInputChanged(
 
             if autoCalcWeightButton.value:
                 self.calcGamepieceWeights()
-                for weightInput in self.weightInputs:
+                for weightInput in self.weightInputs():
                     weightInput.isEnabled = False
             else:
-                for weightInput in self.weightInputs:
+                for weightInput in self.weightInputs():
                     weightInput.isEnabled = True
 
             self.previousAutoCalcWeightCheckboxState = autoCalcWeightButton.value

From 86203d9fa7e297b3eb94eea644d2c60f021bfb28 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Fri, 26 Jul 2024 10:55:52 -0700
Subject: [PATCH 050/344] New dropdown component built with MUI

---
 fission/src/ui/components/Dropdown.tsx        | 208 +++++++++---------
 fission/src/ui/components/Input.tsx           |  21 --
 fission/src/ui/modals/ViewModal.tsx           |   9 +-
 .../ui/modals/configuring/SettingsModal.tsx   |  23 +-
 .../configuring/inputs/ChangeInputsModal.tsx  |  20 +-
 5 files changed, 118 insertions(+), 163 deletions(-)

diff --git a/fission/src/ui/components/Dropdown.tsx b/fission/src/ui/components/Dropdown.tsx
index 43229fa496..f29834cb7e 100644
--- a/fission/src/ui/components/Dropdown.tsx
+++ b/fission/src/ui/components/Dropdown.tsx
@@ -1,123 +1,121 @@
-import React, { ReactNode, useState } from "react"
-import Label, { LabelSize } from "./Label"
-import { Select as BaseSelect, SelectProps, SelectRootSlotProps } from "@mui/base/Select"
-import { Option as BaseOption } from "@mui/base/Option"
+import React, { useEffect, useRef, useState } from "react"
 import { styled } from "@mui/system"
-import { Button } from "@mui/base/Button"
-import UnfoldMoreRoundedIcon from "@mui/icons-material/UnfoldMoreRounded"
+import { Menu, MenuItem, Button, Tooltip } from "@mui/material"
 
-const Select = React.forwardRef(function Select<TValue extends NonNullable<unknown>, Multiple extends boolean>(
-    props: SelectProps<TValue, Multiple>,
-    ref: React.ForwardedRef<HTMLButtonElement>
-) {
-    const slots: SelectProps<TValue, Multiple>["slots"] = {
-        root: CustomButton,
-        listbox: Listbox,
-        popup: Popup,
-        ...props.slots,
-    }
+const CustomButton = styled(Button)({
+    "border": "2px solid #da6659",
+    "color": "white",
+    "width": "100%",
+    "&:focus": {
+        outline: "none !important",
+        border: "2px solid #da6659 !important",
+        boxShadow: "none !important",
+    },
+    "&:hover": {
+        outline: "none !important",
+        border: "2px solid #da6659 !important",
+        boxShadow: "none !important",
+    },
+    "&:focus-visible": {
+        outline: "none !important",
+        border: "2px solid #da6659 !important",
+        boxShadow: "none !important",
+    },
+    "&:active": {
+        outline: "none !important",
+        border: "2px solid #da6659 !important",
+        boxShadow: "none !important",
+    },
+    "&::-moz-focus-inner": {
+        border: "0 !important",
+    },
+})
 
-    return <BaseSelect {...props} ref={ref} slots={slots} slotProps={{ listbox: {}, popup: { disablePortal: true } }} />
-}) as <TValue extends NonNullable<unknown>, Multiple extends boolean>(
-    props: SelectProps<TValue, Multiple> & React.RefAttributes<HTMLButtonElement>
-) => JSX.Element
+const CustomMenu = styled(Menu)({
+    "& .MuiPaper-root": {
+        backgroundColor: "#333",
+        color: "white",
+        border: "1px solid #da6659",
+        minWidth: "unset", // Ensure minWidth is unset so it can be overridden
+    },
+    "& .MuiMenuItem-root": {
+        "transition": "background-color 0.3s ease, color 0.3s ease",
+        "&:hover": {
+            backgroundColor: "#444",
+            color: "#da6659",
+        },
+    },
+})
 
-type DropdownProps = {
-    children?: ReactNode
+interface DropdownProps {
+    options: string[]
+    defaultValue?: string
+    onSelect: (value: string) => void
     label?: string
     className?: string
-    options: string[]
-    onSelect: (opt: string) => void
-}
-
-const Dropdown: React.FC<DropdownProps> = ({ label, options, onSelect }) => {
-    const [optionList, _setOptionList] = useState(options)
-
-    return (
-        <>
-            {label && <Label size={LabelSize.Medium}>{label}</Label>}
-            <div className="relative w-full">
-                <Select
-                    defaultValue={optionList[0]}
-                    onChange={(
-                        _event: React.MouseEvent | React.KeyboardEvent | React.FocusEvent | null,
-                        value: string | unknown
-                    ) => typeof value === "string" && onSelect && onSelect(value)}
-                >
-                    {optionList.map(option => (
-                        <Option value={option} key={option}>
-                            {option}
-                        </Option>
-                    ))}
-                </Select>
-            </div>
-        </>
-    )
 }
 
-const CustomButton = React.forwardRef(function CustomButton<
-    TValue extends NonNullable<unknown>,
-    Multiple extends boolean,
->(props: SelectRootSlotProps<TValue, Multiple>, ref: React.ForwardedRef<HTMLButtonElement>) {
-    return (
-        <StyledButton type="button" {...props} ref={ref}>
-            {props.children}
-            <UnfoldMoreRoundedIcon />
-        </StyledButton>
-    )
-})
+const Dropdown: React.FC<DropdownProps> = ({ options, defaultValue, onSelect, label }) => {
+    const [anchorEl, setAnchorEl] = useState<null | HTMLElement>(null)
+    const [selectedValue, setSelectedValue] = useState<string>(defaultValue || "")
+    const buttonRef = useRef<HTMLButtonElement>(null)
+    const [menuWidth, setMenuWidth] = useState<number>(0)
 
-const StyledButton = styled(Button)`
-    position: relative;
-    text-align: left;
-    width: 100%;
-    background-image: linear-gradient(to right, var(--interactive-element-left), var(--interactive-element-right));
-    border-radius: 0.375rem;
-    border: none;
-    outline: none;
-    padding-left: calc(0.8em + 8px);
+    useEffect(() => {
+        if (buttonRef.current) {
+            setMenuWidth(buttonRef.current.clientWidth)
+        }
+    }, [buttonRef.current])
 
-    &:hover,
-    &:focus {
-        outline: none;
+    const handleClick = (event: React.MouseEvent<HTMLButtonElement>) => {
+        setAnchorEl(event.currentTarget)
     }
 
-    & > svg {
-        font-size: 1rem;
-        position: absolute;
-        height: 100%;
-        top: 0;
-        right: 10px;
+    const handleClose = () => {
+        setAnchorEl(null)
     }
-`
-
-const Listbox = styled("ul")`
-    box-sizing: border-box;
-    width: 100%;
-    background-image: linear-gradient(to right, var(--interactive-element-right), var(--interactive-element-left));
-    border-radius: 1rem;
-    padding: 8px;
-`
 
-const Option = styled(BaseOption)`
-    list-style: none;
-    cursor: default;
-    padding: 0.6em 0.8em;
-    border-radius: 1rem;
-    cursor: pointer;
-    &:hover {
-        backdrop-filter: brightness(90%);
+    const handleSelect = (value: string) => {
+        setSelectedValue(value)
+        onSelect(value)
+        handleClose()
     }
-    &:hover,
-    &:focus {
-        outline: none;
-    }
-`
 
-const Popup = styled("div")`
-    position: relative;
-    z-index: 1;
-    width: 100%;
-`
+    return (
+        <div style={{ display: "inline-block", position: "relative" }}>
+            {label && (
+                <div
+                    style={{
+                        marginBottom: "4px",
+                        fontSize: "0.875rem",
+                        color: "white",
+                        textAlign: "center",
+                    }}
+                >
+                    {label}
+                </div>
+            )}
+            <Tooltip title={label || ""}>
+                <div>
+                    <CustomButton onClick={handleClick} ref={buttonRef}>
+                        {selectedValue || "Select an option"}
+                    </CustomButton>
+                </div>
+            </Tooltip>
+            <CustomMenu
+                anchorEl={anchorEl}
+                open={Boolean(anchorEl)}
+                onClose={handleClose}
+                MenuListProps={{ style: { minWidth: menuWidth } }}
+            >
+                {options.map((option, index) => (
+                    <MenuItem key={index} onClick={() => handleSelect(option)}>
+                        {option}
+                    </MenuItem>
+                ))}
+            </CustomMenu>
+        </div>
+    )
+}
 
 export default Dropdown
diff --git a/fission/src/ui/components/Input.tsx b/fission/src/ui/components/Input.tsx
index 03e35e5f14..5d756d4a28 100644
--- a/fission/src/ui/components/Input.tsx
+++ b/fission/src/ui/components/Input.tsx
@@ -29,25 +29,4 @@ const Input: React.FC<InputProps> = ({ placeholder, defaultValue, label, onInput
     )
 }
 
-// <input
-//     placeholder={placeholder}
-//     defaultValue={defaultValue}
-//     value={value}
-//     onKeyPress={e => {
-//         if (
-//             e.key != null &&
-//             numeric &&
-//             !"1234567890,.".includes(e.key)
-//         ) {
-//             e.preventDefault()
-//         }
-
-//         if (validate && !validate(e.key)) e.preventDefault()
-//     }}
-//     onChange={e => {
-//         if (onInput) onInput(e.target.value)
-//     }}
-//     className={`bg-interactive-background px-2 py-1 bg-[length:200%_100%] w-min rounded-md font-semibold cursor-pointer placeholder:italic ${className || ""
-//         }`}
-// />
 export default Input
diff --git a/fission/src/ui/modals/ViewModal.tsx b/fission/src/ui/modals/ViewModal.tsx
index 957c996b37..fd16748b01 100644
--- a/fission/src/ui/modals/ViewModal.tsx
+++ b/fission/src/ui/modals/ViewModal.tsx
@@ -1,14 +1,13 @@
 import React, { useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import Dropdown from "@/components/Dropdown"
 import { FaMagnifyingGlass } from "react-icons/fa6"
 import { TooltipControl, useTooltipControlContext } from "@/ui/TooltipContext"
+import Dropdown from "../components/Dropdown"
 
 type ViewType = "Orbit" | "Freecam" | "Overview" | "Driver Station"
 
 const ViewModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { showTooltip } = useTooltipControlContext()
-
     const [view, setView] = useState<ViewType>("Orbit")
 
     const controls: { [key in ViewType]: TooltipControl[] } = {
@@ -37,8 +36,12 @@ const ViewModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             onAccept={() => showTooltip("controls", controls[view])}
         >
             <Dropdown
+                defaultValue={"Orbit"}
                 options={["Orbit", "Freecam", "Overview", "Driver Station"] as ViewType[]}
-                onSelect={(v: string) => setView(v as ViewType)}
+                onSelect={val => {
+                    setView(val as ViewType)
+                }}
+                label={"View"}
             />
         </Modal>
     )
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index 4c001c5771..4d83cb0ecd 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -3,21 +3,12 @@ import { useModalControlContext } from "@/ui/ModalContext"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { FaGear } from "react-icons/fa6"
 import Label, { LabelSize } from "@/components/Label"
-import Dropdown from "@/components/Dropdown"
 import Button from "@/components/Button"
 import Slider from "@/components/Slider"
 import Checkbox from "@/components/Checkbox"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { SceneOverlayEvent, SceneOverlayEventKey } from "@/ui/components/SceneOverlayEvents"
-
-const moveElementToTop = (arr: string[], element: string | undefined) => {
-    if (element == undefined) {
-        return arr
-    }
-
-    arr = arr.includes(element) ? [element, ...arr.filter(item => item !== element)] : arr
-    return arr
-}
+import Dropdown from "@/ui/components/Dropdown"
 
 const screenModeOptions = ["Windowed", "Fullscreen"]
 const qualitySettingsOptions = ["Low", "Medium", "High", "Ultra"]
@@ -75,20 +66,16 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             <Label size={LabelSize.Medium}>Screen Settings</Label>
             <Dropdown
                 label="Screen Mode"
-                options={moveElementToTop(
-                    screenModeOptions,
-                    PreferencesSystem.getGlobalPreference<string>("ScreenMode")
-                )}
+                defaultValue={PreferencesSystem.getGlobalPreference<string>("ScreenMode")}
+                options={screenModeOptions}
                 onSelect={selected => {
                     setScreenMode(selected)
                 }}
             />
             <Dropdown
                 label="Quality Settings"
-                options={moveElementToTop(
-                    qualitySettingsOptions,
-                    PreferencesSystem.getGlobalPreference<string>("QualitySettings")
-                )}
+                defaultValue={PreferencesSystem.getGlobalPreference<string>("QualitySettings")}
+                options={qualitySettingsOptions}
                 onSelect={selected => {
                     setQualitySettings(selected)
                 }}
diff --git a/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
index 5fd6cd81fb..ea285e2cc9 100644
--- a/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
@@ -84,15 +84,6 @@ const keyCodeToCharacter = (code: string) => {
     return code
 }
 
-const moveElementToTop = (arr: string[], element: string | undefined) => {
-    if (element == undefined) {
-        return arr
-    }
-
-    arr = arr.includes(element) ? [element, ...arr.filter(item => item !== element)] : arr
-    return arr
-}
-
 const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
 
@@ -289,8 +280,8 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             <Dropdown
                 key={c.inputName}
                 label={toTitleCase(c.inputName)}
-                // Moves the selected option to the start of the array
-                options={moveElementToTop(gamepadAxes, gamepadAxes[c.gamepadAxisNumber + 1])}
+                defaultValue={gamepadAxes[c.gamepadAxisNumber + 1]}
+                options={gamepadAxes}
                 onSelect={value => {
                     setSelectedInput(c.inputName)
                     setChosenGamepadAxis(gamepadAxes.indexOf(value))
@@ -357,11 +348,8 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         <Stack direction={StackDirection.Vertical} spacing={10}>
                             <Dropdown
                                 label={"Select Robot"}
-                                // Moves the selected option to the start of the array
-                                options={moveElementToTop(
-                                    InputSchemeManager.allInputSchemes.map(s => s.schemeName),
-                                    InputSystem?.selectedScheme?.schemeName
-                                )}
+                                defaultValue={InputSystem?.selectedScheme?.schemeName}
+                                options={InputSchemeManager.allInputSchemes.map(s => s.schemeName)}
                                 onSelect={value => {
                                     const schemeData = InputSchemeManager.allInputSchemes.find(
                                         s => s.schemeName == value

From ddc0a55f33c93e4c300fb79956c0d3360be273d2 Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Fri, 26 Jul 2024 13:50:47 -0700
Subject: [PATCH 051/344] Created working light switching for cascading shadow
 maps

---
 fission/src/systems/scene/SceneRenderer.ts    | 147 ++++++++++--------
 .../ui/modals/configuring/SettingsModal.tsx   |   2 +-
 2 files changed, 80 insertions(+), 69 deletions(-)

diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index 8905670b64..3168f7e137 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -14,7 +14,6 @@ import InputSystem from "../input/InputSystem"
 import { PixelSpaceCoord, SceneOverlayEvent, SceneOverlayEventKey } from "@/ui/components/SceneOverlayEvents"
 import PreferencesSystem from "../preferences/PreferencesSystem"
 import { CSM } from "three/examples/jsm/csm/CSM.js"
-import { CSMHelper } from "three/examples/jsm/csm/CSMHelper.js"
 
 const CLEAR_COLOR = 0x121212
 const GROUND_COLOR = 0x4066c7
@@ -35,8 +34,7 @@ class SceneRenderer extends WorldSystem {
     private _orbitControls: OrbitControls
     private _transformControls: Map<TransformControls, number> // maps all rendered transform controls to their size
 
-    private _csm: CSM
-    // private _csmHelper: CSMHelper
+    private _light: THREE.DirectionalLight | CSM | undefined
 
     public get sceneObjects() {
         return this._sceneObjects
@@ -78,33 +76,8 @@ class SceneRenderer extends WorldSystem {
         this._renderer.shadowMap.type = THREE.PCFSoftShadowMap
         this._renderer.setSize(window.innerWidth, window.innerHeight)
 
-        // this._light = new CascadingShadows(this._mainCamera, this._scene, this._renderer)
-        this._csm = new CSM({
-            parent: this._scene,
-            camera: this._mainCamera,
-            cascades: 3,
-            lightDirection: new THREE.Vector3( 0.5, -0.5, 0.5 ).normalize(),
-            lightIntensity: 3,
-            customSplitsCallback: (cascades: number, near: number, far: number, breaks: number[]) => {
-                const blend = 0.7;
-                for (let i = 1; i < cascades; i++) {
-                    const uniformFactor = (near + (far - near) * i / cascades) / far;
-                    const logarithmicFactor = (near * (far / near) ** (i / cascades)) / far;
-                    const combinedFactor = uniformFactor * (1 - blend) + logarithmicFactor * blend;
-                    
-                    breaks.push(combinedFactor);
-                }
-            
-                breaks.push(1);
-            }
-        })
-        this._csm.fade = true
-
-        this.ChangeQuality(PreferencesSystem.getGlobalPreference<string>("QualitySettings"))
-
-        // this._csmHelper = new CSMHelper(this._csm)
-        // this._csmHelper.visible = true
-        // this._scene.add(this._csmHelper)
+        // Adding the lighting uisng quality preferences
+        this.ChangeLighting(PreferencesSystem.getGlobalPreference<string>("QualitySettings"))
 
         const ambientLight = new THREE.AmbientLight(0xffffff, 0.1)
         this._scene.add(ambientLight)
@@ -145,10 +118,10 @@ class SceneRenderer extends WorldSystem {
         this._orbitControls = new OrbitControls(this._mainCamera, this._renderer.domElement)
         this._orbitControls.update()
 
-        const cube = new THREE.Mesh(new THREE.BoxGeometry(1, 1, 1), this.CreateToonMaterial())
-        cube.castShadow = true
-        cube.receiveShadow = true
-        this._scene.add(cube)
+        // const cube = new THREE.Mesh(new THREE.BoxGeometry(1, 1, 1), this.CreateToonMaterial())
+        // cube.castShadow = true
+        // cube.receiveShadow = true
+        // this._scene.add(cube)
     }
 
     public UpdateCanvasSize() {
@@ -165,9 +138,8 @@ class SceneRenderer extends WorldSystem {
 
         this._mainCamera.updateMatrixWorld()
 
-        this._csm.update()
-        console.log(this._csm.shadowMapSize)
-        // this._csmHelper.update()
+        // updating the CSM light if it is enabled
+        if (this._light instanceof CSM) this._light.update()
 
         this._skybox.position.copy(this._mainCamera.position)
 
@@ -191,36 +163,75 @@ class SceneRenderer extends WorldSystem {
         this.RemoveAllSceneObjects()
     }
 
-    public ChangeQuality(quality: string): void {
-        console.log("Changing quality to", quality)
-
-        if (quality === "Low") {
-            
-            this._csm.shadowMapSize = Math.min(1024, this._renderer.capabilities.maxTextureSize)
-            this._csm.mode = "uniform"
-            this._csm.maxFar = 10
-
-        } else if (quality === "Medium") {
-
-            this.renderer.setPixelRatio(window.devicePixelRatio)
-
-            this._csm.shadowMapSize = Math.min(2048, this._renderer.capabilities.maxTextureSize)
-            this._csm.mode = "practical"
-            this._csm.maxFar = 20
-
-        } else if (quality === "High") {
-            
-            this.renderer.setPixelRatio(window.devicePixelRatio)
-
-            this._csm.shadowMapSize = Math.min(4096, this._renderer.capabilities.maxTextureSize)
-            this._csm.mode = "custom"
-            this._csm.maxFar = 30
-
+    /** 
+     * Changes the quality of lighting between cascading shadows and directional lights
+     * 
+     * @param quality: string representing the quality of lighting - "Low", "Medium", "High"
+     */
+    public ChangeLighting(quality: string): void {
+
+        // removing the previous lighting method
+        if (this._light instanceof THREE.DirectionalLight) {
+            this._scene.remove(this._light)
+        } else if (this._light instanceof CSM) {
+            this._light.dispose()
+            this._light.remove()
         }
 
-        this._csm.initCascades()
-        this._csm.updateShadowBounds()
-        this._csm.updateFrustums()
+        // setting the shadow map size
+        const shadowMapSize = Math.min(4096, this._renderer.capabilities.maxTextureSize)
+
+        // setting the light to a basic directional light
+        if (quality === "Low" || quality === "Medium") {
+            const shadowCamSize = 15
+
+            this._light = new THREE.DirectionalLight(0xffffff, 5.0)
+            this._light.position.set(-1.0, 3.0, 2.0)
+            this._light.castShadow = true
+            this._light.shadow.camera.top = shadowCamSize
+            this._light.shadow.camera.bottom = -shadowCamSize
+            this._light.shadow.camera.left = -shadowCamSize
+            this._light.shadow.camera.right = shadowCamSize
+            this._light.shadow.mapSize = new THREE.Vector2(shadowMapSize, shadowMapSize)
+            this._light.shadow.blurSamples = 16
+            this._light.shadow.bias = 0.0
+            this._scene.add(this._light)
+        } 
+        
+        // setting light to cascading shadows
+        else if (quality === "High") {
+            this._light = new CSM({
+                parent: this._scene,
+                camera: this._mainCamera,
+                cascades: 3,
+                lightDirection: new THREE.Vector3( 0.5, -0.5, 0.5 ).normalize(),
+                lightIntensity: 5,
+                shadowMapSize: shadowMapSize,
+                mode: "custom",
+                maxFar: 30,
+                customSplitsCallback: (cascades: number, near: number, far: number, breaks: number[]) => {
+                    const blend = 0.7;
+                    for (let i = 1; i < cascades; i++) {
+                        const uniformFactor = (near + (far - near) * i / cascades) / far;
+                        const logarithmicFactor = (near * (far / near) ** (i / cascades)) / far;
+                        const combinedFactor = uniformFactor * (1 - blend) + logarithmicFactor * blend;
+                        
+                        breaks.push(combinedFactor);
+                    }
+                
+                    breaks.push(1);
+                }
+            })
+
+            // setting up the materials for all objects in the scene
+            this._light.fade = true
+            this._scene.children.forEach(child => {
+                if (child instanceof THREE.Mesh) {
+                    if (this._light instanceof CSM)
+                        this._light.setupMaterial(child.material)
+                }
+            })
+        }
     }
 
     public RegisterSceneObject<T extends SceneObject>(obj: T): number {
@@ -246,7 +257,7 @@ class SceneRenderer extends WorldSystem {
     public CreateSphere(radius: number, material?: THREE.Material | undefined): THREE.Mesh {
         const geo = new THREE.SphereGeometry(radius)
         if (material) {
-            this._csm.setupMaterial(material)
+            if (this._light instanceof CSM) this._light.setupMaterial(material)
             return new THREE.Mesh(geo, material)
         } else {
             return new THREE.Mesh(geo, this.CreateToonMaterial())
@@ -265,7 +276,7 @@ class SceneRenderer extends WorldSystem {
             color: color,
             gradientMap: gradientMap,
         })
-        this._csm.setupMaterial(material)
+        if (this._light instanceof CSM) this._light.setupMaterial(material)
         return material
     }
 
@@ -411,7 +422,7 @@ class SceneRenderer extends WorldSystem {
     }
 
     public SetupMaterial(material: THREE.Material) {
-        this._csm.setupMaterial(material)
+        if (this._light instanceof CSM) this._light.setupMaterial(material)
     }
 }
 
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index bdde73f20b..3bc2113c08 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -92,7 +92,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 )}
                 onSelect={selected => {
                     setQualitySettings(selected)
-                    World.SceneRenderer.ChangeQuality(selected)
+                    World.SceneRenderer.ChangeLighting(selected)
                 }}
             />
             <Button value="Theme Editor" onClick={() => openModal("theme-editor")} />

From f36bbc7b9f5ada76234b0b155118436602836be4 Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Fri, 26 Jul 2024 13:56:32 -0700
Subject: [PATCH 052/344] Formatted + removed testing cube + updated
 documentation

---
 fission/src/systems/scene/SceneRenderer.ts | 42 +++++++++++-----------
 1 file changed, 20 insertions(+), 22 deletions(-)

diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index 3168f7e137..55b883056c 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -117,11 +117,6 @@ class SceneRenderer extends WorldSystem {
         // Orbit controls
         this._orbitControls = new OrbitControls(this._mainCamera, this._renderer.domElement)
         this._orbitControls.update()
-
-        // const cube = new THREE.Mesh(new THREE.BoxGeometry(1, 1, 1), this.CreateToonMaterial())
-        // cube.castShadow = true
-        // cube.receiveShadow = true
-        // this._scene.add(cube)
     }
 
     public UpdateCanvasSize() {
@@ -163,13 +158,12 @@ class SceneRenderer extends WorldSystem {
         this.RemoveAllSceneObjects()
     }
 
-    /** 
+    /**
      * Changes the quality of lighting between cascading shadows and directional lights
-     * 
+     *
      * @param quality: string representing the quality of lighting - "Low", "Medium", "High"
      */
     public ChangeLighting(quality: string): void {
-
         // removing the previous lighting method
         if (this._light instanceof THREE.DirectionalLight) {
             this._scene.remove(this._light)
@@ -196,39 +190,38 @@ class SceneRenderer extends WorldSystem {
             this._light.shadow.blurSamples = 16
             this._light.shadow.bias = 0.0
             this._scene.add(this._light)
-        } 
-        
+        }
+
         // setting light to cascading shadows
         else if (quality === "High") {
             this._light = new CSM({
                 parent: this._scene,
                 camera: this._mainCamera,
                 cascades: 3,
-                lightDirection: new THREE.Vector3( 0.5, -0.5, 0.5 ).normalize(),
+                lightDirection: new THREE.Vector3(0.5, -0.5, 0.5).normalize(),
                 lightIntensity: 5,
                 shadowMapSize: shadowMapSize,
                 mode: "custom",
                 maxFar: 30,
                 customSplitsCallback: (cascades: number, near: number, far: number, breaks: number[]) => {
-                    const blend = 0.7;
+                    const blend = 0.7
                     for (let i = 1; i < cascades; i++) {
-                        const uniformFactor = (near + (far - near) * i / cascades) / far;
-                        const logarithmicFactor = (near * (far / near) ** (i / cascades)) / far;
-                        const combinedFactor = uniformFactor * (1 - blend) + logarithmicFactor * blend;
-                        
-                        breaks.push(combinedFactor);
+                        const uniformFactor = (near + ((far - near) * i) / cascades) / far
+                        const logarithmicFactor = (near * (far / near) ** (i / cascades)) / far
+                        const combinedFactor = uniformFactor * (1 - blend) + logarithmicFactor * blend
+
+                        breaks.push(combinedFactor)
                     }
-                
-                    breaks.push(1);
-                }
+
+                    breaks.push(1)
+                },
             })
 
             // setting up the materials for all objects in the scene
             this._light.fade = true
             this._scene.children.forEach(child => {
                 if (child instanceof THREE.Mesh) {
-                    if (this._light instanceof CSM)
-                        this._light.setupMaterial(child.material)
+                    if (this._light instanceof CSM) this._light.setupMaterial(child.material)
                 }
             })
         }
@@ -421,6 +414,11 @@ class SceneRenderer extends WorldSystem {
         this._scene.remove(obj)
     }
 
+    /**
+     * Sets up the threejs material for cascading shadows if the CSM is enabled
+     *
+     * @param material
+     */
     public SetupMaterial(material: THREE.Material) {
         if (this._light instanceof CSM) this._light.setupMaterial(material)
     }

From f5dedc5e64cb074c50abd042eba5fb7b5bdf0aa7 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Fri, 26 Jul 2024 14:10:41 -0700
Subject: [PATCH 053/344] removed awful switch statement in brain

---
 .../systems/simulation/SimulationSystem.ts    |  12 +-
 .../simulation/wpilib_brain/WPILibBrain.ts    | 166 ++++++++++--------
 2 files changed, 99 insertions(+), 79 deletions(-)

diff --git a/fission/src/systems/simulation/SimulationSystem.ts b/fission/src/systems/simulation/SimulationSystem.ts
index 331739f8a7..9afffe0cbf 100644
--- a/fission/src/systems/simulation/SimulationSystem.ts
+++ b/fission/src/systems/simulation/SimulationSystem.ts
@@ -75,25 +75,27 @@ class SimulationLayer {
         this._drivers = []
         this._stimuli = []
         this._mechanism.constraints.forEach(x => {
+            let stim: Stimulus
             if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Hinge) {
                 const hinge = JOLT.castObject(x.constraint, JOLT.HingeConstraint)
                 const driver = new HingeDriver(hinge)
                 this._drivers.push(driver)
-                const stim = new HingeStimulus(hinge)
+                stim = new HingeStimulus(hinge)
                 this._stimuli.push(stim)
             } else if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Vehicle) {
                 const vehicle = JOLT.castObject(x.constraint, JOLT.VehicleConstraint)
                 const driver = new WheelDriver(vehicle)
                 this._drivers.push(driver)
-                const stim = new WheelRotationStimulus(vehicle.GetWheel(0))
+                stim = new WheelRotationStimulus(vehicle.GetWheel(0))
                 this._stimuli.push(stim)
             } else if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Slider) {
                 const slider = JOLT.castObject(x.constraint, JOLT.SliderConstraint)
                 const driver = new SliderDriver(slider)
                 this._drivers.push(driver)
-                const stim = new SliderStimulus(slider)
+                stim = new SliderStimulus(slider)
                 this._stimuli.push(stim)
             }
+            this._stimuli.push(stim)
         })
         this._stimuli.push(new ChassisStimulus(mechanism.nodeToBody.get(mechanism.rootBody)!))
     }
@@ -109,9 +111,7 @@ class SimulationLayer {
 
         this._brain = brain
 
-        if (this._brain) {
-            this._brain.Enable()
-        }
+        if (this._brain) this._brain.Enable()
     }
 }
 
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index c4839662b5..45a4a09267 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -19,11 +19,27 @@ const worker = new WPILibWSWorker()
 
 const PWM_SPEED = "<speed"
 const PWM_POSITION = "<position"
-const CANMOTOR_DUTY_CYCLE = "<dutyCycle"
-const CANMOTOR_SUPPLY_VOLTAGE = ">supplyVoltage"
-const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput"
 
-export type SimType = "PWM" | "CANMotor" | "Solenoid" | "SimDevice" | "CANEncoder"
+const CANMOTOR_PERCENT_OUTPUT = "<percentOutput"
+const CANMOTOR_BRAKE_MODE = "<brakeMode"
+const CANMOTOR_NEUTRAL_DEADBAND = "<neutralDeadband"
+
+const CANMOTOR_SUPPLY_CURRENT = ">supplyCurrent"
+const CANMOTOR_MOTOR_CURRENT = ">motorCurrent"
+const CANMOTOR_BUS_VOLTAGE = ">busVoltage"
+
+// const CANMOTOR_DUTY_CYCLE = "<dutyCycle"
+// const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput"
+const CANENCODER_POSITION = ">position"
+const CANENCODER_VELOCITY = ">velocity"
+
+export enum SimType {
+    PWM = "PWM",
+    CANMOTOR = "CANMotor",
+    SOLENOID = "Solenoid",
+    SIMDEVICE = "SimDevice",
+    CANENCODER = "CANEncoder"
+}
 
 enum FieldType {
     Read = 0,
@@ -49,34 +65,33 @@ function GetFieldType(field: string): FieldType {
 
 const defaultSimMap: Map<SimType, Map<string, any>> = new Map(
     Object.entries({
-        "CANMotor": {
+        CANMotor: {
             "CANSparkMax[0]": {
-                "<percentOutput": 0.75
+                "<percentOutput": 0.75,
             },
             "CANSparkMax[1]": {
-                "<percentOutput": 0.75
+                "<percentOutput": 0.75,
             },
             "CANSparkMax[2]": {
-                "<percentOutput": 0.75
+                "<percentOutput": 0.75,
             },
             "CANSparkMax[3]": {
-                "<percentOutput": -0.75
+                "<percentOutput": -0.75,
             },
             "CANSparkMax[4]": {
-                "<percentOutput": -0.75
+                "<percentOutput": -0.75,
             },
             "CANSparkMax[5]": {
-                "<percentOutput": -0.75
+                "<percentOutput": -0.75,
             },
-        }
-    })
-        .map(([key, value]) => [key as SimType, new Map(Object.entries(value))])
+        },
+    }).map(([key, value]) => [key as SimType, new Map(Object.entries(value))])
 )
 
 export const simMap = new Map<SimType, Map<string, any>>()
 
 export class SimGeneric {
-    private constructor() { }
+    private constructor() {}
 
     public static Get<T>(simType: SimType, device: string, field: string, defaultValue?: T): T | undefined {
         const fieldType = GetFieldType(field)
@@ -138,34 +153,30 @@ export class SimGeneric {
 }
 
 export class SimPWM {
-    private constructor() { }
+    private constructor() {}
 
     public static GetSpeed(device: string): number | undefined {
-        return SimGeneric.Get("PWM", device, PWM_SPEED, 0.0)
+        return SimGeneric.Get(SimType.PWM, device, PWM_SPEED, 0.0)
     }
 
     public static GetPosition(device: string): number | undefined {
-        return SimGeneric.Get("PWM", device, PWM_POSITION, 0.0)
+        return SimGeneric.Get(SimType.PWM, device, PWM_POSITION, 0.0)
     }
 }
 
 export class SimCAN {
-    private constructor() { }
+    private constructor() {}
 
     public static GetDeviceWithID(id: number, type: SimType): any {
-        const id_exp = /.*\[(\d+)\]/g;
+        const id_exp = /.*\[(\d+)\]/g
         const entries = [...simMap.entries()].filter(([simType, _data]) => simType == type || simType == "SimDevice")
         for (const [_simType, data] of entries) {
             for (const key of data.keys()) {
-                let result;
-                if ((result = [...key.matchAll(id_exp)]) != undefined) {
-                    if (result.length > 0 && result[0].length > 1) {
-                        const parsed_id = parseInt(result[0][1]);
-                        if (parsed_id == id) {
-                            return data.get(key)
-                        }
-                    }
-                }
+                let result = [...key.matchAll(id_exp)]
+                if (result?.length <= 0 || result[0].length <= 1) continue
+
+                const parsed_id = parseInt(result[0][1])
+                if (parsed_id == id) return data.get(key)
             }
         }
         return undefined
@@ -173,35 +184,63 @@ export class SimCAN {
 }
 
 export class SimCANMotor {
-    private constructor() { }
+    private constructor() {}
+
+    // public static GetDutyCycle(device: string): number | undefined {
+    //     return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0)
+    // }
+    //
+    // public static SetSupplyVoltage(device: string, voltage: number): boolean {
+    //     return SimGeneric.Set("CANMotor", device, CANMOTOR_SUPPLY_VOLTAGE, voltage)
+    // }
+
+    public static GetPercentOutput(device: string): number | undefined {
+        return SimGeneric.Get(SimType.CANMOTOR, device, CANMOTOR_PERCENT_OUTPUT, 0.0)
+    }
 
-    public static GetDutyCycle(device: string): number | undefined {
-        return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0)
+    public static GetBrakeMode(device: string): number | undefined {
+        return SimGeneric.Get(SimType.CANMOTOR, device, CANMOTOR_BRAKE_MODE, 0.0)
     }
 
-    public static SetSupplyVoltage(device: string, voltage: number): boolean {
-        return SimGeneric.Set("CANMotor", device, CANMOTOR_SUPPLY_VOLTAGE, voltage)
+    public static GetNeutralDeadband(device: string): number | undefined {
+        return SimGeneric.Get(SimType.CANMOTOR, device, CANMOTOR_NEUTRAL_DEADBAND, 0.0)
+    }
+
+    public static SetSupplyCurrent(device: string, current: number): boolean {
+        return SimGeneric.Set(SimType.CANMOTOR, device, CANMOTOR_SUPPLY_CURRENT, current)
+    }
+
+    public static SetMotorCurrent(device: string, current: number): boolean {
+        return SimGeneric.Set(SimType.CANMOTOR, device, CANMOTOR_MOTOR_CURRENT, current)
+    }
+    
+    public static SetBusVoltage(device: string, voltage: number): boolean {
+        return SimGeneric.Set(SimType.CANMOTOR, device, CANMOTOR_BUS_VOLTAGE, voltage)
     }
 }
 
 export class SimCANEncoder {
-    private constructor() { }
+    private constructor() {}
 
-    public static SetRawInputPosition(device: string, rawInputPosition: number): boolean {
-        return SimGeneric.Set("CANEncoder", device, CANENCODER_RAW_INPUT_POSITION, rawInputPosition)
+    public static SetVelocity(device: string, velocity: number): boolean {
+        return SimGeneric.Set(SimType.CANENCODER, device, CANENCODER_VELOCITY, velocity)
+    }
+
+    public static SetPosition(device: string, position: number): boolean {
+        return SimGeneric.Set(SimType.CANENCODER, device, CANENCODER_POSITION, position)
     }
 }
 
 worker.addEventListener("message", (eventData: MessageEvent) => {
     let data: any | undefined
-    try {
-        if (typeof eventData.data == "object") {
-            data = eventData.data
-        } else {
+    if (typeof eventData.data == "object") {
+        data = eventData.data
+    } else {
+        try {
             data = JSON.parse(eventData.data)
+        } catch (e) {
+            console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
         }
-    } catch (e) {
-        console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
     }
 
     if (!data || !data.type) {
@@ -209,36 +248,17 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
         return
     }
 
-    // console.debug(data)
-
     const device = data.device
     const updateData = data.data
 
-    switch (data.type) {
-        case "PWM":
-            console.debug("pwm")
-            UpdateSimMap("PWM", device, updateData)
-            break
-        case "Solenoid":
-            console.debug("solenoid")
-            UpdateSimMap("Solenoid", device, updateData)
-            break
-        case "SimDevice":
-            console.debug("simdevice")
-            UpdateSimMap("SimDevice", device, updateData)
-            break
-        case "CANMotor":
-            console.debug("canmotor")
-            UpdateSimMap("CANMotor", device, updateData)
-            break
-        case "CANEncoder":
-            console.debug("canencoder")
-            UpdateSimMap("CANEncoder", device, updateData)
-            break
-        default:
-            // console.debug(`Unrecognized Message:\n${data}`)
-            break
+    if (!(data.type in SimType)) {
+        console.error(`Unrecognized SimType: ${data.type}\n${data.data}`)
+        return
     }
+
+    console.debug(data.type);
+
+    UpdateSimMap(data.type, device, updateData)
 })
 
 function UpdateSimMap(type: SimType, device: string, updateData: any) {
@@ -286,7 +306,7 @@ class WPILibBrain extends Brain {
         // this.configureArcadeDriveBehavior()
     }
 
-    public addSimOutputGroup(device: SimOutputGroup) {
+    public addSimOutputGroup(device: SimOutputGroup): void {
         this._simDevices.push(device)
     }
 
@@ -343,10 +363,10 @@ export class PWMGroup extends SimOutputGroup {
         super(name, ports, drivers, "PWM")
     }
 
-    public Update(deltaT: number) {
+    public Update(_deltaT: number) {
         // let average = 0;
         for (const port of this.ports) {
-            const speed = SimPWM.GetSpeed(`${port}`) ?? 0;
+            const speed = SimPWM.GetSpeed(`${port}`) ?? 0
             // average += speed;
             console.log(port, speed)
         }
@@ -366,7 +386,7 @@ export class CANGroup extends SimOutputGroup {
 
     public Update(_deltaT: number) {
         for (const port of this.ports) {
-            const device = SimCAN.GetDeviceWithID(port, this.type);
+            const device = SimCAN.GetDeviceWithID(port, this.type)
             console.log(port, device)
         }
     }

From 1bc8d21aaa2832365a3d193dbaffef2c5dc20a8a Mon Sep 17 00:00:00 2001
From: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
Date: Fri, 26 Jul 2024 16:03:20 -0700
Subject: [PATCH 054/344] Update exporter/SynthesisFusionAddin/Synthesis.py

Co-authored-by: Brandon Pacewic <pacewicbrandon@gmail.com>
---
 exporter/SynthesisFusionAddin/Synthesis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 59dc8459bf..04893eef74 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -135,7 +135,7 @@ def register_ui() -> None:
     websiteButton = HUI.HButton(
         "Synthesis Website", 
         work_panel,
-        Helper.check_solid_open,
+        lambda *_: True,
         ShowWebsiteCommand.ShowWebsiteCommandCreatedHandler,
         description=f"Website Test",
         command=True

From 4fdacf5c10662928275ebc74e47d637883d8f073 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Fri, 26 Jul 2024 16:04:49 -0700
Subject: [PATCH 055/344] ran formatter

---
 exporter/SynthesisFusionAddin/Synthesis.py    |  11 +-
 exporter/SynthesisFusionAddin/proto/deps.py   |  12 +-
 exporter/SynthesisFusionAddin/src/APS/APS.py  | 152 ++++++--
 exporter/SynthesisFusionAddin/src/Logging.py  |  18 +-
 .../src/Parser/ExporterOptions.py             |  22 +-
 .../src/Parser/SynthesisParser/Components.py  |  28 +-
 .../Parser/SynthesisParser/JointHierarchy.py  |  49 ++-
 .../src/Parser/SynthesisParser/Joints.py      |  73 +++-
 .../src/Parser/SynthesisParser/Materials.py   |  50 ++-
 .../src/Parser/SynthesisParser/PDMessage.py   |  15 +-
 .../src/Parser/SynthesisParser/Parser.py      |  41 +-
 .../SynthesisParser/PhysicalProperties.py     |   4 +-
 .../src/Parser/SynthesisParser/Utilities.py   |  32 +-
 exporter/SynthesisFusionAddin/src/Types.py    |  10 +-
 .../src/UI/ConfigCommand.py                   | 223 ++++++++---
 .../src/UI/CustomGraphics.py                  |  12 +-
 .../SynthesisFusionAddin/src/UI/Events.py     |   8 +-
 .../src/UI/FileDialogConfig.py                |   4 +-
 exporter/SynthesisFusionAddin/src/UI/HUI.py   |  24 +-
 .../SynthesisFusionAddin/src/UI/Helper.py     |  12 +-
 .../SynthesisFusionAddin/src/UI/IconPaths.py  |  25 +-
 .../src/UI/JointConfigTab.py                  | 365 ++++++++++++++----
 .../src/UI/MarkingMenu.py                     |  12 +-
 .../src/UI/ShowAPSAuthCommand.py              |  25 +-
 .../src/UI/ShowWebsiteCommand.py              |   6 +
 .../SynthesisFusionAddin/src/UI/Toolbar.py    |   4 +-
 .../src/general_imports.py                    |   4 +-
 exporter/SynthesisFusionAddin/tools/format.py |  11 +-
 28 files changed, 943 insertions(+), 309 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 04893eef74..3c2b21aafa 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -15,7 +15,7 @@
     Helper,
     MarkingMenu,
     ShowAPSAuthCommand,
-    ShowWebsiteCommand
+    ShowWebsiteCommand,
 )
 from .src.UI.Toolbar import Toolbar
 
@@ -78,7 +78,9 @@ def stop(_):
 
     path = os.path.abspath(os.path.dirname(__file__))
 
-    path_proto_files = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out"))
+    path_proto_files = os.path.abspath(
+        os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out")
+    )
 
     if path in sys.path:
         sys.path.remove(path)
@@ -131,13 +133,12 @@ def register_ui() -> None:
 
     gm.elements.append(apsButton)
 
-
     websiteButton = HUI.HButton(
-        "Synthesis Website", 
+        "Synthesis Website",
         work_panel,
         lambda *_: True,
         ShowWebsiteCommand.ShowWebsiteCommandCreatedHandler,
         description=f"Website Test",
-        command=True
+        command=True,
     )
     gm.elements.append(websiteButton)
diff --git a/exporter/SynthesisFusionAddin/proto/deps.py b/exporter/SynthesisFusionAddin/proto/deps.py
index 10ec7757b3..a046eb8069 100644
--- a/exporter/SynthesisFusionAddin/proto/deps.py
+++ b/exporter/SynthesisFusionAddin/proto/deps.py
@@ -34,7 +34,9 @@ def getPythonFolder() -> str:
     elif system == "Darwin":
         pythonFolder = f"{Path(osPath).parents[2]}/bin"
     else:
-        raise ImportError("Unsupported platform! This add-in only supports windows and macos")
+        raise ImportError(
+            "Unsupported platform! This add-in only supports windows and macos"
+        )
 
     logger.debug(f"Python Folder -> {pythonFolder}")
     return pythonFolder
@@ -127,7 +129,9 @@ def installCross(pipDeps: list) -> bool:
             ]
         )
         if installResult != 0:
-            logger.warn(f'Dep installation "{depName}" exited with code "{installResult}"')
+            logger.warn(
+                f'Dep installation "{depName}" exited with code "{installResult}"'
+            )
 
     if system == "Darwin":
         pipAntiDeps = ["dataclasses", "typing"]
@@ -148,7 +152,9 @@ def installCross(pipDeps: list) -> bool:
                 ]
             )
             if uninstallResult != 0:
-                logger.warn(f'AntiDep uninstallation "{depName}" exited with code "{uninstallResult}"')
+                logger.warn(
+                    f'AntiDep uninstallation "{depName}" exited with code "{uninstallResult}"'
+                )
 
     progressBar.hide()
 
diff --git a/exporter/SynthesisFusionAddin/src/APS/APS.py b/exporter/SynthesisFusionAddin/src/APS/APS.py
index a65728ec23..5a9389cebc 100644
--- a/exporter/SynthesisFusionAddin/src/APS/APS.py
+++ b/exporter/SynthesisFusionAddin/src/APS/APS.py
@@ -125,7 +125,9 @@ def refreshAuthToken():
             "scope": "data:create data:write data:search data:read",
         }
     ).encode("utf-8")
-    req = urllib.request.Request("https://developer.api.autodesk.com/authentication/v2/token", data=body)
+    req = urllib.request.Request(
+        "https://developer.api.autodesk.com/authentication/v2/token", data=body
+    )
     req.method = "POST"
     req.add_header(key="Content-Type", val="application/x-www-form-urlencoded")
     try:
@@ -186,7 +188,9 @@ def getUserInfo() -> APSUserInfo | None:
     return loadUserInfo()
 
 
-def create_folder(auth: str, project_id: str, parent_folder_id: str, folder_display_name: str) -> str | None:
+def create_folder(
+    auth: str, project_id: str, parent_folder_id: str, folder_display_name: str
+) -> str | None:
     """
     creates a folder on an APS project
 
@@ -199,7 +203,10 @@ def create_folder(auth: str, project_id: str, parent_folder_id: str, folder_disp
     success - the href of the new folder ; might be changed to the id in the future
     failure - none if the API request fails ; the failure text will be printed
     """
-    headers = {"Authorization": f"Bearer {auth}", "Content-Type": "application/vnd.api+json"}
+    headers = {
+        "Authorization": f"Bearer {auth}",
+        "Content-Type": "application/vnd.api+json",
+    }
     data: dict[str, Any] = {
         "jsonapi": {"version": "1.0"},
         "data": {
@@ -208,12 +215,16 @@ def create_folder(auth: str, project_id: str, parent_folder_id: str, folder_disp
                 "name": folder_display_name,
                 "extension": {"type": "folders:autodesk.core:Folder", "version": "1.0"},
             },
-            "relationships": {"parent": {"data": {"type": "folders", "id": f"{parent_folder_id}"}}},
+            "relationships": {
+                "parent": {"data": {"type": "folders", "id": f"{parent_folder_id}"}}
+            },
         },
     }
 
     res = requests.post(
-        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/folders", headers=headers, json=data
+        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/folders",
+        headers=headers,
+        json=data,
     )
     if not res.ok:
         gm.ui.messageBox(f"Failed to create new folder: {res.text}", "ERROR")
@@ -227,7 +238,9 @@ def file_path_to_file_name(file_path: str) -> str:
     return file_path.split("/").pop()
 
 
-def upload_mirabuf(project_id: str, folder_id: str, file_name: str, file_contents: str) -> str | None:
+def upload_mirabuf(
+    project_id: str, folder_id: str, file_name: str, file_contents: str
+) -> str | None:
     """
     uploads mirabuf file to a specific folder in an APS project
     the folder and project must be created and valid
@@ -267,14 +280,18 @@ def upload_mirabuf(project_id: str, folder_id: str, file_name: str, file_content
         folder_id = create_folder(auth, project_id, folder_id, "MirabufDir")
     else:
         folder_id = new_folder_id
-    (lineage_id, file_id, file_version) = get_file_id(auth, project_id, folder_id, file_name)
+    (lineage_id, file_id, file_version) = get_file_id(
+        auth, project_id, folder_id, file_name
+    )
 
     """
     Create APS Storage Location
     """
     object_id = create_storage_location(auth, project_id, folder_id, file_name)
     if object_id is None:
-        gm.ui.messageBox("UPLOAD ERROR", "Object id is none; check create storage location")
+        gm.ui.messageBox(
+            "UPLOAD ERROR", "Object id is none; check create storage location"
+        )
         return None
     (prefix, object_key) = str(object_id).split("/", 1)
     bucket_key = prefix.split(":", 3)[3]  # gets the last element smth like: wip.dm.prod
@@ -297,10 +314,20 @@ def upload_mirabuf(project_id: str, folder_id: str, file_name: str, file_content
         return None
     if file_id != "":
         update_file_version(
-            auth, project_id, folder_id, lineage_id, file_id, file_name, file_contents, file_version, object_id
+            auth,
+            project_id,
+            folder_id,
+            lineage_id,
+            file_id,
+            file_name,
+            file_contents,
+            file_version,
+            object_id,
         )
     else:
-        _lineage_info = create_first_file_version(auth, str(object_id), project_id, str(folder_id), file_name)
+        _lineage_info = create_first_file_version(
+            auth, str(object_id), project_id, str(folder_id), file_name
+        )
     return ""
 
 
@@ -318,9 +345,13 @@ def get_hub_id(auth: str, hub_name: str) -> str | None:
     """
 
     headers = {"Authorization": f"Bearer {auth}"}
-    hub_list_res = requests.get("https://developer.api.autodesk.com/project/v1/hubs", headers=headers)
+    hub_list_res = requests.get(
+        "https://developer.api.autodesk.com/project/v1/hubs", headers=headers
+    )
     if not hub_list_res.ok:
-        gm.ui.messageBox("UPLOAD ERROR", f"Failed to retrieve hubs: {hub_list_res.text}")
+        gm.ui.messageBox(
+            "UPLOAD ERROR", f"Failed to retrieve hubs: {hub_list_res.text}"
+        )
         return None
     hub_list: list[dict[str, Any]] = hub_list_res.json()
     for hub in hub_list:
@@ -349,10 +380,13 @@ def get_project_id(auth: str, hub_id: str, project_name: str) -> str | None:
 
     headers = {"Authorization": f"Bearer {auth}"}
     project_list_res = requests.get(
-        f"https://developer.api.autodesk.com/project/v1/hubs/{hub_id}/projects", headers=headers
+        f"https://developer.api.autodesk.com/project/v1/hubs/{hub_id}/projects",
+        headers=headers,
     )
     if not project_list_res.ok:
-        gm.ui.messageBox("UPLOAD ERROR", f"Failed to retrieve hubs: {project_list_res.text}")
+        gm.ui.messageBox(
+            "UPLOAD ERROR", f"Failed to retrieve hubs: {project_list_res.text}"
+        )
         return None
     project_list: list[dict[str, Any]] = project_list_res.json()
     for project in project_list:
@@ -362,7 +396,9 @@ def get_project_id(auth: str, hub_id: str, project_name: str) -> str | None:
     return ""
 
 
-def get_item_id(auth: str, project_id: str, parent_folder_id: str, folder_name: str, item_type: str) -> str | None:
+def get_item_id(
+    auth: str, project_id: str, parent_folder_id: str, folder_name: str, item_type: str
+) -> str | None:
     headers = {"Authorization": f"Bearer {auth}"}
     res = requests.get(
         f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/folders/{parent_folder_id}/contents",
@@ -431,7 +467,10 @@ def update_file_version(
         "Content-Type": "application/vnd.api+json",
     }
 
-    attributes = {"name": file_name, "extension": {"type": "versions:autodesk.core:File", "version": f"1.0"}}
+    attributes = {
+        "name": file_name,
+        "extension": {"type": "versions:autodesk.core:File", "version": f"1.0"},
+    }
 
     relationships: dict[str, Any] = {
         "item": {
@@ -450,22 +489,33 @@ def update_file_version(
 
     data = {
         "jsonapi": {"version": "1.0"},
-        "data": {"type": "versions", "attributes": attributes, "relationships": relationships},
+        "data": {
+            "type": "versions",
+            "attributes": attributes,
+            "relationships": relationships,
+        },
     }
     update_res = requests.post(
-        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/versions", headers=headers, json=data
+        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/versions",
+        headers=headers,
+        json=data,
     )
     if not update_res.ok:
-        gm.ui.messageBox(f"UPLOAD ERROR:\n{update_res.text}", "Updating file to new version failed")
+        gm.ui.messageBox(
+            f"UPLOAD ERROR:\n{update_res.text}", "Updating file to new version failed"
+        )
         return None
     gm.ui.messageBox(
-        f"Successfully updated file {file_name} to version {int(curr_file_version) + 1} on APS", "UPLOAD SUCCESS"
+        f"Successfully updated file {file_name} to version {int(curr_file_version) + 1} on APS",
+        "UPLOAD SUCCESS",
     )
     new_id: str = update_res.json()["data"]["id"]
     return new_id
 
 
-def get_file_id(auth: str, project_id: str, folder_id: str, file_name: str) -> tuple[str, str, str] | None:
+def get_file_id(
+    auth: str, project_id: str, folder_id: str, file_name: str
+) -> tuple[str, str, str] | None:
     """
     gets the file id given a file name
 
@@ -509,7 +559,9 @@ def get_file_id(auth: str, project_id: str, folder_id: str, file_name: str) -> t
     return (lineage, id, version)
 
 
-def create_storage_location(auth: str, project_id: str, folder_id: str, file_name: str) -> str | None:
+def create_storage_location(
+    auth: str, project_id: str, folder_id: str, file_name: str
+) -> str | None:
     """
     creates a storage location (a bucket)
     the bucket can be used to upload a file to
@@ -536,7 +588,9 @@ def create_storage_location(auth: str, project_id: str, folder_id: str, file_nam
         "data": {
             "type": "objects",
             "attributes": {"name": file_name},
-            "relationships": {"target": {"data": {"type": "folders", "id": f"{folder_id}"}}},
+            "relationships": {
+                "target": {"data": {"type": "folders", "id": f"{folder_id}"}}
+            },
         },
     }
     headers = {
@@ -544,17 +598,24 @@ def create_storage_location(auth: str, project_id: str, folder_id: str, file_nam
         "Content-Type": "application/vnd.api+json",
     }
     storage_location_res = requests.post(
-        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/storage", json=data, headers=headers
+        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/storage",
+        json=data,
+        headers=headers,
     )
     if not storage_location_res.ok:
-        gm.ui.messageBox(f"UPLOAD ERROR: {storage_location_res.text}", f"Failed to create storage location")
+        gm.ui.messageBox(
+            f"UPLOAD ERROR: {storage_location_res.text}",
+            f"Failed to create storage location",
+        )
         return None
     storage_location_json: dict[str, Any] = storage_location_res.json()
     object_id: str = storage_location_json["data"]["id"]
     return object_id
 
 
-def generate_signed_url(auth: str, bucket_key: str, object_key: str) -> tuple[str, str] | None:
+def generate_signed_url(
+    auth: str, bucket_key: str, object_key: str
+) -> tuple[str, str] | None:
     """
     generates a signed_url for a bucket, given a bucket_key and object_key
 
@@ -580,7 +641,9 @@ def generate_signed_url(auth: str, bucket_key: str, object_key: str) -> tuple[st
         headers=headers,
     )
     if not signed_url_res.ok:
-        gm.ui.messageBox(f"UPLOAD ERROR: {signed_url_res.text}", "Failed to get signed url")
+        gm.ui.messageBox(
+            f"UPLOAD ERROR: {signed_url_res.text}", "Failed to get signed url"
+        )
         return None
     signed_url_json: dict[str, str] = signed_url_res.json()
     return (signed_url_json["uploadKey"], signed_url_json["urls"][0])
@@ -603,12 +666,16 @@ def upload_file(signed_url: str, file_contents: str) -> str | None:
     """
     upload_response = requests.put(url=signed_url, data=file_contents)
     if not upload_response.ok:
-        gm.ui.messageBox("UPLOAD ERROR", f"Failed to upload to signed url: {upload_response.text}")
+        gm.ui.messageBox(
+            "UPLOAD ERROR", f"Failed to upload to signed url: {upload_response.text}"
+        )
         return None
     return ""
 
 
-def complete_upload(auth: str, upload_key: str, object_key: str, bucket_key: str) -> str | None:
+def complete_upload(
+    auth: str, upload_key: str, object_key: str, bucket_key: str
+) -> str | None:
     """
     completes and verifies the APS file upload given the upload_key
 
@@ -635,7 +702,8 @@ def complete_upload(auth: str, upload_key: str, object_key: str, bucket_key: str
     )
     if not completed_res.ok:
         gm.ui.messageBox(
-            f"UPLOAD ERROR: {completed_res.text}\n{completed_res.status_code}", "Failed to complete upload"
+            f"UPLOAD ERROR: {completed_res.text}\n{completed_res.status_code}",
+            "Failed to complete upload",
         )
         return None
     return ""
@@ -673,7 +741,10 @@ def create_first_file_version(
         "Accept": "application/vnd.api+json",
     }
 
-    included_attributes = {"name": file_name, "extension": {"type": "versions:autodesk.core:File", "version": "1.0"}}
+    included_attributes = {
+        "name": file_name,
+        "extension": {"type": "versions:autodesk.core:File", "version": "1.0"},
+    }
 
     attributes = {
         "displayName": file_name,
@@ -693,21 +764,32 @@ def create_first_file_version(
             "type": "versions",
             "id": "1",
             "attributes": included_attributes,
-            "relationships": {"storage": {"data": {"type": "objects", "id": object_id}}},
+            "relationships": {
+                "storage": {"data": {"type": "objects", "id": object_id}}
+            },
         },
     ]
 
     data = {
         "jsonapi": {"version": "1.0"},
-        "data": {"type": "items", "attributes": attributes, "relationships": relationships},
+        "data": {
+            "type": "items",
+            "attributes": attributes,
+            "relationships": relationships,
+        },
         "included": included,
     }
 
     first_version_res = requests.post(
-        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/items", json=data, headers=headers
+        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/items",
+        json=data,
+        headers=headers,
     )
     if not first_version_res.ok:
-        gm.ui.messageBox(f"Failed to create first file version: {first_version_res.text}", "UPLOAD ERROR")
+        gm.ui.messageBox(
+            f"Failed to create first file version: {first_version_res.text}",
+            "UPLOAD ERROR",
+        )
         return None
     first_version_json: dict[str, Any] = first_version_res.json()
 
diff --git a/exporter/SynthesisFusionAddin/src/Logging.py b/exporter/SynthesisFusionAddin/src/Logging.py
index 2bf9ce191b..2a59a88cec 100644
--- a/exporter/SynthesisFusionAddin/src/Logging.py
+++ b/exporter/SynthesisFusionAddin/src/Logging.py
@@ -31,7 +31,11 @@ def setupLogger() -> None:
     now = datetime.now().strftime("%H-%M-%S")
     today = date.today()
     logFileFolder = getOSPath(f"{pathlib.Path(__file__).parent.parent}", "logs")
-    logFiles = [os.path.join(logFileFolder, file) for file in os.listdir(logFileFolder) if file.endswith(".log")]
+    logFiles = [
+        os.path.join(logFileFolder, file)
+        for file in os.listdir(logFileFolder)
+        if file.endswith(".log")
+    ]
     logFiles.sort()
     if len(logFiles) >= MAX_LOG_FILES_TO_KEEP:
         for file in logFiles[: len(logFiles) - MAX_LOG_FILES_TO_KEEP]:
@@ -66,15 +70,21 @@ def wrapper(*args: any, **kwargs: any) -> any:
             except BaseException:
                 excType, excValue, excTrace = sys.exc_info()
                 tb = traceback.TracebackException(excType, excValue, excTrace)
-                formattedTb = "".join(list(tb.format())[2:])  # Remove the wrapper func from the traceback.
+                formattedTb = "".join(
+                    list(tb.format())[2:]
+                )  # Remove the wrapper func from the traceback.
                 clsName = ""
                 if args and hasattr(args[0], "__class__"):
                     clsName = args[0].__class__.__name__ + "."
 
-                getLogger(f"{INTERNAL_ID}.{clsName}{func.__name__}").error(f"Failed:\n{formattedTb}")
+                getLogger(f"{INTERNAL_ID}.{clsName}{func.__name__}").error(
+                    f"Failed:\n{formattedTb}"
+                )
                 if messageBox:
                     ui = adsk.core.Application.get().userInterface
-                    ui.messageBox(f"Internal Failure: {formattedTb}", "Synthesis: Error")
+                    ui.messageBox(
+                        f"Internal Failure: {formattedTb}", "Synthesis: Error"
+                    )
 
         return wrapper
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
index 52ccd255bf..c287720b56 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
@@ -34,7 +34,11 @@ class ExporterOptions:
     # user's computer has conflicting configs of some sort. This has happened and should be accounted
     # for accordingly.
     fileLocation: str | None = field(
-        default=(os.getenv("HOME") if platform.system() == "Windows" else os.path.expanduser("~"))
+        default=(
+            os.getenv("HOME")
+            if platform.system() == "Windows"
+            else os.path.expanduser("~")
+        )
     )
     name: str = field(default=None)
     version: str = field(default=None)
@@ -57,9 +61,13 @@ class ExporterOptions:
     exportLocation: ExportLocation = field(default=ExportLocation.UPLOAD)
 
     hierarchy: ModelHierarchy = field(default=ModelHierarchy.FusionAssembly)
-    visualQuality: TriangleMeshQualityOptions = field(default=TriangleMeshQualityOptions.LowQualityTriangleMesh)
+    visualQuality: TriangleMeshQualityOptions = field(
+        default=TriangleMeshQualityOptions.LowQualityTriangleMesh
+    )
     physicalDepth: PhysicalDepth = field(default=PhysicalDepth.AllOccurrence)
-    physicalCalculationLevel: CalculationAccuracy = field(default=CalculationAccuracy.LowCalculationAccuracy)
+    physicalCalculationLevel: CalculationAccuracy = field(
+        default=CalculationAccuracy.LowCalculationAccuracy
+    )
 
     @logFailure
     @timed
@@ -68,7 +76,9 @@ def readFromDesign(self) -> "ExporterOptions":
         for field in fields(self):
             attribute = designAttributes.itemByName(INTERNAL_ID, field.name)
             if attribute:
-                attrJsonData = makeObjectFromJson(field.type, json.loads(attribute.value))
+                attrJsonData = makeObjectFromJson(
+                    field.type, json.loads(attribute.value)
+                )
                 setattr(self, field.name, attrJsonData)
 
         return self
@@ -78,5 +88,7 @@ def readFromDesign(self) -> "ExporterOptions":
     def writeToDesign(self) -> None:
         designAttributes = adsk.core.Application.get().activeProduct.attributes
         for field in fields(self):
-            data = json.dumps(getattr(self, field.name), default=encodeNestedObjects, indent=4)
+            data = json.dumps(
+                getattr(self, field.name), default=encodeNestedObjects, indent=4
+            )
             designAttributes.add(INTERNAL_ID, field.name, data)
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index aa77cac500..78819dfbeb 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -40,7 +40,9 @@ def _MapAllComponents(
 
         fill_info(partDefinition, component, comp_ref)
 
-        PhysicalProperties.GetPhysicalProperties(component, partDefinition.physical_data)
+        PhysicalProperties.GetPhysicalProperties(
+            component, partDefinition.physical_data
+        )
 
         if options.exportMode == ExportMode.FIELD:
             partDefinition.dynamic = False
@@ -60,7 +62,9 @@ def processBody(body: adsk.fusion.BRepBody | adsk.fusion.MeshBody):
                 else:
                     _ParseMesh(body, options, part_body.triangle_mesh)
 
-                appearance_key = "{}_{}".format(body.appearance.name, body.appearance.id)
+                appearance_key = "{}_{}".format(
+                    body.appearance.name, body.appearance.id
+                )
                 # this should be appearance
                 if appearance_key in materials.appearances:
                     part_body.appearance_override = appearance_key
@@ -101,7 +105,9 @@ def _ParseComponentRoot(
 
         if occur.isLightBulbOn:
             child_node = types_pb2.Node()
-            __parseChildOccurrence(occur, progressDialog, options, partsData, material_map, child_node)
+            __parseChildOccurrence(
+                occur, progressDialog, options, partsData, material_map, child_node
+            )
             node.children.append(child_node)
 
 
@@ -134,7 +140,9 @@ def __parseChildOccurrence(
 
     if occurrence.appearance:
         try:
-            part.appearance = "{}_{}".format(occurrence.appearance.name, occurrence.appearance.id)
+            part.appearance = "{}_{}".format(
+                occurrence.appearance.name, occurrence.appearance.id
+            )
         except:
             part.appearance = "default"
         # TODO: Add phyical_material parser
@@ -151,7 +159,9 @@ def __parseChildOccurrence(
     if options.exportMode == ExportMode.FIELD:
         for x in options.gamepieces:
             if x.occurrenceToken == mapConstant:
-                partsData.part_definitions[part.part_definition_reference].dynamic = True
+                partsData.part_definitions[part.part_definition_reference].dynamic = (
+                    True
+                )
                 break
 
     part.transform.spatial_matrix.extend(occurrence.transform.asArray())
@@ -167,7 +177,9 @@ def __parseChildOccurrence(
 
         if occur.isLightBulbOn:
             child_node = types_pb2.Node()
-            __parseChildOccurrence(occur, progressDialog, options, partsData, material_map, child_node)
+            __parseChildOccurrence(
+                occur, progressDialog, options, partsData, material_map, child_node
+            )
             node.children.append(child_node)
 
 
@@ -223,7 +235,9 @@ def _ParseMesh(
     plainmesh_out.uv.extend(mesh.textureCoordinatesAsFloat)
 
 
-def _MapRigidGroups(rootComponent: adsk.fusion.Component, joints: joint_pb2.Joints) -> None:
+def _MapRigidGroups(
+    rootComponent: adsk.fusion.Component, joints: joint_pb2.Joints
+) -> None:
     groups = rootComponent.allRigidGroups
     for group in groups:
         mira_group = joint_pb2.RigidGroup()
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index 53dd3d10fa..cd8f9e06b0 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -91,7 +91,9 @@ class JointRelationship(enum.Enum):
 
 
 class DynamicOccurrenceNode(GraphNode):
-    def __init__(self, occurrence: adsk.fusion.Occurrence, isGround=False, previous=None):
+    def __init__(
+        self, occurrence: adsk.fusion.Occurrence, isGround=False, previous=None
+    ):
         super().__init__(occurrence)
         self.isGround = isGround
         self.name = occurrence.name
@@ -131,7 +133,9 @@ def getConnectedAxisTokens(self) -> list:
 
 
 class DynamicEdge(GraphEdge):
-    def __init__(self, relationship: OccurrenceRelationship, node: DynamicOccurrenceNode):
+    def __init__(
+        self, relationship: OccurrenceRelationship, node: DynamicOccurrenceNode
+    ):
         super().__init__(relationship, node)
 
     # should print all in this class
@@ -211,7 +215,9 @@ def __init__(self, design):
         self.grounded = searchForGrounded(design.rootComponent)
 
         if self.grounded is None:
-            gm.ui.messageBox("There is not currently a Grounded Component in the assembly, stopping kinematic export.")
+            gm.ui.messageBox(
+                "There is not currently a Grounded Component in the assembly, stopping kinematic export."
+            )
             raise RuntimeWarning("There is no grounded component")
 
         self.currentTraversal = dict()
@@ -247,7 +253,9 @@ def __init__(self, design):
 
     @logFailure
     def __getAllJoints(self):
-        for joint in list(self.design.rootComponent.allJoints) + list(self.design.rootComponent.allAsBuiltJoints):
+        for joint in list(self.design.rootComponent.allJoints) + list(
+            self.design.rootComponent.allAsBuiltJoints
+        ):
             if joint and joint.occurrenceOne and joint.occurrenceTwo:
                 occurrenceOne = joint.occurrenceOne
                 occurrenceTwo = joint.occurrenceTwo
@@ -303,7 +311,8 @@ def _linkAllAxis(self):
 
     def _recurseLink(self, simNode: SimulationNode):
         connectedAxisNodes = [
-            self.simulationNodesRef.get(componentKeys, None) for componentKeys in simNode.data.getConnectedAxisTokens()
+            self.simulationNodesRef.get(componentKeys, None)
+            for componentKeys in simNode.data.getConnectedAxisTokens()
         ]
         for connectedAxis in connectedAxisNodes:
             # connected is the occurrence
@@ -353,9 +362,9 @@ def _populateNode(
             edge = DynamicEdge(relationship, node)
             prev.edges.append(edge)
             return
-        elif ((occ.entityToken in self.dynamicJoints.keys()) and (prev is not None)) or self.currentTraversal.get(
-            occ.entityToken
-        ) is not None:
+        elif (
+            (occ.entityToken in self.dynamicJoints.keys()) and (prev is not None)
+        ) or self.currentTraversal.get(occ.entityToken) is not None:
             return
 
         node = DynamicOccurrenceNode(occ)
@@ -363,7 +372,9 @@ def _populateNode(
         self.currentTraversal[occ.entityToken] = True
 
         for occurrence in occ.childOccurrences:
-            self._populateNode(occurrence, node, OccurrenceRelationship.TRANSFORM, is_ground=is_ground)
+            self._populateNode(
+                occurrence, node, OccurrenceRelationship.TRANSFORM, is_ground=is_ground
+            )
 
         # if not is_ground:  # THIS IS A BUG - OCCURRENCE ACCESS VIOLATION
         try:
@@ -384,11 +395,18 @@ def _populateNode(
                             connection = joint.occurrenceOne
 
                     if connection is not None:
-                        if prev is None or connection.entityToken != prev.data.entityToken:
+                        if (
+                            prev is None
+                            or connection.entityToken != prev.data.entityToken
+                        ):
                             self._populateNode(
                                 connection,
                                 node,
-                                (OccurrenceRelationship.CONNECTION if rigid else OccurrenceRelationship.NEXT),
+                                (
+                                    OccurrenceRelationship.CONNECTION
+                                    if rigid
+                                    else OccurrenceRelationship.NEXT
+                                ),
                                 is_ground=is_ground,
                             )
                 else:
@@ -491,7 +509,9 @@ def populateJoint(simNode: SimulationNode, joints: joint_pb2.Joints, progressDia
     root = types_pb2.Node()
 
     # construct body tree if possible
-    createTreeParts(simNode.data, OccurrenceRelationship.CONNECTION, root, progressDialog)
+    createTreeParts(
+        simNode.data, OccurrenceRelationship.CONNECTION, root, progressDialog
+    )
 
     proto_joint.parts.nodes.append(root)
 
@@ -510,7 +530,10 @@ def createTreeParts(
         raise RuntimeError("User canceled export")
 
     # if it's the next part just exit early for our own sanity
-    if relationship == OccurrenceRelationship.NEXT or dynNode.data.isLightBulbOn == False:
+    if (
+        relationship == OccurrenceRelationship.NEXT
+        or dynNode.data.isLightBulbOn == False
+    ):
         return
 
     # set the occurrence / component id to reference the part
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index c79a0240d0..6caa82e6df 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -88,7 +88,9 @@ def populateJoints(
 
     # Add the rest of the dynamic objects
 
-    for joint in list(design.rootComponent.allJoints) + list(design.rootComponent.allAsBuiltJoints):
+    for joint in list(design.rootComponent.allJoints) + list(
+        design.rootComponent.allAsBuiltJoints
+    ):
         if joint.isSuppressed:
             continue
 
@@ -122,7 +124,10 @@ def populateJoints(
                     signal.io = signal_pb2.IOType.OUTPUT
 
                     # really could just map the enum to a friggin string
-                    if parse_joints.signalType != SignalType.PASSIVE and assembly.dynamic:
+                    if (
+                        parse_joints.signalType != SignalType.PASSIVE
+                        and assembly.dynamic
+                    ):
                         if parse_joints.signalType == SignalType.CAN:
                             signal.device_type = signal_pb2.DeviceType.CANBUS
                         elif parse_joints.signalType == SignalType.PWM:
@@ -209,7 +214,9 @@ def _addJointInstance(
                 joint_definition.user_data.data["wheel"] = "true"
 
                 # Must convert type 'enum' to int to store wheelType in mirabuf
-                joint_definition.user_data.data["wheelType"] = str(wheel.wheelType.value - 1)
+                joint_definition.user_data.data["wheelType"] = str(
+                    wheel.wheelType.value - 1
+                )
 
                 # if it exists get it and overwrite the signal type
                 if joint_instance.signal_reference:
@@ -243,7 +250,9 @@ def _addRigidGroup(joint: adsk.fusion.Joint, assembly: assembly_pb2.Assembly):
     assembly.data.joints.rigid_groups.append(mira_group)
 
 
-def _motionFromJoint(fusionMotionDefinition: adsk.fusion.JointMotion, proto_joint: joint_pb2.Joint) -> None:
+def _motionFromJoint(
+    fusionMotionDefinition: adsk.fusion.JointMotion, proto_joint: joint_pb2.Joint
+) -> None:
     # if fusionJoint.geometryOrOriginOne.objectType == "adsk::fusion::JointGeometry"
     # create the DOF depending on what kind of information the joint has
 
@@ -257,12 +266,16 @@ def _motionFromJoint(fusionMotionDefinition: adsk.fusion.JointMotion, proto_join
         6: noop,  # TODO: Implement
     }
 
-    fillJointMotionFunc = fillJointMotionFuncSwitcher.get(fusionMotionDefinition.jointType, lambda: None)
+    fillJointMotionFunc = fillJointMotionFuncSwitcher.get(
+        fusionMotionDefinition.jointType, lambda: None
+    )
 
     fillJointMotionFunc(fusionMotionDefinition, proto_joint)
 
 
-def fillRevoluteJointMotion(revoluteMotion: adsk.fusion.RevoluteJointMotion, proto_joint: joint_pb2.Joint):
+def fillRevoluteJointMotion(
+    revoluteMotion: adsk.fusion.RevoluteJointMotion, proto_joint: joint_pb2.Joint
+):
     """#### Fill Protobuf revolute joint motion data
 
     Args:
@@ -304,7 +317,9 @@ def fillRevoluteJointMotion(revoluteMotion: adsk.fusion.RevoluteJointMotion, pro
         dof.axis.z = int(rotationAxis == 1)
 
 
-def fillSliderJointMotion(sliderMotion: adsk.fusion.SliderJointMotion, proto_joint: joint_pb2.Joint) -> None:
+def fillSliderJointMotion(
+    sliderMotion: adsk.fusion.SliderJointMotion, proto_joint: joint_pb2.Joint
+) -> None:
     """#### Fill Protobuf slider joint motion data
 
     Args:
@@ -375,7 +390,9 @@ def _searchForGrounded(
     return None
 
 
-def _jointOrigin(fusionJoint: Union[adsk.fusion.Joint, adsk.fusion.AsBuiltJoint]) -> adsk.core.Point3D:
+def _jointOrigin(
+    fusionJoint: Union[adsk.fusion.Joint, adsk.fusion.AsBuiltJoint]
+) -> adsk.core.Point3D:
     """#### Joint Origin Internal Finder that was orignally created for Synthesis by Liam Wang
 
     Args:
@@ -387,7 +404,8 @@ def _jointOrigin(fusionJoint: Union[adsk.fusion.Joint, adsk.fusion.AsBuiltJoint]
     geometryOrOrigin = (
         (
             fusionJoint.geometryOrOriginOne
-            if fusionJoint.geometryOrOriginOne.objectType == "adsk::fusion::JointGeometry"
+            if fusionJoint.geometryOrOriginOne.objectType
+            == "adsk::fusion::JointGeometry"
             else fusionJoint.geometryOrOriginTwo
         )
         if fusionJoint.objectType == "adsk::fusion::Joint"
@@ -406,7 +424,9 @@ def _jointOrigin(fusionJoint: Union[adsk.fusion.Joint, adsk.fusion.AsBuiltJoint]
                 newEnt = ent.createForAssemblyContext(fusionJoint.occurrenceOne)
                 min = newEnt.boundingBox.minPoint
                 max = newEnt.boundingBox.maxPoint
-                org = adsk.core.Point3D.create((max.x + min.x) / 2.0, (max.y + min.y) / 2.0, (max.z + min.z) / 2.0)
+                org = adsk.core.Point3D.create(
+                    (max.x + min.x) / 2.0, (max.y + min.y) / 2.0, (max.z + min.z) / 2.0
+                )
                 return org  # ent.startVertex.geometry
             else:
                 return geometryOrOrigin.origin
@@ -421,11 +441,19 @@ def _jointOrigin(fusionJoint: Union[adsk.fusion.Joint, adsk.fusion.AsBuiltJoint]
     else:  # adsk::fusion::JointOrigin
         origin = geometryOrOrigin.geometry.origin
         # todo: Is this the correct way to calculate a joint origin's true location? Why isn't this exposed in the API?
-        offsetX = 0 if geometryOrOrigin.offsetX is None else geometryOrOrigin.offsetX.value
-        offsetY = 0 if geometryOrOrigin.offsetY is None else geometryOrOrigin.offsetY.value
-        offsetZ = 0 if geometryOrOrigin.offsetZ is None else geometryOrOrigin.offsetZ.value
+        offsetX = (
+            0 if geometryOrOrigin.offsetX is None else geometryOrOrigin.offsetX.value
+        )
+        offsetY = (
+            0 if geometryOrOrigin.offsetY is None else geometryOrOrigin.offsetY.value
+        )
+        offsetZ = (
+            0 if geometryOrOrigin.offsetZ is None else geometryOrOrigin.offsetZ.value
+        )
         # noinspection PyArgumentList
-        return adsk.core.Point3D.create(origin.x + offsetX, origin.y + offsetY, origin.z + offsetZ)
+        return adsk.core.Point3D.create(
+            origin.x + offsetX, origin.y + offsetY, origin.z + offsetZ
+        )
 
 
 def createJointGraph(
@@ -461,17 +489,26 @@ def createJointGraph(
         current_node = node_map[supplied_joint.jointToken]
         if supplied_joint.parent == JointParentType.ROOT:
             node_map["ground"].children.append(node_map[supplied_joint.jointToken])
-        elif node_map[supplied_joint.parent.value] is not None and node_map[supplied_joint.jointToken] is not None:
-            node_map[supplied_joint.parent].children.append(node_map[supplied_joint.jointToken])
+        elif (
+            node_map[supplied_joint.parent.value] is not None
+            and node_map[supplied_joint.jointToken] is not None
+        ):
+            node_map[supplied_joint.parent].children.append(
+                node_map[supplied_joint.jointToken]
+            )
         else:
-            logger.error(f"Cannot construct hierarhcy because of detached tree at : {supplied_joint.jointToken}")
+            logger.error(
+                f"Cannot construct hierarhcy because of detached tree at : {supplied_joint.jointToken}"
+            )
 
     for node in node_map.values():
         # append everything at top level to isolate kinematics
         joint_tree.nodes.append(node)
 
 
-def addWheelsToGraph(wheels: list, rootNode: types_pb2.Node, joint_tree: types_pb2.GraphContainer):
+def addWheelsToGraph(
+    wheels: list, rootNode: types_pb2.Node, joint_tree: types_pb2.GraphContainer
+):
     for wheel in wheels:
         # wheel name
         # wheel signal
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index 97d8d47f57..3b8a019d71 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -52,7 +52,9 @@ def _MapAllPhysicalMaterials(
         getPhysicalMaterialData(material, newmaterial, options)
 
 
-def setDefaultMaterial(physical_material: material_pb2.PhysicalMaterial, options: ExporterOptions):
+def setDefaultMaterial(
+    physical_material: material_pb2.PhysicalMaterial, options: ExporterOptions
+):
     construct_info("default", physical_material)
 
     physical_material.description = "A default physical material"
@@ -92,8 +94,12 @@ def getPhysicalMaterialData(fusion_material, proto_material, options):
         proto_material.dynamic_friction = options.frictionOverrideCoeff
         proto_material.static_friction = options.frictionOverrideCoeff
     else:
-        proto_material.dynamic_friction = DYNAMIC_FRICTION_COEFFS.get(fusion_material.name, 0.5)
-        proto_material.static_friction = STATIC_FRICTION_COEFFS.get(fusion_material.name, 0.5)
+        proto_material.dynamic_friction = DYNAMIC_FRICTION_COEFFS.get(
+            fusion_material.name, 0.5
+        )
+        proto_material.static_friction = STATIC_FRICTION_COEFFS.get(
+            fusion_material.name, 0.5
+        )
 
     proto_material.restitution = 0.5
     proto_material.description = f"{fusion_material.name} exported from FUSION"
@@ -127,17 +133,31 @@ def getPhysicalMaterialData(fusion_material, proto_material, options):
     """
     Mechanical Properties
     """
-    mechanicalProperties.young_mod = materialProperties.itemById("structural_Young_modulus").value
-    mechanicalProperties.poisson_ratio = materialProperties.itemById("structural_Poisson_ratio").value
-    mechanicalProperties.shear_mod = materialProperties.itemById("structural_Shear_modulus").value
-    mechanicalProperties.density = materialProperties.itemById("structural_Density").value
-    mechanicalProperties.damping_coefficient = materialProperties.itemById("structural_Damping_coefficient").value
+    mechanicalProperties.young_mod = materialProperties.itemById(
+        "structural_Young_modulus"
+    ).value
+    mechanicalProperties.poisson_ratio = materialProperties.itemById(
+        "structural_Poisson_ratio"
+    ).value
+    mechanicalProperties.shear_mod = materialProperties.itemById(
+        "structural_Shear_modulus"
+    ).value
+    mechanicalProperties.density = materialProperties.itemById(
+        "structural_Density"
+    ).value
+    mechanicalProperties.damping_coefficient = materialProperties.itemById(
+        "structural_Damping_coefficient"
+    ).value
 
     """
     Strength Properties
     """
-    strengthProperties.yield_strength = materialProperties.itemById("structural_Minimum_yield_stress").value
-    strengthProperties.tensile_strength = materialProperties.itemById("structural_Minimum_tensile_strength").value
+    strengthProperties.yield_strength = materialProperties.itemById(
+        "structural_Minimum_yield_stress"
+    ).value
+    strengthProperties.tensile_strength = materialProperties.itemById(
+        "structural_Minimum_tensile_strength"
+    ).value
     """
     strengthProperties.thermal_treatment = materialProperties.itemById(
         "structural_Thermally_treated"
@@ -235,7 +255,9 @@ def getMaterialAppearance(
             baseColor = properties.itemById("transparent_color").value
             transparent_distance = properties.itemById("transparent_distance").value
 
-            opac = (255.0 * transparent_distance) / (transparent_distance + OPACITY_RAMPING_CONSTANT)
+            opac = (255.0 * transparent_distance) / (
+                transparent_distance + OPACITY_RAMPING_CONSTANT
+            )
             if opac > 255:
                 opac = 255
             elif opac < 0:
@@ -251,7 +273,11 @@ def getMaterialAppearance(
             color.A = baseColor.opacity
         else:
             for prop in fusionAppearance.appearanceProperties:
-                if (prop.name == "Color") and (prop.value is not None) and (prop.id != "surface_albedo"):
+                if (
+                    (prop.name == "Color")
+                    and (prop.value is not None)
+                    and (prop.id != "surface_albedo")
+                ):
                     baseColor = prop.value
                     color.R = baseColor.red
                     color.G = baseColor.green
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py
index ad441fc901..d5057709da 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py
@@ -28,7 +28,12 @@ def __init__(
 
         self.currentMessage = "working..."
 
-        self.finalValue = self.componentCount + self.occurrenceCount + self.materialCount + self.appearanceCount
+        self.finalValue = (
+            self.componentCount
+            + self.occurrenceCount
+            + self.materialCount
+            + self.appearanceCount
+        )
         self.currentValue = 0
 
         self.progressDialog = progressDialog
@@ -38,9 +43,13 @@ def _format(self):
         # TABS DO NOTHING HALP
         out = f"{self.assemblyName} parsing:\n"
         out += f"\t Components: \t[ {self.currentCompCount} / {self.componentCount} ]\n"
-        out += f"\t Occurrences: \t[ {self.currentOccCount} / {self.occurrenceCount} ]\n"
+        out += (
+            f"\t Occurrences: \t[ {self.currentOccCount} / {self.occurrenceCount} ]\n"
+        )
         out += f"\t Materials: \t[ {self.currentMatCount} / {self.materialCount} ]\n"
-        out += f"\t Appearances: \t[ {self.currentAppCount} / {self.appearanceCount} ]\n"
+        out += (
+            f"\t Appearances: \t[ {self.currentAppCount} / {self.appearanceCount} ]\n"
+        )
         out += f"{self.currentMessage}"
 
         return out
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index b59f391f0b..e483adedaa 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -35,7 +35,9 @@ def export(self) -> None:
         design: adsk.fusion.Design = app.activeDocument.design
 
         if not getAuth():
-            app.userInterface.messageBox("APS Login Required for Uploading.", "APS Login")
+            app.userInterface.messageBox(
+                "APS Login Required for Uploading.", "APS Login"
+            )
             return
 
         assembly_out = assembly_pb2.Assembly()
@@ -60,7 +62,9 @@ def export(self) -> None:
         progressDialog.title = "Exporting to Synthesis Format"
         progressDialog.minimumValue = 0
         progressDialog.maximumValue = totalIterations
-        progressDialog.show("Synthesis Export", "Currently on %v of %m", 0, totalIterations)
+        progressDialog.show(
+            "Synthesis Export", "Currently on %v of %m", 0, totalIterations
+        )
 
         # this is the formatter for the progress dialog now
         self.pdMessage = PDMessage.PDMessage(
@@ -130,7 +134,9 @@ def export(self) -> None:
             self.pdMessage,
         )
 
-        JointHierarchy.BuildJointPartHierarchy(design, assembly_out.data.joints, self.exporterOptions, self.pdMessage)
+        JointHierarchy.BuildJointPartHierarchy(
+            design, assembly_out.data.joints, self.exporterOptions, self.pdMessage
+        )
 
         # These don't have an effect, I forgot how this is suppose to work
         # progressDialog.message = "Taking Photo for thumbnail..."
@@ -179,7 +185,12 @@ def export(self) -> None:
             project_id = project.id
             folder_id = project.rootFolder.id
             file_name = f"{self.exporterOptions.fileLocation}.mira"
-            if upload_mirabuf(project_id, folder_id, file_name, assembly_out.SerializeToString()) is None:
+            if (
+                upload_mirabuf(
+                    project_id, folder_id, file_name, assembly_out.SerializeToString()
+                )
+                is None
+            ):
                 raise RuntimeError("Could not upload to APS")
         else:
             assert self.exporterOptions.exportLocation == ExportLocation.DOWNLOAD
@@ -214,9 +225,15 @@ def export(self) -> None:
                 joint_hierarchy_out = f"{joint_hierarchy_out}  |- ground\n"
             else:
                 newNode = assembly_out.data.joints.joint_instances[node.value]
-                jointDefinition = assembly_out.data.joints.joint_definitions[newNode.joint_reference]
-
-                wheel_ = " wheel : true" if (jointDefinition.user_data.data["wheel"] != "") else ""
+                jointDefinition = assembly_out.data.joints.joint_definitions[
+                    newNode.joint_reference
+                ]
+
+                wheel_ = (
+                    " wheel : true"
+                    if (jointDefinition.user_data.data["wheel"] != "")
+                    else ""
+                )
 
                 joint_hierarchy_out = (
                     f"{joint_hierarchy_out}  |---> {jointDefinition.info.name} "
@@ -227,8 +244,14 @@ def export(self) -> None:
                     joint_hierarchy_out = f"{joint_hierarchy_out} |---> ground\n"
                 else:
                     newNode = assembly_out.data.joints.joint_instances[child.value]
-                    jointDefinition = assembly_out.data.joints.joint_definitions[newNode.joint_reference]
-                    wheel_ = " wheel : true" if (jointDefinition.user_data.data["wheel"] != "") else ""
+                    jointDefinition = assembly_out.data.joints.joint_definitions[
+                        newNode.joint_reference
+                    ]
+                    wheel_ = (
+                        " wheel : true"
+                        if (jointDefinition.user_data.data["wheel"] != "")
+                        else ""
+                    )
                     joint_hierarchy_out = (
                         f"{joint_hierarchy_out}  |- {jointDefinition.info.name} "
                         f"type: {jointDefinition.joint_motion_type} {wheel_}\n"
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index db488c115a..395231ccbf 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -30,7 +30,9 @@
 
 @logFailure
 def GetPhysicalProperties(
-    fusionObject: Union[adsk.fusion.BRepBody, adsk.fusion.Occurrence, adsk.fusion.Component],
+    fusionObject: Union[
+        adsk.fusion.BRepBody, adsk.fusion.Occurrence, adsk.fusion.Component
+    ],
     physicalProperties: types_pb2.PhysicalProperties,
     level=1,
 ):
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
index f508f32117..14295e9239 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
@@ -62,18 +62,18 @@ def construct_info(name: str, proto_obj, version=5, fus_object=None, GUID=None)
 # My previous function was alot more optimized however now I realize the bug was this doesn't work well with degrees
 def euler_to_quaternion(r):
     (yaw, pitch, roll) = (r[0], r[1], r[2])
-    qx = math.sin(roll / 2) * math.cos(pitch / 2) * math.cos(yaw / 2) - math.cos(roll / 2) * math.sin(
-        pitch / 2
-    ) * math.sin(yaw / 2)
-    qy = math.cos(roll / 2) * math.sin(pitch / 2) * math.cos(yaw / 2) + math.sin(roll / 2) * math.cos(
-        pitch / 2
-    ) * math.sin(yaw / 2)
-    qz = math.cos(roll / 2) * math.cos(pitch / 2) * math.sin(yaw / 2) - math.sin(roll / 2) * math.sin(
-        pitch / 2
-    ) * math.cos(yaw / 2)
-    qw = math.cos(roll / 2) * math.cos(pitch / 2) * math.cos(yaw / 2) + math.sin(roll / 2) * math.sin(
-        pitch / 2
-    ) * math.sin(yaw / 2)
+    qx = math.sin(roll / 2) * math.cos(pitch / 2) * math.cos(yaw / 2) - math.cos(
+        roll / 2
+    ) * math.sin(pitch / 2) * math.sin(yaw / 2)
+    qy = math.cos(roll / 2) * math.sin(pitch / 2) * math.cos(yaw / 2) + math.sin(
+        roll / 2
+    ) * math.cos(pitch / 2) * math.sin(yaw / 2)
+    qz = math.cos(roll / 2) * math.cos(pitch / 2) * math.sin(yaw / 2) - math.sin(
+        roll / 2
+    ) * math.sin(pitch / 2) * math.cos(yaw / 2)
+    qw = math.cos(roll / 2) * math.cos(pitch / 2) * math.cos(yaw / 2) + math.sin(
+        roll / 2
+    ) * math.sin(pitch / 2) * math.sin(yaw / 2)
     return [qx, qy, qz, qw]
 
 
@@ -135,7 +135,9 @@ def throwZero():
     Raises:
         RuntimeError: Error describing the issue
     """
-    raise RuntimeError("While computing the quaternion the trace was reported as 0 which is invalid")
+    raise RuntimeError(
+        "While computing the quaternion the trace was reported as 0 which is invalid"
+    )
 
 
 def spatial_to_quaternion(mat):
@@ -193,7 +195,9 @@ def spatial_to_quaternion(mat):
         return round(qx, 13), round(-qy, 13), round(-qz, 13), round(qw, 13)
 
     else:
-        raise RuntimeError("Supplied matrix to spatial_to_quaternion is not a 1D spatial matrix in size.")
+        raise RuntimeError(
+            "Supplied matrix to spatial_to_quaternion is not a 1D spatial matrix in size."
+        )
 
 
 def normalize_quaternion(x, y, z, w):
diff --git a/exporter/SynthesisFusionAddin/src/Types.py b/exporter/SynthesisFusionAddin/src/Types.py
index 1aca3a5162..d75b916792 100644
--- a/exporter/SynthesisFusionAddin/src/Types.py
+++ b/exporter/SynthesisFusionAddin/src/Types.py
@@ -110,7 +110,9 @@ def makeObjectFromJson(objType: type, data: any) -> any:
         return [makeObjectFromJson(objType.__args__[0], item) for item in data]
 
     obj = objType()
-    assert is_dataclass(obj) and isinstance(data, dict), "Found unsupported type to decode."
+    assert is_dataclass(obj) and isinstance(
+        data, dict
+    ), "Found unsupported type to decode."
     for field in fields(obj):
         if field.name in data:
             setattr(obj, field.name, makeObjectFromJson(field.type, data[field.name]))
@@ -154,7 +156,11 @@ def __eq__(self, value: object) -> bool:
             bool: Did the OString objects match?
         """
         if isinstance(value, OString):
-            if self.path == value.path and self.fileName == value.fileName and self.platform == value.platform:
+            if (
+                self.path == value.path
+                and self.fileName == value.fileName
+                and self.platform == value.platform
+            ):
                 return True
         return False
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 4a501b1319..8cec24ef6d 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -98,7 +98,9 @@ def bRepMassInRoot(self):
         for body in gm.app.activeDocument.design.rootComponent.bRepBodies:
             if not body.isLightBulbOn:
                 continue
-            physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
+            physical = body.getPhysicalProperties(
+                adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
+            )
             self.totalMass += physical.mass
 
     @logFailure(messageBox=True)
@@ -110,7 +112,9 @@ def traverseOccurrenceHierarchy(self):
             for body in occ.component.bRepBodies:
                 if not body.isLightBulbOn:
                     continue
-                physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
+                physical = body.getPhysicalProperties(
+                    adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
+                )
                 self.totalMass += physical.mass
 
     def getTotalMass(self):
@@ -179,7 +183,9 @@ def notify(self, args):
         # ~~~~~~~~~~~~~~~~ EXPORT LOCATION ~~~~~~~~~~~~~~~~~~
 
         dropdownExportLocation = inputs.addDropDownCommandInput(
-            "location", "Export Location", dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle
+            "location",
+            "Export Location",
+            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
         )
 
         upload: bool = exporterOptions.exportLocation == ExportLocation.UPLOAD
@@ -187,9 +193,7 @@ def notify(self, args):
         dropdownExportLocation.listItems.add("Download", not upload)
 
         dropdownExportLocation.tooltip = "Export Location"
-        dropdownExportLocation.tooltipDescription = (
-            "<hr>Do you want to upload this mirabuf file to APS, or download it to your local machine?"
-        )
+        dropdownExportLocation.tooltipDescription = "<hr>Do you want to upload this mirabuf file to APS, or download it to your local machine?"
 
         # ~~~~~~~~~~~~~~~~ WEIGHT CONFIGURATION ~~~~~~~~~~~~~~~~
         """
@@ -204,7 +208,9 @@ def notify(self, args):
             "3:2:2:1",
             1,
         )
-        weightTableInput.tablePresentationStyle = 2  # set transparent background for table
+        weightTableInput.tablePresentationStyle = (
+            2  # set transparent background for table
+        )
 
         weight_name = inputs.addStringValueInput("weight_name", "Weight")
         weight_name.value = "Weight"
@@ -248,12 +254,22 @@ def notify(self, args):
         weight_unit.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
         weight_unit.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
         weight_unit.tooltip = "Unit of mass"
-        weight_unit.tooltipDescription = "<hr>Configure the unit of mass for the weight calculation."
+        weight_unit.tooltipDescription = (
+            "<hr>Configure the unit of mass for the weight calculation."
+        )
 
-        weightTableInput.addCommandInput(weight_name, 0, 0)  # add command inputs to table
-        weightTableInput.addCommandInput(auto_calc_weight, 0, 1)  # add command inputs to table
-        weightTableInput.addCommandInput(weight_input, 0, 2)  # add command inputs to table
-        weightTableInput.addCommandInput(weight_unit, 0, 3)  # add command inputs to table
+        weightTableInput.addCommandInput(
+            weight_name, 0, 0
+        )  # add command inputs to table
+        weightTableInput.addCommandInput(
+            auto_calc_weight, 0, 1
+        )  # add command inputs to table
+        weightTableInput.addCommandInput(
+            weight_input, 0, 2
+        )  # add command inputs to table
+        weightTableInput.addCommandInput(
+            weight_unit, 0, 3
+        )  # add command inputs to table
 
         global jointConfigTab
         jointConfigTab = JointConfigTab(args)
@@ -263,7 +279,9 @@ def notify(self, args):
         # Should investigate changes to improve performance.
         if exporterOptions.joints:
             for synJoint in exporterOptions.joints:
-                fusionJoint = gm.app.activeDocument.design.findEntityByToken(synJoint.jointToken)[0]
+                fusionJoint = gm.app.activeDocument.design.findEntityByToken(
+                    synJoint.jointToken
+                )[0]
                 jointConfigTab.addJoint(fusionJoint, synJoint)
         else:
             for joint in [
@@ -271,7 +289,8 @@ def notify(self, args):
                 *gm.app.activeDocument.design.rootComponent.allAsBuiltJoints,
             ]:
                 if (
-                    joint.jointMotion.jointType in (JointMotions.REVOLUTE.value, JointMotions.SLIDER.value)
+                    joint.jointMotion.jointType
+                    in (JointMotions.REVOLUTE.value, JointMotions.SLIDER.value)
                     and not joint.isSuppressed
                 ):
                     jointConfigTab.addJoint(joint)
@@ -281,7 +300,9 @@ def notify(self, args):
         # Should consider changing how the parser handles wheels and joints to avoid overlap
         if exporterOptions.wheels:
             for wheel in exporterOptions.wheels:
-                fusionJoint = gm.app.activeDocument.design.findEntityByToken(wheel.jointToken)[0]
+                fusionJoint = gm.app.activeDocument.design.findEntityByToken(
+                    wheel.jointToken
+                )[0]
                 jointConfigTab.addWheel(fusionJoint, wheel)
 
         # ~~~~~~~~~~~~~~~~ GAMEPIECE CONFIGURATION ~~~~~~~~~~~~~~~~
@@ -289,7 +310,9 @@ def notify(self, args):
         Gamepiece group command input, isVisible=False by default
             - Container for gamepiece selection table
         """
-        gamepieceConfig = inputs.addGroupCommandInput("gamepiece_config", "Gamepiece Configuration")
+        gamepieceConfig = inputs.addGroupCommandInput(
+            "gamepiece_config", "Gamepiece Configuration"
+        )
         gamepieceConfig.isExpanded = True
         gamepieceConfig.isVisible = False
         gamepieceConfig.tooltip = "Select and define the gamepieces in your field."
@@ -299,7 +322,9 @@ def notify(self, args):
         """
         Mass unit dropdown and calculation for gamepiece elements
         """
-        weightTableInput_f = self.createTableInput("weight_table_f", "Weight Table", gamepiece_inputs, 3, "6:2:1", 1)
+        weightTableInput_f = self.createTableInput(
+            "weight_table_f", "Weight Table", gamepiece_inputs, 3, "6:2:1", 1
+        )
         weightTableInput_f.tablePresentationStyle = 2  # set to clear background
 
         weight_name_f = gamepiece_inputs.addStringValueInput("weight_name", "Weight")
@@ -323,14 +348,26 @@ def notify(self, args):
             "Unit of Mass",
             adsk.core.DropDownStyles.LabeledIconDropDownStyle,
         )
-        weight_unit_f.listItems.add("‎", True, IconPaths.massIcons["LBS"])  # add listdropdown mass options
-        weight_unit_f.listItems.add("‎", False, IconPaths.massIcons["KG"])  # add listdropdown mass options
+        weight_unit_f.listItems.add(
+            "‎", True, IconPaths.massIcons["LBS"]
+        )  # add listdropdown mass options
+        weight_unit_f.listItems.add(
+            "‎", False, IconPaths.massIcons["KG"]
+        )  # add listdropdown mass options
         weight_unit_f.tooltip = "Unit of mass"
-        weight_unit_f.tooltipDescription = "<hr>Configure the unit of mass for for the weight calculation."
+        weight_unit_f.tooltipDescription = (
+            "<hr>Configure the unit of mass for for the weight calculation."
+        )
 
-        weightTableInput_f.addCommandInput(weight_name_f, 0, 0)  # add command inputs to table
-        weightTableInput_f.addCommandInput(auto_calc_weight_f, 0, 1)  # add command inputs to table
-        weightTableInput_f.addCommandInput(weight_unit_f, 0, 2)  # add command inputs to table
+        weightTableInput_f.addCommandInput(
+            weight_name_f, 0, 0
+        )  # add command inputs to table
+        weightTableInput_f.addCommandInput(
+            auto_calc_weight_f, 0, 1
+        )  # add command inputs to table
+        weightTableInput_f.addCommandInput(
+            weight_unit_f, 0, 2
+        )  # add command inputs to table
 
         # GAMEPIECE SELECTION TABLE
         """
@@ -347,7 +384,9 @@ def notify(self, args):
 
         addFieldInput = gamepiece_inputs.addBoolValueInput("field_add", "Add", False)
 
-        removeFieldInput = gamepiece_inputs.addBoolValueInput("field_delete", "Remove", False)
+        removeFieldInput = gamepiece_inputs.addBoolValueInput(
+            "field_delete", "Remove", False
+        )
         addFieldInput.isEnabled = removeFieldInput.isEnabled = True
 
         removeFieldInput.tooltip = "Remove a field element"
@@ -409,17 +448,19 @@ def notify(self, args):
         """
         Creates the advanced tab, which is the parent container for internal command inputs
         """
-        advancedSettings: adsk.core.TabCommandInput = INPUTS_ROOT.addTabCommandInput("advanced_settings", "Advanced")
-        advancedSettings.tooltip = (
-            "Additional Advanced Settings to change how your model will be translated into Unity."
+        advancedSettings: adsk.core.TabCommandInput = INPUTS_ROOT.addTabCommandInput(
+            "advanced_settings", "Advanced"
         )
+        advancedSettings.tooltip = "Additional Advanced Settings to change how your model will be translated into Unity."
         a_input: adsk.core.CommandInputs = advancedSettings.children
 
         # ~~~~~~~~~~~~~~~~ EXPORTER SETTINGS ~~~~~~~~~~~~~~~~
         """
         Exporter settings group command
         """
-        exporterSettings = a_input.addGroupCommandInput("exporter_settings", "Exporter Settings")
+        exporterSettings = a_input.addGroupCommandInput(
+            "exporter_settings", "Exporter Settings"
+        )
         exporterSettings.isExpanded = True
         exporterSettings.isEnabled = True
         exporterSettings.tooltip = "tooltip"  # TODO: update tooltip
@@ -466,20 +507,26 @@ def notify(self, args):
             enabled=True,
             isCheckBox=False,
         )
-        frictionOverrideInput.resourceFolder = IconPaths.stringIcons["friction_override-enabled"]
+        frictionOverrideInput.resourceFolder = IconPaths.stringIcons[
+            "friction_override-enabled"
+        ]
         frictionOverrideInput.isFullWidth = True
 
         valueList = [1]
         for i in range(20):
             valueList.append(i / 20)
 
-        frictionCoeffSlider: adsk.core.FloatSliderCommandInput = physics_settings.addFloatSliderListCommandInput(
-            "friction_override_coeff", "Friction Coefficient", "", valueList
+        frictionCoeffSlider: adsk.core.FloatSliderCommandInput = (
+            physics_settings.addFloatSliderListCommandInput(
+                "friction_override_coeff", "Friction Coefficient", "", valueList
+            )
         )
         frictionCoeffSlider.isVisible = True
         frictionCoeffSlider.valueOne = 0.5
         frictionCoeffSlider.tooltip = "Friction coefficient of field element."
-        frictionCoeffSlider.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
+        frictionCoeffSlider.tooltipDescription = (
+            "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
+        )
 
         # ~~~~~~~~~~~~~~~~ JOINT SETTINGS ~~~~~~~~~~~~~~~~
         """
@@ -553,7 +600,8 @@ def notify(self, args):
         getAuth()
         user_info = getUserInfo()
         apsSettings = INPUTS_ROOT.addTabCommandInput(
-            "aps_settings", f"APS Settings ({user_info.given_name if user_info else 'Not Signed In'})"
+            "aps_settings",
+            f"APS Settings ({user_info.given_name if user_info else 'Not Signed In'})",
         )
         apsSettings.tooltip = "Configuration settings for Autodesk Platform Services."
 
@@ -777,7 +825,9 @@ def notify(self, args):
             isRobot = False
         dropdownExportLocation = INPUTS_ROOT.itemById("location")
         if dropdownExportLocation.selectedItem.index == 1:  # Download
-            savepath = FileDialogConfig.saveFileDialog(defaultPath=exporterOptions.fileLocation)
+            savepath = FileDialogConfig.saveFileDialog(
+                defaultPath=exporterOptions.fileLocation
+            )
 
             if savepath == False:
                 # save was canceled
@@ -809,12 +859,16 @@ def notify(self, args):
             if row == 0:
                 continue
 
-            weightValue = gamepieceTableInput.getInputAtPosition(row, 2).value  # weight/mass input, float
+            weightValue = gamepieceTableInput.getInputAtPosition(
+                row, 2
+            ).value  # weight/mass input, float
 
             if weight_unit_f.selectedItem.index == 0:
                 weightValue /= 2.2046226218
 
-            frictionValue = gamepieceTableInput.getInputAtPosition(row, 3).valueOne  # friction value, float
+            frictionValue = gamepieceTableInput.getInputAtPosition(
+                row, 3
+            ).valueOne  # friction value, float
 
             _exportGamepieces.append(
                 Gamepiece(
@@ -970,7 +1024,9 @@ def __init__(self, cmd):
         self.cmd = cmd
 
         self.allWheelPreselections = []  # all child occurrences of selections
-        self.allGamepiecePreselections = []  # all child gamepiece occurrences of selections
+        self.allGamepiecePreselections = (
+            []
+        )  # all child gamepiece occurrences of selections
 
         self.selectedOcc = None  # selected occurrence (if there is one)
         self.selectedJoint = None  # selected joint (if there is one)
@@ -1027,12 +1083,18 @@ def wheelParent(self, occ: adsk.fusion.Occurrence):
 
         try:
             for joint in occ.joints:
-                if joint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:
+                if (
+                    joint.jointMotion.jointType
+                    == adsk.fusion.JointTypes.RevoluteJointType
+                ):
                     # gm.ui.messageBox("Selection is directly jointed.\nReturning selection.\n\n" + "Occurrence:\n--> " + occ.name + "\nJoint:\n--> " + joint.name)
                     return [joint.entityToken, occ]
         except:
             for joint in occ.component.joints:
-                if joint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:
+                if (
+                    joint.jointMotion.jointType
+                    == adsk.fusion.JointTypes.RevoluteJointType
+                ):
                     # gm.ui.messageBox("Selection is directly jointed.\nReturning selection.\n\n" + "Occurrence:\n--> " + occ.name + "\nJoint:\n--> " + joint.name)
                     return [joint.entityToken, occ]
 
@@ -1184,7 +1246,9 @@ def notify(self, args):
         preSelectedJoint = adsk.fusion.Joint.cast(args.selection.entity)
 
         if (preSelectedOcc or preSelectedJoint) and design:
-            self.cmd.setCursor("", 0, 0)  # if preselection ends (mouse off of design), reset the mouse icon to default
+            self.cmd.setCursor(
+                "", 0, 0
+            )  # if preselection ends (mouse off of design), reset the mouse icon to default
 
 
 class ConfigureCommandInputChanged(adsk.core.InputChangedEventHandler):
@@ -1285,7 +1349,11 @@ def notify(self, args):
                     gm.ui.activeSelections.clear()
                     gm.app.activeDocument.design.rootComponent.opacity = 1
 
-        elif cmdInput.id == "blank_gp" or cmdInput.id == "name_gp" or cmdInput.id == "weight_gp":
+        elif (
+            cmdInput.id == "blank_gp"
+            or cmdInput.id == "name_gp"
+            or cmdInput.id == "weight_gp"
+        ):
             self.reset()
 
             gamepieceSelect.isEnabled = False
@@ -1294,13 +1362,33 @@ def notify(self, args):
             cmdInput_str = cmdInput.id
 
             if cmdInput_str == "name_gp":
-                position = gamepieceTableInput.getPosition(adsk.core.TextBoxCommandInput.cast(cmdInput))[1] - 1
+                position = (
+                    gamepieceTableInput.getPosition(
+                        adsk.core.TextBoxCommandInput.cast(cmdInput)
+                    )[1]
+                    - 1
+                )
             elif cmdInput_str == "weight_gp":
-                position = gamepieceTableInput.getPosition(adsk.core.ValueCommandInput.cast(cmdInput))[1] - 1
+                position = (
+                    gamepieceTableInput.getPosition(
+                        adsk.core.ValueCommandInput.cast(cmdInput)
+                    )[1]
+                    - 1
+                )
             elif cmdInput_str == "blank_gp":
-                position = gamepieceTableInput.getPosition(adsk.core.ImageCommandInput.cast(cmdInput))[1] - 1
+                position = (
+                    gamepieceTableInput.getPosition(
+                        adsk.core.ImageCommandInput.cast(cmdInput)
+                    )[1]
+                    - 1
+                )
             else:
-                position = gamepieceTableInput.getPosition(adsk.core.FloatSliderCommandInput.cast(cmdInput))[1] - 1
+                position = (
+                    gamepieceTableInput.getPosition(
+                        adsk.core.FloatSliderCommandInput.cast(cmdInput)
+                    )[1]
+                    - 1
+                )
 
             gm.ui.activeSelections.add(GamepieceListGlobal[position])
 
@@ -1317,7 +1405,10 @@ def notify(self, args):
 
             addFieldInput.isEnabled = True
 
-            if gamepieceTableInput.selectedRow == -1 or gamepieceTableInput.selectedRow == 0:
+            if (
+                gamepieceTableInput.selectedRow == -1
+                or gamepieceTableInput.selectedRow == 0
+            ):
                 gamepieceTableInput.selectedRow = gamepieceTableInput.rowCount - 1
                 gm.ui.messageBox("Select a row to delete.")
             else:
@@ -1341,15 +1432,11 @@ def notify(self, args):
             if unitDropdown.selectedItem.index == 0:
                 self.isLbs = True
 
-                weightInput.tooltipDescription = (
-                    """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
-                )
+                weightInput.tooltipDescription = """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
             elif unitDropdown.selectedItem.index == 1:
                 self.isLbs = False
 
-                weightInput.tooltipDescription = (
-                    """<tt>(in kilograms)</tt><hr>This is the weight of the entire robot assembly."""
-                )
+                weightInput.tooltipDescription = """<tt>(in kilograms)</tt><hr>This is the weight of the entire robot assembly."""
 
         elif cmdInput.id == "weight_unit_f":
             unitDropdown = adsk.core.DropDownCommandInput.cast(cmdInput)
@@ -1374,7 +1461,9 @@ def notify(self, args):
             button = adsk.core.BoolValueCommandInput.cast(cmdInput)
 
             if button.value == True:  # CALCULATE button pressed
-                if self.allWeights.count(None) == 2:  # if button is pressed for the first time
+                if (
+                    self.allWeights.count(None) == 2
+                ):  # if button is pressed for the first time
                     if self.isLbs:  # if pounds unit selected
                         self.allWeights[0] = self.weight()
                         weight_input.value = self.allWeights[0]
@@ -1401,7 +1490,9 @@ def notify(self, args):
                         if row == 0:
                             continue
                         weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-                        physical = GamepieceListGlobal[row - 1].component.getPhysicalProperties(
+                        physical = GamepieceListGlobal[
+                            row - 1
+                        ].component.getPhysicalProperties(
                             adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
                         )
                         value = round(physical.mass * 2.2046226218, 2)
@@ -1412,7 +1503,9 @@ def notify(self, args):
                         if row == 0:
                             continue
                         weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-                        physical = GamepieceListGlobal[row - 1].component.getPhysicalProperties(
+                        physical = GamepieceListGlobal[
+                            row - 1
+                        ].component.getPhysicalProperties(
                             adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
                         )
                         value = round(physical.mass, 2)
@@ -1475,12 +1568,18 @@ def addPreselections(child_occurrences):
 
     GamepieceListGlobal.append(gamepiece)
     cmdInputs = adsk.core.CommandInputs.cast(gamepieceTableInput.commandInputs)
-    blankIcon = cmdInputs.addImageCommandInput("blank_gp", "Blank", IconPaths.gamepieceIcons["blank"])
+    blankIcon = cmdInputs.addImageCommandInput(
+        "blank_gp", "Blank", IconPaths.gamepieceIcons["blank"]
+    )
 
-    type = cmdInputs.addTextBoxCommandInput("name_gp", "Occurrence name", gamepiece.name, 1, True)
+    type = cmdInputs.addTextBoxCommandInput(
+        "name_gp", "Occurrence name", gamepiece.name, 1, True
+    )
 
     value = 0.0
-    physical = gamepiece.component.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
+    physical = gamepiece.component.getPhysicalProperties(
+        adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
+    )
     value = physical.mass
 
     # check if dropdown unit is kg or lbs. bool value taken from ConfigureCommandInputChanged
@@ -1504,7 +1603,9 @@ def addPreselections(child_occurrences):
     for i in range(20):
         valueList.append(i / 20)
 
-    friction_coeff = cmdInputs.addFloatSliderListCommandInput("friction_coeff", "", "", valueList)
+    friction_coeff = cmdInputs.addFloatSliderListCommandInput(
+        "friction_coeff", "", "", valueList
+    )
     friction_coeff.valueOne = 0.5
 
     type.tooltip = gamepiece.name
@@ -1513,7 +1614,9 @@ def addPreselections(child_occurrences):
     weight.tooltipDescription = massUnitInString
 
     friction_coeff.tooltip = "Friction coefficient of field element"
-    friction_coeff.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
+    friction_coeff.tooltipDescription = (
+        "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
+    )
     row = gamepieceTableInput.rowCount
 
     gamepieceTableInput.addCommandInput(blankIcon, row, 0)
diff --git a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
index 52a49fa5d4..1c6a5c8b3f 100644
--- a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
+++ b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
@@ -22,14 +22,20 @@ def createTextGraphics(wheel: adsk.fusion.Occurrence, _wheels) -> None:
         matrix = adsk.core.Matrix3D.create()
         matrix.translation = adsk.core.Vector3D.create(min[0], min[1] - 5, min[2])
 
-        billBoard = adsk.fusion.CustomGraphicsBillBoard.create(adsk.core.Point3D.create(0, 0, 0))
-        billBoard.billBoardStyle = adsk.fusion.CustomGraphicsBillBoardStyles.ScreenBillBoardStyle
+        billBoard = adsk.fusion.CustomGraphicsBillBoard.create(
+            adsk.core.Point3D.create(0, 0, 0)
+        )
+        billBoard.billBoardStyle = (
+            adsk.fusion.CustomGraphicsBillBoardStyles.ScreenBillBoardStyle
+        )
 
         text = str(_wheels.index(wheel) + 1)
         graphicsText = graphics.addText(text, "Arial Black", 6, matrix)
         graphicsText.billBoarding = billBoard  # make the text follow the camera
         graphicsText.isSelectable = False  # make it non-selectable
-        graphicsText.cullMode = adsk.fusion.CustomGraphicsCullModes.CustomGraphicsCullBack
+        graphicsText.cullMode = (
+            adsk.fusion.CustomGraphicsCullModes.CustomGraphicsCullBack
+        )
         graphicsText.color = adsk.fusion.CustomGraphicsShowThroughColorEffect.create(
             adsk.core.Color.create(230, 146, 18, 255), 1
         )  # orange/synthesis theme
diff --git a/exporter/SynthesisFusionAddin/src/UI/Events.py b/exporter/SynthesisFusionAddin/src/UI/Events.py
index 281ebf3f0e..bf96f5b9cc 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Events.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Events.py
@@ -53,8 +53,12 @@ def openDocument(json_data: str) -> str:
     """
     data = json.loads(json_data)
     data = data["arguments"]
-    gm.ui.messageBox(f"Attempting to open and focus on a given document: {data}\n TODO: Implement")
-    logger.info(f"Attempting to open and focus on a given document: {data}\n TODO: Implement")
+    gm.ui.messageBox(
+        f"Attempting to open and focus on a given document: {data}\n TODO: Implement"
+    )
+    logger.info(
+        f"Attempting to open and focus on a given document: {data}\n TODO: Implement"
+    )
     return ""
 
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
index 6f6f764cd9..47f7aba3eb 100644
--- a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
+++ b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
@@ -9,7 +9,9 @@
 from ..Types import OString
 
 
-def saveFileDialog(defaultPath: str | None = None, defaultName: str | None = None) -> str | bool:
+def saveFileDialog(
+    defaultPath: str | None = None, defaultName: str | None = None
+) -> str | bool:
     """Function to generate the Save File Dialog for the Hellion Data files
 
     Args:
diff --git a/exporter/SynthesisFusionAddin/src/UI/HUI.py b/exporter/SynthesisFusionAddin/src/UI/HUI.py
index 3b52de9999..2842e70a78 100644
--- a/exporter/SynthesisFusionAddin/src/UI/HUI.py
+++ b/exporter/SynthesisFusionAddin/src/UI/HUI.py
@@ -44,7 +44,9 @@ def __init__(
             self.events.append(arg)
 
         if self.uid in gm.uniqueIds:
-            raise ValueError(f"Cannot create two UI Elements with the same ID {self.uid}\n")
+            raise ValueError(
+                f"Cannot create two UI Elements with the same ID {self.uid}\n"
+            )
 
         if gm.ui.palettes is None:
             raise RuntimeError(f"No Palette object exists yet")
@@ -52,7 +54,9 @@ def __init__(
         self.palette = gm.ui.palettes.itemById(self.uid)
 
         if self.palette is None:
-            path = OsHelper.getOSPathPalette("src", "Resources", "Palette", f'{self.name.replace(" ", "")}')
+            path = OsHelper.getOSPathPalette(
+                "src", "Resources", "Palette", f'{self.name.replace(" ", "")}'
+            )
 
             self.palette = gm.ui.palettes.add(
                 self.uid,
@@ -65,7 +69,9 @@ def __init__(
                 height,
             )
 
-            self.palette.dockingState = adsk.core.PaletteDockingStates.PaletteDockStateLeft
+            self.palette.dockingState = (
+                adsk.core.PaletteDockingStates.PaletteDockStateLeft
+            )
 
             onHTML = Handlers.HPaletteHTMLEventHandler(self)
             self.palette.incomingFromHTML.add(onHTML)
@@ -112,7 +118,9 @@ def __init__(
         self.uid = name.replace(" ", "") + f"_{INTERNAL_ID}"
 
         if self.uid in gm.uniqueIds:
-            raise ValueError(f"Cannot create two UI Elements with the same ID {self.uid}\n")
+            raise ValueError(
+                f"Cannot create two UI Elements with the same ID {self.uid}\n"
+            )
 
         self.name = name
 
@@ -130,7 +138,9 @@ def __init__(
             self.uid,
             f"{name}",
             f"{description}",
-            OsHelper.getOSPath(".", "src", "Resources", f'{self.name.replace(" ", "")}'),
+            OsHelper.getOSPath(
+                ".", "src", "Resources", f'{self.name.replace(" ", "")}'
+            ),
         )
         """ Button Command Definition stored as a member """
 
@@ -180,7 +190,9 @@ def deleteMe(self):
         if cmdDef:
             cmdDef.deleteMe()
 
-        ctrl = gm.ui.allToolbarPanels.itemById(self.location).controls.itemById(self.uid)
+        ctrl = gm.ui.allToolbarPanels.itemById(self.location).controls.itemById(
+            self.uid
+        )
         if ctrl:
             ctrl.deleteMe()
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Helper.py b/exporter/SynthesisFusionAddin/src/UI/Helper.py
index 7c8e3a5930..560f69f9df 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Helper.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Helper.py
@@ -25,7 +25,9 @@ def checkAttribute() -> bool:
             return connected.value
         return False
     except:
-        app.userInterface.messageBox(f"Could not access the attributes of the file \n -- {traceback.format_exc()}.")
+        app.userInterface.messageBox(
+            f"Could not access the attributes of the file \n -- {traceback.format_exc()}."
+        )
         return False
 
 
@@ -46,7 +48,9 @@ def addUnityAttribute() -> bool or None:
         return None
 
     except:
-        app.userInterface.messageBox(f"Could not access the attributes of the file \n -- {traceback.format_exc()}.")
+        app.userInterface.messageBox(
+            f"Could not access the attributes of the file \n -- {traceback.format_exc()}."
+        )
         return False
 
 
@@ -67,7 +71,9 @@ def openPanel() -> None:
             gm.app.data.isDataPanelVisible = False
     else:
         func_list = [o for o in getmembers(Events, isfunction)]
-        palette_new = HUI.HPalette(name, APP_TITLE, True, True, False, 400, 500, func_list)
+        palette_new = HUI.HPalette(
+            name, APP_TITLE, True, True, False, 400, 500, func_list
+        )
         gm.elements.append(palette_new)
 
     return
diff --git a/exporter/SynthesisFusionAddin/src/UI/IconPaths.py b/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
index 261720494c..f5f9017b4e 100644
--- a/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
+++ b/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
@@ -5,20 +5,27 @@
 """
 Dictionaries that store all the icon paths in ConfigCommand. All path strings are OS-independent
 """
-resources = OsHelper.getOSPath(".", "src", "Resources")  # str shortcut with primary directories to all images in file
+resources = OsHelper.getOSPath(
+    ".", "src", "Resources"
+)  # str shortcut with primary directories to all images in file
 
 wheelIcons = {
     "omni": resources + os.path.join("WheelIcons", "omni-wheel-preview190x24.png"),
-    "standard": resources + os.path.join("WheelIcons", "standard-wheel-preview190x24.png"),
-    "mecanum": resources + os.path.join("WheelIcons", "mecanum-wheel-preview190x24.png"),
+    "standard": resources
+    + os.path.join("WheelIcons", "standard-wheel-preview190x24.png"),
+    "mecanum": resources
+    + os.path.join("WheelIcons", "mecanum-wheel-preview190x24.png"),
 }
 
 jointIcons = {
     "rigid": resources + os.path.join("JointIcons", "JointRigid", "rigid190x24.png"),
-    "revolute": resources + os.path.join("JointIcons", "JointRev", "revolute190x24.png"),
+    "revolute": resources
+    + os.path.join("JointIcons", "JointRev", "revolute190x24.png"),
     "slider": resources + os.path.join("JointIcons", "JointSlider", "slider190x24.png"),
-    "cylindrical": resources + os.path.join("JointIcons", "JointCyl", "cylindrical190x24.png"),
-    "pin_slot": resources + os.path.join("JointIcons", "JointPinSlot", "pin_slot190x24.png"),
+    "cylindrical": resources
+    + os.path.join("JointIcons", "JointCyl", "cylindrical190x24.png"),
+    "pin_slot": resources
+    + os.path.join("JointIcons", "JointPinSlot", "pin_slot190x24.png"),
     "planar": resources + os.path.join("JointIcons", "JointPlanar", "planar190x24.png"),
     "ball": resources + os.path.join("JointIcons", "JointBall", "ball190x24.png"),
 }
@@ -44,6 +51,8 @@
 }
 
 stringIcons = {
-    "calculate-enabled": resources + os.path.join("AutoCalcWeight_icon"),  # resource folder
-    "friction_override-enabled": resources + os.path.join("FrictionOverride_icon"),  # resource folder
+    "calculate-enabled": resources
+    + os.path.join("AutoCalcWeight_icon"),  # resource folder
+    "friction_override-enabled": resources
+    + os.path.join("FrictionOverride_icon"),  # resource folder
 }
diff --git a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
index 4f25ebfe01..30304f8b90 100644
--- a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
@@ -26,38 +26,84 @@ class JointConfigTab:
     @logFailure
     def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
         inputs = args.command.commandInputs
-        self.jointConfigTab = inputs.addTabCommandInput("jointSettings", "Joint Settings")
+        self.jointConfigTab = inputs.addTabCommandInput(
+            "jointSettings", "Joint Settings"
+        )
         self.jointConfigTab.tooltip = "Select and configure robot joints."
         jointConfigTabInputs = self.jointConfigTab.children
-        self.jointConfigTable = createTableInput("jointTable", "Joint Table", jointConfigTabInputs, 7, "1:2:2:2:2:2:2")
+        self.jointConfigTable = createTableInput(
+            "jointTable", "Joint Table", jointConfigTabInputs, 7, "1:2:2:2:2:2:2"
+        )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput("jointMotionHeader", "Motion", jointConfigTabInputs, "Motion", bold=False), 0, 0
+            createTextBoxInput(
+                "jointMotionHeader",
+                "Motion",
+                jointConfigTabInputs,
+                "Motion",
+                bold=False,
+            ),
+            0,
+            0,
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput("nameHeader", "Name", jointConfigTabInputs, "Joint name", bold=False), 0, 1
+            createTextBoxInput(
+                "nameHeader", "Name", jointConfigTabInputs, "Joint name", bold=False
+            ),
+            0,
+            1,
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput("parentHeader", "Parent", jointConfigTabInputs, "Parent joint", background="#d9d9d9"),
+            createTextBoxInput(
+                "parentHeader",
+                "Parent",
+                jointConfigTabInputs,
+                "Parent joint",
+                background="#d9d9d9",
+            ),
             0,
             2,
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput("signalHeader", "Signal", jointConfigTabInputs, "Signal type", background="#d9d9d9"),
+            createTextBoxInput(
+                "signalHeader",
+                "Signal",
+                jointConfigTabInputs,
+                "Signal type",
+                background="#d9d9d9",
+            ),
             0,
             3,
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput("speedHeader", "Speed", jointConfigTabInputs, "Joint Speed", background="#d9d9d9"),
+            createTextBoxInput(
+                "speedHeader",
+                "Speed",
+                jointConfigTabInputs,
+                "Joint Speed",
+                background="#d9d9d9",
+            ),
             0,
             4,
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput("forceHeader", "Force", jointConfigTabInputs, "Joint Force", background="#d9d9d9"),
+            createTextBoxInput(
+                "forceHeader",
+                "Force",
+                jointConfigTabInputs,
+                "Joint Force",
+                background="#d9d9d9",
+            ),
             0,
             5,
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput("wheelHeader", "Is Wheel", jointConfigTabInputs, "Is Wheel", background="#d9d9d9"),
+            createTextBoxInput(
+                "wheelHeader",
+                "Is Wheel",
+                jointConfigTabInputs,
+                "Is Wheel",
+                background="#d9d9d9",
+            ),
             0,
             6,
         )
@@ -67,37 +113,69 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
         )
         jointSelect.addSelectionFilter("Joints")
         jointSelect.setSelectionLimits(0)
-        jointSelect.isEnabled = jointSelect.isVisible = False  # Visibility is triggered by `addJointInputButton`
+        jointSelect.isEnabled = jointSelect.isVisible = (
+            False  # Visibility is triggered by `addJointInputButton`
+        )
 
-        jointConfigTabInputs.addTextBoxCommandInput("jointTabBlankSpacer", "", "", 1, True)
+        jointConfigTabInputs.addTextBoxCommandInput(
+            "jointTabBlankSpacer", "", "", 1, True
+        )
 
-        self.wheelConfigTable = createTableInput("wheelTable", "Wheel Table", jointConfigTabInputs, 4, "1:2:2:2")
+        self.wheelConfigTable = createTableInput(
+            "wheelTable", "Wheel Table", jointConfigTabInputs, 4, "1:2:2:2"
+        )
         self.wheelConfigTable.addCommandInput(
-            createTextBoxInput("wheelMotionHeader", "Motion", jointConfigTabInputs, "Motion", bold=False), 0, 0
+            createTextBoxInput(
+                "wheelMotionHeader",
+                "Motion",
+                jointConfigTabInputs,
+                "Motion",
+                bold=False,
+            ),
+            0,
+            0,
         )
         self.wheelConfigTable.addCommandInput(
-            createTextBoxInput("name_header", "Name", jointConfigTabInputs, "Joint name", bold=False), 0, 1
+            createTextBoxInput(
+                "name_header", "Name", jointConfigTabInputs, "Joint name", bold=False
+            ),
+            0,
+            1,
         )
         self.wheelConfigTable.addCommandInput(
             createTextBoxInput(
-                "wheelTypeHeader", "WheelType", jointConfigTabInputs, "Wheel type", background="#d9d9d9"
+                "wheelTypeHeader",
+                "WheelType",
+                jointConfigTabInputs,
+                "Wheel type",
+                background="#d9d9d9",
             ),
             0,
             2,
         )
         self.wheelConfigTable.addCommandInput(
             createTextBoxInput(
-                "signalTypeHeader", "SignalType", jointConfigTabInputs, "Signal type", background="#d9d9d9"
+                "signalTypeHeader",
+                "SignalType",
+                jointConfigTabInputs,
+                "Signal type",
+                background="#d9d9d9",
             ),
             0,
             3,
         )
 
-        jointSelectCancelButton = jointConfigTabInputs.addBoolValueInput("jointSelectCancelButton", "Cancel", False)
+        jointSelectCancelButton = jointConfigTabInputs.addBoolValueInput(
+            "jointSelectCancelButton", "Cancel", False
+        )
         jointSelectCancelButton.isEnabled = jointSelectCancelButton.isVisible = False
 
-        addJointInputButton = jointConfigTabInputs.addBoolValueInput("jointAddButton", "Add", False)
-        removeJointInputButton = jointConfigTabInputs.addBoolValueInput("jointRemoveButton", "Remove", False)
+        addJointInputButton = jointConfigTabInputs.addBoolValueInput(
+            "jointAddButton", "Add", False
+        )
+        removeJointInputButton = jointConfigTabInputs.addBoolValueInput(
+            "jointRemoveButton", "Remove", False
+        )
         addJointInputButton.isEnabled = removeJointInputButton.isEnabled = True
 
         self.jointConfigTable.addToolbarCommandInput(addJointInputButton)
@@ -107,7 +185,9 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
         self.reset()
 
     @logFailure
-    def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None) -> bool:
+    def addJoint(
+        self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
+    ) -> bool:
         if fusionJoint in self.selectedJointList:
             return False
 
@@ -115,34 +195,62 @@ def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
         commandInputs = self.jointConfigTable.commandInputs
 
         if fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.RigidJointType:
-            icon = commandInputs.addImageCommandInput("placeholder", "Rigid", IconPaths.jointIcons["rigid"])
+            icon = commandInputs.addImageCommandInput(
+                "placeholder", "Rigid", IconPaths.jointIcons["rigid"]
+            )
             icon.tooltip = "Rigid joint"
 
-        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:
-            icon = commandInputs.addImageCommandInput("placeholder", "Revolute", IconPaths.jointIcons["revolute"])
+        elif (
+            fusionJoint.jointMotion.jointType
+            == adsk.fusion.JointTypes.RevoluteJointType
+        ):
+            icon = commandInputs.addImageCommandInput(
+                "placeholder", "Revolute", IconPaths.jointIcons["revolute"]
+            )
             icon.tooltip = "Revolute joint"
 
-        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.SliderJointType:
-            icon = commandInputs.addImageCommandInput("placeholder", "Slider", IconPaths.jointIcons["slider"])
+        elif (
+            fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.SliderJointType
+        ):
+            icon = commandInputs.addImageCommandInput(
+                "placeholder", "Slider", IconPaths.jointIcons["slider"]
+            )
             icon.tooltip = "Slider joint"
 
-        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.PlanarJointType:
-            icon = commandInputs.addImageCommandInput("placeholder", "Planar", IconPaths.jointIcons["planar"])
+        elif (
+            fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.PlanarJointType
+        ):
+            icon = commandInputs.addImageCommandInput(
+                "placeholder", "Planar", IconPaths.jointIcons["planar"]
+            )
             icon.tooltip = "Planar joint"
 
-        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.PinSlotJointType:
-            icon = commandInputs.addImageCommandInput("placeholder", "Pin Slot", IconPaths.jointIcons["pin_slot"])
+        elif (
+            fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.PinSlotJointType
+        ):
+            icon = commandInputs.addImageCommandInput(
+                "placeholder", "Pin Slot", IconPaths.jointIcons["pin_slot"]
+            )
             icon.tooltip = "Pin slot joint"
 
-        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.CylindricalJointType:
-            icon = commandInputs.addImageCommandInput("placeholder", "Cylindrical", IconPaths.jointIcons["cylindrical"])
+        elif (
+            fusionJoint.jointMotion.jointType
+            == adsk.fusion.JointTypes.CylindricalJointType
+        ):
+            icon = commandInputs.addImageCommandInput(
+                "placeholder", "Cylindrical", IconPaths.jointIcons["cylindrical"]
+            )
             icon.tooltip = "Cylindrical joint"
 
         elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.BallJointType:
-            icon = commandInputs.addImageCommandInput("placeholder", "Ball", IconPaths.jointIcons["ball"])
+            icon = commandInputs.addImageCommandInput(
+                "placeholder", "Ball", IconPaths.jointIcons["ball"]
+            )
             icon.tooltip = "Ball joint"
 
-        name = commandInputs.addTextBoxCommandInput("name_j", "Occurrence name", "", 1, True)
+        name = commandInputs.addTextBoxCommandInput(
+            "name_j", "Occurrence name", "", 1, True
+        )
         name.tooltip = fusionJoint.name
         name.formattedText = f"<p style='font-size:11px'>{fusionJoint.name}</p>"
 
@@ -166,7 +274,9 @@ def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
             jointType.listItems.add(fusionJoint.name, False)
 
         jointType.tooltip = "Possible parent joints"
-        jointType.tooltipDescription = "<hr>The root component is usually the parent.</hr>"
+        jointType.tooltipDescription = (
+            "<hr>The root component is usually the parent.</hr>"
+        )
 
         signalType = commandInputs.addDropDownCommandInput(
             "signalTypeJoint",
@@ -177,9 +287,17 @@ def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
         # Invisible white space characters are required in the list item name field to make this work.
         # I have no idea why, Fusion API needs some special education help - Brandon
         if synJoint:
-            signalType.listItems.add("‎", synJoint.signalType is SignalType.PWM, IconPaths.signalIcons["PWM"])
-            signalType.listItems.add("‎", synJoint.signalType is SignalType.CAN, IconPaths.signalIcons["CAN"])
-            signalType.listItems.add("‎", synJoint.signalType is SignalType.PASSIVE, IconPaths.signalIcons["PASSIVE"])
+            signalType.listItems.add(
+                "‎", synJoint.signalType is SignalType.PWM, IconPaths.signalIcons["PWM"]
+            )
+            signalType.listItems.add(
+                "‎", synJoint.signalType is SignalType.CAN, IconPaths.signalIcons["CAN"]
+            )
+            signalType.listItems.add(
+                "‎",
+                synJoint.signalType is SignalType.PASSIVE,
+                IconPaths.signalIcons["PASSIVE"],
+            )
         else:
             signalType.listItems.add("‎", True, IconPaths.signalIcons["PWM"])
             signalType.listItems.add("‎", False, IconPaths.signalIcons["CAN"])
@@ -194,7 +312,10 @@ def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
         self.jointConfigTable.addCommandInput(signalType, row, 3)
 
         # Comparison by `==` over `is` because the Autodesk API does not use `Enum` for their enum classes
-        if fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:
+        if (
+            fusionJoint.jointMotion.jointType
+            == adsk.fusion.JointTypes.RevoluteJointType
+        ):
             if synJoint:
                 jointSpeedValue = synJoint.speed
             else:
@@ -209,7 +330,9 @@ def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
             jointSpeed.tooltip = "Degrees per second"
             self.jointConfigTable.addCommandInput(jointSpeed, row, 4)
 
-        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.SliderJointType:
+        elif (
+            fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.SliderJointType
+        ):
             if synJoint:
                 jointSpeedValue = synJoint.speed
             else:
@@ -225,19 +348,29 @@ def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
             self.jointConfigTable.addCommandInput(jointSpeed, row, 4)
 
         if synJoint:
-            jointForceValue = synJoint.force * 100  # Currently a factor of 100 - Should be investigated
+            jointForceValue = (
+                synJoint.force * 100
+            )  # Currently a factor of 100 - Should be investigated
         else:
             jointForceValue = 5
 
         jointForce = commandInputs.addValueInput(
-            "jointForce", "Force", "N", adsk.core.ValueInput.createByReal(jointForceValue)
+            "jointForce",
+            "Force",
+            "N",
+            adsk.core.ValueInput.createByReal(jointForceValue),
         )
         jointForce.tooltip = "Newtons"
         self.jointConfigTable.addCommandInput(jointForce, row, 5)
 
-        if fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:
+        if (
+            fusionJoint.jointMotion.jointType
+            == adsk.fusion.JointTypes.RevoluteJointType
+        ):
             wheelCheckboxEnabled = True
-            wheelCheckboxTooltip = "Determines if this joint should be counted as a wheel."
+            wheelCheckboxTooltip = (
+                "Determines if this joint should be counted as a wheel."
+            )
         else:
             wheelCheckboxEnabled = False
             wheelCheckboxTooltip = "Only Revolute joints can be treated as wheels."
@@ -270,10 +403,14 @@ def addWheel(self, joint: adsk.fusion.Joint, wheel: Wheel | None = None) -> None
             "wheelPlaceholder", "Placeholder", IconPaths.wheelIcons["standard"]
         )
         wheelIcon.tooltip = "Standard wheel"
-        wheelName = commandInputs.addTextBoxCommandInput("wheelName", "Joint Name", joint.name, 1, True)
+        wheelName = commandInputs.addTextBoxCommandInput(
+            "wheelName", "Joint Name", joint.name, 1, True
+        )
         wheelName.tooltip = joint.name  # TODO: Should this be the same?
         wheelType = commandInputs.addDropDownCommandInput(
-            "wheelType", "Wheel Type", dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle
+            "wheelType",
+            "Wheel Type",
+            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
         )
 
         selectedWheelType = wheel.wheelType if wheel else WheelType.STANDARD
@@ -290,16 +427,28 @@ def addWheel(self, joint: adsk.fusion.Joint, wheel: Wheel | None = None) -> None
         )
 
         signalType = commandInputs.addDropDownCommandInput(
-            "wheelSignalType", "Signal Type", dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle
+            "wheelSignalType",
+            "Signal Type",
+            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
         )
         signalType.isFullWidth = True
         signalType.isEnabled = False
-        signalType.tooltip = "Wheel signal type is linked with the respective joint signal type."
+        signalType.tooltip = (
+            "Wheel signal type is linked with the respective joint signal type."
+        )
         i = self.selectedJointList.index(joint)
-        jointSignalType = SignalType(self.jointConfigTable.getInputAtPosition(i + 1, 3).selectedItem.index + 1)
-        signalType.listItems.add("‎", jointSignalType is SignalType.PWM, IconPaths.signalIcons["PWM"])
-        signalType.listItems.add("‎", jointSignalType is SignalType.CAN, IconPaths.signalIcons["CAN"])
-        signalType.listItems.add("‎", jointSignalType is SignalType.PASSIVE, IconPaths.signalIcons["PASSIVE"])
+        jointSignalType = SignalType(
+            self.jointConfigTable.getInputAtPosition(i + 1, 3).selectedItem.index + 1
+        )
+        signalType.listItems.add(
+            "‎", jointSignalType is SignalType.PWM, IconPaths.signalIcons["PWM"]
+        )
+        signalType.listItems.add(
+            "‎", jointSignalType is SignalType.CAN, IconPaths.signalIcons["CAN"]
+        )
+        signalType.listItems.add(
+            "‎", jointSignalType is SignalType.PASSIVE, IconPaths.signalIcons["PASSIVE"]
+        )
 
         row = self.wheelConfigTable.rowCount
         self.wheelConfigTable.addCommandInput(wheelIcon, row, 0)
@@ -351,7 +500,9 @@ def getSelectedJointsAndWheels(self) -> tuple[list[Joint], list[Wheel]]:
         wheels: list[Wheel] = []
         for row in range(1, self.jointConfigTable.rowCount):  # Row is 1 indexed
             jointEntityToken = self.selectedJointList[row - 1].entityToken
-            signalTypeIndex = self.jointConfigTable.getInputAtPosition(row, 3).selectedItem.index
+            signalTypeIndex = self.jointConfigTable.getInputAtPosition(
+                row, 3
+            ).selectedItem.index
             signalType = SignalType(signalTypeIndex + 1)
             jointSpeed: float = self.jointConfigTable.getInputAtPosition(row, 4).value
             jointForce: float = self.jointConfigTable.getInputAtPosition(row, 5).value
@@ -370,7 +521,9 @@ def getSelectedJointsAndWheels(self) -> tuple[list[Joint], list[Wheel]]:
 
             if isWheel:
                 wheelRow = self.jointWheelIndexMap[jointEntityToken]
-                wheelTypeIndex = self.wheelConfigTable.getInputAtPosition(wheelRow, 2).selectedItem.index
+                wheelTypeIndex = self.wheelConfigTable.getInputAtPosition(
+                    wheelRow, 2
+                ).selectedItem.index
                 wheels.append(
                     Wheel(
                         jointEntityToken,
@@ -393,13 +546,17 @@ def reset(self) -> None:
     # commandInput in a input changed handle for some reason.
     @logFailure
     def handleInputChanged(
-        self, args: adsk.core.InputChangedEventArgs, globalCommandInputs: adsk.core.CommandInputs
+        self,
+        args: adsk.core.InputChangedEventArgs,
+        globalCommandInputs: adsk.core.CommandInputs,
     ) -> None:
         commandInput = args.input
         if commandInput.id == "wheelType":
             wheelTypeDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
             position = self.wheelConfigTable.getPosition(wheelTypeDropdown)[1]
-            iconInput: adsk.core.ImageCommandInput = self.wheelConfigTable.getInputAtPosition(position, 0)
+            iconInput: adsk.core.ImageCommandInput = (
+                self.wheelConfigTable.getInputAtPosition(position, 0)
+            )
 
             if wheelTypeDropdown.selectedItem.index == 0:
                 iconInput.imageFile = IconPaths.wheelIcons["standard"]
@@ -414,7 +571,11 @@ def handleInputChanged(
         elif commandInput.id == "isWheel":
             isWheelCheckbox = adsk.core.BoolValueCommandInput.cast(commandInput)
             position = self.jointConfigTable.getPosition(isWheelCheckbox)[1] - 1
-            isAlreadyWheel = bool(self.jointWheelIndexMap.get(self.selectedJointList[position].entityToken))
+            isAlreadyWheel = bool(
+                self.jointWheelIndexMap.get(
+                    self.selectedJointList[position].entityToken
+                )
+            )
 
             if isWheelCheckbox.value != self.previousWheelCheckboxState[position]:
                 if not isAlreadyWheel:
@@ -426,22 +587,34 @@ def handleInputChanged(
 
         elif commandInput.id == "signalTypeJoint":
             signalTypeDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
-            jointTabPosition = self.jointConfigTable.getPosition(signalTypeDropdown)[1]  # 1 indexed
-            wheelTabPosition = self.jointWheelIndexMap.get(self.selectedJointList[jointTabPosition - 1].entityToken)
+            jointTabPosition = self.jointConfigTable.getPosition(signalTypeDropdown)[
+                1
+            ]  # 1 indexed
+            wheelTabPosition = self.jointWheelIndexMap.get(
+                self.selectedJointList[jointTabPosition - 1].entityToken
+            )
 
             if wheelTabPosition:
-                wheelSignalItems: adsk.core.DropDownCommandInput = self.wheelConfigTable.getInputAtPosition(
-                    wheelTabPosition, 3
+                wheelSignalItems: adsk.core.DropDownCommandInput = (
+                    self.wheelConfigTable.getInputAtPosition(wheelTabPosition, 3)
                 )
-                wheelSignalItems.listItems.item(signalTypeDropdown.selectedItem.index).isSelected = True
+                wheelSignalItems.listItems.item(
+                    signalTypeDropdown.selectedItem.index
+                ).isSelected = True
 
         elif commandInput.id == "jointAddButton":
-            jointAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointAddButton")
-            jointRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointRemoveButton")
-            jointSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
-                "jointSelectCancelButton"
+            jointAddButton: adsk.core.BoolValueCommandInput = (
+                globalCommandInputs.itemById("jointAddButton")
+            )
+            jointRemoveButton: adsk.core.BoolValueCommandInput = (
+                globalCommandInputs.itemById("jointRemoveButton")
+            )
+            jointSelectCancelButton: adsk.core.BoolValueCommandInput = (
+                globalCommandInputs.itemById("jointSelectCancelButton")
+            )
+            jointSelection: adsk.core.SelectionCommandInput = (
+                globalCommandInputs.itemById("jointSelection")
             )
-            jointSelection: adsk.core.SelectionCommandInput = globalCommandInputs.itemById("jointSelection")
 
             jointSelection.isVisible = jointSelection.isEnabled = True
             jointSelection.clearSelection()
@@ -449,7 +622,9 @@ def handleInputChanged(
             jointSelectCancelButton.isVisible = jointSelectCancelButton.isEnabled = True
 
         elif commandInput.id == "jointRemoveButton":
-            jointAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointAddButton")
+            jointAddButton: adsk.core.BoolValueCommandInput = (
+                globalCommandInputs.itemById("jointAddButton")
+            )
             jointTable: adsk.core.TableCommandInput = args.inputs.itemById("jointTable")
 
             jointAddButton.isEnabled = True
@@ -458,28 +633,44 @@ def handleInputChanged(
                 ui = adsk.core.Application.get().userInterface
                 ui.messageBox("Select a row to delete.")
             else:
-                self.removeIndexedJoint(jointTable.selectedRow - 1)  # selectedRow is 1 indexed
+                self.removeIndexedJoint(
+                    jointTable.selectedRow - 1
+                )  # selectedRow is 1 indexed
 
         elif commandInput.id == "jointSelectCancelButton":
-            jointAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointAddButton")
-            jointRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointRemoveButton")
-            jointSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
-                "jointSelectCancelButton"
+            jointAddButton: adsk.core.BoolValueCommandInput = (
+                globalCommandInputs.itemById("jointAddButton")
+            )
+            jointRemoveButton: adsk.core.BoolValueCommandInput = (
+                globalCommandInputs.itemById("jointRemoveButton")
+            )
+            jointSelectCancelButton: adsk.core.BoolValueCommandInput = (
+                globalCommandInputs.itemById("jointSelectCancelButton")
+            )
+            jointSelection: adsk.core.SelectionCommandInput = (
+                globalCommandInputs.itemById("jointSelection")
             )
-            jointSelection: adsk.core.SelectionCommandInput = globalCommandInputs.itemById("jointSelection")
             jointSelection.isEnabled = jointSelection.isVisible = False
-            jointSelectCancelButton.isEnabled = jointSelectCancelButton.isVisible = False
+            jointSelectCancelButton.isEnabled = jointSelectCancelButton.isVisible = (
+                False
+            )
             jointAddButton.isEnabled = jointRemoveButton.isEnabled = True
 
     @logFailure
-    def handleSelectionEvent(self, args: adsk.core.SelectionEventArgs, selectedJoint: adsk.fusion.Joint) -> None:
+    def handleSelectionEvent(
+        self, args: adsk.core.SelectionEventArgs, selectedJoint: adsk.fusion.Joint
+    ) -> None:
         selectionInput = args.activeInput
         jointType = selectedJoint.jointMotion.jointType
-        if jointType == adsk.fusion.JointTypes.RevoluteJointType or jointType == adsk.fusion.JointTypes.SliderJointType:
+        if (
+            jointType == adsk.fusion.JointTypes.RevoluteJointType
+            or jointType == adsk.fusion.JointTypes.SliderJointType
+        ):
             if not self.addJoint(selectedJoint):
                 ui = adsk.core.Application.get().userInterface
                 result = ui.messageBox(
-                    "You have already selected this joint.\n" "Would you like to remove it?",
+                    "You have already selected this joint.\n"
+                    "Would you like to remove it?",
                     "Synthesis: Remove Joint Confirmation",
                     adsk.core.MessageBoxButtonTypes.YesNoButtonType,
                     adsk.core.MessageBoxIconTypes.QuestionIconType,
@@ -493,14 +684,24 @@ def handleSelectionEvent(self, args: adsk.core.SelectionEventArgs, selectedJoint
     @logFailure
     def handlePreviewEvent(self, args: adsk.core.CommandEventArgs) -> None:
         commandInputs = args.command.commandInputs
-        jointAddButton: adsk.core.BoolValueCommandInput = commandInputs.itemById("jointAddButton")
-        jointRemoveButton: adsk.core.BoolValueCommandInput = commandInputs.itemById("jointRemoveButton")
-        jointSelectCancelButton: adsk.core.BoolValueCommandInput = commandInputs.itemById("jointSelectCancelButton")
-        jointSelection: adsk.core.SelectionCommandInput = commandInputs.itemById("jointSelection")
+        jointAddButton: adsk.core.BoolValueCommandInput = commandInputs.itemById(
+            "jointAddButton"
+        )
+        jointRemoveButton: adsk.core.BoolValueCommandInput = commandInputs.itemById(
+            "jointRemoveButton"
+        )
+        jointSelectCancelButton: adsk.core.BoolValueCommandInput = (
+            commandInputs.itemById("jointSelectCancelButton")
+        )
+        jointSelection: adsk.core.SelectionCommandInput = commandInputs.itemById(
+            "jointSelection"
+        )
 
         if self.jointConfigTable.rowCount <= 1:
             jointRemoveButton.isEnabled = False
 
         if not jointSelection.isEnabled:
             jointAddButton.isEnabled = jointRemoveButton.isEnabled = True
-            jointSelectCancelButton.isVisible = jointSelectCancelButton.isEnabled = False
+            jointSelectCancelButton.isVisible = jointSelectCancelButton.isEnabled = (
+                False
+            )
diff --git a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
index 30c9f078e6..3899e616f9 100644
--- a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
+++ b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
@@ -44,10 +44,14 @@ def setLinearMarkingMenu(args):
 
             if occ:
                 if occ.attributes.itemByName("synthesis", "collision_off") == None:
-                    cmdDisableCollision = ui.commandDefinitions.itemById("DisableCollision")
+                    cmdDisableCollision = ui.commandDefinitions.itemById(
+                        "DisableCollision"
+                    )
                     synthDropDown.controls.addCommand(cmdDisableCollision)
                 else:
-                    cmdEnableCollision = ui.commandDefinitions.itemById("EnableCollision")
+                    cmdEnableCollision = ui.commandDefinitions.itemById(
+                        "EnableCollision"
+                    )
                     synthDropDown.controls.addCommand(cmdEnableCollision)
 
     def setCollisionAttribute(occ: adsk.fusion.Occurrence, isEnabled: bool = True):
@@ -114,7 +118,9 @@ def notify(self, args):
                     if design:
                         attrs = design.findAttributes("synthesis", "collision_off")
                         for attr in attrs:
-                            for b in adsk.fusion.Occurrence.cast(attr.parent).bRepBodies:
+                            for b in adsk.fusion.Occurrence.cast(
+                                attr.parent
+                            ).bRepBodies:
                                 ui.activeSelections.add(b)
                 elif cmdDef.id == "EnableAllCollision":
                     app = adsk.core.Application.get()
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
index bd45cfc062..c68f4b5fdf 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
@@ -28,7 +28,9 @@ def notify(self, args):
                 callbackUrl = "https://synthesis.autodesk.com/api/aps/exporter/"
                 challenge = getCodeChallenge()
                 if challenge is None:
-                    logger.error("Code challenge is None when attempting to authorize for APS.")
+                    logger.error(
+                        "Code challenge is None when attempting to authorize for APS."
+                    )
                     return
                 params = {
                     "response_type": "code",
@@ -40,10 +42,19 @@ def notify(self, args):
                     "code_challenge": challenge,
                     "code_challenge_method": "S256",
                 }
-                query = "&".join(map(lambda pair: f"{pair[0]}={pair[1]}", params.items()))
-                url = "https://developer.api.autodesk.com/authentication/v2/authorize?" + query
-                palette = gm.ui.palettes.add("authPalette", "APS Authentication", url, True, True, True, 400, 400)
-                palette.dockingState = adsk.core.PaletteDockingStates.PaletteDockStateRight
+                query = "&".join(
+                    map(lambda pair: f"{pair[0]}={pair[1]}", params.items())
+                )
+                url = (
+                    "https://developer.api.autodesk.com/authentication/v2/authorize?"
+                    + query
+                )
+                palette = gm.ui.palettes.add(
+                    "authPalette", "APS Authentication", url, True, True, True, 400, 400
+                )
+                palette.dockingState = (
+                    adsk.core.PaletteDockingStates.PaletteDockStateRight
+                )
                 # register events
                 onHTMLEvent = MyHTMLEventHandler()
                 palette.incomingFromHTML.add(onHTMLEvent)
@@ -55,7 +66,9 @@ def notify(self, args):
             else:
                 palette.isVisible = True
         except:
-            gm.ui.messageBox("Command executed failed: {}".format(traceback.format_exc()))
+            gm.ui.messageBox(
+                "Command executed failed: {}".format(traceback.format_exc())
+            )
             logger.error("Command executed failed: {}".format(traceback.format_exc()))
             if palette:
                 palette.deleteMe()
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
index 14cb233c0c..ad7267fc12 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
@@ -1,9 +1,12 @@
 import webbrowser
 import adsk.core
 from ..general_imports import *
+
+
 class ShowWebsiteCommandExecuteHandler(adsk.core.CommandEventHandler):
     def __init__(self) -> None:
         super().__init__()
+
     def notify(self, args):
         try:
             url = "https://synthesis.autodesk.com/tutorials.html"
@@ -12,9 +15,12 @@ def notify(self, args):
                 gm.ui.messageBox("Failed\n{}".format(traceback.format_exc()))
         except:
             gm.ui.messageBox("Failed\n{}".format(traceback.format_exc()))
+
+
 class ShowWebsiteCommandCreatedHandler(adsk.core.CommandCreatedEventHandler):
     def __init__(self, configure) -> None:
         super().__init__()
+
     def notify(self, args):
         try:
             command = args.command
diff --git a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
index bfcc34189a..95527df003 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
@@ -51,7 +51,9 @@ def getPanel(self, name: str, visibility: bool = True) -> str | None:
 
     @logFailure
     @staticmethod
-    def getNewPanel(name: str, tab_id: str, toolbar_id: str, visibility: bool = True) -> str | None:
+    def getNewPanel(
+        name: str, tab_id: str, toolbar_id: str, visibility: bool = True
+    ) -> str | None:
         """# Gets a control for a panel to the tabbed toolbar visibility"""
         designWorkspace = gm.ui.workspaces.itemById("FusionSolidEnvironment")
         allDesignTabs = designWorkspace.toolbarTabs
diff --git a/exporter/SynthesisFusionAddin/src/general_imports.py b/exporter/SynthesisFusionAddin/src/general_imports.py
index 67d5e3b3cc..551f49c0cd 100644
--- a/exporter/SynthesisFusionAddin/src/general_imports.py
+++ b/exporter/SynthesisFusionAddin/src/general_imports.py
@@ -24,7 +24,9 @@
 try:
     path = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
 
-    path_proto_files = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out"))
+    path_proto_files = os.path.abspath(
+        os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out")
+    )
 
     if not path in sys.path:
         sys.path.insert(1, path)
diff --git a/exporter/SynthesisFusionAddin/tools/format.py b/exporter/SynthesisFusionAddin/tools/format.py
index 7531b93de7..0b4796e3cd 100644
--- a/exporter/SynthesisFusionAddin/tools/format.py
+++ b/exporter/SynthesisFusionAddin/tools/format.py
@@ -6,12 +6,19 @@
 def main(args: list[str] = sys.argv[1:]) -> None:
     dir = args[0] if len(args) else "."
     if "pyproject.toml" not in os.listdir(dir):
-        print("WARNING: Configuration file for autoformatters was not found. Are you sure you specified the root DIR?")
+        print(
+            "WARNING: Configuration file for autoformatters was not found. Are you sure you specified the root DIR?"
+        )
 
     for command in ["isort", "black"]:
         try:
             print(f"Formatting with {command}...")
-            subprocess.call([command, dir], shell=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+            subprocess.call(
+                [command, dir],
+                shell=False,
+                stdout=subprocess.PIPE,
+                stderr=subprocess.PIPE,
+            )
         except FileNotFoundError:
             print(f'"{command}" could not be found. Please resolve dependencies.')
             return

From 0bfc19a9ff95b1a41f6114a2286efb412969819e Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Fri, 26 Jul 2024 16:18:05 -0700
Subject: [PATCH 056/344] ran formatter in correct dir :(

---
 exporter/SynthesisFusionAddin/Synthesis.py    |   4 +-
 exporter/SynthesisFusionAddin/proto/deps.py   |  12 +-
 exporter/SynthesisFusionAddin/src/APS/APS.py  |  80 ++----
 exporter/SynthesisFusionAddin/src/Logging.py  |  18 +-
 .../src/Parser/ExporterOptions.py             |  22 +-
 .../src/Parser/SynthesisParser/Components.py  |  28 +-
 .../Parser/SynthesisParser/JointHierarchy.py  |  49 +---
 .../src/Parser/SynthesisParser/Joints.py      |  73 ++---
 .../src/Parser/SynthesisParser/Materials.py   |  50 +---
 .../src/Parser/SynthesisParser/PDMessage.py   |  15 +-
 .../src/Parser/SynthesisParser/Parser.py      |  41 +--
 .../SynthesisParser/PhysicalProperties.py     |   4 +-
 .../src/Parser/SynthesisParser/Utilities.py   |  32 +--
 exporter/SynthesisFusionAddin/src/Types.py    |  10 +-
 .../src/UI/ConfigCommand.py                   | 216 ++++----------
 .../src/UI/CustomGraphics.py                  |  12 +-
 .../SynthesisFusionAddin/src/UI/Events.py     |   8 +-
 .../src/UI/FileDialogConfig.py                |   4 +-
 exporter/SynthesisFusionAddin/src/UI/HUI.py   |  24 +-
 .../SynthesisFusionAddin/src/UI/Helper.py     |  12 +-
 .../SynthesisFusionAddin/src/UI/IconPaths.py  |  25 +-
 .../src/UI/JointConfigTab.py                  | 266 +++++-------------
 .../src/UI/MarkingMenu.py                     |  12 +-
 .../src/UI/ShowAPSAuthCommand.py              |  25 +-
 .../SynthesisFusionAddin/src/UI/Toolbar.py    |   4 +-
 .../src/general_imports.py                    |   4 +-
 exporter/SynthesisFusionAddin/tools/format.py |   4 +-
 27 files changed, 273 insertions(+), 781 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 3c2b21aafa..b90e678f50 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -78,9 +78,7 @@ def stop(_):
 
     path = os.path.abspath(os.path.dirname(__file__))
 
-    path_proto_files = os.path.abspath(
-        os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out")
-    )
+    path_proto_files = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out"))
 
     if path in sys.path:
         sys.path.remove(path)
diff --git a/exporter/SynthesisFusionAddin/proto/deps.py b/exporter/SynthesisFusionAddin/proto/deps.py
index a046eb8069..10ec7757b3 100644
--- a/exporter/SynthesisFusionAddin/proto/deps.py
+++ b/exporter/SynthesisFusionAddin/proto/deps.py
@@ -34,9 +34,7 @@ def getPythonFolder() -> str:
     elif system == "Darwin":
         pythonFolder = f"{Path(osPath).parents[2]}/bin"
     else:
-        raise ImportError(
-            "Unsupported platform! This add-in only supports windows and macos"
-        )
+        raise ImportError("Unsupported platform! This add-in only supports windows and macos")
 
     logger.debug(f"Python Folder -> {pythonFolder}")
     return pythonFolder
@@ -129,9 +127,7 @@ def installCross(pipDeps: list) -> bool:
             ]
         )
         if installResult != 0:
-            logger.warn(
-                f'Dep installation "{depName}" exited with code "{installResult}"'
-            )
+            logger.warn(f'Dep installation "{depName}" exited with code "{installResult}"')
 
     if system == "Darwin":
         pipAntiDeps = ["dataclasses", "typing"]
@@ -152,9 +148,7 @@ def installCross(pipDeps: list) -> bool:
                 ]
             )
             if uninstallResult != 0:
-                logger.warn(
-                    f'AntiDep uninstallation "{depName}" exited with code "{uninstallResult}"'
-                )
+                logger.warn(f'AntiDep uninstallation "{depName}" exited with code "{uninstallResult}"')
 
     progressBar.hide()
 
diff --git a/exporter/SynthesisFusionAddin/src/APS/APS.py b/exporter/SynthesisFusionAddin/src/APS/APS.py
index 5a9389cebc..346ae439f7 100644
--- a/exporter/SynthesisFusionAddin/src/APS/APS.py
+++ b/exporter/SynthesisFusionAddin/src/APS/APS.py
@@ -125,9 +125,7 @@ def refreshAuthToken():
             "scope": "data:create data:write data:search data:read",
         }
     ).encode("utf-8")
-    req = urllib.request.Request(
-        "https://developer.api.autodesk.com/authentication/v2/token", data=body
-    )
+    req = urllib.request.Request("https://developer.api.autodesk.com/authentication/v2/token", data=body)
     req.method = "POST"
     req.add_header(key="Content-Type", val="application/x-www-form-urlencoded")
     try:
@@ -188,9 +186,7 @@ def getUserInfo() -> APSUserInfo | None:
     return loadUserInfo()
 
 
-def create_folder(
-    auth: str, project_id: str, parent_folder_id: str, folder_display_name: str
-) -> str | None:
+def create_folder(auth: str, project_id: str, parent_folder_id: str, folder_display_name: str) -> str | None:
     """
     creates a folder on an APS project
 
@@ -215,9 +211,7 @@ def create_folder(
                 "name": folder_display_name,
                 "extension": {"type": "folders:autodesk.core:Folder", "version": "1.0"},
             },
-            "relationships": {
-                "parent": {"data": {"type": "folders", "id": f"{parent_folder_id}"}}
-            },
+            "relationships": {"parent": {"data": {"type": "folders", "id": f"{parent_folder_id}"}}},
         },
     }
 
@@ -238,9 +232,7 @@ def file_path_to_file_name(file_path: str) -> str:
     return file_path.split("/").pop()
 
 
-def upload_mirabuf(
-    project_id: str, folder_id: str, file_name: str, file_contents: str
-) -> str | None:
+def upload_mirabuf(project_id: str, folder_id: str, file_name: str, file_contents: str) -> str | None:
     """
     uploads mirabuf file to a specific folder in an APS project
     the folder and project must be created and valid
@@ -280,18 +272,14 @@ def upload_mirabuf(
         folder_id = create_folder(auth, project_id, folder_id, "MirabufDir")
     else:
         folder_id = new_folder_id
-    (lineage_id, file_id, file_version) = get_file_id(
-        auth, project_id, folder_id, file_name
-    )
+    (lineage_id, file_id, file_version) = get_file_id(auth, project_id, folder_id, file_name)
 
     """
     Create APS Storage Location
     """
     object_id = create_storage_location(auth, project_id, folder_id, file_name)
     if object_id is None:
-        gm.ui.messageBox(
-            "UPLOAD ERROR", "Object id is none; check create storage location"
-        )
+        gm.ui.messageBox("UPLOAD ERROR", "Object id is none; check create storage location")
         return None
     (prefix, object_key) = str(object_id).split("/", 1)
     bucket_key = prefix.split(":", 3)[3]  # gets the last element smth like: wip.dm.prod
@@ -325,9 +313,7 @@ def upload_mirabuf(
             object_id,
         )
     else:
-        _lineage_info = create_first_file_version(
-            auth, str(object_id), project_id, str(folder_id), file_name
-        )
+        _lineage_info = create_first_file_version(auth, str(object_id), project_id, str(folder_id), file_name)
     return ""
 
 
@@ -345,13 +331,9 @@ def get_hub_id(auth: str, hub_name: str) -> str | None:
     """
 
     headers = {"Authorization": f"Bearer {auth}"}
-    hub_list_res = requests.get(
-        "https://developer.api.autodesk.com/project/v1/hubs", headers=headers
-    )
+    hub_list_res = requests.get("https://developer.api.autodesk.com/project/v1/hubs", headers=headers)
     if not hub_list_res.ok:
-        gm.ui.messageBox(
-            "UPLOAD ERROR", f"Failed to retrieve hubs: {hub_list_res.text}"
-        )
+        gm.ui.messageBox("UPLOAD ERROR", f"Failed to retrieve hubs: {hub_list_res.text}")
         return None
     hub_list: list[dict[str, Any]] = hub_list_res.json()
     for hub in hub_list:
@@ -384,9 +366,7 @@ def get_project_id(auth: str, hub_id: str, project_name: str) -> str | None:
         headers=headers,
     )
     if not project_list_res.ok:
-        gm.ui.messageBox(
-            "UPLOAD ERROR", f"Failed to retrieve hubs: {project_list_res.text}"
-        )
+        gm.ui.messageBox("UPLOAD ERROR", f"Failed to retrieve hubs: {project_list_res.text}")
         return None
     project_list: list[dict[str, Any]] = project_list_res.json()
     for project in project_list:
@@ -396,9 +376,7 @@ def get_project_id(auth: str, hub_id: str, project_name: str) -> str | None:
     return ""
 
 
-def get_item_id(
-    auth: str, project_id: str, parent_folder_id: str, folder_name: str, item_type: str
-) -> str | None:
+def get_item_id(auth: str, project_id: str, parent_folder_id: str, folder_name: str, item_type: str) -> str | None:
     headers = {"Authorization": f"Bearer {auth}"}
     res = requests.get(
         f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/folders/{parent_folder_id}/contents",
@@ -501,9 +479,7 @@ def update_file_version(
         json=data,
     )
     if not update_res.ok:
-        gm.ui.messageBox(
-            f"UPLOAD ERROR:\n{update_res.text}", "Updating file to new version failed"
-        )
+        gm.ui.messageBox(f"UPLOAD ERROR:\n{update_res.text}", "Updating file to new version failed")
         return None
     gm.ui.messageBox(
         f"Successfully updated file {file_name} to version {int(curr_file_version) + 1} on APS",
@@ -513,9 +489,7 @@ def update_file_version(
     return new_id
 
 
-def get_file_id(
-    auth: str, project_id: str, folder_id: str, file_name: str
-) -> tuple[str, str, str] | None:
+def get_file_id(auth: str, project_id: str, folder_id: str, file_name: str) -> tuple[str, str, str] | None:
     """
     gets the file id given a file name
 
@@ -559,9 +533,7 @@ def get_file_id(
     return (lineage, id, version)
 
 
-def create_storage_location(
-    auth: str, project_id: str, folder_id: str, file_name: str
-) -> str | None:
+def create_storage_location(auth: str, project_id: str, folder_id: str, file_name: str) -> str | None:
     """
     creates a storage location (a bucket)
     the bucket can be used to upload a file to
@@ -588,9 +560,7 @@ def create_storage_location(
         "data": {
             "type": "objects",
             "attributes": {"name": file_name},
-            "relationships": {
-                "target": {"data": {"type": "folders", "id": f"{folder_id}"}}
-            },
+            "relationships": {"target": {"data": {"type": "folders", "id": f"{folder_id}"}}},
         },
     }
     headers = {
@@ -613,9 +583,7 @@ def create_storage_location(
     return object_id
 
 
-def generate_signed_url(
-    auth: str, bucket_key: str, object_key: str
-) -> tuple[str, str] | None:
+def generate_signed_url(auth: str, bucket_key: str, object_key: str) -> tuple[str, str] | None:
     """
     generates a signed_url for a bucket, given a bucket_key and object_key
 
@@ -641,9 +609,7 @@ def generate_signed_url(
         headers=headers,
     )
     if not signed_url_res.ok:
-        gm.ui.messageBox(
-            f"UPLOAD ERROR: {signed_url_res.text}", "Failed to get signed url"
-        )
+        gm.ui.messageBox(f"UPLOAD ERROR: {signed_url_res.text}", "Failed to get signed url")
         return None
     signed_url_json: dict[str, str] = signed_url_res.json()
     return (signed_url_json["uploadKey"], signed_url_json["urls"][0])
@@ -666,16 +632,12 @@ def upload_file(signed_url: str, file_contents: str) -> str | None:
     """
     upload_response = requests.put(url=signed_url, data=file_contents)
     if not upload_response.ok:
-        gm.ui.messageBox(
-            "UPLOAD ERROR", f"Failed to upload to signed url: {upload_response.text}"
-        )
+        gm.ui.messageBox("UPLOAD ERROR", f"Failed to upload to signed url: {upload_response.text}")
         return None
     return ""
 
 
-def complete_upload(
-    auth: str, upload_key: str, object_key: str, bucket_key: str
-) -> str | None:
+def complete_upload(auth: str, upload_key: str, object_key: str, bucket_key: str) -> str | None:
     """
     completes and verifies the APS file upload given the upload_key
 
@@ -764,9 +726,7 @@ def create_first_file_version(
             "type": "versions",
             "id": "1",
             "attributes": included_attributes,
-            "relationships": {
-                "storage": {"data": {"type": "objects", "id": object_id}}
-            },
+            "relationships": {"storage": {"data": {"type": "objects", "id": object_id}}},
         },
     ]
 
diff --git a/exporter/SynthesisFusionAddin/src/Logging.py b/exporter/SynthesisFusionAddin/src/Logging.py
index 2a59a88cec..2bf9ce191b 100644
--- a/exporter/SynthesisFusionAddin/src/Logging.py
+++ b/exporter/SynthesisFusionAddin/src/Logging.py
@@ -31,11 +31,7 @@ def setupLogger() -> None:
     now = datetime.now().strftime("%H-%M-%S")
     today = date.today()
     logFileFolder = getOSPath(f"{pathlib.Path(__file__).parent.parent}", "logs")
-    logFiles = [
-        os.path.join(logFileFolder, file)
-        for file in os.listdir(logFileFolder)
-        if file.endswith(".log")
-    ]
+    logFiles = [os.path.join(logFileFolder, file) for file in os.listdir(logFileFolder) if file.endswith(".log")]
     logFiles.sort()
     if len(logFiles) >= MAX_LOG_FILES_TO_KEEP:
         for file in logFiles[: len(logFiles) - MAX_LOG_FILES_TO_KEEP]:
@@ -70,21 +66,15 @@ def wrapper(*args: any, **kwargs: any) -> any:
             except BaseException:
                 excType, excValue, excTrace = sys.exc_info()
                 tb = traceback.TracebackException(excType, excValue, excTrace)
-                formattedTb = "".join(
-                    list(tb.format())[2:]
-                )  # Remove the wrapper func from the traceback.
+                formattedTb = "".join(list(tb.format())[2:])  # Remove the wrapper func from the traceback.
                 clsName = ""
                 if args and hasattr(args[0], "__class__"):
                     clsName = args[0].__class__.__name__ + "."
 
-                getLogger(f"{INTERNAL_ID}.{clsName}{func.__name__}").error(
-                    f"Failed:\n{formattedTb}"
-                )
+                getLogger(f"{INTERNAL_ID}.{clsName}{func.__name__}").error(f"Failed:\n{formattedTb}")
                 if messageBox:
                     ui = adsk.core.Application.get().userInterface
-                    ui.messageBox(
-                        f"Internal Failure: {formattedTb}", "Synthesis: Error"
-                    )
+                    ui.messageBox(f"Internal Failure: {formattedTb}", "Synthesis: Error")
 
         return wrapper
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
index c287720b56..52ccd255bf 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
@@ -34,11 +34,7 @@ class ExporterOptions:
     # user's computer has conflicting configs of some sort. This has happened and should be accounted
     # for accordingly.
     fileLocation: str | None = field(
-        default=(
-            os.getenv("HOME")
-            if platform.system() == "Windows"
-            else os.path.expanduser("~")
-        )
+        default=(os.getenv("HOME") if platform.system() == "Windows" else os.path.expanduser("~"))
     )
     name: str = field(default=None)
     version: str = field(default=None)
@@ -61,13 +57,9 @@ class ExporterOptions:
     exportLocation: ExportLocation = field(default=ExportLocation.UPLOAD)
 
     hierarchy: ModelHierarchy = field(default=ModelHierarchy.FusionAssembly)
-    visualQuality: TriangleMeshQualityOptions = field(
-        default=TriangleMeshQualityOptions.LowQualityTriangleMesh
-    )
+    visualQuality: TriangleMeshQualityOptions = field(default=TriangleMeshQualityOptions.LowQualityTriangleMesh)
     physicalDepth: PhysicalDepth = field(default=PhysicalDepth.AllOccurrence)
-    physicalCalculationLevel: CalculationAccuracy = field(
-        default=CalculationAccuracy.LowCalculationAccuracy
-    )
+    physicalCalculationLevel: CalculationAccuracy = field(default=CalculationAccuracy.LowCalculationAccuracy)
 
     @logFailure
     @timed
@@ -76,9 +68,7 @@ def readFromDesign(self) -> "ExporterOptions":
         for field in fields(self):
             attribute = designAttributes.itemByName(INTERNAL_ID, field.name)
             if attribute:
-                attrJsonData = makeObjectFromJson(
-                    field.type, json.loads(attribute.value)
-                )
+                attrJsonData = makeObjectFromJson(field.type, json.loads(attribute.value))
                 setattr(self, field.name, attrJsonData)
 
         return self
@@ -88,7 +78,5 @@ def readFromDesign(self) -> "ExporterOptions":
     def writeToDesign(self) -> None:
         designAttributes = adsk.core.Application.get().activeProduct.attributes
         for field in fields(self):
-            data = json.dumps(
-                getattr(self, field.name), default=encodeNestedObjects, indent=4
-            )
+            data = json.dumps(getattr(self, field.name), default=encodeNestedObjects, indent=4)
             designAttributes.add(INTERNAL_ID, field.name, data)
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index 78819dfbeb..aa77cac500 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -40,9 +40,7 @@ def _MapAllComponents(
 
         fill_info(partDefinition, component, comp_ref)
 
-        PhysicalProperties.GetPhysicalProperties(
-            component, partDefinition.physical_data
-        )
+        PhysicalProperties.GetPhysicalProperties(component, partDefinition.physical_data)
 
         if options.exportMode == ExportMode.FIELD:
             partDefinition.dynamic = False
@@ -62,9 +60,7 @@ def processBody(body: adsk.fusion.BRepBody | adsk.fusion.MeshBody):
                 else:
                     _ParseMesh(body, options, part_body.triangle_mesh)
 
-                appearance_key = "{}_{}".format(
-                    body.appearance.name, body.appearance.id
-                )
+                appearance_key = "{}_{}".format(body.appearance.name, body.appearance.id)
                 # this should be appearance
                 if appearance_key in materials.appearances:
                     part_body.appearance_override = appearance_key
@@ -105,9 +101,7 @@ def _ParseComponentRoot(
 
         if occur.isLightBulbOn:
             child_node = types_pb2.Node()
-            __parseChildOccurrence(
-                occur, progressDialog, options, partsData, material_map, child_node
-            )
+            __parseChildOccurrence(occur, progressDialog, options, partsData, material_map, child_node)
             node.children.append(child_node)
 
 
@@ -140,9 +134,7 @@ def __parseChildOccurrence(
 
     if occurrence.appearance:
         try:
-            part.appearance = "{}_{}".format(
-                occurrence.appearance.name, occurrence.appearance.id
-            )
+            part.appearance = "{}_{}".format(occurrence.appearance.name, occurrence.appearance.id)
         except:
             part.appearance = "default"
         # TODO: Add phyical_material parser
@@ -159,9 +151,7 @@ def __parseChildOccurrence(
     if options.exportMode == ExportMode.FIELD:
         for x in options.gamepieces:
             if x.occurrenceToken == mapConstant:
-                partsData.part_definitions[part.part_definition_reference].dynamic = (
-                    True
-                )
+                partsData.part_definitions[part.part_definition_reference].dynamic = True
                 break
 
     part.transform.spatial_matrix.extend(occurrence.transform.asArray())
@@ -177,9 +167,7 @@ def __parseChildOccurrence(
 
         if occur.isLightBulbOn:
             child_node = types_pb2.Node()
-            __parseChildOccurrence(
-                occur, progressDialog, options, partsData, material_map, child_node
-            )
+            __parseChildOccurrence(occur, progressDialog, options, partsData, material_map, child_node)
             node.children.append(child_node)
 
 
@@ -235,9 +223,7 @@ def _ParseMesh(
     plainmesh_out.uv.extend(mesh.textureCoordinatesAsFloat)
 
 
-def _MapRigidGroups(
-    rootComponent: adsk.fusion.Component, joints: joint_pb2.Joints
-) -> None:
+def _MapRigidGroups(rootComponent: adsk.fusion.Component, joints: joint_pb2.Joints) -> None:
     groups = rootComponent.allRigidGroups
     for group in groups:
         mira_group = joint_pb2.RigidGroup()
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index cd8f9e06b0..53dd3d10fa 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -91,9 +91,7 @@ class JointRelationship(enum.Enum):
 
 
 class DynamicOccurrenceNode(GraphNode):
-    def __init__(
-        self, occurrence: adsk.fusion.Occurrence, isGround=False, previous=None
-    ):
+    def __init__(self, occurrence: adsk.fusion.Occurrence, isGround=False, previous=None):
         super().__init__(occurrence)
         self.isGround = isGround
         self.name = occurrence.name
@@ -133,9 +131,7 @@ def getConnectedAxisTokens(self) -> list:
 
 
 class DynamicEdge(GraphEdge):
-    def __init__(
-        self, relationship: OccurrenceRelationship, node: DynamicOccurrenceNode
-    ):
+    def __init__(self, relationship: OccurrenceRelationship, node: DynamicOccurrenceNode):
         super().__init__(relationship, node)
 
     # should print all in this class
@@ -215,9 +211,7 @@ def __init__(self, design):
         self.grounded = searchForGrounded(design.rootComponent)
 
         if self.grounded is None:
-            gm.ui.messageBox(
-                "There is not currently a Grounded Component in the assembly, stopping kinematic export."
-            )
+            gm.ui.messageBox("There is not currently a Grounded Component in the assembly, stopping kinematic export.")
             raise RuntimeWarning("There is no grounded component")
 
         self.currentTraversal = dict()
@@ -253,9 +247,7 @@ def __init__(self, design):
 
     @logFailure
     def __getAllJoints(self):
-        for joint in list(self.design.rootComponent.allJoints) + list(
-            self.design.rootComponent.allAsBuiltJoints
-        ):
+        for joint in list(self.design.rootComponent.allJoints) + list(self.design.rootComponent.allAsBuiltJoints):
             if joint and joint.occurrenceOne and joint.occurrenceTwo:
                 occurrenceOne = joint.occurrenceOne
                 occurrenceTwo = joint.occurrenceTwo
@@ -311,8 +303,7 @@ def _linkAllAxis(self):
 
     def _recurseLink(self, simNode: SimulationNode):
         connectedAxisNodes = [
-            self.simulationNodesRef.get(componentKeys, None)
-            for componentKeys in simNode.data.getConnectedAxisTokens()
+            self.simulationNodesRef.get(componentKeys, None) for componentKeys in simNode.data.getConnectedAxisTokens()
         ]
         for connectedAxis in connectedAxisNodes:
             # connected is the occurrence
@@ -362,9 +353,9 @@ def _populateNode(
             edge = DynamicEdge(relationship, node)
             prev.edges.append(edge)
             return
-        elif (
-            (occ.entityToken in self.dynamicJoints.keys()) and (prev is not None)
-        ) or self.currentTraversal.get(occ.entityToken) is not None:
+        elif ((occ.entityToken in self.dynamicJoints.keys()) and (prev is not None)) or self.currentTraversal.get(
+            occ.entityToken
+        ) is not None:
             return
 
         node = DynamicOccurrenceNode(occ)
@@ -372,9 +363,7 @@ def _populateNode(
         self.currentTraversal[occ.entityToken] = True
 
         for occurrence in occ.childOccurrences:
-            self._populateNode(
-                occurrence, node, OccurrenceRelationship.TRANSFORM, is_ground=is_ground
-            )
+            self._populateNode(occurrence, node, OccurrenceRelationship.TRANSFORM, is_ground=is_ground)
 
         # if not is_ground:  # THIS IS A BUG - OCCURRENCE ACCESS VIOLATION
         try:
@@ -395,18 +384,11 @@ def _populateNode(
                             connection = joint.occurrenceOne
 
                     if connection is not None:
-                        if (
-                            prev is None
-                            or connection.entityToken != prev.data.entityToken
-                        ):
+                        if prev is None or connection.entityToken != prev.data.entityToken:
                             self._populateNode(
                                 connection,
                                 node,
-                                (
-                                    OccurrenceRelationship.CONNECTION
-                                    if rigid
-                                    else OccurrenceRelationship.NEXT
-                                ),
+                                (OccurrenceRelationship.CONNECTION if rigid else OccurrenceRelationship.NEXT),
                                 is_ground=is_ground,
                             )
                 else:
@@ -509,9 +491,7 @@ def populateJoint(simNode: SimulationNode, joints: joint_pb2.Joints, progressDia
     root = types_pb2.Node()
 
     # construct body tree if possible
-    createTreeParts(
-        simNode.data, OccurrenceRelationship.CONNECTION, root, progressDialog
-    )
+    createTreeParts(simNode.data, OccurrenceRelationship.CONNECTION, root, progressDialog)
 
     proto_joint.parts.nodes.append(root)
 
@@ -530,10 +510,7 @@ def createTreeParts(
         raise RuntimeError("User canceled export")
 
     # if it's the next part just exit early for our own sanity
-    if (
-        relationship == OccurrenceRelationship.NEXT
-        or dynNode.data.isLightBulbOn == False
-    ):
+    if relationship == OccurrenceRelationship.NEXT or dynNode.data.isLightBulbOn == False:
         return
 
     # set the occurrence / component id to reference the part
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index 6caa82e6df..c79a0240d0 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -88,9 +88,7 @@ def populateJoints(
 
     # Add the rest of the dynamic objects
 
-    for joint in list(design.rootComponent.allJoints) + list(
-        design.rootComponent.allAsBuiltJoints
-    ):
+    for joint in list(design.rootComponent.allJoints) + list(design.rootComponent.allAsBuiltJoints):
         if joint.isSuppressed:
             continue
 
@@ -124,10 +122,7 @@ def populateJoints(
                     signal.io = signal_pb2.IOType.OUTPUT
 
                     # really could just map the enum to a friggin string
-                    if (
-                        parse_joints.signalType != SignalType.PASSIVE
-                        and assembly.dynamic
-                    ):
+                    if parse_joints.signalType != SignalType.PASSIVE and assembly.dynamic:
                         if parse_joints.signalType == SignalType.CAN:
                             signal.device_type = signal_pb2.DeviceType.CANBUS
                         elif parse_joints.signalType == SignalType.PWM:
@@ -214,9 +209,7 @@ def _addJointInstance(
                 joint_definition.user_data.data["wheel"] = "true"
 
                 # Must convert type 'enum' to int to store wheelType in mirabuf
-                joint_definition.user_data.data["wheelType"] = str(
-                    wheel.wheelType.value - 1
-                )
+                joint_definition.user_data.data["wheelType"] = str(wheel.wheelType.value - 1)
 
                 # if it exists get it and overwrite the signal type
                 if joint_instance.signal_reference:
@@ -250,9 +243,7 @@ def _addRigidGroup(joint: adsk.fusion.Joint, assembly: assembly_pb2.Assembly):
     assembly.data.joints.rigid_groups.append(mira_group)
 
 
-def _motionFromJoint(
-    fusionMotionDefinition: adsk.fusion.JointMotion, proto_joint: joint_pb2.Joint
-) -> None:
+def _motionFromJoint(fusionMotionDefinition: adsk.fusion.JointMotion, proto_joint: joint_pb2.Joint) -> None:
     # if fusionJoint.geometryOrOriginOne.objectType == "adsk::fusion::JointGeometry"
     # create the DOF depending on what kind of information the joint has
 
@@ -266,16 +257,12 @@ def _motionFromJoint(
         6: noop,  # TODO: Implement
     }
 
-    fillJointMotionFunc = fillJointMotionFuncSwitcher.get(
-        fusionMotionDefinition.jointType, lambda: None
-    )
+    fillJointMotionFunc = fillJointMotionFuncSwitcher.get(fusionMotionDefinition.jointType, lambda: None)
 
     fillJointMotionFunc(fusionMotionDefinition, proto_joint)
 
 
-def fillRevoluteJointMotion(
-    revoluteMotion: adsk.fusion.RevoluteJointMotion, proto_joint: joint_pb2.Joint
-):
+def fillRevoluteJointMotion(revoluteMotion: adsk.fusion.RevoluteJointMotion, proto_joint: joint_pb2.Joint):
     """#### Fill Protobuf revolute joint motion data
 
     Args:
@@ -317,9 +304,7 @@ def fillRevoluteJointMotion(
         dof.axis.z = int(rotationAxis == 1)
 
 
-def fillSliderJointMotion(
-    sliderMotion: adsk.fusion.SliderJointMotion, proto_joint: joint_pb2.Joint
-) -> None:
+def fillSliderJointMotion(sliderMotion: adsk.fusion.SliderJointMotion, proto_joint: joint_pb2.Joint) -> None:
     """#### Fill Protobuf slider joint motion data
 
     Args:
@@ -390,9 +375,7 @@ def _searchForGrounded(
     return None
 
 
-def _jointOrigin(
-    fusionJoint: Union[adsk.fusion.Joint, adsk.fusion.AsBuiltJoint]
-) -> adsk.core.Point3D:
+def _jointOrigin(fusionJoint: Union[adsk.fusion.Joint, adsk.fusion.AsBuiltJoint]) -> adsk.core.Point3D:
     """#### Joint Origin Internal Finder that was orignally created for Synthesis by Liam Wang
 
     Args:
@@ -404,8 +387,7 @@ def _jointOrigin(
     geometryOrOrigin = (
         (
             fusionJoint.geometryOrOriginOne
-            if fusionJoint.geometryOrOriginOne.objectType
-            == "adsk::fusion::JointGeometry"
+            if fusionJoint.geometryOrOriginOne.objectType == "adsk::fusion::JointGeometry"
             else fusionJoint.geometryOrOriginTwo
         )
         if fusionJoint.objectType == "adsk::fusion::Joint"
@@ -424,9 +406,7 @@ def _jointOrigin(
                 newEnt = ent.createForAssemblyContext(fusionJoint.occurrenceOne)
                 min = newEnt.boundingBox.minPoint
                 max = newEnt.boundingBox.maxPoint
-                org = adsk.core.Point3D.create(
-                    (max.x + min.x) / 2.0, (max.y + min.y) / 2.0, (max.z + min.z) / 2.0
-                )
+                org = adsk.core.Point3D.create((max.x + min.x) / 2.0, (max.y + min.y) / 2.0, (max.z + min.z) / 2.0)
                 return org  # ent.startVertex.geometry
             else:
                 return geometryOrOrigin.origin
@@ -441,19 +421,11 @@ def _jointOrigin(
     else:  # adsk::fusion::JointOrigin
         origin = geometryOrOrigin.geometry.origin
         # todo: Is this the correct way to calculate a joint origin's true location? Why isn't this exposed in the API?
-        offsetX = (
-            0 if geometryOrOrigin.offsetX is None else geometryOrOrigin.offsetX.value
-        )
-        offsetY = (
-            0 if geometryOrOrigin.offsetY is None else geometryOrOrigin.offsetY.value
-        )
-        offsetZ = (
-            0 if geometryOrOrigin.offsetZ is None else geometryOrOrigin.offsetZ.value
-        )
+        offsetX = 0 if geometryOrOrigin.offsetX is None else geometryOrOrigin.offsetX.value
+        offsetY = 0 if geometryOrOrigin.offsetY is None else geometryOrOrigin.offsetY.value
+        offsetZ = 0 if geometryOrOrigin.offsetZ is None else geometryOrOrigin.offsetZ.value
         # noinspection PyArgumentList
-        return adsk.core.Point3D.create(
-            origin.x + offsetX, origin.y + offsetY, origin.z + offsetZ
-        )
+        return adsk.core.Point3D.create(origin.x + offsetX, origin.y + offsetY, origin.z + offsetZ)
 
 
 def createJointGraph(
@@ -489,26 +461,17 @@ def createJointGraph(
         current_node = node_map[supplied_joint.jointToken]
         if supplied_joint.parent == JointParentType.ROOT:
             node_map["ground"].children.append(node_map[supplied_joint.jointToken])
-        elif (
-            node_map[supplied_joint.parent.value] is not None
-            and node_map[supplied_joint.jointToken] is not None
-        ):
-            node_map[supplied_joint.parent].children.append(
-                node_map[supplied_joint.jointToken]
-            )
+        elif node_map[supplied_joint.parent.value] is not None and node_map[supplied_joint.jointToken] is not None:
+            node_map[supplied_joint.parent].children.append(node_map[supplied_joint.jointToken])
         else:
-            logger.error(
-                f"Cannot construct hierarhcy because of detached tree at : {supplied_joint.jointToken}"
-            )
+            logger.error(f"Cannot construct hierarhcy because of detached tree at : {supplied_joint.jointToken}")
 
     for node in node_map.values():
         # append everything at top level to isolate kinematics
         joint_tree.nodes.append(node)
 
 
-def addWheelsToGraph(
-    wheels: list, rootNode: types_pb2.Node, joint_tree: types_pb2.GraphContainer
-):
+def addWheelsToGraph(wheels: list, rootNode: types_pb2.Node, joint_tree: types_pb2.GraphContainer):
     for wheel in wheels:
         # wheel name
         # wheel signal
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index 3b8a019d71..97d8d47f57 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -52,9 +52,7 @@ def _MapAllPhysicalMaterials(
         getPhysicalMaterialData(material, newmaterial, options)
 
 
-def setDefaultMaterial(
-    physical_material: material_pb2.PhysicalMaterial, options: ExporterOptions
-):
+def setDefaultMaterial(physical_material: material_pb2.PhysicalMaterial, options: ExporterOptions):
     construct_info("default", physical_material)
 
     physical_material.description = "A default physical material"
@@ -94,12 +92,8 @@ def getPhysicalMaterialData(fusion_material, proto_material, options):
         proto_material.dynamic_friction = options.frictionOverrideCoeff
         proto_material.static_friction = options.frictionOverrideCoeff
     else:
-        proto_material.dynamic_friction = DYNAMIC_FRICTION_COEFFS.get(
-            fusion_material.name, 0.5
-        )
-        proto_material.static_friction = STATIC_FRICTION_COEFFS.get(
-            fusion_material.name, 0.5
-        )
+        proto_material.dynamic_friction = DYNAMIC_FRICTION_COEFFS.get(fusion_material.name, 0.5)
+        proto_material.static_friction = STATIC_FRICTION_COEFFS.get(fusion_material.name, 0.5)
 
     proto_material.restitution = 0.5
     proto_material.description = f"{fusion_material.name} exported from FUSION"
@@ -133,31 +127,17 @@ def getPhysicalMaterialData(fusion_material, proto_material, options):
     """
     Mechanical Properties
     """
-    mechanicalProperties.young_mod = materialProperties.itemById(
-        "structural_Young_modulus"
-    ).value
-    mechanicalProperties.poisson_ratio = materialProperties.itemById(
-        "structural_Poisson_ratio"
-    ).value
-    mechanicalProperties.shear_mod = materialProperties.itemById(
-        "structural_Shear_modulus"
-    ).value
-    mechanicalProperties.density = materialProperties.itemById(
-        "structural_Density"
-    ).value
-    mechanicalProperties.damping_coefficient = materialProperties.itemById(
-        "structural_Damping_coefficient"
-    ).value
+    mechanicalProperties.young_mod = materialProperties.itemById("structural_Young_modulus").value
+    mechanicalProperties.poisson_ratio = materialProperties.itemById("structural_Poisson_ratio").value
+    mechanicalProperties.shear_mod = materialProperties.itemById("structural_Shear_modulus").value
+    mechanicalProperties.density = materialProperties.itemById("structural_Density").value
+    mechanicalProperties.damping_coefficient = materialProperties.itemById("structural_Damping_coefficient").value
 
     """
     Strength Properties
     """
-    strengthProperties.yield_strength = materialProperties.itemById(
-        "structural_Minimum_yield_stress"
-    ).value
-    strengthProperties.tensile_strength = materialProperties.itemById(
-        "structural_Minimum_tensile_strength"
-    ).value
+    strengthProperties.yield_strength = materialProperties.itemById("structural_Minimum_yield_stress").value
+    strengthProperties.tensile_strength = materialProperties.itemById("structural_Minimum_tensile_strength").value
     """
     strengthProperties.thermal_treatment = materialProperties.itemById(
         "structural_Thermally_treated"
@@ -255,9 +235,7 @@ def getMaterialAppearance(
             baseColor = properties.itemById("transparent_color").value
             transparent_distance = properties.itemById("transparent_distance").value
 
-            opac = (255.0 * transparent_distance) / (
-                transparent_distance + OPACITY_RAMPING_CONSTANT
-            )
+            opac = (255.0 * transparent_distance) / (transparent_distance + OPACITY_RAMPING_CONSTANT)
             if opac > 255:
                 opac = 255
             elif opac < 0:
@@ -273,11 +251,7 @@ def getMaterialAppearance(
             color.A = baseColor.opacity
         else:
             for prop in fusionAppearance.appearanceProperties:
-                if (
-                    (prop.name == "Color")
-                    and (prop.value is not None)
-                    and (prop.id != "surface_albedo")
-                ):
+                if (prop.name == "Color") and (prop.value is not None) and (prop.id != "surface_albedo"):
                     baseColor = prop.value
                     color.R = baseColor.red
                     color.G = baseColor.green
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py
index d5057709da..ad441fc901 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py
@@ -28,12 +28,7 @@ def __init__(
 
         self.currentMessage = "working..."
 
-        self.finalValue = (
-            self.componentCount
-            + self.occurrenceCount
-            + self.materialCount
-            + self.appearanceCount
-        )
+        self.finalValue = self.componentCount + self.occurrenceCount + self.materialCount + self.appearanceCount
         self.currentValue = 0
 
         self.progressDialog = progressDialog
@@ -43,13 +38,9 @@ def _format(self):
         # TABS DO NOTHING HALP
         out = f"{self.assemblyName} parsing:\n"
         out += f"\t Components: \t[ {self.currentCompCount} / {self.componentCount} ]\n"
-        out += (
-            f"\t Occurrences: \t[ {self.currentOccCount} / {self.occurrenceCount} ]\n"
-        )
+        out += f"\t Occurrences: \t[ {self.currentOccCount} / {self.occurrenceCount} ]\n"
         out += f"\t Materials: \t[ {self.currentMatCount} / {self.materialCount} ]\n"
-        out += (
-            f"\t Appearances: \t[ {self.currentAppCount} / {self.appearanceCount} ]\n"
-        )
+        out += f"\t Appearances: \t[ {self.currentAppCount} / {self.appearanceCount} ]\n"
         out += f"{self.currentMessage}"
 
         return out
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index e483adedaa..b59f391f0b 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -35,9 +35,7 @@ def export(self) -> None:
         design: adsk.fusion.Design = app.activeDocument.design
 
         if not getAuth():
-            app.userInterface.messageBox(
-                "APS Login Required for Uploading.", "APS Login"
-            )
+            app.userInterface.messageBox("APS Login Required for Uploading.", "APS Login")
             return
 
         assembly_out = assembly_pb2.Assembly()
@@ -62,9 +60,7 @@ def export(self) -> None:
         progressDialog.title = "Exporting to Synthesis Format"
         progressDialog.minimumValue = 0
         progressDialog.maximumValue = totalIterations
-        progressDialog.show(
-            "Synthesis Export", "Currently on %v of %m", 0, totalIterations
-        )
+        progressDialog.show("Synthesis Export", "Currently on %v of %m", 0, totalIterations)
 
         # this is the formatter for the progress dialog now
         self.pdMessage = PDMessage.PDMessage(
@@ -134,9 +130,7 @@ def export(self) -> None:
             self.pdMessage,
         )
 
-        JointHierarchy.BuildJointPartHierarchy(
-            design, assembly_out.data.joints, self.exporterOptions, self.pdMessage
-        )
+        JointHierarchy.BuildJointPartHierarchy(design, assembly_out.data.joints, self.exporterOptions, self.pdMessage)
 
         # These don't have an effect, I forgot how this is suppose to work
         # progressDialog.message = "Taking Photo for thumbnail..."
@@ -185,12 +179,7 @@ def export(self) -> None:
             project_id = project.id
             folder_id = project.rootFolder.id
             file_name = f"{self.exporterOptions.fileLocation}.mira"
-            if (
-                upload_mirabuf(
-                    project_id, folder_id, file_name, assembly_out.SerializeToString()
-                )
-                is None
-            ):
+            if upload_mirabuf(project_id, folder_id, file_name, assembly_out.SerializeToString()) is None:
                 raise RuntimeError("Could not upload to APS")
         else:
             assert self.exporterOptions.exportLocation == ExportLocation.DOWNLOAD
@@ -225,15 +214,9 @@ def export(self) -> None:
                 joint_hierarchy_out = f"{joint_hierarchy_out}  |- ground\n"
             else:
                 newNode = assembly_out.data.joints.joint_instances[node.value]
-                jointDefinition = assembly_out.data.joints.joint_definitions[
-                    newNode.joint_reference
-                ]
-
-                wheel_ = (
-                    " wheel : true"
-                    if (jointDefinition.user_data.data["wheel"] != "")
-                    else ""
-                )
+                jointDefinition = assembly_out.data.joints.joint_definitions[newNode.joint_reference]
+
+                wheel_ = " wheel : true" if (jointDefinition.user_data.data["wheel"] != "") else ""
 
                 joint_hierarchy_out = (
                     f"{joint_hierarchy_out}  |---> {jointDefinition.info.name} "
@@ -244,14 +227,8 @@ def export(self) -> None:
                     joint_hierarchy_out = f"{joint_hierarchy_out} |---> ground\n"
                 else:
                     newNode = assembly_out.data.joints.joint_instances[child.value]
-                    jointDefinition = assembly_out.data.joints.joint_definitions[
-                        newNode.joint_reference
-                    ]
-                    wheel_ = (
-                        " wheel : true"
-                        if (jointDefinition.user_data.data["wheel"] != "")
-                        else ""
-                    )
+                    jointDefinition = assembly_out.data.joints.joint_definitions[newNode.joint_reference]
+                    wheel_ = " wheel : true" if (jointDefinition.user_data.data["wheel"] != "") else ""
                     joint_hierarchy_out = (
                         f"{joint_hierarchy_out}  |- {jointDefinition.info.name} "
                         f"type: {jointDefinition.joint_motion_type} {wheel_}\n"
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index 395231ccbf..db488c115a 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -30,9 +30,7 @@
 
 @logFailure
 def GetPhysicalProperties(
-    fusionObject: Union[
-        adsk.fusion.BRepBody, adsk.fusion.Occurrence, adsk.fusion.Component
-    ],
+    fusionObject: Union[adsk.fusion.BRepBody, adsk.fusion.Occurrence, adsk.fusion.Component],
     physicalProperties: types_pb2.PhysicalProperties,
     level=1,
 ):
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
index 14295e9239..f508f32117 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
@@ -62,18 +62,18 @@ def construct_info(name: str, proto_obj, version=5, fus_object=None, GUID=None)
 # My previous function was alot more optimized however now I realize the bug was this doesn't work well with degrees
 def euler_to_quaternion(r):
     (yaw, pitch, roll) = (r[0], r[1], r[2])
-    qx = math.sin(roll / 2) * math.cos(pitch / 2) * math.cos(yaw / 2) - math.cos(
-        roll / 2
-    ) * math.sin(pitch / 2) * math.sin(yaw / 2)
-    qy = math.cos(roll / 2) * math.sin(pitch / 2) * math.cos(yaw / 2) + math.sin(
-        roll / 2
-    ) * math.cos(pitch / 2) * math.sin(yaw / 2)
-    qz = math.cos(roll / 2) * math.cos(pitch / 2) * math.sin(yaw / 2) - math.sin(
-        roll / 2
-    ) * math.sin(pitch / 2) * math.cos(yaw / 2)
-    qw = math.cos(roll / 2) * math.cos(pitch / 2) * math.cos(yaw / 2) + math.sin(
-        roll / 2
-    ) * math.sin(pitch / 2) * math.sin(yaw / 2)
+    qx = math.sin(roll / 2) * math.cos(pitch / 2) * math.cos(yaw / 2) - math.cos(roll / 2) * math.sin(
+        pitch / 2
+    ) * math.sin(yaw / 2)
+    qy = math.cos(roll / 2) * math.sin(pitch / 2) * math.cos(yaw / 2) + math.sin(roll / 2) * math.cos(
+        pitch / 2
+    ) * math.sin(yaw / 2)
+    qz = math.cos(roll / 2) * math.cos(pitch / 2) * math.sin(yaw / 2) - math.sin(roll / 2) * math.sin(
+        pitch / 2
+    ) * math.cos(yaw / 2)
+    qw = math.cos(roll / 2) * math.cos(pitch / 2) * math.cos(yaw / 2) + math.sin(roll / 2) * math.sin(
+        pitch / 2
+    ) * math.sin(yaw / 2)
     return [qx, qy, qz, qw]
 
 
@@ -135,9 +135,7 @@ def throwZero():
     Raises:
         RuntimeError: Error describing the issue
     """
-    raise RuntimeError(
-        "While computing the quaternion the trace was reported as 0 which is invalid"
-    )
+    raise RuntimeError("While computing the quaternion the trace was reported as 0 which is invalid")
 
 
 def spatial_to_quaternion(mat):
@@ -195,9 +193,7 @@ def spatial_to_quaternion(mat):
         return round(qx, 13), round(-qy, 13), round(-qz, 13), round(qw, 13)
 
     else:
-        raise RuntimeError(
-            "Supplied matrix to spatial_to_quaternion is not a 1D spatial matrix in size."
-        )
+        raise RuntimeError("Supplied matrix to spatial_to_quaternion is not a 1D spatial matrix in size.")
 
 
 def normalize_quaternion(x, y, z, w):
diff --git a/exporter/SynthesisFusionAddin/src/Types.py b/exporter/SynthesisFusionAddin/src/Types.py
index d75b916792..1aca3a5162 100644
--- a/exporter/SynthesisFusionAddin/src/Types.py
+++ b/exporter/SynthesisFusionAddin/src/Types.py
@@ -110,9 +110,7 @@ def makeObjectFromJson(objType: type, data: any) -> any:
         return [makeObjectFromJson(objType.__args__[0], item) for item in data]
 
     obj = objType()
-    assert is_dataclass(obj) and isinstance(
-        data, dict
-    ), "Found unsupported type to decode."
+    assert is_dataclass(obj) and isinstance(data, dict), "Found unsupported type to decode."
     for field in fields(obj):
         if field.name in data:
             setattr(obj, field.name, makeObjectFromJson(field.type, data[field.name]))
@@ -156,11 +154,7 @@ def __eq__(self, value: object) -> bool:
             bool: Did the OString objects match?
         """
         if isinstance(value, OString):
-            if (
-                self.path == value.path
-                and self.fileName == value.fileName
-                and self.platform == value.platform
-            ):
+            if self.path == value.path and self.fileName == value.fileName and self.platform == value.platform:
                 return True
         return False
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 8cec24ef6d..774d8eb53f 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -98,9 +98,7 @@ def bRepMassInRoot(self):
         for body in gm.app.activeDocument.design.rootComponent.bRepBodies:
             if not body.isLightBulbOn:
                 continue
-            physical = body.getPhysicalProperties(
-                adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
-            )
+            physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
             self.totalMass += physical.mass
 
     @logFailure(messageBox=True)
@@ -112,9 +110,7 @@ def traverseOccurrenceHierarchy(self):
             for body in occ.component.bRepBodies:
                 if not body.isLightBulbOn:
                     continue
-                physical = body.getPhysicalProperties(
-                    adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
-                )
+                physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
                 self.totalMass += physical.mass
 
     def getTotalMass(self):
@@ -193,7 +189,9 @@ def notify(self, args):
         dropdownExportLocation.listItems.add("Download", not upload)
 
         dropdownExportLocation.tooltip = "Export Location"
-        dropdownExportLocation.tooltipDescription = "<hr>Do you want to upload this mirabuf file to APS, or download it to your local machine?"
+        dropdownExportLocation.tooltipDescription = (
+            "<hr>Do you want to upload this mirabuf file to APS, or download it to your local machine?"
+        )
 
         # ~~~~~~~~~~~~~~~~ WEIGHT CONFIGURATION ~~~~~~~~~~~~~~~~
         """
@@ -208,9 +206,7 @@ def notify(self, args):
             "3:2:2:1",
             1,
         )
-        weightTableInput.tablePresentationStyle = (
-            2  # set transparent background for table
-        )
+        weightTableInput.tablePresentationStyle = 2  # set transparent background for table
 
         weight_name = inputs.addStringValueInput("weight_name", "Weight")
         weight_name.value = "Weight"
@@ -254,22 +250,12 @@ def notify(self, args):
         weight_unit.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
         weight_unit.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
         weight_unit.tooltip = "Unit of mass"
-        weight_unit.tooltipDescription = (
-            "<hr>Configure the unit of mass for the weight calculation."
-        )
+        weight_unit.tooltipDescription = "<hr>Configure the unit of mass for the weight calculation."
 
-        weightTableInput.addCommandInput(
-            weight_name, 0, 0
-        )  # add command inputs to table
-        weightTableInput.addCommandInput(
-            auto_calc_weight, 0, 1
-        )  # add command inputs to table
-        weightTableInput.addCommandInput(
-            weight_input, 0, 2
-        )  # add command inputs to table
-        weightTableInput.addCommandInput(
-            weight_unit, 0, 3
-        )  # add command inputs to table
+        weightTableInput.addCommandInput(weight_name, 0, 0)  # add command inputs to table
+        weightTableInput.addCommandInput(auto_calc_weight, 0, 1)  # add command inputs to table
+        weightTableInput.addCommandInput(weight_input, 0, 2)  # add command inputs to table
+        weightTableInput.addCommandInput(weight_unit, 0, 3)  # add command inputs to table
 
         global jointConfigTab
         jointConfigTab = JointConfigTab(args)
@@ -279,9 +265,7 @@ def notify(self, args):
         # Should investigate changes to improve performance.
         if exporterOptions.joints:
             for synJoint in exporterOptions.joints:
-                fusionJoint = gm.app.activeDocument.design.findEntityByToken(
-                    synJoint.jointToken
-                )[0]
+                fusionJoint = gm.app.activeDocument.design.findEntityByToken(synJoint.jointToken)[0]
                 jointConfigTab.addJoint(fusionJoint, synJoint)
         else:
             for joint in [
@@ -289,8 +273,7 @@ def notify(self, args):
                 *gm.app.activeDocument.design.rootComponent.allAsBuiltJoints,
             ]:
                 if (
-                    joint.jointMotion.jointType
-                    in (JointMotions.REVOLUTE.value, JointMotions.SLIDER.value)
+                    joint.jointMotion.jointType in (JointMotions.REVOLUTE.value, JointMotions.SLIDER.value)
                     and not joint.isSuppressed
                 ):
                     jointConfigTab.addJoint(joint)
@@ -300,9 +283,7 @@ def notify(self, args):
         # Should consider changing how the parser handles wheels and joints to avoid overlap
         if exporterOptions.wheels:
             for wheel in exporterOptions.wheels:
-                fusionJoint = gm.app.activeDocument.design.findEntityByToken(
-                    wheel.jointToken
-                )[0]
+                fusionJoint = gm.app.activeDocument.design.findEntityByToken(wheel.jointToken)[0]
                 jointConfigTab.addWheel(fusionJoint, wheel)
 
         # ~~~~~~~~~~~~~~~~ GAMEPIECE CONFIGURATION ~~~~~~~~~~~~~~~~
@@ -310,9 +291,7 @@ def notify(self, args):
         Gamepiece group command input, isVisible=False by default
             - Container for gamepiece selection table
         """
-        gamepieceConfig = inputs.addGroupCommandInput(
-            "gamepiece_config", "Gamepiece Configuration"
-        )
+        gamepieceConfig = inputs.addGroupCommandInput("gamepiece_config", "Gamepiece Configuration")
         gamepieceConfig.isExpanded = True
         gamepieceConfig.isVisible = False
         gamepieceConfig.tooltip = "Select and define the gamepieces in your field."
@@ -322,9 +301,7 @@ def notify(self, args):
         """
         Mass unit dropdown and calculation for gamepiece elements
         """
-        weightTableInput_f = self.createTableInput(
-            "weight_table_f", "Weight Table", gamepiece_inputs, 3, "6:2:1", 1
-        )
+        weightTableInput_f = self.createTableInput("weight_table_f", "Weight Table", gamepiece_inputs, 3, "6:2:1", 1)
         weightTableInput_f.tablePresentationStyle = 2  # set to clear background
 
         weight_name_f = gamepiece_inputs.addStringValueInput("weight_name", "Weight")
@@ -348,26 +325,14 @@ def notify(self, args):
             "Unit of Mass",
             adsk.core.DropDownStyles.LabeledIconDropDownStyle,
         )
-        weight_unit_f.listItems.add(
-            "‎", True, IconPaths.massIcons["LBS"]
-        )  # add listdropdown mass options
-        weight_unit_f.listItems.add(
-            "‎", False, IconPaths.massIcons["KG"]
-        )  # add listdropdown mass options
+        weight_unit_f.listItems.add("‎", True, IconPaths.massIcons["LBS"])  # add listdropdown mass options
+        weight_unit_f.listItems.add("‎", False, IconPaths.massIcons["KG"])  # add listdropdown mass options
         weight_unit_f.tooltip = "Unit of mass"
-        weight_unit_f.tooltipDescription = (
-            "<hr>Configure the unit of mass for for the weight calculation."
-        )
+        weight_unit_f.tooltipDescription = "<hr>Configure the unit of mass for for the weight calculation."
 
-        weightTableInput_f.addCommandInput(
-            weight_name_f, 0, 0
-        )  # add command inputs to table
-        weightTableInput_f.addCommandInput(
-            auto_calc_weight_f, 0, 1
-        )  # add command inputs to table
-        weightTableInput_f.addCommandInput(
-            weight_unit_f, 0, 2
-        )  # add command inputs to table
+        weightTableInput_f.addCommandInput(weight_name_f, 0, 0)  # add command inputs to table
+        weightTableInput_f.addCommandInput(auto_calc_weight_f, 0, 1)  # add command inputs to table
+        weightTableInput_f.addCommandInput(weight_unit_f, 0, 2)  # add command inputs to table
 
         # GAMEPIECE SELECTION TABLE
         """
@@ -384,9 +349,7 @@ def notify(self, args):
 
         addFieldInput = gamepiece_inputs.addBoolValueInput("field_add", "Add", False)
 
-        removeFieldInput = gamepiece_inputs.addBoolValueInput(
-            "field_delete", "Remove", False
-        )
+        removeFieldInput = gamepiece_inputs.addBoolValueInput("field_delete", "Remove", False)
         addFieldInput.isEnabled = removeFieldInput.isEnabled = True
 
         removeFieldInput.tooltip = "Remove a field element"
@@ -448,19 +411,17 @@ def notify(self, args):
         """
         Creates the advanced tab, which is the parent container for internal command inputs
         """
-        advancedSettings: adsk.core.TabCommandInput = INPUTS_ROOT.addTabCommandInput(
-            "advanced_settings", "Advanced"
+        advancedSettings: adsk.core.TabCommandInput = INPUTS_ROOT.addTabCommandInput("advanced_settings", "Advanced")
+        advancedSettings.tooltip = (
+            "Additional Advanced Settings to change how your model will be translated into Unity."
         )
-        advancedSettings.tooltip = "Additional Advanced Settings to change how your model will be translated into Unity."
         a_input: adsk.core.CommandInputs = advancedSettings.children
 
         # ~~~~~~~~~~~~~~~~ EXPORTER SETTINGS ~~~~~~~~~~~~~~~~
         """
         Exporter settings group command
         """
-        exporterSettings = a_input.addGroupCommandInput(
-            "exporter_settings", "Exporter Settings"
-        )
+        exporterSettings = a_input.addGroupCommandInput("exporter_settings", "Exporter Settings")
         exporterSettings.isExpanded = True
         exporterSettings.isEnabled = True
         exporterSettings.tooltip = "tooltip"  # TODO: update tooltip
@@ -507,26 +468,20 @@ def notify(self, args):
             enabled=True,
             isCheckBox=False,
         )
-        frictionOverrideInput.resourceFolder = IconPaths.stringIcons[
-            "friction_override-enabled"
-        ]
+        frictionOverrideInput.resourceFolder = IconPaths.stringIcons["friction_override-enabled"]
         frictionOverrideInput.isFullWidth = True
 
         valueList = [1]
         for i in range(20):
             valueList.append(i / 20)
 
-        frictionCoeffSlider: adsk.core.FloatSliderCommandInput = (
-            physics_settings.addFloatSliderListCommandInput(
-                "friction_override_coeff", "Friction Coefficient", "", valueList
-            )
+        frictionCoeffSlider: adsk.core.FloatSliderCommandInput = physics_settings.addFloatSliderListCommandInput(
+            "friction_override_coeff", "Friction Coefficient", "", valueList
         )
         frictionCoeffSlider.isVisible = True
         frictionCoeffSlider.valueOne = 0.5
         frictionCoeffSlider.tooltip = "Friction coefficient of field element."
-        frictionCoeffSlider.tooltipDescription = (
-            "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
-        )
+        frictionCoeffSlider.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
 
         # ~~~~~~~~~~~~~~~~ JOINT SETTINGS ~~~~~~~~~~~~~~~~
         """
@@ -825,9 +780,7 @@ def notify(self, args):
             isRobot = False
         dropdownExportLocation = INPUTS_ROOT.itemById("location")
         if dropdownExportLocation.selectedItem.index == 1:  # Download
-            savepath = FileDialogConfig.saveFileDialog(
-                defaultPath=exporterOptions.fileLocation
-            )
+            savepath = FileDialogConfig.saveFileDialog(defaultPath=exporterOptions.fileLocation)
 
             if savepath == False:
                 # save was canceled
@@ -859,16 +812,12 @@ def notify(self, args):
             if row == 0:
                 continue
 
-            weightValue = gamepieceTableInput.getInputAtPosition(
-                row, 2
-            ).value  # weight/mass input, float
+            weightValue = gamepieceTableInput.getInputAtPosition(row, 2).value  # weight/mass input, float
 
             if weight_unit_f.selectedItem.index == 0:
                 weightValue /= 2.2046226218
 
-            frictionValue = gamepieceTableInput.getInputAtPosition(
-                row, 3
-            ).valueOne  # friction value, float
+            frictionValue = gamepieceTableInput.getInputAtPosition(row, 3).valueOne  # friction value, float
 
             _exportGamepieces.append(
                 Gamepiece(
@@ -1024,9 +973,7 @@ def __init__(self, cmd):
         self.cmd = cmd
 
         self.allWheelPreselections = []  # all child occurrences of selections
-        self.allGamepiecePreselections = (
-            []
-        )  # all child gamepiece occurrences of selections
+        self.allGamepiecePreselections = []  # all child gamepiece occurrences of selections
 
         self.selectedOcc = None  # selected occurrence (if there is one)
         self.selectedJoint = None  # selected joint (if there is one)
@@ -1083,18 +1030,12 @@ def wheelParent(self, occ: adsk.fusion.Occurrence):
 
         try:
             for joint in occ.joints:
-                if (
-                    joint.jointMotion.jointType
-                    == adsk.fusion.JointTypes.RevoluteJointType
-                ):
+                if joint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:
                     # gm.ui.messageBox("Selection is directly jointed.\nReturning selection.\n\n" + "Occurrence:\n--> " + occ.name + "\nJoint:\n--> " + joint.name)
                     return [joint.entityToken, occ]
         except:
             for joint in occ.component.joints:
-                if (
-                    joint.jointMotion.jointType
-                    == adsk.fusion.JointTypes.RevoluteJointType
-                ):
+                if joint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:
                     # gm.ui.messageBox("Selection is directly jointed.\nReturning selection.\n\n" + "Occurrence:\n--> " + occ.name + "\nJoint:\n--> " + joint.name)
                     return [joint.entityToken, occ]
 
@@ -1246,9 +1187,7 @@ def notify(self, args):
         preSelectedJoint = adsk.fusion.Joint.cast(args.selection.entity)
 
         if (preSelectedOcc or preSelectedJoint) and design:
-            self.cmd.setCursor(
-                "", 0, 0
-            )  # if preselection ends (mouse off of design), reset the mouse icon to default
+            self.cmd.setCursor("", 0, 0)  # if preselection ends (mouse off of design), reset the mouse icon to default
 
 
 class ConfigureCommandInputChanged(adsk.core.InputChangedEventHandler):
@@ -1349,11 +1288,7 @@ def notify(self, args):
                     gm.ui.activeSelections.clear()
                     gm.app.activeDocument.design.rootComponent.opacity = 1
 
-        elif (
-            cmdInput.id == "blank_gp"
-            or cmdInput.id == "name_gp"
-            or cmdInput.id == "weight_gp"
-        ):
+        elif cmdInput.id == "blank_gp" or cmdInput.id == "name_gp" or cmdInput.id == "weight_gp":
             self.reset()
 
             gamepieceSelect.isEnabled = False
@@ -1362,33 +1297,13 @@ def notify(self, args):
             cmdInput_str = cmdInput.id
 
             if cmdInput_str == "name_gp":
-                position = (
-                    gamepieceTableInput.getPosition(
-                        adsk.core.TextBoxCommandInput.cast(cmdInput)
-                    )[1]
-                    - 1
-                )
+                position = gamepieceTableInput.getPosition(adsk.core.TextBoxCommandInput.cast(cmdInput))[1] - 1
             elif cmdInput_str == "weight_gp":
-                position = (
-                    gamepieceTableInput.getPosition(
-                        adsk.core.ValueCommandInput.cast(cmdInput)
-                    )[1]
-                    - 1
-                )
+                position = gamepieceTableInput.getPosition(adsk.core.ValueCommandInput.cast(cmdInput))[1] - 1
             elif cmdInput_str == "blank_gp":
-                position = (
-                    gamepieceTableInput.getPosition(
-                        adsk.core.ImageCommandInput.cast(cmdInput)
-                    )[1]
-                    - 1
-                )
+                position = gamepieceTableInput.getPosition(adsk.core.ImageCommandInput.cast(cmdInput))[1] - 1
             else:
-                position = (
-                    gamepieceTableInput.getPosition(
-                        adsk.core.FloatSliderCommandInput.cast(cmdInput)
-                    )[1]
-                    - 1
-                )
+                position = gamepieceTableInput.getPosition(adsk.core.FloatSliderCommandInput.cast(cmdInput))[1] - 1
 
             gm.ui.activeSelections.add(GamepieceListGlobal[position])
 
@@ -1405,10 +1320,7 @@ def notify(self, args):
 
             addFieldInput.isEnabled = True
 
-            if (
-                gamepieceTableInput.selectedRow == -1
-                or gamepieceTableInput.selectedRow == 0
-            ):
+            if gamepieceTableInput.selectedRow == -1 or gamepieceTableInput.selectedRow == 0:
                 gamepieceTableInput.selectedRow = gamepieceTableInput.rowCount - 1
                 gm.ui.messageBox("Select a row to delete.")
             else:
@@ -1432,11 +1344,15 @@ def notify(self, args):
             if unitDropdown.selectedItem.index == 0:
                 self.isLbs = True
 
-                weightInput.tooltipDescription = """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
+                weightInput.tooltipDescription = (
+                    """<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."""
+                )
             elif unitDropdown.selectedItem.index == 1:
                 self.isLbs = False
 
-                weightInput.tooltipDescription = """<tt>(in kilograms)</tt><hr>This is the weight of the entire robot assembly."""
+                weightInput.tooltipDescription = (
+                    """<tt>(in kilograms)</tt><hr>This is the weight of the entire robot assembly."""
+                )
 
         elif cmdInput.id == "weight_unit_f":
             unitDropdown = adsk.core.DropDownCommandInput.cast(cmdInput)
@@ -1461,9 +1377,7 @@ def notify(self, args):
             button = adsk.core.BoolValueCommandInput.cast(cmdInput)
 
             if button.value == True:  # CALCULATE button pressed
-                if (
-                    self.allWeights.count(None) == 2
-                ):  # if button is pressed for the first time
+                if self.allWeights.count(None) == 2:  # if button is pressed for the first time
                     if self.isLbs:  # if pounds unit selected
                         self.allWeights[0] = self.weight()
                         weight_input.value = self.allWeights[0]
@@ -1490,9 +1404,7 @@ def notify(self, args):
                         if row == 0:
                             continue
                         weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-                        physical = GamepieceListGlobal[
-                            row - 1
-                        ].component.getPhysicalProperties(
+                        physical = GamepieceListGlobal[row - 1].component.getPhysicalProperties(
                             adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
                         )
                         value = round(physical.mass * 2.2046226218, 2)
@@ -1503,9 +1415,7 @@ def notify(self, args):
                         if row == 0:
                             continue
                         weightInput = gamepieceTableInput.getInputAtPosition(row, 2)
-                        physical = GamepieceListGlobal[
-                            row - 1
-                        ].component.getPhysicalProperties(
+                        physical = GamepieceListGlobal[row - 1].component.getPhysicalProperties(
                             adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
                         )
                         value = round(physical.mass, 2)
@@ -1568,18 +1478,12 @@ def addPreselections(child_occurrences):
 
     GamepieceListGlobal.append(gamepiece)
     cmdInputs = adsk.core.CommandInputs.cast(gamepieceTableInput.commandInputs)
-    blankIcon = cmdInputs.addImageCommandInput(
-        "blank_gp", "Blank", IconPaths.gamepieceIcons["blank"]
-    )
+    blankIcon = cmdInputs.addImageCommandInput("blank_gp", "Blank", IconPaths.gamepieceIcons["blank"])
 
-    type = cmdInputs.addTextBoxCommandInput(
-        "name_gp", "Occurrence name", gamepiece.name, 1, True
-    )
+    type = cmdInputs.addTextBoxCommandInput("name_gp", "Occurrence name", gamepiece.name, 1, True)
 
     value = 0.0
-    physical = gamepiece.component.getPhysicalProperties(
-        adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
-    )
+    physical = gamepiece.component.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
     value = physical.mass
 
     # check if dropdown unit is kg or lbs. bool value taken from ConfigureCommandInputChanged
@@ -1603,9 +1507,7 @@ def addPreselections(child_occurrences):
     for i in range(20):
         valueList.append(i / 20)
 
-    friction_coeff = cmdInputs.addFloatSliderListCommandInput(
-        "friction_coeff", "", "", valueList
-    )
+    friction_coeff = cmdInputs.addFloatSliderListCommandInput("friction_coeff", "", "", valueList)
     friction_coeff.valueOne = 0.5
 
     type.tooltip = gamepiece.name
@@ -1614,9 +1516,7 @@ def addPreselections(child_occurrences):
     weight.tooltipDescription = massUnitInString
 
     friction_coeff.tooltip = "Friction coefficient of field element"
-    friction_coeff.tooltipDescription = (
-        "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
-    )
+    friction_coeff.tooltipDescription = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
     row = gamepieceTableInput.rowCount
 
     gamepieceTableInput.addCommandInput(blankIcon, row, 0)
diff --git a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
index 1c6a5c8b3f..52a49fa5d4 100644
--- a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
+++ b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
@@ -22,20 +22,14 @@ def createTextGraphics(wheel: adsk.fusion.Occurrence, _wheels) -> None:
         matrix = adsk.core.Matrix3D.create()
         matrix.translation = adsk.core.Vector3D.create(min[0], min[1] - 5, min[2])
 
-        billBoard = adsk.fusion.CustomGraphicsBillBoard.create(
-            adsk.core.Point3D.create(0, 0, 0)
-        )
-        billBoard.billBoardStyle = (
-            adsk.fusion.CustomGraphicsBillBoardStyles.ScreenBillBoardStyle
-        )
+        billBoard = adsk.fusion.CustomGraphicsBillBoard.create(adsk.core.Point3D.create(0, 0, 0))
+        billBoard.billBoardStyle = adsk.fusion.CustomGraphicsBillBoardStyles.ScreenBillBoardStyle
 
         text = str(_wheels.index(wheel) + 1)
         graphicsText = graphics.addText(text, "Arial Black", 6, matrix)
         graphicsText.billBoarding = billBoard  # make the text follow the camera
         graphicsText.isSelectable = False  # make it non-selectable
-        graphicsText.cullMode = (
-            adsk.fusion.CustomGraphicsCullModes.CustomGraphicsCullBack
-        )
+        graphicsText.cullMode = adsk.fusion.CustomGraphicsCullModes.CustomGraphicsCullBack
         graphicsText.color = adsk.fusion.CustomGraphicsShowThroughColorEffect.create(
             adsk.core.Color.create(230, 146, 18, 255), 1
         )  # orange/synthesis theme
diff --git a/exporter/SynthesisFusionAddin/src/UI/Events.py b/exporter/SynthesisFusionAddin/src/UI/Events.py
index bf96f5b9cc..281ebf3f0e 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Events.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Events.py
@@ -53,12 +53,8 @@ def openDocument(json_data: str) -> str:
     """
     data = json.loads(json_data)
     data = data["arguments"]
-    gm.ui.messageBox(
-        f"Attempting to open and focus on a given document: {data}\n TODO: Implement"
-    )
-    logger.info(
-        f"Attempting to open and focus on a given document: {data}\n TODO: Implement"
-    )
+    gm.ui.messageBox(f"Attempting to open and focus on a given document: {data}\n TODO: Implement")
+    logger.info(f"Attempting to open and focus on a given document: {data}\n TODO: Implement")
     return ""
 
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
index 47f7aba3eb..6f6f764cd9 100644
--- a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
+++ b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
@@ -9,9 +9,7 @@
 from ..Types import OString
 
 
-def saveFileDialog(
-    defaultPath: str | None = None, defaultName: str | None = None
-) -> str | bool:
+def saveFileDialog(defaultPath: str | None = None, defaultName: str | None = None) -> str | bool:
     """Function to generate the Save File Dialog for the Hellion Data files
 
     Args:
diff --git a/exporter/SynthesisFusionAddin/src/UI/HUI.py b/exporter/SynthesisFusionAddin/src/UI/HUI.py
index 2842e70a78..3b52de9999 100644
--- a/exporter/SynthesisFusionAddin/src/UI/HUI.py
+++ b/exporter/SynthesisFusionAddin/src/UI/HUI.py
@@ -44,9 +44,7 @@ def __init__(
             self.events.append(arg)
 
         if self.uid in gm.uniqueIds:
-            raise ValueError(
-                f"Cannot create two UI Elements with the same ID {self.uid}\n"
-            )
+            raise ValueError(f"Cannot create two UI Elements with the same ID {self.uid}\n")
 
         if gm.ui.palettes is None:
             raise RuntimeError(f"No Palette object exists yet")
@@ -54,9 +52,7 @@ def __init__(
         self.palette = gm.ui.palettes.itemById(self.uid)
 
         if self.palette is None:
-            path = OsHelper.getOSPathPalette(
-                "src", "Resources", "Palette", f'{self.name.replace(" ", "")}'
-            )
+            path = OsHelper.getOSPathPalette("src", "Resources", "Palette", f'{self.name.replace(" ", "")}')
 
             self.palette = gm.ui.palettes.add(
                 self.uid,
@@ -69,9 +65,7 @@ def __init__(
                 height,
             )
 
-            self.palette.dockingState = (
-                adsk.core.PaletteDockingStates.PaletteDockStateLeft
-            )
+            self.palette.dockingState = adsk.core.PaletteDockingStates.PaletteDockStateLeft
 
             onHTML = Handlers.HPaletteHTMLEventHandler(self)
             self.palette.incomingFromHTML.add(onHTML)
@@ -118,9 +112,7 @@ def __init__(
         self.uid = name.replace(" ", "") + f"_{INTERNAL_ID}"
 
         if self.uid in gm.uniqueIds:
-            raise ValueError(
-                f"Cannot create two UI Elements with the same ID {self.uid}\n"
-            )
+            raise ValueError(f"Cannot create two UI Elements with the same ID {self.uid}\n")
 
         self.name = name
 
@@ -138,9 +130,7 @@ def __init__(
             self.uid,
             f"{name}",
             f"{description}",
-            OsHelper.getOSPath(
-                ".", "src", "Resources", f'{self.name.replace(" ", "")}'
-            ),
+            OsHelper.getOSPath(".", "src", "Resources", f'{self.name.replace(" ", "")}'),
         )
         """ Button Command Definition stored as a member """
 
@@ -190,9 +180,7 @@ def deleteMe(self):
         if cmdDef:
             cmdDef.deleteMe()
 
-        ctrl = gm.ui.allToolbarPanels.itemById(self.location).controls.itemById(
-            self.uid
-        )
+        ctrl = gm.ui.allToolbarPanels.itemById(self.location).controls.itemById(self.uid)
         if ctrl:
             ctrl.deleteMe()
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Helper.py b/exporter/SynthesisFusionAddin/src/UI/Helper.py
index 560f69f9df..7c8e3a5930 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Helper.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Helper.py
@@ -25,9 +25,7 @@ def checkAttribute() -> bool:
             return connected.value
         return False
     except:
-        app.userInterface.messageBox(
-            f"Could not access the attributes of the file \n -- {traceback.format_exc()}."
-        )
+        app.userInterface.messageBox(f"Could not access the attributes of the file \n -- {traceback.format_exc()}.")
         return False
 
 
@@ -48,9 +46,7 @@ def addUnityAttribute() -> bool or None:
         return None
 
     except:
-        app.userInterface.messageBox(
-            f"Could not access the attributes of the file \n -- {traceback.format_exc()}."
-        )
+        app.userInterface.messageBox(f"Could not access the attributes of the file \n -- {traceback.format_exc()}.")
         return False
 
 
@@ -71,9 +67,7 @@ def openPanel() -> None:
             gm.app.data.isDataPanelVisible = False
     else:
         func_list = [o for o in getmembers(Events, isfunction)]
-        palette_new = HUI.HPalette(
-            name, APP_TITLE, True, True, False, 400, 500, func_list
-        )
+        palette_new = HUI.HPalette(name, APP_TITLE, True, True, False, 400, 500, func_list)
         gm.elements.append(palette_new)
 
     return
diff --git a/exporter/SynthesisFusionAddin/src/UI/IconPaths.py b/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
index f5f9017b4e..261720494c 100644
--- a/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
+++ b/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
@@ -5,27 +5,20 @@
 """
 Dictionaries that store all the icon paths in ConfigCommand. All path strings are OS-independent
 """
-resources = OsHelper.getOSPath(
-    ".", "src", "Resources"
-)  # str shortcut with primary directories to all images in file
+resources = OsHelper.getOSPath(".", "src", "Resources")  # str shortcut with primary directories to all images in file
 
 wheelIcons = {
     "omni": resources + os.path.join("WheelIcons", "omni-wheel-preview190x24.png"),
-    "standard": resources
-    + os.path.join("WheelIcons", "standard-wheel-preview190x24.png"),
-    "mecanum": resources
-    + os.path.join("WheelIcons", "mecanum-wheel-preview190x24.png"),
+    "standard": resources + os.path.join("WheelIcons", "standard-wheel-preview190x24.png"),
+    "mecanum": resources + os.path.join("WheelIcons", "mecanum-wheel-preview190x24.png"),
 }
 
 jointIcons = {
     "rigid": resources + os.path.join("JointIcons", "JointRigid", "rigid190x24.png"),
-    "revolute": resources
-    + os.path.join("JointIcons", "JointRev", "revolute190x24.png"),
+    "revolute": resources + os.path.join("JointIcons", "JointRev", "revolute190x24.png"),
     "slider": resources + os.path.join("JointIcons", "JointSlider", "slider190x24.png"),
-    "cylindrical": resources
-    + os.path.join("JointIcons", "JointCyl", "cylindrical190x24.png"),
-    "pin_slot": resources
-    + os.path.join("JointIcons", "JointPinSlot", "pin_slot190x24.png"),
+    "cylindrical": resources + os.path.join("JointIcons", "JointCyl", "cylindrical190x24.png"),
+    "pin_slot": resources + os.path.join("JointIcons", "JointPinSlot", "pin_slot190x24.png"),
     "planar": resources + os.path.join("JointIcons", "JointPlanar", "planar190x24.png"),
     "ball": resources + os.path.join("JointIcons", "JointBall", "ball190x24.png"),
 }
@@ -51,8 +44,6 @@
 }
 
 stringIcons = {
-    "calculate-enabled": resources
-    + os.path.join("AutoCalcWeight_icon"),  # resource folder
-    "friction_override-enabled": resources
-    + os.path.join("FrictionOverride_icon"),  # resource folder
+    "calculate-enabled": resources + os.path.join("AutoCalcWeight_icon"),  # resource folder
+    "friction_override-enabled": resources + os.path.join("FrictionOverride_icon"),  # resource folder
 }
diff --git a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
index 30304f8b90..9332f11d01 100644
--- a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
@@ -26,14 +26,10 @@ class JointConfigTab:
     @logFailure
     def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
         inputs = args.command.commandInputs
-        self.jointConfigTab = inputs.addTabCommandInput(
-            "jointSettings", "Joint Settings"
-        )
+        self.jointConfigTab = inputs.addTabCommandInput("jointSettings", "Joint Settings")
         self.jointConfigTab.tooltip = "Select and configure robot joints."
         jointConfigTabInputs = self.jointConfigTab.children
-        self.jointConfigTable = createTableInput(
-            "jointTable", "Joint Table", jointConfigTabInputs, 7, "1:2:2:2:2:2:2"
-        )
+        self.jointConfigTable = createTableInput("jointTable", "Joint Table", jointConfigTabInputs, 7, "1:2:2:2:2:2:2")
         self.jointConfigTable.addCommandInput(
             createTextBoxInput(
                 "jointMotionHeader",
@@ -46,9 +42,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
             0,
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput(
-                "nameHeader", "Name", jointConfigTabInputs, "Joint name", bold=False
-            ),
+            createTextBoxInput("nameHeader", "Name", jointConfigTabInputs, "Joint name", bold=False),
             0,
             1,
         )
@@ -113,17 +107,11 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
         )
         jointSelect.addSelectionFilter("Joints")
         jointSelect.setSelectionLimits(0)
-        jointSelect.isEnabled = jointSelect.isVisible = (
-            False  # Visibility is triggered by `addJointInputButton`
-        )
+        jointSelect.isEnabled = jointSelect.isVisible = False  # Visibility is triggered by `addJointInputButton`
 
-        jointConfigTabInputs.addTextBoxCommandInput(
-            "jointTabBlankSpacer", "", "", 1, True
-        )
+        jointConfigTabInputs.addTextBoxCommandInput("jointTabBlankSpacer", "", "", 1, True)
 
-        self.wheelConfigTable = createTableInput(
-            "wheelTable", "Wheel Table", jointConfigTabInputs, 4, "1:2:2:2"
-        )
+        self.wheelConfigTable = createTableInput("wheelTable", "Wheel Table", jointConfigTabInputs, 4, "1:2:2:2")
         self.wheelConfigTable.addCommandInput(
             createTextBoxInput(
                 "wheelMotionHeader",
@@ -136,9 +124,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
             0,
         )
         self.wheelConfigTable.addCommandInput(
-            createTextBoxInput(
-                "name_header", "Name", jointConfigTabInputs, "Joint name", bold=False
-            ),
+            createTextBoxInput("name_header", "Name", jointConfigTabInputs, "Joint name", bold=False),
             0,
             1,
         )
@@ -165,17 +151,11 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
             3,
         )
 
-        jointSelectCancelButton = jointConfigTabInputs.addBoolValueInput(
-            "jointSelectCancelButton", "Cancel", False
-        )
+        jointSelectCancelButton = jointConfigTabInputs.addBoolValueInput("jointSelectCancelButton", "Cancel", False)
         jointSelectCancelButton.isEnabled = jointSelectCancelButton.isVisible = False
 
-        addJointInputButton = jointConfigTabInputs.addBoolValueInput(
-            "jointAddButton", "Add", False
-        )
-        removeJointInputButton = jointConfigTabInputs.addBoolValueInput(
-            "jointRemoveButton", "Remove", False
-        )
+        addJointInputButton = jointConfigTabInputs.addBoolValueInput("jointAddButton", "Add", False)
+        removeJointInputButton = jointConfigTabInputs.addBoolValueInput("jointRemoveButton", "Remove", False)
         addJointInputButton.isEnabled = removeJointInputButton.isEnabled = True
 
         self.jointConfigTable.addToolbarCommandInput(addJointInputButton)
@@ -185,9 +165,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
         self.reset()
 
     @logFailure
-    def addJoint(
-        self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
-    ) -> bool:
+    def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None) -> bool:
         if fusionJoint in self.selectedJointList:
             return False
 
@@ -195,62 +173,34 @@ def addJoint(
         commandInputs = self.jointConfigTable.commandInputs
 
         if fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.RigidJointType:
-            icon = commandInputs.addImageCommandInput(
-                "placeholder", "Rigid", IconPaths.jointIcons["rigid"]
-            )
+            icon = commandInputs.addImageCommandInput("placeholder", "Rigid", IconPaths.jointIcons["rigid"])
             icon.tooltip = "Rigid joint"
 
-        elif (
-            fusionJoint.jointMotion.jointType
-            == adsk.fusion.JointTypes.RevoluteJointType
-        ):
-            icon = commandInputs.addImageCommandInput(
-                "placeholder", "Revolute", IconPaths.jointIcons["revolute"]
-            )
+        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:
+            icon = commandInputs.addImageCommandInput("placeholder", "Revolute", IconPaths.jointIcons["revolute"])
             icon.tooltip = "Revolute joint"
 
-        elif (
-            fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.SliderJointType
-        ):
-            icon = commandInputs.addImageCommandInput(
-                "placeholder", "Slider", IconPaths.jointIcons["slider"]
-            )
+        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.SliderJointType:
+            icon = commandInputs.addImageCommandInput("placeholder", "Slider", IconPaths.jointIcons["slider"])
             icon.tooltip = "Slider joint"
 
-        elif (
-            fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.PlanarJointType
-        ):
-            icon = commandInputs.addImageCommandInput(
-                "placeholder", "Planar", IconPaths.jointIcons["planar"]
-            )
+        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.PlanarJointType:
+            icon = commandInputs.addImageCommandInput("placeholder", "Planar", IconPaths.jointIcons["planar"])
             icon.tooltip = "Planar joint"
 
-        elif (
-            fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.PinSlotJointType
-        ):
-            icon = commandInputs.addImageCommandInput(
-                "placeholder", "Pin Slot", IconPaths.jointIcons["pin_slot"]
-            )
+        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.PinSlotJointType:
+            icon = commandInputs.addImageCommandInput("placeholder", "Pin Slot", IconPaths.jointIcons["pin_slot"])
             icon.tooltip = "Pin slot joint"
 
-        elif (
-            fusionJoint.jointMotion.jointType
-            == adsk.fusion.JointTypes.CylindricalJointType
-        ):
-            icon = commandInputs.addImageCommandInput(
-                "placeholder", "Cylindrical", IconPaths.jointIcons["cylindrical"]
-            )
+        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.CylindricalJointType:
+            icon = commandInputs.addImageCommandInput("placeholder", "Cylindrical", IconPaths.jointIcons["cylindrical"])
             icon.tooltip = "Cylindrical joint"
 
         elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.BallJointType:
-            icon = commandInputs.addImageCommandInput(
-                "placeholder", "Ball", IconPaths.jointIcons["ball"]
-            )
+            icon = commandInputs.addImageCommandInput("placeholder", "Ball", IconPaths.jointIcons["ball"])
             icon.tooltip = "Ball joint"
 
-        name = commandInputs.addTextBoxCommandInput(
-            "name_j", "Occurrence name", "", 1, True
-        )
+        name = commandInputs.addTextBoxCommandInput("name_j", "Occurrence name", "", 1, True)
         name.tooltip = fusionJoint.name
         name.formattedText = f"<p style='font-size:11px'>{fusionJoint.name}</p>"
 
@@ -274,9 +224,7 @@ def addJoint(
             jointType.listItems.add(fusionJoint.name, False)
 
         jointType.tooltip = "Possible parent joints"
-        jointType.tooltipDescription = (
-            "<hr>The root component is usually the parent.</hr>"
-        )
+        jointType.tooltipDescription = "<hr>The root component is usually the parent.</hr>"
 
         signalType = commandInputs.addDropDownCommandInput(
             "signalTypeJoint",
@@ -287,12 +235,8 @@ def addJoint(
         # Invisible white space characters are required in the list item name field to make this work.
         # I have no idea why, Fusion API needs some special education help - Brandon
         if synJoint:
-            signalType.listItems.add(
-                "‎", synJoint.signalType is SignalType.PWM, IconPaths.signalIcons["PWM"]
-            )
-            signalType.listItems.add(
-                "‎", synJoint.signalType is SignalType.CAN, IconPaths.signalIcons["CAN"]
-            )
+            signalType.listItems.add("‎", synJoint.signalType is SignalType.PWM, IconPaths.signalIcons["PWM"])
+            signalType.listItems.add("‎", synJoint.signalType is SignalType.CAN, IconPaths.signalIcons["CAN"])
             signalType.listItems.add(
                 "‎",
                 synJoint.signalType is SignalType.PASSIVE,
@@ -312,10 +256,7 @@ def addJoint(
         self.jointConfigTable.addCommandInput(signalType, row, 3)
 
         # Comparison by `==` over `is` because the Autodesk API does not use `Enum` for their enum classes
-        if (
-            fusionJoint.jointMotion.jointType
-            == adsk.fusion.JointTypes.RevoluteJointType
-        ):
+        if fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:
             if synJoint:
                 jointSpeedValue = synJoint.speed
             else:
@@ -330,9 +271,7 @@ def addJoint(
             jointSpeed.tooltip = "Degrees per second"
             self.jointConfigTable.addCommandInput(jointSpeed, row, 4)
 
-        elif (
-            fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.SliderJointType
-        ):
+        elif fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.SliderJointType:
             if synJoint:
                 jointSpeedValue = synJoint.speed
             else:
@@ -348,9 +287,7 @@ def addJoint(
             self.jointConfigTable.addCommandInput(jointSpeed, row, 4)
 
         if synJoint:
-            jointForceValue = (
-                synJoint.force * 100
-            )  # Currently a factor of 100 - Should be investigated
+            jointForceValue = synJoint.force * 100  # Currently a factor of 100 - Should be investigated
         else:
             jointForceValue = 5
 
@@ -363,14 +300,9 @@ def addJoint(
         jointForce.tooltip = "Newtons"
         self.jointConfigTable.addCommandInput(jointForce, row, 5)
 
-        if (
-            fusionJoint.jointMotion.jointType
-            == adsk.fusion.JointTypes.RevoluteJointType
-        ):
+        if fusionJoint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:
             wheelCheckboxEnabled = True
-            wheelCheckboxTooltip = (
-                "Determines if this joint should be counted as a wheel."
-            )
+            wheelCheckboxTooltip = "Determines if this joint should be counted as a wheel."
         else:
             wheelCheckboxEnabled = False
             wheelCheckboxTooltip = "Only Revolute joints can be treated as wheels."
@@ -403,9 +335,7 @@ def addWheel(self, joint: adsk.fusion.Joint, wheel: Wheel | None = None) -> None
             "wheelPlaceholder", "Placeholder", IconPaths.wheelIcons["standard"]
         )
         wheelIcon.tooltip = "Standard wheel"
-        wheelName = commandInputs.addTextBoxCommandInput(
-            "wheelName", "Joint Name", joint.name, 1, True
-        )
+        wheelName = commandInputs.addTextBoxCommandInput("wheelName", "Joint Name", joint.name, 1, True)
         wheelName.tooltip = joint.name  # TODO: Should this be the same?
         wheelType = commandInputs.addDropDownCommandInput(
             "wheelType",
@@ -433,22 +363,12 @@ def addWheel(self, joint: adsk.fusion.Joint, wheel: Wheel | None = None) -> None
         )
         signalType.isFullWidth = True
         signalType.isEnabled = False
-        signalType.tooltip = (
-            "Wheel signal type is linked with the respective joint signal type."
-        )
+        signalType.tooltip = "Wheel signal type is linked with the respective joint signal type."
         i = self.selectedJointList.index(joint)
-        jointSignalType = SignalType(
-            self.jointConfigTable.getInputAtPosition(i + 1, 3).selectedItem.index + 1
-        )
-        signalType.listItems.add(
-            "‎", jointSignalType is SignalType.PWM, IconPaths.signalIcons["PWM"]
-        )
-        signalType.listItems.add(
-            "‎", jointSignalType is SignalType.CAN, IconPaths.signalIcons["CAN"]
-        )
-        signalType.listItems.add(
-            "‎", jointSignalType is SignalType.PASSIVE, IconPaths.signalIcons["PASSIVE"]
-        )
+        jointSignalType = SignalType(self.jointConfigTable.getInputAtPosition(i + 1, 3).selectedItem.index + 1)
+        signalType.listItems.add("‎", jointSignalType is SignalType.PWM, IconPaths.signalIcons["PWM"])
+        signalType.listItems.add("‎", jointSignalType is SignalType.CAN, IconPaths.signalIcons["CAN"])
+        signalType.listItems.add("‎", jointSignalType is SignalType.PASSIVE, IconPaths.signalIcons["PASSIVE"])
 
         row = self.wheelConfigTable.rowCount
         self.wheelConfigTable.addCommandInput(wheelIcon, row, 0)
@@ -500,9 +420,7 @@ def getSelectedJointsAndWheels(self) -> tuple[list[Joint], list[Wheel]]:
         wheels: list[Wheel] = []
         for row in range(1, self.jointConfigTable.rowCount):  # Row is 1 indexed
             jointEntityToken = self.selectedJointList[row - 1].entityToken
-            signalTypeIndex = self.jointConfigTable.getInputAtPosition(
-                row, 3
-            ).selectedItem.index
+            signalTypeIndex = self.jointConfigTable.getInputAtPosition(row, 3).selectedItem.index
             signalType = SignalType(signalTypeIndex + 1)
             jointSpeed: float = self.jointConfigTable.getInputAtPosition(row, 4).value
             jointForce: float = self.jointConfigTable.getInputAtPosition(row, 5).value
@@ -521,9 +439,7 @@ def getSelectedJointsAndWheels(self) -> tuple[list[Joint], list[Wheel]]:
 
             if isWheel:
                 wheelRow = self.jointWheelIndexMap[jointEntityToken]
-                wheelTypeIndex = self.wheelConfigTable.getInputAtPosition(
-                    wheelRow, 2
-                ).selectedItem.index
+                wheelTypeIndex = self.wheelConfigTable.getInputAtPosition(wheelRow, 2).selectedItem.index
                 wheels.append(
                     Wheel(
                         jointEntityToken,
@@ -554,9 +470,7 @@ def handleInputChanged(
         if commandInput.id == "wheelType":
             wheelTypeDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
             position = self.wheelConfigTable.getPosition(wheelTypeDropdown)[1]
-            iconInput: adsk.core.ImageCommandInput = (
-                self.wheelConfigTable.getInputAtPosition(position, 0)
-            )
+            iconInput: adsk.core.ImageCommandInput = self.wheelConfigTable.getInputAtPosition(position, 0)
 
             if wheelTypeDropdown.selectedItem.index == 0:
                 iconInput.imageFile = IconPaths.wheelIcons["standard"]
@@ -571,11 +485,7 @@ def handleInputChanged(
         elif commandInput.id == "isWheel":
             isWheelCheckbox = adsk.core.BoolValueCommandInput.cast(commandInput)
             position = self.jointConfigTable.getPosition(isWheelCheckbox)[1] - 1
-            isAlreadyWheel = bool(
-                self.jointWheelIndexMap.get(
-                    self.selectedJointList[position].entityToken
-                )
-            )
+            isAlreadyWheel = bool(self.jointWheelIndexMap.get(self.selectedJointList[position].entityToken))
 
             if isWheelCheckbox.value != self.previousWheelCheckboxState[position]:
                 if not isAlreadyWheel:
@@ -587,34 +497,22 @@ def handleInputChanged(
 
         elif commandInput.id == "signalTypeJoint":
             signalTypeDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
-            jointTabPosition = self.jointConfigTable.getPosition(signalTypeDropdown)[
-                1
-            ]  # 1 indexed
-            wheelTabPosition = self.jointWheelIndexMap.get(
-                self.selectedJointList[jointTabPosition - 1].entityToken
-            )
+            jointTabPosition = self.jointConfigTable.getPosition(signalTypeDropdown)[1]  # 1 indexed
+            wheelTabPosition = self.jointWheelIndexMap.get(self.selectedJointList[jointTabPosition - 1].entityToken)
 
             if wheelTabPosition:
-                wheelSignalItems: adsk.core.DropDownCommandInput = (
-                    self.wheelConfigTable.getInputAtPosition(wheelTabPosition, 3)
+                wheelSignalItems: adsk.core.DropDownCommandInput = self.wheelConfigTable.getInputAtPosition(
+                    wheelTabPosition, 3
                 )
-                wheelSignalItems.listItems.item(
-                    signalTypeDropdown.selectedItem.index
-                ).isSelected = True
+                wheelSignalItems.listItems.item(signalTypeDropdown.selectedItem.index).isSelected = True
 
         elif commandInput.id == "jointAddButton":
-            jointAddButton: adsk.core.BoolValueCommandInput = (
-                globalCommandInputs.itemById("jointAddButton")
-            )
-            jointRemoveButton: adsk.core.BoolValueCommandInput = (
-                globalCommandInputs.itemById("jointRemoveButton")
-            )
-            jointSelectCancelButton: adsk.core.BoolValueCommandInput = (
-                globalCommandInputs.itemById("jointSelectCancelButton")
-            )
-            jointSelection: adsk.core.SelectionCommandInput = (
-                globalCommandInputs.itemById("jointSelection")
+            jointAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointAddButton")
+            jointRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointRemoveButton")
+            jointSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
+                "jointSelectCancelButton"
             )
+            jointSelection: adsk.core.SelectionCommandInput = globalCommandInputs.itemById("jointSelection")
 
             jointSelection.isVisible = jointSelection.isEnabled = True
             jointSelection.clearSelection()
@@ -622,9 +520,7 @@ def handleInputChanged(
             jointSelectCancelButton.isVisible = jointSelectCancelButton.isEnabled = True
 
         elif commandInput.id == "jointRemoveButton":
-            jointAddButton: adsk.core.BoolValueCommandInput = (
-                globalCommandInputs.itemById("jointAddButton")
-            )
+            jointAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointAddButton")
             jointTable: adsk.core.TableCommandInput = args.inputs.itemById("jointTable")
 
             jointAddButton.isEnabled = True
@@ -633,44 +529,28 @@ def handleInputChanged(
                 ui = adsk.core.Application.get().userInterface
                 ui.messageBox("Select a row to delete.")
             else:
-                self.removeIndexedJoint(
-                    jointTable.selectedRow - 1
-                )  # selectedRow is 1 indexed
+                self.removeIndexedJoint(jointTable.selectedRow - 1)  # selectedRow is 1 indexed
 
         elif commandInput.id == "jointSelectCancelButton":
-            jointAddButton: adsk.core.BoolValueCommandInput = (
-                globalCommandInputs.itemById("jointAddButton")
-            )
-            jointRemoveButton: adsk.core.BoolValueCommandInput = (
-                globalCommandInputs.itemById("jointRemoveButton")
-            )
-            jointSelectCancelButton: adsk.core.BoolValueCommandInput = (
-                globalCommandInputs.itemById("jointSelectCancelButton")
-            )
-            jointSelection: adsk.core.SelectionCommandInput = (
-                globalCommandInputs.itemById("jointSelection")
+            jointAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointAddButton")
+            jointRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointRemoveButton")
+            jointSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
+                "jointSelectCancelButton"
             )
+            jointSelection: adsk.core.SelectionCommandInput = globalCommandInputs.itemById("jointSelection")
             jointSelection.isEnabled = jointSelection.isVisible = False
-            jointSelectCancelButton.isEnabled = jointSelectCancelButton.isVisible = (
-                False
-            )
+            jointSelectCancelButton.isEnabled = jointSelectCancelButton.isVisible = False
             jointAddButton.isEnabled = jointRemoveButton.isEnabled = True
 
     @logFailure
-    def handleSelectionEvent(
-        self, args: adsk.core.SelectionEventArgs, selectedJoint: adsk.fusion.Joint
-    ) -> None:
+    def handleSelectionEvent(self, args: adsk.core.SelectionEventArgs, selectedJoint: adsk.fusion.Joint) -> None:
         selectionInput = args.activeInput
         jointType = selectedJoint.jointMotion.jointType
-        if (
-            jointType == adsk.fusion.JointTypes.RevoluteJointType
-            or jointType == adsk.fusion.JointTypes.SliderJointType
-        ):
+        if jointType == adsk.fusion.JointTypes.RevoluteJointType or jointType == adsk.fusion.JointTypes.SliderJointType:
             if not self.addJoint(selectedJoint):
                 ui = adsk.core.Application.get().userInterface
                 result = ui.messageBox(
-                    "You have already selected this joint.\n"
-                    "Would you like to remove it?",
+                    "You have already selected this joint.\n" "Would you like to remove it?",
                     "Synthesis: Remove Joint Confirmation",
                     adsk.core.MessageBoxButtonTypes.YesNoButtonType,
                     adsk.core.MessageBoxIconTypes.QuestionIconType,
@@ -684,24 +564,14 @@ def handleSelectionEvent(
     @logFailure
     def handlePreviewEvent(self, args: adsk.core.CommandEventArgs) -> None:
         commandInputs = args.command.commandInputs
-        jointAddButton: adsk.core.BoolValueCommandInput = commandInputs.itemById(
-            "jointAddButton"
-        )
-        jointRemoveButton: adsk.core.BoolValueCommandInput = commandInputs.itemById(
-            "jointRemoveButton"
-        )
-        jointSelectCancelButton: adsk.core.BoolValueCommandInput = (
-            commandInputs.itemById("jointSelectCancelButton")
-        )
-        jointSelection: adsk.core.SelectionCommandInput = commandInputs.itemById(
-            "jointSelection"
-        )
+        jointAddButton: adsk.core.BoolValueCommandInput = commandInputs.itemById("jointAddButton")
+        jointRemoveButton: adsk.core.BoolValueCommandInput = commandInputs.itemById("jointRemoveButton")
+        jointSelectCancelButton: adsk.core.BoolValueCommandInput = commandInputs.itemById("jointSelectCancelButton")
+        jointSelection: adsk.core.SelectionCommandInput = commandInputs.itemById("jointSelection")
 
         if self.jointConfigTable.rowCount <= 1:
             jointRemoveButton.isEnabled = False
 
         if not jointSelection.isEnabled:
             jointAddButton.isEnabled = jointRemoveButton.isEnabled = True
-            jointSelectCancelButton.isVisible = jointSelectCancelButton.isEnabled = (
-                False
-            )
+            jointSelectCancelButton.isVisible = jointSelectCancelButton.isEnabled = False
diff --git a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
index 3899e616f9..30c9f078e6 100644
--- a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
+++ b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
@@ -44,14 +44,10 @@ def setLinearMarkingMenu(args):
 
             if occ:
                 if occ.attributes.itemByName("synthesis", "collision_off") == None:
-                    cmdDisableCollision = ui.commandDefinitions.itemById(
-                        "DisableCollision"
-                    )
+                    cmdDisableCollision = ui.commandDefinitions.itemById("DisableCollision")
                     synthDropDown.controls.addCommand(cmdDisableCollision)
                 else:
-                    cmdEnableCollision = ui.commandDefinitions.itemById(
-                        "EnableCollision"
-                    )
+                    cmdEnableCollision = ui.commandDefinitions.itemById("EnableCollision")
                     synthDropDown.controls.addCommand(cmdEnableCollision)
 
     def setCollisionAttribute(occ: adsk.fusion.Occurrence, isEnabled: bool = True):
@@ -118,9 +114,7 @@ def notify(self, args):
                     if design:
                         attrs = design.findAttributes("synthesis", "collision_off")
                         for attr in attrs:
-                            for b in adsk.fusion.Occurrence.cast(
-                                attr.parent
-                            ).bRepBodies:
+                            for b in adsk.fusion.Occurrence.cast(attr.parent).bRepBodies:
                                 ui.activeSelections.add(b)
                 elif cmdDef.id == "EnableAllCollision":
                     app = adsk.core.Application.get()
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
index c68f4b5fdf..bd45cfc062 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
@@ -28,9 +28,7 @@ def notify(self, args):
                 callbackUrl = "https://synthesis.autodesk.com/api/aps/exporter/"
                 challenge = getCodeChallenge()
                 if challenge is None:
-                    logger.error(
-                        "Code challenge is None when attempting to authorize for APS."
-                    )
+                    logger.error("Code challenge is None when attempting to authorize for APS.")
                     return
                 params = {
                     "response_type": "code",
@@ -42,19 +40,10 @@ def notify(self, args):
                     "code_challenge": challenge,
                     "code_challenge_method": "S256",
                 }
-                query = "&".join(
-                    map(lambda pair: f"{pair[0]}={pair[1]}", params.items())
-                )
-                url = (
-                    "https://developer.api.autodesk.com/authentication/v2/authorize?"
-                    + query
-                )
-                palette = gm.ui.palettes.add(
-                    "authPalette", "APS Authentication", url, True, True, True, 400, 400
-                )
-                palette.dockingState = (
-                    adsk.core.PaletteDockingStates.PaletteDockStateRight
-                )
+                query = "&".join(map(lambda pair: f"{pair[0]}={pair[1]}", params.items()))
+                url = "https://developer.api.autodesk.com/authentication/v2/authorize?" + query
+                palette = gm.ui.palettes.add("authPalette", "APS Authentication", url, True, True, True, 400, 400)
+                palette.dockingState = adsk.core.PaletteDockingStates.PaletteDockStateRight
                 # register events
                 onHTMLEvent = MyHTMLEventHandler()
                 palette.incomingFromHTML.add(onHTMLEvent)
@@ -66,9 +55,7 @@ def notify(self, args):
             else:
                 palette.isVisible = True
         except:
-            gm.ui.messageBox(
-                "Command executed failed: {}".format(traceback.format_exc())
-            )
+            gm.ui.messageBox("Command executed failed: {}".format(traceback.format_exc()))
             logger.error("Command executed failed: {}".format(traceback.format_exc()))
             if palette:
                 palette.deleteMe()
diff --git a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
index 95527df003..bfcc34189a 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
@@ -51,9 +51,7 @@ def getPanel(self, name: str, visibility: bool = True) -> str | None:
 
     @logFailure
     @staticmethod
-    def getNewPanel(
-        name: str, tab_id: str, toolbar_id: str, visibility: bool = True
-    ) -> str | None:
+    def getNewPanel(name: str, tab_id: str, toolbar_id: str, visibility: bool = True) -> str | None:
         """# Gets a control for a panel to the tabbed toolbar visibility"""
         designWorkspace = gm.ui.workspaces.itemById("FusionSolidEnvironment")
         allDesignTabs = designWorkspace.toolbarTabs
diff --git a/exporter/SynthesisFusionAddin/src/general_imports.py b/exporter/SynthesisFusionAddin/src/general_imports.py
index 551f49c0cd..67d5e3b3cc 100644
--- a/exporter/SynthesisFusionAddin/src/general_imports.py
+++ b/exporter/SynthesisFusionAddin/src/general_imports.py
@@ -24,9 +24,7 @@
 try:
     path = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
 
-    path_proto_files = os.path.abspath(
-        os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out")
-    )
+    path_proto_files = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out"))
 
     if not path in sys.path:
         sys.path.insert(1, path)
diff --git a/exporter/SynthesisFusionAddin/tools/format.py b/exporter/SynthesisFusionAddin/tools/format.py
index 0b4796e3cd..60d9ba7063 100644
--- a/exporter/SynthesisFusionAddin/tools/format.py
+++ b/exporter/SynthesisFusionAddin/tools/format.py
@@ -6,9 +6,7 @@
 def main(args: list[str] = sys.argv[1:]) -> None:
     dir = args[0] if len(args) else "."
     if "pyproject.toml" not in os.listdir(dir):
-        print(
-            "WARNING: Configuration file for autoformatters was not found. Are you sure you specified the root DIR?"
-        )
+        print("WARNING: Configuration file for autoformatters was not found. Are you sure you specified the root DIR?")
 
     for command in ["isort", "black"]:
         try:

From f47c6339d12a464ed10d38c30b66f73f6f63d187 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Fri, 26 Jul 2024 16:20:00 -0700
Subject: [PATCH 057/344] ran isort formatter

---
 exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
index ad7267fc12..d7e1539e5e 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
@@ -1,5 +1,7 @@
 import webbrowser
+
 import adsk.core
+
 from ..general_imports import *
 
 

From cee612d7f73ebd61aa16401235c4ca71991e24ec Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Fri, 26 Jul 2024 16:25:34 -0700
Subject: [PATCH 058/344] Integration with GH-1010

---
 exporter/SynthesisFusionAddin/Synthesis.py    |  8 ++----
 .../SynthesisFusionAddin/src/Dependencies.py  | 27 +++++++++----------
 2 files changed, 14 insertions(+), 21 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 0b3a4e3bf2..370a52830f 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -8,6 +8,7 @@
 from .src.Dependencies import resolveDependencies
 
 try:
+    from .src.APS import APS
     from .src.general_imports import APP_NAME, DESCRIPTION, INTERNAL_ID, gm
     from .src.Logging import getLogger, logFailure, setupLogger
     from .src.UI import (
@@ -20,12 +21,7 @@
         ShowAPSAuthCommand,
     )
     from .src.UI.Toolbar import Toolbar
-
-    # END OF RESTRICTION
-    # Transition: AARD-1721
-    # Should attempt to fix this ordering scheme within AARD-1741
-    from .src.APS import APS  # isort:skip
-except:
+except (ImportError, ModuleNotFoundError):
     result = resolveDependencies()
     if result:
         adsk.core.Application.get().userInterface.messageBox("Installed required dependencies, please restart Fusion.")
diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
index bd4d71a454..7dac67294c 100644
--- a/exporter/SynthesisFusionAddin/src/Dependencies.py
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -1,5 +1,4 @@
 import importlib.machinery
-import logging
 import os
 import platform
 import subprocess
@@ -9,19 +8,20 @@
 import adsk.core
 import adsk.fusion
 
-from .general_imports import INTERNAL_ID
+from .Logging import getLogger, logFailure
 
-logger = logging.getLogger(INTERNAL_ID)
+logger = getLogger()
 system = platform.system()
 
 # Since the Fusion python runtime is separate from the system python runtime we need to do some funky things
 # in order to download and install python packages separate from the standard library.
 PIP_DEPENDENCY_VERSION_MAP: dict[str, str] = {
     "protobuf": "5.27.2",
+    "requests": "2.32.3",
 }
 
 
-# TODO: Waiting on GH-1010 for failure logging.
+@logFailure
 def getInternalFusionPythonInstillationFolder() -> str:
     # Thank you Kris Kaplan
     # Find the folder location where the Autodesk python instillation keeps the 'os' standard library module.
@@ -60,7 +60,7 @@ def verifyCompiledProtoImports() -> bool:
 
         return True
     except ImportError:
-        # TODO: Add logging from GH-1010
+        logger.warn("Could not resolve compiled proto dependencies")
         return False
 
 
@@ -79,15 +79,19 @@ def packagesOutOfDate(installedPackages: dict[str, str]) -> bool:
     return False
 
 
-# TODO: GH-1010 for log failure
+@logFailure
 def resolveDependencies() -> bool | None:
     app = adsk.core.Application.get()
     ui = app.userInterface
+    if not verifyCompiledProtoImports():
+        ui.messageBox("Missing required compiled protobuf files.")
+        return False
+
     if app.isOffLine:
         # If we have gotten this far that means that an import error was thrown for possible missing
         # dependencies... And we can't try to download them because we have no internet... ¯\_(ツ)_/¯
         ui.messageBox("Unable to resolve dependencies while not connected to the internet.")
-        raise RuntimeError("Internet required to check dependencies")
+        return False
 
     # This is important to reduce the chance of hang on startup.
     adsk.doEvents()
@@ -131,16 +135,9 @@ def resolveDependencies() -> bool | None:
         progressBar.message = f"Installing {dep}..."
         adsk.doEvents()
 
-        # TODO: Will need to update logging after GH-1010
         result = executeCommand(pythonExecutablePath, "-m", "pip", "install", f"{dep}=={version}").returncode
         if result:
-            logging.getLogger(f"{INTERNAL_ID}").warn(f'Dep installation "{dep}" exited with code "{result}"')
+            logger.warn(f'Dep installation "{dep}" exited with code "{result}"')
 
     progressBar.hide()
-
-    # TODO: Will need to update logging after GH-1010
-    if not verifyCompiledProtoImports():
-        ui.messageBox("Missing required compiled protobuf files.")
-        return False
-
     return True

From e18b437cb9a01493d4e96d7557002f940980e244 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Mon, 29 Jul 2024 09:22:05 -0700
Subject: [PATCH 059/344] change input and linter fixes

---
 fission/src/ui/components/Dropdown.tsx        |  2 +-
 .../configuring/inputs/ChangeInputsModal.tsx  | 86 +++++++++----------
 2 files changed, 42 insertions(+), 46 deletions(-)

diff --git a/fission/src/ui/components/Dropdown.tsx b/fission/src/ui/components/Dropdown.tsx
index f29834cb7e..e482b0bb6f 100644
--- a/fission/src/ui/components/Dropdown.tsx
+++ b/fission/src/ui/components/Dropdown.tsx
@@ -65,7 +65,7 @@ const Dropdown: React.FC<DropdownProps> = ({ options, defaultValue, onSelect, la
         if (buttonRef.current) {
             setMenuWidth(buttonRef.current.clientWidth)
         }
-    }, [buttonRef.current])
+    }, [])
 
     const handleClick = (event: React.MouseEvent<HTMLButtonElement>) => {
         setAnchorEl(event.currentTarget)
diff --git a/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
index ea285e2cc9..8a1ea4152c 100644
--- a/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
@@ -344,53 +344,49 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         >
             <>
                 <Stack direction={StackDirection.Horizontal} spacing={25}>
-                    <div>
-                        <Stack direction={StackDirection.Vertical} spacing={10}>
-                            <Dropdown
-                                label={"Select Robot"}
-                                defaultValue={InputSystem?.selectedScheme?.schemeName}
-                                options={InputSchemeManager.allInputSchemes.map(s => s.schemeName)}
-                                onSelect={value => {
-                                    const schemeData = InputSchemeManager.allInputSchemes.find(
-                                        s => s.schemeName == value
-                                    )
-                                    if (!schemeData || schemeData == selectedScheme) return
-
-                                    setSelectedScheme(undefined)
-                                    InputSystem.selectedScheme = schemeData
-                                }}
-                            />
-                            {AddButtonInteractiveColor(() => {
-                                openModal("new-scheme")
-                            })}
-                            {selectedScheme ? (
-                                <>
-                                    <Checkbox
-                                        label="Use Controller"
-                                        defaultState={selectedScheme?.usesGamepad ?? false}
-                                        onClick={val => {
-                                            setUseGamepad(val)
-                                            if (selectedScheme) selectedScheme.usesGamepad = val
+                    <Box display="flex" flexDirection={"column"} gap={"10px"}>
+                        <Dropdown
+                            label={"Select a Control Scheme"}
+                            defaultValue={InputSystem?.selectedScheme?.schemeName}
+                            options={InputSchemeManager.allInputSchemes.map(s => s.schemeName)}
+                            onSelect={value => {
+                                const schemeData = InputSchemeManager.allInputSchemes.find(s => s.schemeName == value)
+                                if (!schemeData || schemeData == selectedScheme) return
+
+                                setSelectedScheme(undefined)
+                                InputSystem.selectedScheme = schemeData
+                            }}
+                        />
+                        {AddButtonInteractiveColor(() => {
+                            openModal("new-scheme")
+                        })}
+                        {selectedScheme ? (
+                            <>
+                                <Checkbox
+                                    label="Use Controller"
+                                    defaultState={selectedScheme?.usesGamepad ?? false}
+                                    onClick={val => {
+                                        setUseGamepad(val)
+                                        if (selectedScheme) selectedScheme.usesGamepad = val
+                                    }}
+                                />
+                                <Box height={10} />
+                                <SectionDivider />
+                                <Box height={15}></Box>
+
+                                <Box display="flex" justifyContent="center" alignItems="center">
+                                    <Button
+                                        value={"Reset all to Defaults"}
+                                        onClick={() => {
+                                            openModal("reset-inputs")
                                         }}
                                     />
-                                    <Box height={10} />
-                                    <SectionDivider />
-                                    <Box height={15}></Box>
-
-                                    <Box display="flex" justifyContent="center" alignItems="center">
-                                        <Button
-                                            value={"Reset all to Defaults"}
-                                            onClick={() => {
-                                                openModal("reset-inputs")
-                                            }}
-                                        />
-                                    </Box>
-                                </>
-                            ) : (
-                                <Label>No robot selected.</Label>
-                            )}
-                        </Stack>
-                    </div>
+                                </Box>
+                            </>
+                        ) : (
+                            <Label>No robot selected.</Label>
+                        )}
+                    </Box>
                     <div
                         className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[60vh] bg-background-secondary rounded-md p-2"
                         onKeyUp={e => {

From 1c065f448df10316196ae778a54ca4afe3a9ba79 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Mon, 29 Jul 2024 09:43:21 -0700
Subject: [PATCH 060/344] restore brain changes lost in merge

---
 .../simulation/wpilib_brain/WPILibBrain.ts    | 164 +++++++++++++-----
 1 file changed, 121 insertions(+), 43 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 3d9ee7d65e..a6e47e05e1 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -3,19 +3,43 @@ import Mechanism from "@/systems/physics/Mechanism"
 import Brain from "../Brain"
 
 import WPILibWSWorker from "./WPILibWSWorker?worker"
+import Behavior from "../behavior/Behavior"
 import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 import Driver from "../driver/Driver"
+import WheelDriver from "../driver/WheelDriver"
+import WheelRotationStimulus from "../stimulus/WheelStimulus"
+import Jolt from "@barclah/jolt-physics"
+import JOLT from "@/util/loading/JoltSyncLoader"
+import ArcadeDriveBehavior from "../behavior/synthesis/ArcadeDriveBehavior"
+import WPILibArcadeDriveBehavior from "../behavior/wpilib/WPILibArcadeDriveBehavior"
+import { mirabuf } from "@/proto/mirabuf"
 
 const worker = new WPILibWSWorker()
 
 const PWM_SPEED = "<speed"
 const PWM_POSITION = "<position"
-const CANMOTOR_DUTY_CYCLE = "<dutyCycle"
-const CANMOTOR_SUPPLY_VOLTAGE = ">supplyVoltage"
-const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput"
 
-export type SimType = "PWM" | "CANMotor" | "Solenoid" | "SimDevice" | "CANEncoder"
+const CANMOTOR_PERCENT_OUTPUT = "<percentOutput"
+const CANMOTOR_BRAKE_MODE = "<brakeMode"
+const CANMOTOR_NEUTRAL_DEADBAND = "<neutralDeadband"
+
+const CANMOTOR_SUPPLY_CURRENT = ">supplyCurrent"
+const CANMOTOR_MOTOR_CURRENT = ">motorCurrent"
+const CANMOTOR_BUS_VOLTAGE = ">busVoltage"
+
+// const CANMOTOR_DUTY_CYCLE = "<dutyCycle"
+// const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput"
+const CANENCODER_POSITION = ">position"
+const CANENCODER_VELOCITY = ">velocity"
+
+export enum SimType {
+    PWM = "PWM",
+    CANMOTOR = "CANMotor",
+    SOLENOID = "Solenoid",
+    SIMDEVICE = "SimDevice",
+    CANENCODER = "CANEncoder"
+}
 
 enum FieldType {
     Read = 0,
@@ -39,6 +63,31 @@ function GetFieldType(field: string): FieldType {
     }
 }
 
+const defaultSimMap: Map<SimType, Map<string, any>> = new Map(
+    Object.entries({
+        CANMotor: {
+            "CANSparkMax[0]": {
+                "<percentOutput": 0.75,
+            },
+            "CANSparkMax[1]": {
+                "<percentOutput": 0.75,
+            },
+            "CANSparkMax[2]": {
+                "<percentOutput": 0.75,
+            },
+            "CANSparkMax[3]": {
+                "<percentOutput": -0.75,
+            },
+            "CANSparkMax[4]": {
+                "<percentOutput": -0.75,
+            },
+            "CANSparkMax[5]": {
+                "<percentOutput": -0.75,
+            },
+        },
+    }).map(([key, value]) => [key as SimType, new Map(Object.entries(value))])
+)
+
 export const simMap = new Map<SimType, Map<string, any>>()
 
 export class SimGeneric {
@@ -107,11 +156,11 @@ export class SimPWM {
     private constructor() {}
 
     public static GetSpeed(device: string): number | undefined {
-        return SimGeneric.Get("PWM", device, PWM_SPEED, 0.0)
+        return SimGeneric.Get(SimType.PWM, device, PWM_SPEED, 0.0)
     }
 
     public static GetPosition(device: string): number | undefined {
-        return SimGeneric.Get("PWM", device, PWM_POSITION, 0.0)
+        return SimGeneric.Get(SimType.PWM, device, PWM_POSITION, 0.0)
     }
 }
 
@@ -123,12 +172,11 @@ export class SimCAN {
         const entries = [...simMap.entries()].filter(([simType, _data]) => simType == type || simType == "SimDevice")
         for (const [_simType, data] of entries) {
             for (const key of data.keys()) {
-                const result = [...key.matchAll(id_exp)]
+                let result = [...key.matchAll(id_exp)]
                 if (result?.length <= 0 || result[0].length <= 1) continue
-                const parsed_id = parseInt(result[0][1])
-                if (parsed_id != id) continue
 
-                return data.get(key)
+                const parsed_id = parseInt(result[0][1])
+                if (parsed_id == id) return data.get(key)
             }
         }
         return undefined
@@ -138,33 +186,61 @@ export class SimCAN {
 export class SimCANMotor {
     private constructor() {}
 
-    public static GetDutyCycle(device: string): number | undefined {
-        return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0)
+    // public static GetDutyCycle(device: string): number | undefined {
+    //     return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0)
+    // }
+    //
+    // public static SetSupplyVoltage(device: string, voltage: number): boolean {
+    //     return SimGeneric.Set("CANMotor", device, CANMOTOR_SUPPLY_VOLTAGE, voltage)
+    // }
+
+    public static GetPercentOutput(device: string): number | undefined {
+        return SimGeneric.Get(SimType.CANMOTOR, device, CANMOTOR_PERCENT_OUTPUT, 0.0)
+    }
+
+    public static GetBrakeMode(device: string): number | undefined {
+        return SimGeneric.Get(SimType.CANMOTOR, device, CANMOTOR_BRAKE_MODE, 0.0)
+    }
+
+    public static GetNeutralDeadband(device: string): number | undefined {
+        return SimGeneric.Get(SimType.CANMOTOR, device, CANMOTOR_NEUTRAL_DEADBAND, 0.0)
     }
 
-    public static SetSupplyVoltage(device: string, voltage: number): boolean {
-        return SimGeneric.Set("CANMotor", device, CANMOTOR_SUPPLY_VOLTAGE, voltage)
+    public static SetSupplyCurrent(device: string, current: number): boolean {
+        return SimGeneric.Set(SimType.CANMOTOR, device, CANMOTOR_SUPPLY_CURRENT, current)
+    }
+
+    public static SetMotorCurrent(device: string, current: number): boolean {
+        return SimGeneric.Set(SimType.CANMOTOR, device, CANMOTOR_MOTOR_CURRENT, current)
+    }
+    
+    public static SetBusVoltage(device: string, voltage: number): boolean {
+        return SimGeneric.Set(SimType.CANMOTOR, device, CANMOTOR_BUS_VOLTAGE, voltage)
     }
 }
 
 export class SimCANEncoder {
     private constructor() {}
 
-    public static SetRawInputPosition(device: string, rawInputPosition: number): boolean {
-        return SimGeneric.Set("CANEncoder", device, CANENCODER_RAW_INPUT_POSITION, rawInputPosition)
+    public static SetVelocity(device: string, velocity: number): boolean {
+        return SimGeneric.Set(SimType.CANENCODER, device, CANENCODER_VELOCITY, velocity)
+    }
+
+    public static SetPosition(device: string, position: number): boolean {
+        return SimGeneric.Set(SimType.CANENCODER, device, CANENCODER_POSITION, position)
     }
 }
 
 worker.addEventListener("message", (eventData: MessageEvent) => {
     let data: any | undefined
-    try {
-        if (typeof eventData.data == "object") {
-            data = eventData.data
-        } else {
+    if (typeof eventData.data == "object") {
+        data = eventData.data
+    } else {
+        try {
             data = JSON.parse(eventData.data)
+        } catch (e) {
+            console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
         }
-    } catch (e) {
-        console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
     }
 
     if (!data || !data.type) {
@@ -175,25 +251,14 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
     const device = data.device
     const updateData = data.data
 
-    switch (data.type) {
-        case "PWM":
-            UpdateSimMap("PWM", device, updateData)
-            break
-        case "Solenoid":
-            UpdateSimMap("Solenoid", device, updateData)
-            break
-        case "SimDevice":
-            UpdateSimMap("SimDevice", device, updateData)
-            break
-        case "CANMotor":
-            UpdateSimMap("CANMotor", device, updateData)
-            break
-        case "CANEncoder":
-            UpdateSimMap("CANEncoder", device, updateData)
-            break
-        default:
-            break
+    if (!(data.type in SimType)) {
+        console.error(`Unrecognized SimType: ${data.type}\n${data.data}`)
+        return
     }
+
+    console.debug(data.type);
+
+    UpdateSimMap(data.type, device, updateData)
 })
 
 function UpdateSimMap(type: SimType, device: string, updateData: any) {
@@ -214,10 +279,15 @@ function UpdateSimMap(type: SimType, device: string, updateData: any) {
 }
 
 class WPILibBrain extends Brain {
+    private _behaviors: Behavior[] = []
     private _simLayer: SimulationLayer
 
     private _simDevices: SimOutputGroup[] = []
 
+    public static robotsSpawned: string[] = []
+
+    private static _currentRobotIndex: number = 0
+
     constructor(mechanism: Mechanism) {
         super(mechanism)
 
@@ -227,13 +297,21 @@ class WPILibBrain extends Brain {
             console.warn("SimulationLayer is undefined")
             return
         }
+
+        // if (mechanism.controllable) {
+        //     WPILibBrain.robotsSpawned.push(this.getNumberedAssemblyName())
+        // }
+
+        // WPILibBrain._currentRobotIndex++
+        // this.configureArcadeDriveBehavior()
     }
 
-    public addSimOutputGroup(device: SimOutputGroup) {
+    public addSimOutputGroup(device: SimOutputGroup): void {
         this._simDevices.push(device)
     }
 
     public Update(deltaT: number): void {
+        // this._behaviors.forEach(b => b.Update(deltaT))
         this._simDevices.forEach(d => d.Update(deltaT))
     }
 
@@ -296,7 +374,7 @@ export class PWMGroup extends SimOutputGroup {
 
         // this.drivers.forEach(d => {
         //     (d as WheelDriver).targetWheelSpeed = average * 40
-        //     d.Update(_deltaT)
+        //     d.Update(deltaT)
         // })
     }
 }
@@ -312,4 +390,4 @@ export class CANGroup extends SimOutputGroup {
             console.log(port, device)
         }
     }
-}
+}
\ No newline at end of file

From 5159d91e6da6f2db90a2b3303cb4ae8b50111a7f Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Mon, 29 Jul 2024 11:29:56 -0700
Subject: [PATCH 061/344] New dropdown styling and moved some icons to
 StyledComponents

---
 fission/src/ui/components/Dropdown.tsx        | 27 +++++++------
 fission/src/ui/components/MainHUD.tsx         | 33 +++++++++-------
 .../src/ui/components/StyledComponents.tsx    | 38 ++++++++++++-------
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  | 16 ++++----
 4 files changed, 69 insertions(+), 45 deletions(-)

diff --git a/fission/src/ui/components/Dropdown.tsx b/fission/src/ui/components/Dropdown.tsx
index e482b0bb6f..d5ba480505 100644
--- a/fission/src/ui/components/Dropdown.tsx
+++ b/fission/src/ui/components/Dropdown.tsx
@@ -1,47 +1,52 @@
 import React, { useEffect, useRef, useState } from "react"
 import { styled } from "@mui/system"
 import { Menu, MenuItem, Button, Tooltip } from "@mui/material"
+import { colorNameToVar } from "../ThemeContext"
 
 const CustomButton = styled(Button)({
-    "border": "2px solid #da6659",
-    "color": "white",
+    "border": `2px solid ${colorNameToVar("InteractiveElementRight")}`,
+    "color": colorNameToVar("InteractiveElementText"),
+    "backgroundColor": colorNameToVar("BackgroundSecondary"),
     "width": "100%",
     "&:focus": {
         outline: "none !important",
-        border: "2px solid #da6659 !important",
+        border: `2px solid ${colorNameToVar("InteractiveElementRight")} !important`,
         boxShadow: "none !important",
     },
     "&:hover": {
         outline: "none !important",
-        border: "2px solid #da6659 !important",
+        border: `2px solid ${colorNameToVar("InteractiveElementLeft")} !important`,
         boxShadow: "none !important",
+        backgroundColor: colorNameToVar("BackgroundSecondary"),
     },
     "&:focus-visible": {
         outline: "none !important",
-        border: "2px solid #da6659 !important",
+        border: `2px solid ${colorNameToVar("InteractiveElementLeft")} !important`,
         boxShadow: "none !important",
+        backgroundColor: colorNameToVar("BackgroundSecondary"),
     },
     "&:active": {
         outline: "none !important",
-        border: "2px solid #da6659 !important",
+        border: `2px solid ${colorNameToVar("InteractiveElementLeft")} !important`,
         boxShadow: "none !important",
+        backgroundColor: colorNameToVar("BackgroundSecondary"),
     },
     "&::-moz-focus-inner": {
         border: "0 !important",
+        backgroundColor: colorNameToVar("BackgroundSecondary"),
     },
 })
 
 const CustomMenu = styled(Menu)({
     "& .MuiPaper-root": {
-        backgroundColor: "#333",
-        color: "white",
-        border: "1px solid #da6659",
-        minWidth: "unset", // Ensure minWidth is unset so it can be overridden
+        backgroundColor: colorNameToVar("BackgroundSecondary"),
+        color: colorNameToVar("MainText"),
+        border: `2px solid ${colorNameToVar("InteractiveElementRight")} !important`,
+        minWidth: "unset",
     },
     "& .MuiMenuItem-root": {
         "transition": "background-color 0.3s ease, color 0.3s ease",
         "&:hover": {
-            backgroundColor: "#444",
             color: "#da6659",
         },
     },
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index fa7016bcc4..a14a7244e7 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -1,11 +1,9 @@
 import React, { useEffect, useState } from "react"
-import { BsCodeSquare } from "react-icons/bs"
 import { FaCar, FaGear, FaMagnifyingGlass, FaPlus } from "react-icons/fa6"
 import { BiMenuAltLeft } from "react-icons/bi"
 import { GrConnect, GrFormClose } from "react-icons/gr"
 import { GiSteeringWheel } from "react-icons/gi"
 import { HiDownload } from "react-icons/hi"
-import { IoBasketball, IoBug, IoGameControllerOutline, IoPeople, IoRefresh, IoTimer } from "react-icons/io5"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
 import { motion } from "framer-motion"
@@ -23,6 +21,15 @@ import MirabufCachingService, { MiraType } from "@/mirabuf/MirabufLoader"
 import Jolt from "@barclah/jolt-physics"
 import { AiOutlineDoubleRight } from "react-icons/ai"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import {
+    BasketballIcon,
+    BugIcon,
+    CodeSquare,
+    ControllerIcon,
+    PeopleIcon,
+    RefreshIcon,
+    TimerIcon,
+} from "./StyledComponents"
 
 type ButtonProps = {
     value: string
@@ -109,13 +116,13 @@ const MainHUD: React.FC = () => {
                     <MainHUDButton value={"View"} icon={<FaMagnifyingGlass />} onClick={() => openModal("view")} />
                     <MainHUDButton
                         value={"Controls"}
-                        icon={<IoGameControllerOutline />}
+                        icon={ControllerIcon}
                         onClick={() => openModal("change-inputs")}
                     />
-                    <MainHUDButton value={"MultiBot"} icon={<IoPeople />} onClick={() => openPanel("multibot")} />
+                    <MainHUDButton value={"MultiBot"} icon={PeopleIcon} onClick={() => openPanel("multibot")} />
                     <MainHUDButton
                         value={"Import Local Mira"}
-                        icon={<IoPeople />}
+                        icon={PeopleIcon}
                         onClick={() => openModal("import-local-mirabuf")}
                     />
                     <MainHUDButton
@@ -123,22 +130,22 @@ const MainHUD: React.FC = () => {
                         icon={<AiOutlineDoubleRight />}
                         onClick={() => openPanel("poker")}
                     />
-                    <MainHUDButton value={"Test God Mode"} icon={<IoGameControllerOutline />} onClick={TestGodMode} />
+                    <MainHUDButton value={"Test God Mode"} icon={ControllerIcon} onClick={TestGodMode} />
                     <MainHUDButton
                         value={"Clear Prefs"}
-                        icon={<IoBug />}
+                        icon={BugIcon}
                         onClick={() => PreferencesSystem.clearPreferences()}
                     />
                     <MainHUDButton
                         value={"Refresh APS Token"}
-                        icon={<IoRefresh />}
+                        icon={RefreshIcon}
                         onClick={async () =>
                             APS.isSignedIn() && APS.refreshAuthToken((await APS.getAuth())!.refresh_token, true)
                         }
                     />
                     <MainHUDButton
                         value={"Expire APS Token"}
-                        icon={<IoTimer />}
+                        icon={TimerIcon}
                         onClick={() => {
                             if (APS.isSignedIn()) {
                                 APS.setExpiresAt(Date.now())
@@ -154,7 +161,7 @@ const MainHUD: React.FC = () => {
                         icon={<HiDownload />}
                         onClick={() => openModal("download-assets")}
                     />
-                    <MainHUDButton value={"RoboRIO"} icon={<BsCodeSquare />} onClick={() => openModal("roborio")} />
+                    <MainHUDButton value={"RoboRIO"} icon={CodeSquare} onClick={() => openModal("roborio")} />
                     <MainHUDButton
                         value={"Driver Station"}
                         icon={<GiSteeringWheel />}
@@ -163,7 +170,7 @@ const MainHUD: React.FC = () => {
                     {/* MiraMap and OPFS Temp Buttons */}
                     <MainHUDButton
                         value={"Print Mira Maps"}
-                        icon={<BsCodeSquare />}
+                        icon={CodeSquare}
                         onClick={() => {
                             console.log(MirabufCachingService.GetCacheMap(MiraType.ROBOT))
                             console.log(MirabufCachingService.GetCacheMap(MiraType.FIELD))
@@ -176,7 +183,7 @@ const MainHUD: React.FC = () => {
                     />
                     <MainHUDButton
                         value={"Edit Scoring Zones"}
-                        icon={<IoBasketball />}
+                        icon={BasketballIcon}
                         onClick={() => {
                             openPanel("scoring-zones")
                         }}
@@ -218,7 +225,7 @@ const MainHUD: React.FC = () => {
                 ) : (
                     <MainHUDButton
                         value={`APS Login`}
-                        icon={<IoPeople />}
+                        icon={PeopleIcon}
                         larger={true}
                         onClick={() => APS.requestAuthCode()}
                     />
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index 1f8145c05d..2d29925de4 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -5,13 +5,25 @@ import { IoCheckmark, IoPencil, IoTrashBin } from "react-icons/io5"
 import { HiDownload } from "react-icons/hi"
 import { AiOutlinePlus } from "react-icons/ai"
 import { BiRefresh } from "react-icons/bi"
+import { BsCodeSquare } from "react-icons/bs"
 
-export const DeleteIcon = <IoTrashBin size={"1.25rem"} />
-export const DownloadIcon = <HiDownload size={"1.25rem"} />
-export const AddIcon = <AiOutlinePlus size={"1.25rem"} />
-export const RefreshIcon = <BiRefresh size={"1.25rem"} />
-export const SelectIcon = <IoCheckmark size={"1.25rem"} />
-export const EditIcon = <IoPencil size={"1.25rem"} />
+import { IoBasketball, IoBug, IoGameControllerOutline, IoPeople, IoTimer } from "react-icons/io5"
+
+export const DeleteIconLarge = <IoTrashBin size={"1.25rem"} />
+export const DownloadIconLarge = <HiDownload size={"1.25rem"} />
+export const AddIconLarge = <AiOutlinePlus size={"1.25rem"} />
+export const RefreshIconLarge = <BiRefresh size={"1.25rem"} />
+export const SelectIconLarge = <IoCheckmark size={"1.25rem"} />
+export const EditIconLarge = <IoPencil size={"1.25rem"} />
+
+export const RefreshIcon = <BiRefresh />
+export const BasketballIcon = <IoBasketball />
+export const BugIcon = <IoBug />
+export const ControllerIcon = <IoGameControllerOutline />
+export const PeopleIcon = <IoPeople />
+export const TimerIcon = <IoTimer />
+
+export const CodeSquare = <BsCodeSquare />
 
 export const SectionDivider = styled(Divider)({
     borderColor: "white",
@@ -34,19 +46,19 @@ export const PositiveButton: React.FC<ButtonProps> = ({ value, onClick }) => {
 }
 
 export const DownloadButton = (onClick: () => void) => {
-    return <PositiveButton value={DeleteIcon} onClick={onClick} />
+    return <PositiveButton value={DeleteIconLarge} onClick={onClick} />
 }
 
 export const AddButton = (onClick: () => void) => {
-    return <PositiveButton value={DeleteIcon} onClick={onClick} />
+    return <PositiveButton value={DeleteIconLarge} onClick={onClick} />
 }
 
 export const SelectButton = (onClick: () => void) => {
-    return <PositiveButton value={SelectIcon} onClick={onClick} />
+    return <PositiveButton value={SelectIconLarge} onClick={onClick} />
 }
 
 export const EditButton = (onClick: () => void) => {
-    return <PositiveButton value={EditIcon} onClick={onClick} />
+    return <PositiveButton value={EditIconLarge} onClick={onClick} />
 }
 
 export const NegativeButton: React.FC<ButtonProps> = ({ value, onClick }) => {
@@ -61,7 +73,7 @@ export const NegativeButton: React.FC<ButtonProps> = ({ value, onClick }) => {
 }
 
 export const DeleteButton = (onClick: () => void) => {
-    return <NegativeButton value={DeleteIcon} onClick={onClick} />
+    return <NegativeButton value={DeleteIconLarge} onClick={onClick} />
 }
 
 export const ButtonIcon: React.FC<ButtonProps> = ({ value, onClick }) => {
@@ -76,9 +88,9 @@ export const ButtonIcon: React.FC<ButtonProps> = ({ value, onClick }) => {
 }
 
 export const RefreshButton = (onClick: () => void) => {
-    return <ButtonIcon value={RefreshIcon} onClick={onClick} />
+    return <ButtonIcon value={RefreshIconLarge} onClick={onClick} />
 }
 
 export const AddButtonInteractiveColor = (onClick: () => void) => {
-    return <Button value={AddIcon} onClick={onClick} />
+    return <Button value={AddIconLarge} onClick={onClick} />
 }
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index a7e5cc2816..9b79247cb0 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -20,9 +20,9 @@ import {
     PositiveButton,
     SectionDivider,
     SectionLabel,
-    AddIcon,
+    AddIconLarge,
     DeleteButton,
-    DownloadIcon,
+    DownloadIconLarge,
     RefreshButton,
 } from "@/ui/components/StyledComponents"
 import { ProgressHandle } from "@/ui/components/ProgressNotificationData"
@@ -240,7 +240,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 ItemCard({
                     name: info.name || info.cacheKey || "Unnamed Robot",
                     id: info.id,
-                    primaryButtonNode: AddIcon,
+                    primaryButtonNode: AddIconLarge,
                     primaryOnClick: () => {
                         console.log(`Selecting cached robot: ${info.cacheKey}`)
                         selectCache(info, MiraType.ROBOT)
@@ -263,7 +263,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 ItemCard({
                     name: info.name || info.cacheKey || "Unnamed Field",
                     id: info.id,
-                    primaryButtonNode: AddIcon,
+                    primaryButtonNode: AddIconLarge,
                     primaryOnClick: () => {
                         console.log(`Selecting cached field: ${info.cacheKey}`)
                         selectCache(info, MiraType.FIELD)
@@ -288,7 +288,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             ItemCard({
                 name: path.displayName,
                 id: path.src,
-                primaryButtonNode: DownloadIcon,
+                primaryButtonNode: DownloadIconLarge,
                 primaryOnClick: () => {
                     console.log(`Selecting remote: ${path}`)
                     selectRemote(path, MiraType.ROBOT)
@@ -306,7 +306,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             ItemCard({
                 name: path.displayName,
                 id: path.src,
-                primaryButtonNode: DownloadIcon,
+                primaryButtonNode: DownloadIconLarge,
                 primaryOnClick: () => {
                     console.log(`Selecting remote: ${path}`)
                     selectRemote(path, MiraType.FIELD)
@@ -322,7 +322,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 ItemCard({
                     name: file.attributes.displayName!,
                     id: file.id,
-                    primaryButtonNode: DownloadIcon,
+                    primaryButtonNode: DownloadIconLarge,
                     primaryOnClick: () => {
                         console.debug(file.raw)
                         selectAPS(file, viewType)
@@ -335,7 +335,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     return (
         <Panel
             name={"Select Mirabuf"}
-            icon={AddIcon}
+            icon={AddIconLarge}
             panelId={panelId}
             acceptEnabled={false}
             cancelName="Back"

From 1377a8d48bf93616c26a2227f4fee769397168a1 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 29 Jul 2024 12:26:50 -0700
Subject: [PATCH 062/344] add initial aps management modal has name and profile
 picture with logout button

---
 fission/src/Synthesis.tsx                    |  2 ++
 fission/src/ui/components/MainHUD.tsx        |  2 +-
 fission/src/ui/modals/APSManagementModal.tsx | 24 ++++++++++++++++++++
 3 files changed, 27 insertions(+), 1 deletion(-)
 create mode 100644 fission/src/ui/modals/APSManagementModal.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 51e9c4db05..8f0f09f62f 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -66,6 +66,7 @@ import NewInputSchemeModal from "./ui/modals/configuring/theme-editor/NewInputSc
 import AssignNewSchemeModal from "./ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx"
 import AnalyticsConsent from "./ui/components/AnalyticsConsent.tsx"
 import PreferencesSystem from "./systems/preferences/PreferencesSystem.ts"
+import APSManagementModal from "./ui/modals/APSManagementModal.tsx"
 
 const worker = new Lazy<Worker>(() => new WPILibWSWorker())
 
@@ -227,6 +228,7 @@ const initialModals = [
     <ImportLocalMirabufModal key="import-local-mirabuf" modalId="import-local-mirabuf" />,
     <ConfigureRobotModal key="config-robot" modalId="config-robot" />,
     <ResetAllInputsModal key="reset-inputs" modalId="reset-inputs" />,
+    <APSManagementModal key="aps-management" modalId="aps-management" />,
 ]
 
 const initialPanels: ReactElement[] = [
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index af55290eab..8007143109 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -133,7 +133,7 @@ const MainHUD: React.FC = () => {
                         value={`Hi, ${userInfo.givenName}`}
                         icon={<UserIcon className="h-[20pt] m-[5pt] rounded-full" />}
                         larger={true}
-                        onClick={() => APS.logout()}
+                        onClick={() => openModal("aps-management")}
                     />
                 ) : (
                     <MainHUDButton
diff --git a/fission/src/ui/modals/APSManagementModal.tsx b/fission/src/ui/modals/APSManagementModal.tsx
new file mode 100644
index 0000000000..ab1ec57e7c
--- /dev/null
+++ b/fission/src/ui/modals/APSManagementModal.tsx
@@ -0,0 +1,24 @@
+import React, { useState } from "react"
+import Modal, { ModalPropsImpl } from "@/components/Modal"
+import Stack, { StackDirection } from "@/components/Stack"
+import Label, { LabelSize } from "@/components/Label"
+import { HiUser } from "react-icons/hi"
+import APS from "@/aps/APS"
+
+const APSManagementModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
+    const [userInfo, setUserInfo] = useState(APS.userInfo)
+    return (
+        <Modal name={userInfo?.name ?? "Not signed in"} icon={
+            userInfo?.picture ?
+                <img src={userInfo?.picture} className="h-10 rounded-full" /> :
+                <HiUser />
+        } modalId={modalId} acceptName="Logout" onAccept={() => {
+            APS.logout()
+        }}>
+            <Stack direction={StackDirection.Vertical} spacing={10}>
+            </Stack>
+        </Modal>
+    )
+}
+
+export default APSManagementModal

From e6e36f0327f1360ded7b0a9207bbc42e9a8e2f67 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Mon, 29 Jul 2024 12:48:04 -0700
Subject: [PATCH 063/344] All icons -> StyledComponents.ts

---
 fission/src/ui/components/MainHUD.tsx         | 50 ++++++-----
 .../src/ui/components/StyledComponents.tsx    | 83 +++++++++++++------
 fission/src/ui/components/UserIcon.tsx        |  4 +-
 fission/src/ui/modals/DownloadAssetsModal.tsx |  4 +-
 fission/src/ui/modals/ExitSynthesisModal.tsx  |  4 +-
 fission/src/ui/modals/MatchResultsModal.tsx   |  4 +-
 .../src/ui/modals/UpdateAvailableModal.tsx    |  4 +-
 fission/src/ui/modals/ViewModal.tsx           |  4 +-
 .../aether/ConnectToMultiplayerModal.tsx      |  4 +-
 .../ui/modals/aether/ServerHostingModal.tsx   |  4 +-
 .../ChooseMultiplayerModeModal.tsx            | 10 ++-
 .../ChooseSingleplayerModeModal.tsx           | 10 ++-
 .../modals/configuring/ConfigMotorModal.tsx   |  4 +-
 .../configuring/ConfigureRobotModal.tsx       |  4 +-
 .../ui/modals/configuring/DrivetrainModal.tsx |  4 +-
 .../configuring/PracticeSettingsModal.tsx     |  4 +-
 .../ui/modals/configuring/RoboRIOModal.tsx    |  4 +-
 .../ui/modals/configuring/SettingsModal.tsx   |  4 +-
 .../configuring/inputs/ChangeInputsModal.tsx  |  5 +-
 .../inputs/ResetAllInputsModal.tsx            |  4 +-
 .../rio-config/RCConfigCANGroupModal.tsx      |  4 +-
 .../rio-config/RCConfigEncoderModal.tsx       |  4 +-
 .../rio-config/RCConfigPWMGroupModal.tsx      |  4 +-
 .../rio-config/RCCreateDeviceModal.tsx        |  4 +-
 .../theme-editor/AssignNewSchemeModal.tsx     |  4 +-
 .../theme-editor/DeleteAllThemesModal.tsx     |  4 +-
 .../theme-editor/DeleteThemeModal.tsx         |  4 +-
 .../theme-editor/NewInputSchemeModal.tsx      |  4 +-
 .../theme-editor/NewThemeModal.tsx            |  4 +-
 .../theme-editor/ThemeEditorModal.tsx         |  7 +-
 .../mirabuf/ImportLocalMirabufModal.tsx       |  4 +-
 .../modals/spawning/ManageAssembliesModal.tsx |  4 +-
 .../src/ui/modals/spawning/MatchModeModal.tsx |  4 +-
 .../src/ui/modals/spawning/SpawningModals.tsx |  8 +-
 fission/src/ui/panels/DebugPanel.tsx          |  4 +-
 fission/src/ui/panels/PokerPanel.tsx          |  4 +-
 fission/src/ui/panels/RobotSwitchPanel.tsx    |  4 +-
 fission/src/ui/panels/WSViewPanel.tsx         | 10 ++-
 .../configuring/ChooseInputSchemePanel.tsx    |  2 +
 .../ConfigureGamepiecePickupPanel.tsx         |  4 +-
 .../ConfigureShotTrajectoryPanel.tsx          |  4 +-
 .../configuring/scoring/ScoringZonesPanel.tsx | 16 ++--
 .../configuring/scoring/ZoneConfigPanel.tsx   |  4 +-
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  | 15 ++--
 .../panels/simulation/DriverStationPanel.tsx  |  4 +-
 45 files changed, 200 insertions(+), 152 deletions(-)

diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index bbeb745217..2f380cdabc 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -1,17 +1,7 @@
 import React, { useEffect, useState } from "react"
-import {
-    FaGear,
-    FaMagnifyingGlass,
-    FaPlus,
-    FaGamepad,
-    FaBasketball,
-    FaFileImport,
-    FaWrench,
-    FaScrewdriverWrench,
-} from "react-icons/fa6"
+
 import { BiMenuAltLeft } from "react-icons/bi"
 import { FaXmark } from "react-icons/fa6"
-import { IoPeople } from "react-icons/io5"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
 import { motion } from "framer-motion"
@@ -20,7 +10,7 @@ import { ToastType, useToastContext } from "@/ui/ToastContext"
 import APS, { APS_USER_INFO_UPDATE_EVENT } from "@/aps/APS"
 import { UserIcon } from "./UserIcon"
 import { Button } from "@mui/base/Button"
-import { ButtonIcon } from "./StyledComponents"
+import { ButtonIcon, SynthesisIcons } from "./StyledComponents"
 
 type ButtonProps = {
     value: string
@@ -91,37 +81,53 @@ const MainHUD: React.FC = () => {
                 </div>
                 <MainHUDButton
                     value={"Spawn Asset"}
-                    icon={<FaPlus />}
+                    icon={SynthesisIcons.Add}
                     larger={true}
                     onClick={() => openPanel("import-mirabuf")}
                 />
                 <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
                     <MainHUDButton
                         value={"Manage Assemblies"}
-                        icon={<FaWrench />}
+                        icon={SynthesisIcons.Wrench}
                         onClick={() => openModal("manage-assemblies")}
                     />
-                    <MainHUDButton value={"Settings"} icon={<FaGear />} onClick={() => openModal("settings")} />
-                    <MainHUDButton value={"View"} icon={<FaMagnifyingGlass />} onClick={() => openModal("view")} />
-                    <MainHUDButton value={"Controls"} icon={<FaGamepad />} onClick={() => openModal("change-inputs")} />
+                    <MainHUDButton
+                        value={"Settings"}
+                        icon={SynthesisIcons.Gear}
+                        onClick={() => openModal("settings")}
+                    />
+                    <MainHUDButton
+                        value={"View"}
+                        icon={SynthesisIcons.MagnifyingGlass}
+                        onClick={() => openModal("view")}
+                    />
+                    <MainHUDButton
+                        value={"Controls"}
+                        icon={SynthesisIcons.Gamepad}
+                        onClick={() => openModal("change-inputs")}
+                    />
                     <MainHUDButton
                         value={"Import Local Mira"}
-                        icon={<FaFileImport />}
+                        icon={SynthesisIcons.Import}
                         onClick={() => openModal("import-local-mirabuf")}
                     />
                 </div>
                 <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
                     <MainHUDButton
                         value={"Edit Scoring Zones"}
-                        icon={<FaBasketball />}
+                        icon={SynthesisIcons.Basketball}
                         onClick={() => {
                             openPanel("scoring-zones")
                         }}
                     />
-                    <MainHUDButton value={"Configure"} icon={<FaGear />} onClick={() => openModal("config-robot")} />
+                    <MainHUDButton
+                        value={"Configure"}
+                        icon={SynthesisIcons.Gear}
+                        onClick={() => openModal("config-robot")}
+                    />
                     <MainHUDButton
                         value={"Debug Tools"}
-                        icon={<FaScrewdriverWrench />}
+                        icon={SynthesisIcons.ScrewdriverWrench}
                         onClick={() => {
                             openPanel("debug")
                         }}
@@ -137,7 +143,7 @@ const MainHUD: React.FC = () => {
                 ) : (
                     <MainHUDButton
                         value={`APS Login`}
-                        icon={<IoPeople />}
+                        icon={SynthesisIcons.People}
                         larger={true}
                         onClick={() => APS.requestAuthCode()}
                     />
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index 2d29925de4..f6b08f2171 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -1,29 +1,60 @@
 import { Divider, styled } from "@mui/material"
 import Label from "./Label"
 import Button, { ButtonProps, ButtonSize } from "./Button"
-import { IoCheckmark, IoPencil, IoTrashBin } from "react-icons/io5"
+import { IoCheckmark, IoPencil, IoPeople, IoTrashBin } from "react-icons/io5"
 import { HiDownload } from "react-icons/hi"
 import { AiOutlinePlus } from "react-icons/ai"
 import { BiRefresh } from "react-icons/bi"
+import { AiFillWarning } from "react-icons/ai"
 import { BsCodeSquare } from "react-icons/bs"
-
-import { IoBasketball, IoBug, IoGameControllerOutline, IoPeople, IoTimer } from "react-icons/io5"
-
-export const DeleteIconLarge = <IoTrashBin size={"1.25rem"} />
-export const DownloadIconLarge = <HiDownload size={"1.25rem"} />
-export const AddIconLarge = <AiOutlinePlus size={"1.25rem"} />
-export const RefreshIconLarge = <BiRefresh size={"1.25rem"} />
-export const SelectIconLarge = <IoCheckmark size={"1.25rem"} />
-export const EditIconLarge = <IoPencil size={"1.25rem"} />
-
-export const RefreshIcon = <BiRefresh />
-export const BasketballIcon = <IoBasketball />
-export const BugIcon = <IoBug />
-export const ControllerIcon = <IoGameControllerOutline />
-export const PeopleIcon = <IoPeople />
-export const TimerIcon = <IoTimer />
-
-export const CodeSquare = <BsCodeSquare />
+import { GiSteeringWheel } from "react-icons/gi"
+import { AiOutlineDoubleRight } from "react-icons/ai"
+import { GrConnect } from "react-icons/gr"
+
+import {
+    FaGear,
+    FaMagnifyingGlass,
+    FaPlus,
+    FaGamepad,
+    FaBasketball,
+    FaFileImport,
+    FaWrench,
+    FaScrewdriverWrench,
+    FaQuestion,
+    FaXmark,
+    FaChessBoard,
+    FaCar,
+} from "react-icons/fa6"
+
+export class SynthesisIcons {
+    /** Regular icons: used for panels, modals, and main hud buttons */
+    public static Basketball = (<FaBasketball />)
+    public static Gamepad = (<FaGamepad />)
+    public static Gear = (<FaGear />)
+    public static MagnifyingGlass = (<FaMagnifyingGlass />)
+    public static Add = (<FaPlus />)
+    public static Import = (<FaFileImport />)
+    public static Wrench = (<FaWrench />)
+    public static ScrewdriverWrench = (<FaScrewdriverWrench />)
+    public static Question = (<FaQuestion />)
+    public static Xmark = (<FaXmark />)
+    public static People = (<IoPeople />)
+    public static ChessBoard = (<FaChessBoard />)
+    public static FillWarning = (<AiFillWarning />)
+    public static Car = (<FaCar />)
+    public static CodeSquare = (<BsCodeSquare />)
+    public static SteeringWheel = (<GiSteeringWheel />)
+    public static OutlineDoubleRight = (<AiOutlineDoubleRight />)
+    public static Connect = (<GrConnect />)
+
+    /** Large icons: used for icon buttons */
+    public static DeleteLarge = (<IoTrashBin size={"1.25rem"} />)
+    public static DownloadLarge = (<HiDownload size={"1.25rem"} />)
+    public static AddLarge = (<AiOutlinePlus size={"1.25rem"} />)
+    public static RefreshLarge = (<BiRefresh size={"1.25rem"} />)
+    public static SelectLarge = (<IoCheckmark size={"1.25rem"} />)
+    public static EditLarge = (<IoPencil size={"1.25rem"} />)
+}
 
 export const SectionDivider = styled(Divider)({
     borderColor: "white",
@@ -46,19 +77,19 @@ export const PositiveButton: React.FC<ButtonProps> = ({ value, onClick }) => {
 }
 
 export const DownloadButton = (onClick: () => void) => {
-    return <PositiveButton value={DeleteIconLarge} onClick={onClick} />
+    return <PositiveButton value={SynthesisIcons.DeleteLarge} onClick={onClick} />
 }
 
 export const AddButton = (onClick: () => void) => {
-    return <PositiveButton value={DeleteIconLarge} onClick={onClick} />
+    return <PositiveButton value={SynthesisIcons.DeleteLarge} onClick={onClick} />
 }
 
 export const SelectButton = (onClick: () => void) => {
-    return <PositiveButton value={SelectIconLarge} onClick={onClick} />
+    return <PositiveButton value={SynthesisIcons.SelectLarge} onClick={onClick} />
 }
 
 export const EditButton = (onClick: () => void) => {
-    return <PositiveButton value={EditIconLarge} onClick={onClick} />
+    return <PositiveButton value={SynthesisIcons.EditLarge} onClick={onClick} />
 }
 
 export const NegativeButton: React.FC<ButtonProps> = ({ value, onClick }) => {
@@ -73,7 +104,7 @@ export const NegativeButton: React.FC<ButtonProps> = ({ value, onClick }) => {
 }
 
 export const DeleteButton = (onClick: () => void) => {
-    return <NegativeButton value={DeleteIconLarge} onClick={onClick} />
+    return <NegativeButton value={SynthesisIcons.DeleteLarge} onClick={onClick} />
 }
 
 export const ButtonIcon: React.FC<ButtonProps> = ({ value, onClick }) => {
@@ -88,9 +119,9 @@ export const ButtonIcon: React.FC<ButtonProps> = ({ value, onClick }) => {
 }
 
 export const RefreshButton = (onClick: () => void) => {
-    return <ButtonIcon value={RefreshIconLarge} onClick={onClick} />
+    return <ButtonIcon value={SynthesisIcons.RefreshLarge} onClick={onClick} />
 }
 
 export const AddButtonInteractiveColor = (onClick: () => void) => {
-    return <Button value={AddIconLarge} onClick={onClick} />
+    return <Button value={SynthesisIcons.AddLarge} onClick={onClick} />
 }
diff --git a/fission/src/ui/components/UserIcon.tsx b/fission/src/ui/components/UserIcon.tsx
index 3d8f359abb..b78456b057 100644
--- a/fission/src/ui/components/UserIcon.tsx
+++ b/fission/src/ui/components/UserIcon.tsx
@@ -1,6 +1,6 @@
 import APS, { APS_USER_INFO_UPDATE_EVENT } from "@/aps/APS"
 import { useEffect, useState } from "react"
-import { FaQuestion } from "react-icons/fa"
+import { SynthesisIcons } from "./StyledComponents"
 
 interface UserIconProps {
     className: string
@@ -14,7 +14,7 @@ export function UserIcon({ className }: UserIconProps) {
     }, [])
 
     if (!userInfo) {
-        return <FaQuestion />
+        return SynthesisIcons.Question
     } else {
         return <img src={userInfo.picture} className={`object-contain aspect-square ${className}`}></img>
     }
diff --git a/fission/src/ui/modals/DownloadAssetsModal.tsx b/fission/src/ui/modals/DownloadAssetsModal.tsx
index 875857c5ef..3fbd4534c4 100644
--- a/fission/src/ui/modals/DownloadAssetsModal.tsx
+++ b/fission/src/ui/modals/DownloadAssetsModal.tsx
@@ -3,10 +3,10 @@ import Modal, { ModalPropsImpl } from "@/components/Modal"
 import Stack, { StackDirection } from "@/components/Stack"
 import Label, { LabelSize } from "@/components/Label"
 import LabeledButton, { LabelPlacement } from "@/components/LabeledButton"
-import { HiDownload } from "react-icons/hi"
+import { SynthesisIcons } from "../components/StyledComponents"
 
 const DownloadAssetsModal: React.FC<ModalPropsImpl> = ({ modalId }) => (
-    <Modal name={"Download Assets"} icon={<HiDownload />} modalId={modalId}>
+    <Modal name={"Download Assets"} icon={SynthesisIcons.Import} modalId={modalId}>
         <Stack direction={StackDirection.Horizontal} spacing={10}>
             <Stack direction={StackDirection.Vertical} spacing={10}>
                 <Label size={LabelSize.Large}>Robot Assets</Label>
diff --git a/fission/src/ui/modals/ExitSynthesisModal.tsx b/fission/src/ui/modals/ExitSynthesisModal.tsx
index 4dd03c53e3..65a7f99452 100644
--- a/fission/src/ui/modals/ExitSynthesisModal.tsx
+++ b/fission/src/ui/modals/ExitSynthesisModal.tsx
@@ -1,12 +1,12 @@
 import React from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaXmark } from "react-icons/fa6"
 import Label from "@/components/Label"
+import { SynthesisIcons } from "../components/StyledComponents"
 
 const ExitSynthesisModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const isOnMainMenu = false
     return (
-        <Modal name={"Exit Synthesis?"} icon={<FaXmark />} modalId={modalId} acceptName="Exit">
+        <Modal name={"Exit Synthesis?"} icon={SynthesisIcons.Xmark} modalId={modalId} acceptName="Exit">
             <Label>
                 {isOnMainMenu ? "Are you sure you wish to Exit?" : "Are you sure you wish to leave to main menu?"}
             </Label>
diff --git a/fission/src/ui/modals/MatchResultsModal.tsx b/fission/src/ui/modals/MatchResultsModal.tsx
index cf24625bac..f4a818d45f 100644
--- a/fission/src/ui/modals/MatchResultsModal.tsx
+++ b/fission/src/ui/modals/MatchResultsModal.tsx
@@ -1,8 +1,8 @@
 import React from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaXmark } from "react-icons/fa6"
 import Stack, { StackDirection } from "@/components/Stack"
 import Label from "@/components/Label"
+import { SynthesisIcons } from "../components/StyledComponents"
 
 type Entry = {
     name: string
@@ -18,7 +18,7 @@ const MatchResultsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name={"Match Results"}
-            icon={<FaXmark />}
+            icon={SynthesisIcons.Xmark}
             modalId={modalId}
             cancelName="Exit"
             middleName="Configure"
diff --git a/fission/src/ui/modals/UpdateAvailableModal.tsx b/fission/src/ui/modals/UpdateAvailableModal.tsx
index 2c567308c5..3beaa98bd9 100644
--- a/fission/src/ui/modals/UpdateAvailableModal.tsx
+++ b/fission/src/ui/modals/UpdateAvailableModal.tsx
@@ -1,11 +1,11 @@
 import React from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaXmark } from "react-icons/fa6"
 import Label from "@/components/Label"
+import { SynthesisIcons } from "../components/StyledComponents"
 
 const UpdateAvailableModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
-        <Modal name={"Exit Synthesis"} icon={<FaXmark />} modalId={modalId} acceptName="Update">
+        <Modal name={"Exit Synthesis"} icon={SynthesisIcons.Xmark} modalId={modalId} acceptName="Update">
             <Label>
                 A new update is available. <br />
                 Would you like to update?
diff --git a/fission/src/ui/modals/ViewModal.tsx b/fission/src/ui/modals/ViewModal.tsx
index fd16748b01..4a68dc8299 100644
--- a/fission/src/ui/modals/ViewModal.tsx
+++ b/fission/src/ui/modals/ViewModal.tsx
@@ -1,8 +1,8 @@
 import React, { useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaMagnifyingGlass } from "react-icons/fa6"
 import { TooltipControl, useTooltipControlContext } from "@/ui/TooltipContext"
 import Dropdown from "../components/Dropdown"
+import { SynthesisIcons } from "../components/StyledComponents"
 
 type ViewType = "Orbit" | "Freecam" | "Overview" | "Driver Station"
 
@@ -31,7 +31,7 @@ const ViewModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name={"Camera View"}
-            icon={<FaMagnifyingGlass />}
+            icon={SynthesisIcons.MagnifyingGlass}
             modalId={modalId}
             onAccept={() => showTooltip("controls", controls[view])}
         >
diff --git a/fission/src/ui/modals/aether/ConnectToMultiplayerModal.tsx b/fission/src/ui/modals/aether/ConnectToMultiplayerModal.tsx
index 51f037ac93..19070b1ce3 100644
--- a/fission/src/ui/modals/aether/ConnectToMultiplayerModal.tsx
+++ b/fission/src/ui/modals/aether/ConnectToMultiplayerModal.tsx
@@ -1,15 +1,15 @@
 import React from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import Button from "@/components/Button"
-import { FaGear } from "react-icons/fa6"
 import Stack, { StackDirection } from "@/components/Stack"
 import Dropdown from "@/components/Dropdown"
 import Label from "@/components/Label"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const ConnectToMultiplayerModal: React.FC<ModalPropsImpl> = ({ modalId }) => (
     <Modal
         name={"Connect to Multiplayer"}
-        icon={<FaGear />}
+        icon={SynthesisIcons.Gear}
         acceptEnabled={false}
         cancelName="Disconnect"
         modalId={modalId}
diff --git a/fission/src/ui/modals/aether/ServerHostingModal.tsx b/fission/src/ui/modals/aether/ServerHostingModal.tsx
index 7445bb8f45..745a8d96e2 100644
--- a/fission/src/ui/modals/aether/ServerHostingModal.tsx
+++ b/fission/src/ui/modals/aether/ServerHostingModal.tsx
@@ -1,8 +1,8 @@
 import React, { useEffect, useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaPlus } from "react-icons/fa6"
 import Label from "@/components/Label"
 import Stack, { StackDirection } from "@/components/Stack"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 type Client = {
     name: string
@@ -25,7 +25,7 @@ const ServerHostingModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         }, 2_000)
     }, [clients])
     return (
-        <Modal name={"Server Hosting"} icon={<FaPlus />} modalId={modalId}>
+        <Modal name={"Server Hosting"} icon={SynthesisIcons.Add} modalId={modalId}>
             {clients.length == 0 ? (
                 <Label>Waiting for clients...</Label>
             ) : (
diff --git a/fission/src/ui/modals/configuring/ChooseMultiplayerModeModal.tsx b/fission/src/ui/modals/configuring/ChooseMultiplayerModeModal.tsx
index 64cf36c77c..58b3fbda05 100644
--- a/fission/src/ui/modals/configuring/ChooseMultiplayerModeModal.tsx
+++ b/fission/src/ui/modals/configuring/ChooseMultiplayerModeModal.tsx
@@ -1,11 +1,17 @@
 import React from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaGear } from "react-icons/fa6"
 import Button from "@/components/Button"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const ChooseMultiplayerModeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
-        <Modal name="Choose Mode" icon={<FaGear />} modalId={modalId} cancelEnabled={false} acceptEnabled={false}>
+        <Modal
+            name="Choose Mode"
+            icon={SynthesisIcons.Gear}
+            modalId={modalId}
+            cancelEnabled={false}
+            acceptEnabled={false}
+        >
             <Button value="Server Test Mode" />
             <Button value="Coming Soon" className="cursor-disabled" />
         </Modal>
diff --git a/fission/src/ui/modals/configuring/ChooseSingleplayerModeModal.tsx b/fission/src/ui/modals/configuring/ChooseSingleplayerModeModal.tsx
index 035b4a1d29..966ed916aa 100644
--- a/fission/src/ui/modals/configuring/ChooseSingleplayerModeModal.tsx
+++ b/fission/src/ui/modals/configuring/ChooseSingleplayerModeModal.tsx
@@ -1,11 +1,17 @@
 import React from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaGear } from "react-icons/fa6"
 import Button from "@/components/Button"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const ChooseSingleplayerModeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
-        <Modal name="Choose Mode" icon={<FaGear />} modalId={modalId} cancelEnabled={false} acceptEnabled={false}>
+        <Modal
+            name="Choose Mode"
+            icon={SynthesisIcons.Gear}
+            modalId={modalId}
+            cancelEnabled={false}
+            acceptEnabled={false}
+        >
             <Button value="Practice Mode" />
             <Button value="Match Mode" />
         </Modal>
diff --git a/fission/src/ui/modals/configuring/ConfigMotorModal.tsx b/fission/src/ui/modals/configuring/ConfigMotorModal.tsx
index e757057d35..e7434ece96 100644
--- a/fission/src/ui/modals/configuring/ConfigMotorModal.tsx
+++ b/fission/src/ui/modals/configuring/ConfigMotorModal.tsx
@@ -1,8 +1,8 @@
-import { FaGear } from "react-icons/fa6"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import Slider from "@/components/Slider"
 import Label, { LabelSize } from "@/components/Label"
 import { useState } from "react"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 type Motor = {
     name: string
@@ -31,7 +31,7 @@ const ConfigMotorModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Motor Configuration"
-            icon={<FaGear />}
+            icon={SynthesisIcons.Gear}
             modalId={modalId}
             middleName="Session Save"
             middleEnabled={true}
diff --git a/fission/src/ui/modals/configuring/ConfigureRobotModal.tsx b/fission/src/ui/modals/configuring/ConfigureRobotModal.tsx
index fd3cbd7b5d..e5fb24b164 100644
--- a/fission/src/ui/modals/configuring/ConfigureRobotModal.tsx
+++ b/fission/src/ui/modals/configuring/ConfigureRobotModal.tsx
@@ -1,16 +1,16 @@
 import Button, { ButtonSize } from "@/ui/components/Button"
 import Modal, { ModalPropsImpl } from "@/ui/components/Modal"
 import Stack, { StackDirection } from "@/ui/components/Stack"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
-import { FaGear } from "react-icons/fa6"
 
 export const ConfigureRobotModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openPanel } = usePanelControlContext()
     const { closeModal } = useModalControlContext()
 
     return (
-        <Modal name={"Configure Robot"} icon={<FaGear />} modalId={modalId}>
+        <Modal name={"Configure Robot"} icon={SynthesisIcons.Gear} modalId={modalId}>
             <Stack direction={StackDirection.Vertical}>
                 <Button
                     value={"Intake"}
diff --git a/fission/src/ui/modals/configuring/DrivetrainModal.tsx b/fission/src/ui/modals/configuring/DrivetrainModal.tsx
index 484e69ef91..79652e84bb 100644
--- a/fission/src/ui/modals/configuring/DrivetrainModal.tsx
+++ b/fission/src/ui/modals/configuring/DrivetrainModal.tsx
@@ -1,8 +1,8 @@
 import React, { useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaCar } from "react-icons/fa6"
 import Dropdown from "@/components/Dropdown"
 import { TooltipControl, useTooltipControlContext } from "@/ui/TooltipContext"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 type DrivetrainType = "None" | "Tank" | "Arcade" | "Swerve"
 
@@ -34,7 +34,7 @@ const DrivetrainModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Change Drivetrain"
-            icon={<FaCar />}
+            icon={SynthesisIcons.Car}
             modalId={modalId}
             onAccept={() => showTooltip("controls", controls[drivetrain])}
         >
diff --git a/fission/src/ui/modals/configuring/PracticeSettingsModal.tsx b/fission/src/ui/modals/configuring/PracticeSettingsModal.tsx
index 4540794723..ef396d0e08 100644
--- a/fission/src/ui/modals/configuring/PracticeSettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/PracticeSettingsModal.tsx
@@ -1,14 +1,14 @@
 import React from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaGear } from "react-icons/fa6"
 import Button from "@/components/Button"
 import Label, { LabelSize } from "@/components/Label"
 import Stack, { StackDirection } from "@/components/Stack"
 import Dropdown from "@/components/Dropdown"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const PracticeSettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
-        <Modal name="Practice Settings" icon={<FaGear />} modalId={modalId}>
+        <Modal name="Practice Settings" icon={SynthesisIcons.Gear} modalId={modalId}>
             <Label size={LabelSize.Large}>Gamepiece Spawning</Label>
             <Stack direction={StackDirection.Horizontal}>
                 <Dropdown options={["Sphere", "Cube", "Capsule"]} onSelect={() => {}} />
diff --git a/fission/src/ui/modals/configuring/RoboRIOModal.tsx b/fission/src/ui/modals/configuring/RoboRIOModal.tsx
index da6db03e8f..b61ad04b14 100644
--- a/fission/src/ui/modals/configuring/RoboRIOModal.tsx
+++ b/fission/src/ui/modals/configuring/RoboRIOModal.tsx
@@ -2,12 +2,12 @@ import React from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import LabeledButton, { LabelPlacement } from "@/components/LabeledButton"
 import { useModalControlContext } from "@/ui/ModalContext"
-import { BsCodeSquare } from "react-icons/bs"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const RoboRIOModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
     return (
-        <Modal name="RoboRIO Configuration" icon={<BsCodeSquare />} modalId={modalId}>
+        <Modal name="RoboRIO Configuration" icon={SynthesisIcons.CodeSquare} modalId={modalId}>
             <LabeledButton
                 label="cbdbcc,ds,vsdv"
                 value="Create Device"
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index 7cc539f14d..ae09504b0c 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -1,7 +1,6 @@
 import React, { useState } from "react"
 import { useModalControlContext } from "@/ui/ModalContext"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaGear } from "react-icons/fa6"
 import Label, { LabelSize } from "@/components/Label"
 import Button from "@/components/Button"
 import Slider from "@/components/Slider"
@@ -9,6 +8,7 @@ import Checkbox from "@/components/Checkbox"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { SceneOverlayEvent, SceneOverlayEventKey } from "@/ui/components/SceneOverlayEvents"
 import Dropdown from "@/ui/components/Dropdown"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const screenModeOptions = ["Windowed", "Fullscreen"]
 const qualitySettingsOptions = ["Low", "Medium", "High", "Ultra"]
@@ -61,7 +61,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Settings"
-            icon={<FaGear />}
+            icon={SynthesisIcons.Gear}
             modalId={modalId}
             onAccept={() => {
                 saveSettings()
diff --git a/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
index 8a1ea4152c..3955fd6c01 100644
--- a/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
@@ -1,6 +1,5 @@
 import React, { useEffect, useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaGamepad } from "react-icons/fa6"
 import Stack, { StackDirection } from "@/ui/components/Stack"
 import Label, { LabelSize } from "@/ui/components/Label"
 import LabeledButton, { LabelPlacement } from "../../../components/LabeledButton"
@@ -11,7 +10,7 @@ import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeMana
 import Button from "@/ui/components/Button"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { Box } from "@mui/material"
-import { AddButtonInteractiveColor, SectionDivider } from "@/ui/components/StyledComponents"
+import { AddButtonInteractiveColor, SectionDivider, SynthesisIcons } from "@/ui/components/StyledComponents"
 
 // capitalize first letter
 const transformKeyName = (keyCode: string, keyModifiers: ModifierState) => {
@@ -335,7 +334,7 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Keybinds"
-            icon={<FaGamepad />}
+            icon={SynthesisIcons.Gamepad}
             modalId={modalId}
             onAccept={() => {
                 InputSchemeManager.saveSchemes()
diff --git a/fission/src/ui/modals/configuring/inputs/ResetAllInputsModal.tsx b/fission/src/ui/modals/configuring/inputs/ResetAllInputsModal.tsx
index 28a270ce4d..a9feb96ef6 100644
--- a/fission/src/ui/modals/configuring/inputs/ResetAllInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/inputs/ResetAllInputsModal.tsx
@@ -1,6 +1,5 @@
 import React from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaXmark } from "react-icons/fa6"
 import { useModalControlContext } from "@/ui/ModalContext"
 import InputSystem from "@/systems/input/InputSystem"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
@@ -8,6 +7,7 @@ import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import { MiraType } from "@/mirabuf/MirabufLoader"
 import InputSchemeManager from "@/systems/input/InputSchemeManager"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -15,7 +15,7 @@ const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Reset all Inputs??"
-            icon={<FaXmark />}
+            icon={SynthesisIcons.Xmark}
             modalId={modalId}
             onAccept={() => {
                 // Wipe global input scheme prefs
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index 8da3bec73c..be509f153f 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -1,7 +1,6 @@
 import React, { useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { useModalControlContext } from "@/ui/ModalContext"
-import { FaPlus } from "react-icons/fa6"
 import ScrollView from "@/components/ScrollView"
 import Stack, { StackDirection } from "@/components/Stack"
 import Checkbox from "@/components/Checkbox"
@@ -12,6 +11,7 @@ import WPILibBrain, { CANGroup, simMap } from "@/systems/simulation/wpilib_brain
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import Driver from "@/systems/simulation/driver/Driver"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -37,7 +37,7 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Create Device"
-            icon={<FaPlus />}
+            icon={SynthesisIcons.Add}
             modalId={modalId}
             acceptName="Done"
             onAccept={() => {
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
index 310aaa83d0..8a4c8e883a 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
@@ -1,11 +1,11 @@
 import React, { useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { useModalControlContext } from "@/ui/ModalContext"
-import { FaPlus } from "react-icons/fa6"
 import Label, { LabelSize } from "@/components/Label"
 import Input from "@/components/Input"
 import Dropdown from "@/components/Dropdown"
 import NumberInput from "@/components/NumberInput"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -23,7 +23,7 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Create Device"
-            icon={<FaPlus />}
+            icon={SynthesisIcons.Add}
             modalId={modalId}
             acceptName="Done"
             onAccept={() => {
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
index a663abfb14..93688aa1d7 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
@@ -1,7 +1,6 @@
 import React, { useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { useModalControlContext } from "@/ui/ModalContext"
-import { FaPlus } from "react-icons/fa6"
 import ScrollView from "@/components/ScrollView"
 import Stack, { StackDirection } from "@/components/Stack"
 import Checkbox from "@/components/Checkbox"
@@ -12,6 +11,7 @@ import WPILibBrain, { PWMGroup, simMap } from "@/systems/simulation/wpilib_brain
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import Driver from "@/systems/simulation/driver/Driver"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const RCConfigPWMGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -43,7 +43,7 @@ const RCConfigPWMGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Create Device"
-            icon={<FaPlus />}
+            icon={SynthesisIcons.Add}
             modalId={modalId}
             acceptName="Done"
             onAccept={() => {
diff --git a/fission/src/ui/modals/configuring/rio-config/RCCreateDeviceModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCCreateDeviceModal.tsx
index a78b5d4f66..47256fade3 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCCreateDeviceModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCCreateDeviceModal.tsx
@@ -1,8 +1,8 @@
 import React, { useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { useModalControlContext } from "@/ui/ModalContext"
-import { FaPlus } from "react-icons/fa6"
 import Dropdown from "@/components/Dropdown"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 type DeviceType = "PWM" | "CAN" | "Encoder"
 
@@ -13,7 +13,7 @@ const RCCreateDeviceModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Create Device"
-            icon={<FaPlus />}
+            icon={SynthesisIcons.Add}
             modalId={modalId}
             acceptName="Next"
             onAccept={() => {
diff --git a/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx b/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
index b0e11b76df..e55c885ff8 100644
--- a/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
@@ -1,11 +1,11 @@
 import React, { useState } from "react"
 import Input from "@/components/Input"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { GrFormClose } from "react-icons/gr"
 import { useModalControlContext } from "@/ui/ModalContext"
 import InputSchemeManager from "@/systems/input/InputSchemeManager"
 import InputSystem from "@/systems/input/InputSystem"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const AssignNewSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -15,7 +15,7 @@ const AssignNewSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="New Input Scheme"
-            icon={<GrFormClose />}
+            icon={SynthesisIcons.Xmark}
             modalId={modalId}
             onAccept={() => {
                 const scheme = InputSystem.brainIndexSchemeMap.get(SynthesisBrain.brainIndexMap.size - 1)
diff --git a/fission/src/ui/modals/configuring/theme-editor/DeleteAllThemesModal.tsx b/fission/src/ui/modals/configuring/theme-editor/DeleteAllThemesModal.tsx
index 76494d2365..5ca68f4a11 100644
--- a/fission/src/ui/modals/configuring/theme-editor/DeleteAllThemesModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/DeleteAllThemesModal.tsx
@@ -1,8 +1,8 @@
 import React from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaXmark } from "react-icons/fa6"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { useTheme } from "@/ui/ThemeContext"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const DeleteAllThemesModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -11,7 +11,7 @@ const DeleteAllThemesModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Delete All Themes?"
-            icon={<FaXmark />}
+            icon={SynthesisIcons.Xmark}
             modalId={modalId}
             onAccept={() => {
                 deleteAllThemes()
diff --git a/fission/src/ui/modals/configuring/theme-editor/DeleteThemeModal.tsx b/fission/src/ui/modals/configuring/theme-editor/DeleteThemeModal.tsx
index d10745de77..01d65dd6fb 100644
--- a/fission/src/ui/modals/configuring/theme-editor/DeleteThemeModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/DeleteThemeModal.tsx
@@ -1,8 +1,8 @@
 import React from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaXmark } from "react-icons/fa6"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { useTheme } from "@/ui/ThemeContext"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const DeleteThemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { currentTheme, deleteTheme } = useTheme()
@@ -12,7 +12,7 @@ const DeleteThemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name={`Delete ${currentTheme}?`}
-            icon={<FaXmark />}
+            icon={SynthesisIcons.Xmark}
             modalId={modalId}
             onAccept={() => {
                 deleteTheme(currentTheme)
diff --git a/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx b/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
index a9d773631f..403ad9588c 100644
--- a/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
@@ -1,11 +1,11 @@
 import React, { useState } from "react"
 import Input from "@/components/Input"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { GrFormClose } from "react-icons/gr"
 import { useModalControlContext } from "@/ui/ModalContext"
 import InputSchemeManager from "@/systems/input/InputSchemeManager"
 import InputSystem from "@/systems/input/InputSystem"
 import DefaultInputs from "@/systems/input/DefaultInputs"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const NewInputSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -15,7 +15,7 @@ const NewInputSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="New Input Scheme"
-            icon={<GrFormClose />}
+            icon={SynthesisIcons.Add}
             modalId={modalId}
             onAccept={() => {
                 const scheme = DefaultInputs.newBlankScheme
diff --git a/fission/src/ui/modals/configuring/theme-editor/NewThemeModal.tsx b/fission/src/ui/modals/configuring/theme-editor/NewThemeModal.tsx
index 427bb66c13..a7527833fa 100644
--- a/fission/src/ui/modals/configuring/theme-editor/NewThemeModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/NewThemeModal.tsx
@@ -1,9 +1,9 @@
 import React, { useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { useModalControlContext } from "@/ui/ModalContext"
-import { FaPlus } from "react-icons/fa6"
 import Input from "@/components/Input"
 import { useTheme } from "@/ui/ThemeContext"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const NewThemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -13,7 +13,7 @@ const NewThemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="New Theme"
-            icon={<FaPlus />}
+            icon={SynthesisIcons.Add}
             modalId={modalId}
             acceptBlocked={!themeName}
             onAccept={() => {
diff --git a/fission/src/ui/modals/configuring/theme-editor/ThemeEditorModal.tsx b/fission/src/ui/modals/configuring/theme-editor/ThemeEditorModal.tsx
index c77a8ee18a..f794ff11b1 100644
--- a/fission/src/ui/modals/configuring/theme-editor/ThemeEditorModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/ThemeEditorModal.tsx
@@ -9,8 +9,7 @@ import { extend as cdExtend, random as cdRandom, colord } from "colord"
 import a11yPlugin from "colord/plugins/a11y"
 import React, { useState } from "react"
 import { HexColorInput, RgbaColor, RgbaColorPicker } from "react-colorful"
-import { AiFillWarning } from "react-icons/ai"
-import { FaChessBoard } from "react-icons/fa6"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 cdExtend([a11yPlugin])
 
 const ThemeEditorModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
@@ -28,7 +27,7 @@ const ThemeEditorModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Theme Editor"
-            icon={<FaChessBoard />}
+            icon={SynthesisIcons.ChessBoard}
             modalId={modalId}
             middleEnabled={true}
             middleName="Preview"
@@ -193,7 +192,7 @@ const ThemeEditorModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                                                 : `This color will not be readable on top of ${conflicting.join(", ")}!`
                                                         }
                                                     >
-                                                        <AiFillWarning />
+                                                        (SynthesisIcons.AiFillWarning)
                                                     </div>
                                                 )
                                             else return <div className="w-6" />
diff --git a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
index 07744d601d..194cfa03bf 100644
--- a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
+++ b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
@@ -1,6 +1,5 @@
 import Button, { ButtonSize } from "@/components/Button"
 import Modal, { ModalPropsImpl } from "../../components/Modal"
-import { FaFileImport } from "react-icons/fa6"
 import { ChangeEvent, useRef, useState } from "react"
 import Label, { LabelSize } from "@/components/Label"
 import { useTooltipControlContext } from "@/ui/TooltipContext"
@@ -8,6 +7,7 @@ import World from "@/systems/World"
 import MirabufCachingService, { MiraType } from "@/mirabuf/MirabufLoader"
 import Dropdown from "@/ui/components/Dropdown"
 import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     // update tooltip based on type of drivetrain, receive message from Synthesis
@@ -45,7 +45,7 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name={"Import Local Assemblies"}
-            icon={<FaFileImport />}
+            icon={SynthesisIcons.Import}
             modalId={modalId}
             acceptEnabled={selectedFile !== undefined && miraType !== undefined}
             onAccept={async () => {
diff --git a/fission/src/ui/modals/spawning/ManageAssembliesModal.tsx b/fission/src/ui/modals/spawning/ManageAssembliesModal.tsx
index 4f4451da78..e771e3a5e1 100644
--- a/fission/src/ui/modals/spawning/ManageAssembliesModal.tsx
+++ b/fission/src/ui/modals/spawning/ManageAssembliesModal.tsx
@@ -1,10 +1,10 @@
 import React, { useReducer } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaWrench } from "react-icons/fa6"
 import Button from "@/components/Button"
 import Label, { LabelSize } from "@/components/Label"
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 interface AssemblyCardProps {
     mira: MirabufSceneObject
@@ -45,7 +45,7 @@ const ManageAssembliesModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name={"Manage Assemblies"}
-            icon={<FaWrench />}
+            icon={SynthesisIcons.Wrench}
             modalId={modalId}
             onAccept={() => {
                 // showTooltip("controls", [
diff --git a/fission/src/ui/modals/spawning/MatchModeModal.tsx b/fission/src/ui/modals/spawning/MatchModeModal.tsx
index 7ab0466e2c..5b0a87e155 100644
--- a/fission/src/ui/modals/spawning/MatchModeModal.tsx
+++ b/fission/src/ui/modals/spawning/MatchModeModal.tsx
@@ -1,7 +1,7 @@
-import { FaGear } from "react-icons/fa6"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import Dropdown from "@/components/Dropdown"
 import Label, { LabelSize } from "@/components/Label"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const MatchModeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const robotsPerAlliance = 3
@@ -17,7 +17,7 @@ const MatchModeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Field and Robot Selection"
-            icon={<FaGear />}
+            icon={SynthesisIcons.Gear}
             modalId={modalId}
             acceptName="Load"
             cancelEnabled={false}
diff --git a/fission/src/ui/modals/spawning/SpawningModals.tsx b/fission/src/ui/modals/spawning/SpawningModals.tsx
index a115808f68..158268e77f 100644
--- a/fission/src/ui/modals/spawning/SpawningModals.tsx
+++ b/fission/src/ui/modals/spawning/SpawningModals.tsx
@@ -1,6 +1,5 @@
 import React, { useEffect, useState } from "react"
 import Modal, { ModalPropsImpl } from "../../components/Modal"
-import { FaPlus } from "react-icons/fa6"
 import Stack, { StackDirection } from "../../components/Stack"
 import Button, { ButtonSize } from "../../components/Button"
 import { useModalControlContext } from "@/ui/ModalContext"
@@ -9,6 +8,7 @@ import World from "@/systems/World"
 import { useTooltipControlContext } from "@/ui/TooltipContext"
 import MirabufCachingService, { MirabufCacheInfo, MiraType } from "@/mirabuf/MirabufLoader"
 import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 interface MirabufRemoteInfo {
     displayName: string
@@ -123,7 +123,7 @@ export const AddRobotsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     }
 
     return (
-        <Modal name={"Robot Selection"} icon={<FaPlus />} modalId={modalId} acceptEnabled={false}>
+        <Modal name={"Robot Selection"} icon={SynthesisIcons.Add} modalId={modalId} acceptEnabled={false}>
             <div className="flex overflow-y-auto flex-col gap-2 min-w-[50vw] max-h-[60vh] bg-background-secondary rounded-md p-2">
                 <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
                     {cachedRobots ? `${cachedRobots.length} Saved Robots` : "No Saved Robots"}
@@ -207,7 +207,7 @@ export const AddFieldsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     }
 
     return (
-        <Modal name={"Field Selection"} icon={<FaPlus />} modalId={modalId} acceptEnabled={false}>
+        <Modal name={"Field Selection"} icon={SynthesisIcons.Add} modalId={modalId} acceptEnabled={false}>
             <div className="flex overflow-y-auto flex-col gap-2 min-w-[50vw] max-h-[60vh] bg-background-secondary rounded-md p-2">
                 <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
                     {cachedFields ? `${cachedFields.length} Saved Fields` : "No Saved Fields"}
@@ -226,7 +226,7 @@ export const SpawningModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
 
     return (
-        <Modal name={"Spawning"} icon={<FaPlus />} modalId={modalId}>
+        <Modal name={"Spawning"} icon={SynthesisIcons.Add} modalId={modalId}>
             <Stack direction={StackDirection.Vertical}>
                 <Button
                     value={"Robots"}
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index c8494cb87e..52648d10fa 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -15,7 +15,7 @@ import JOLT from "@/util/loading/JoltSyncLoader"
 import Jolt from "@barclah/jolt-physics"
 import Label from "../components/Label"
 import { colorNameToVar } from "../ThemeContext"
-import { FaScrewdriverWrench } from "react-icons/fa6"
+import { SynthesisIcons } from "../components/StyledComponents"
 
 const LabelStyled = styled(Label)({
     fontWeight: 700,
@@ -55,7 +55,7 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
         <Panel
             openLocation="center"
             name={"Debug Panel"}
-            icon={<FaScrewdriverWrench />}
+            icon={SynthesisIcons.ScrewdriverWrench}
             panelId={panelId}
             acceptEnabled={false}
             cancelName="Close"
diff --git a/fission/src/ui/panels/PokerPanel.tsx b/fission/src/ui/panels/PokerPanel.tsx
index 9279df648f..d5129631ea 100644
--- a/fission/src/ui/panels/PokerPanel.tsx
+++ b/fission/src/ui/panels/PokerPanel.tsx
@@ -4,7 +4,7 @@ import World from "@/systems/World"
 import { ThreeVector3_JoltVec3 } from "@/util/TypeConversions"
 import Checkbox from "@/ui/components/Checkbox"
 import Slider from "@/ui/components/Slider"
-import { AiOutlineDoubleRight } from "react-icons/ai"
+import { SynthesisIcons } from "../components/StyledComponents"
 
 const RAY_MAX_LENGTH = 20.0
 
@@ -89,7 +89,7 @@ const PokerPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
         <Panel
             openLocation="bottom-right"
             name={"The Poker"}
-            icon={<AiOutlineDoubleRight />}
+            icon={SynthesisIcons.OutlineDoubleRight}
             panelId={panelId}
             acceptEnabled={false}
             cancelName="Close"
diff --git a/fission/src/ui/panels/RobotSwitchPanel.tsx b/fission/src/ui/panels/RobotSwitchPanel.tsx
index 74b19b64d1..3d04595790 100644
--- a/fission/src/ui/panels/RobotSwitchPanel.tsx
+++ b/fission/src/ui/panels/RobotSwitchPanel.tsx
@@ -1,11 +1,11 @@
 import React, { useState } from "react"
 import Label, { LabelSize } from "@/components/Label"
 import Panel, { PanelPropsImpl } from "@/components/Panel"
-import { IoPeople } from "react-icons/io5"
 import Stack, { StackDirection } from "@/components/Stack"
 import Button from "@/components/Button"
 import { useModalControlContext } from "@/ui/ModalContext"
 import Checkbox from "@/components/Checkbox"
+import { SynthesisIcons } from "../components/StyledComponents"
 
 const RobotSwitchPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
     const [robots, setRobots] = useState(["Dozer_v9_0", "Team 2471 (2018) v7_0"])
@@ -14,7 +14,7 @@ const RobotSwitchPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sid
     return (
         <Panel
             name={"MultiBot"}
-            icon={<IoPeople />}
+            icon={SynthesisIcons.People}
             panelId={panelId}
             openLocation={openLocation}
             sidePadding={sidePadding}
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index 2168b2f203..5904a161d5 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -13,10 +13,10 @@ import {
     Typography,
 } from "@mui/material"
 import { useCallback, useEffect, useMemo, useState } from "react"
-import { GrConnect } from "react-icons/gr"
 import Dropdown from "../components/Dropdown"
 import Input from "../components/Input"
 import Button from "../components/Button"
+import { SynthesisIcons } from "../components/StyledComponents"
 
 type ValueType = "string" | "number" | "object" | "boolean"
 
@@ -162,7 +162,13 @@ const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     }, [onSimMapUpdate])
 
     return (
-        <Panel name={"WS View Panel"} icon={<GrConnect />} panelId={panelId} openLocation="right" sidePadding={4}>
+        <Panel
+            name={"WS View Panel"}
+            icon={SynthesisIcons.Connect}
+            panelId={panelId}
+            openLocation="right"
+            sidePadding={4}
+        >
             <TableContainer
                 sx={{
                     maxWidth: "80vw",
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index dfc48f78e9..cff0bb740c 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -12,6 +12,7 @@ import {
     AddButtonInteractiveColor,
     SectionLabel,
     SectionDivider,
+    SynthesisIcons,
 } from "@/ui/components/StyledComponents"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
@@ -50,6 +51,7 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             sidePadding={8}
             acceptEnabled={false}
             cancelEnabled={false}
+            icon={SynthesisIcons.Gamepad}
         >
             {/** A scroll view with buttons to select default and custom input schemes */}
             <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[45vh] bg-background-secondary rounded-md p-2">
diff --git a/fission/src/ui/panels/configuring/ConfigureGamepiecePickupPanel.tsx b/fission/src/ui/panels/configuring/ConfigureGamepiecePickupPanel.tsx
index 0709f129b6..a2d2c4ee72 100644
--- a/fission/src/ui/panels/configuring/ConfigureGamepiecePickupPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureGamepiecePickupPanel.tsx
@@ -1,6 +1,5 @@
 import * as THREE from "three"
 import { useCallback, useEffect, useMemo, useState } from "react"
-import { FaGear } from "react-icons/fa6"
 import Panel, { PanelPropsImpl } from "@/components/Panel"
 import SelectButton from "@/components/SelectButton"
 import TransformGizmos from "@/ui/components/TransformGizmos"
@@ -21,6 +20,7 @@ import {
 } from "@/util/TypeConversions"
 import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
 import { useTheme } from "@/ui/ThemeContext"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 // slider constants
 const MIN_ZONE_SIZE = 0.1
@@ -184,7 +184,7 @@ const ConfigureGamepiecePickupPanel: React.FC<PanelPropsImpl> = ({ panelId, open
     return (
         <Panel
             name="Configure Pickup"
-            icon={<FaGear />}
+            icon={SynthesisIcons.Gear}
             panelId={panelId}
             openLocation={openLocation}
             sidePadding={sidePadding}
diff --git a/fission/src/ui/panels/configuring/ConfigureShotTrajectoryPanel.tsx b/fission/src/ui/panels/configuring/ConfigureShotTrajectoryPanel.tsx
index 6f8d2cd046..0ccaf282eb 100644
--- a/fission/src/ui/panels/configuring/ConfigureShotTrajectoryPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureShotTrajectoryPanel.tsx
@@ -1,6 +1,5 @@
 import * as THREE from "three"
 import { useCallback, useEffect, useMemo, useState } from "react"
-import { FaGear } from "react-icons/fa6"
 import Panel, { PanelPropsImpl } from "@/components/Panel"
 import SelectButton from "@/components/SelectButton"
 import TransformGizmos from "@/ui/components/TransformGizmos"
@@ -21,6 +20,7 @@ import {
 import { useTheme } from "@/ui/ThemeContext"
 import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 // slider constants
 const MIN_VELOCITY = 0.0
@@ -178,7 +178,7 @@ const ConfigureShotTrajectoryPanel: React.FC<PanelPropsImpl> = ({ panelId, openL
     return (
         <Panel
             name="Configure Ejector"
-            icon={<FaGear />}
+            icon={SynthesisIcons.Gear}
             panelId={panelId}
             openLocation={openLocation}
             sidePadding={sidePadding}
diff --git a/fission/src/ui/panels/configuring/scoring/ScoringZonesPanel.tsx b/fission/src/ui/panels/configuring/scoring/ScoringZonesPanel.tsx
index d8e3a281e4..dcddc0c9f9 100644
--- a/fission/src/ui/panels/configuring/scoring/ScoringZonesPanel.tsx
+++ b/fission/src/ui/panels/configuring/scoring/ScoringZonesPanel.tsx
@@ -7,17 +7,11 @@ import ScrollView from "@/components/ScrollView"
 import Stack, { StackDirection } from "@/components/Stack"
 import { ScoringZonePreferences } from "@/systems/preferences/PreferenceTypes"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
-import { AiOutlinePlus } from "react-icons/ai"
-import { IoPencil, IoTrashBin } from "react-icons/io5"
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import { MiraType } from "@/mirabuf/MirabufLoader"
 import { Box } from "@mui/material"
-import { FaBasketball } from "react-icons/fa6"
-
-const AddIcon = <AiOutlinePlus size={"1.25rem"} />
-const DeleteIcon = <IoTrashBin size={"1.25rem"} />
-const EditIcon = <IoPencil size={"1.25rem"} />
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 type ScoringZoneRowProps = {
     zone: ScoringZonePreferences
@@ -63,7 +57,7 @@ const ScoringZoneRow: React.FC<ScoringZoneRowProps> = ({ zone, save, field, open
                 alignItems={"center"}
             >
                 <Button
-                    value={EditIcon}
+                    value={SynthesisIcons.EditLarge}
                     onClick={() => {
                         SelectedZone.zone = zone
                         SelectedZone.field = field
@@ -73,7 +67,7 @@ const ScoringZoneRow: React.FC<ScoringZoneRowProps> = ({ zone, save, field, open
                     colorOverrideClass="bg-accept-button hover:brightness-90"
                 />
                 <Button
-                    value={DeleteIcon}
+                    value={SynthesisIcons.DeleteLarge}
                     onClick={() => {
                         deleteZone()
                         // Saves in the delete function instead because zones isn't updated in time
@@ -118,7 +112,7 @@ const ScoringZonesPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, si
     return (
         <Panel
             name="Scoring Zones"
-            icon={<FaBasketball />}
+            icon={SynthesisIcons.Basketball}
             panelId={panelId}
             openLocation={openLocation}
             sidePadding={sidePadding}
@@ -175,7 +169,7 @@ const ScoringZonesPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, si
                         <Label>No scoring zones</Label>
                     )}
                     <Button
-                        value={AddIcon}
+                        value={SynthesisIcons.AddLarge}
                         onClick={() => {
                             if (zones == undefined) return
 
diff --git a/fission/src/ui/panels/configuring/scoring/ZoneConfigPanel.tsx b/fission/src/ui/panels/configuring/scoring/ZoneConfigPanel.tsx
index d6964f3cbd..96688cc7a9 100644
--- a/fission/src/ui/panels/configuring/scoring/ZoneConfigPanel.tsx
+++ b/fission/src/ui/panels/configuring/scoring/ZoneConfigPanel.tsx
@@ -19,7 +19,7 @@ import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGro
 import { Alliance } from "@/systems/preferences/PreferenceTypes"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
 import { DeltaFieldTransforms_PhysicalProp as DeltaFieldTransforms_VisualProperties } from "@/util/threejs/MeshCreation"
-import { FaBasketball } from "react-icons/fa6"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 /**
  * Saves ejector configuration to selected field.
@@ -194,7 +194,7 @@ const ZoneConfigPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, side
         <Panel
             name="Scoring Zone Config"
             panelId={panelId}
-            icon={<FaBasketball />}
+            icon={SynthesisIcons.Basketball}
             openLocation={openLocation}
             sidePadding={sidePadding}
             onAccept={() => {
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index 3db6fc894a..b655044ed2 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -20,10 +20,9 @@ import {
     PositiveButton,
     SectionDivider,
     SectionLabel,
-    AddIconLarge,
     DeleteButton,
-    DownloadIconLarge,
     RefreshButton,
+    SynthesisIcons,
 } from "@/ui/components/StyledComponents"
 import { ProgressHandle } from "@/ui/components/ProgressNotificationData"
 import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
@@ -240,7 +239,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 ItemCard({
                     name: info.name || info.cacheKey || "Unnamed Robot",
                     id: info.id,
-                    primaryButtonNode: AddIconLarge,
+                    primaryButtonNode: SynthesisIcons.AddLarge,
                     primaryOnClick: () => {
                         console.log(`Selecting cached robot: ${info.cacheKey}`)
                         selectCache(info, MiraType.ROBOT)
@@ -263,7 +262,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 ItemCard({
                     name: info.name || info.cacheKey || "Unnamed Field",
                     id: info.id,
-                    primaryButtonNode: AddIconLarge,
+                    primaryButtonNode: SynthesisIcons.AddLarge,
                     primaryOnClick: () => {
                         console.log(`Selecting cached field: ${info.cacheKey}`)
                         selectCache(info, MiraType.FIELD)
@@ -288,7 +287,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             ItemCard({
                 name: path.displayName,
                 id: path.src,
-                primaryButtonNode: DownloadIconLarge,
+                primaryButtonNode: SynthesisIcons.DownloadLarge,
                 primaryOnClick: () => {
                     console.log(`Selecting remote: ${path}`)
                     selectRemote(path, MiraType.ROBOT)
@@ -306,7 +305,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             ItemCard({
                 name: path.displayName,
                 id: path.src,
-                primaryButtonNode: DownloadIconLarge,
+                primaryButtonNode: SynthesisIcons.DownloadLarge,
                 primaryOnClick: () => {
                     console.log(`Selecting remote: ${path}`)
                     selectRemote(path, MiraType.FIELD)
@@ -322,7 +321,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 ItemCard({
                     name: file.attributes.displayName!,
                     id: file.id,
-                    primaryButtonNode: DownloadIconLarge,
+                    primaryButtonNode: SynthesisIcons.DownloadLarge,
                     primaryOnClick: () => {
                         console.debug(file.raw)
                         selectAPS(file, viewType)
@@ -335,7 +334,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     return (
         <Panel
             name={"Select Mirabuf"}
-            icon={AddIconLarge}
+            icon={SynthesisIcons.AddLarge}
             panelId={panelId}
             acceptEnabled={false}
             cancelName="Back"
diff --git a/fission/src/ui/panels/simulation/DriverStationPanel.tsx b/fission/src/ui/panels/simulation/DriverStationPanel.tsx
index 43c4262f2d..7d3c3114a8 100644
--- a/fission/src/ui/panels/simulation/DriverStationPanel.tsx
+++ b/fission/src/ui/panels/simulation/DriverStationPanel.tsx
@@ -1,9 +1,9 @@
 import React, { useState } from "react"
 import Panel, { PanelPropsImpl } from "@/components/Panel"
-import { GiSteeringWheel } from "react-icons/gi"
 import Stack, { StackDirection } from "@/components/Stack"
 import Button from "@/components/Button"
 import Dropdown from "@/components/Dropdown"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
 const DriverStationPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
     const [enabled, setEnabled] = useState(false)
@@ -11,7 +11,7 @@ const DriverStationPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, s
     return (
         <Panel
             name="Driver Station (Not Connected)"
-            icon={<GiSteeringWheel />}
+            icon={SynthesisIcons.SteeringWheel}
             panelId={panelId}
             openLocation={openLocation}
             sidePadding={sidePadding}

From 946c2049984f1be7cbbbaac6bbd62350adf974ec Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 29 Jul 2024 13:11:17 -0700
Subject: [PATCH 064/344] write to drivers when simulating with pwm TODO:
 integrate with motor config when max speeds are available instead of
 hardcoding 40

---
 .../simulation/wpilib_brain/WPILibBrain.ts    | 25 +++++++++++++------
 fission/src/ui/panels/DebugPanel.tsx          | 10 +++++---
 2 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 3d9ee7d65e..73a11077f3 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -6,6 +6,9 @@ import WPILibWSWorker from "./WPILibWSWorker?worker"
 import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 import Driver from "../driver/Driver"
+import WheelDriver from "../driver/WheelDriver"
+import HingeDriver from "../driver/HingeDriver"
+import SliderDriver from "../driver/SliderDriver"
 
 const worker = new WPILibWSWorker()
 
@@ -286,18 +289,24 @@ export class PWMGroup extends SimOutputGroup {
     }
 
     public Update(_deltaT: number) {
-        // let average = 0;
+        let average = 0;
         for (const port of this.ports) {
             const speed = SimPWM.GetSpeed(`${port}`) ?? 0
-            // average += speed;
+            average += speed;
             console.log(port, speed)
         }
-        // average /= this.ports.length
-
-        // this.drivers.forEach(d => {
-        //     (d as WheelDriver).targetWheelSpeed = average * 40
-        //     d.Update(_deltaT)
-        // })
+        average /= this.ports.length
+
+        this.drivers.forEach(d => {
+            if (d instanceof WheelDriver) {
+                d.targetWheelSpeed = average * 40
+            } else if (d instanceof HingeDriver) {
+                d.targetVelocity = average * 40
+            } else if (d instanceof SliderDriver) {
+                d.targetVelocity = average * 40
+            }
+            d.Update(_deltaT)
+        })
     }
 }
 
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index c8494cb87e..b502742618 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -16,6 +16,7 @@ import Jolt from "@barclah/jolt-physics"
 import Label from "../components/Label"
 import { colorNameToVar } from "../ThemeContext"
 import { FaScrewdriverWrench } from "react-icons/fa6"
+import { useModalControlContext } from "../ModalContext"
 
 const LabelStyled = styled(Label)({
     fontWeight: 700,
@@ -50,6 +51,7 @@ async function TestGodMode() {
 
 const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { openPanel } = usePanelControlContext()
+    const { openModal } = useModalControlContext()
 
     return (
         <Panel
@@ -132,9 +134,11 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 />
                 <Button
                     value={"WS Viewer"}
-                    onClick={() => {
-                        openPanel("ws-view")
-                    }}
+                    onClick={() => openPanel("ws-view")}
+                />
+                <Button
+                    value={"RoboRIO"}
+                    onClick={() => openModal("roborio")}
                 />
             </Box>
         </Panel>

From c3e26e8ad47f3d9397948bd021817e8bb2b0ba5c Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 29 Jul 2024 13:22:34 -0700
Subject: [PATCH 065/344] ran formatter

---
 .../src/systems/simulation/wpilib_brain/WPILibBrain.ts |  4 ++--
 fission/src/ui/panels/DebugPanel.tsx                   | 10 ++--------
 2 files changed, 4 insertions(+), 10 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 73a11077f3..31455272ef 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -289,10 +289,10 @@ export class PWMGroup extends SimOutputGroup {
     }
 
     public Update(_deltaT: number) {
-        let average = 0;
+        let average = 0
         for (const port of this.ports) {
             const speed = SimPWM.GetSpeed(`${port}`) ?? 0
-            average += speed;
+            average += speed
             console.log(port, speed)
         }
         average /= this.ports.length
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index b502742618..9b2187a8b1 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -132,14 +132,8 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         }
                     }}
                 />
-                <Button
-                    value={"WS Viewer"}
-                    onClick={() => openPanel("ws-view")}
-                />
-                <Button
-                    value={"RoboRIO"}
-                    onClick={() => openModal("roborio")}
-                />
+                <Button value={"WS Viewer"} onClick={() => openPanel("ws-view")} />
+                <Button value={"RoboRIO"} onClick={() => openModal("roborio")} />
             </Box>
         </Panel>
     )

From 015ca5165d6e5083924bfd00db26da4761a2067d Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Mon, 29 Jul 2024 15:27:23 -0700
Subject: [PATCH 066/344] Fixing setupMaterials

---
 fission/src/mirabuf/MirabufInstance.ts | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index d1a75656a6..89ce6f2a92 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -149,15 +149,14 @@ class MirabufInstance {
                         opacity: opacity,
                         transparent: opacity < 1.0,
                     })
-                    World.SceneRenderer.SetupMaterial(material)
                 } else if (materialStyle == MaterialStyle.Normals) {
                     material = new THREE.MeshNormalMaterial()
-                    World.SceneRenderer.SetupMaterial(material)
                 } else if (materialStyle == MaterialStyle.Toon) {
                     material = World.SceneRenderer.CreateToonMaterial(hex, 5)
                     console.debug("Toon Material")
                 }
 
+                World.SceneRenderer.SetupMaterial(material!)
                 this._materials.set(appearanceId, material!)
             }
         )

From 63739d7c8d56d67df8bdb29cd5492dbcbeca0147 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Mon, 29 Jul 2024 15:38:19 -0700
Subject: [PATCH 067/344] PR suggestions for ui touchups v2

---
 .../systems/preferences/PreferenceTypes.ts    |   4 +-
 fission/src/ui/components/Checkbox.tsx        |  13 +-
 fission/src/ui/components/Modal.tsx           |   2 +-
 .../ui/modals/configuring/SettingsModal.tsx   | 176 +++++++++---------
 .../theme-editor/ThemeEditorModal.tsx         |   1 +
 5 files changed, 93 insertions(+), 103 deletions(-)

diff --git a/fission/src/systems/preferences/PreferenceTypes.ts b/fission/src/systems/preferences/PreferenceTypes.ts
index 2520405fa1..25b1a079e1 100644
--- a/fission/src/systems/preferences/PreferenceTypes.ts
+++ b/fission/src/systems/preferences/PreferenceTypes.ts
@@ -2,7 +2,6 @@ import { InputScheme } from "../input/InputSchemeManager"
 import { Vector3Tuple } from "three"
 
 export type GlobalPreference =
-    | "ScreenMode"
     | "QualitySettings"
     | "ZoomSensitivity"
     | "PitchSensitivity"
@@ -18,7 +17,6 @@ export const RobotPreferencesKey: string = "Robots"
 export const FieldPreferencesKey: string = "Fields"
 
 export const DefaultGlobalPreferences: { [key: string]: unknown } = {
-    ScreenMode: "Windowed",
     QualitySettings: "High",
     ZoomSensitivity: 15,
     PitchSensitivity: 10,
@@ -31,6 +29,8 @@ export const DefaultGlobalPreferences: { [key: string]: unknown } = {
     RenderScoreboard: true,
 }
 
+export type QualitySetting = "Low" | "Medium" | "High"
+
 export type IntakePreferences = {
     deltaTransformation: number[]
     zoneDiameter: number
diff --git a/fission/src/ui/components/Checkbox.tsx b/fission/src/ui/components/Checkbox.tsx
index 34958153a6..451891073a 100644
--- a/fission/src/ui/components/Checkbox.tsx
+++ b/fission/src/ui/components/Checkbox.tsx
@@ -15,7 +15,7 @@ const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, sta
     const [state] = useState(defaultState)
     return (
         <Stack direction={StackDirection.Horizontal} className="items-center">
-            <Label size={LabelSize.Medium} className={`mr-8 ${className} whitespace-nowrap`}>
+            <Label size={LabelSize.Small} className={`mr-12 ${className} whitespace-nowrap`}>
                 {label}
             </Label>
             <Switch
@@ -41,16 +41,5 @@ const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, sta
         </Stack>
     )
 }
-// <input
-//     type="checkbox"
-//     defaultChecked={stateOverride != null ? undefined : state}
-//     onChange={e => {
-//         const checked = (e.target as HTMLInputElement).checked
-//         setState(checked)
-//         if (onClick) onClick(checked)
-//     }}
-//     className="bg-interactive-background translate-y-1/4 duration-200 cursor-pointer appearance-none w-5 h-5 rounded-full checked:bg-gradient-to-br checked:from-interactive-element-left checked:to-interactive-element-right"
-//     checked={stateOverride != null ? stateOverride : undefined}
-// />
 
 export default Checkbox
diff --git a/fission/src/ui/components/Modal.tsx b/fission/src/ui/components/Modal.tsx
index 97152494b2..a0570db82e 100644
--- a/fission/src/ui/components/Modal.tsx
+++ b/fission/src/ui/components/Modal.tsx
@@ -70,7 +70,7 @@ const Modal: React.FC<ModalProps> = ({
                     id="content"
                     className={`${contentClassName} ${
                         !contentClassName?.includes("mx") ? "mx-[2rem]" : ""
-                    } flex flex-col gap-4 max-h-75vh`}
+                    } flex flex-col gap-4 max-h-75vh overflow-y-auto p-4`}
                 >
                     {children}
                 </div>
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index ae09504b0c..499c40b839 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -1,22 +1,22 @@
 import React, { useState } from "react"
 import { useModalControlContext } from "@/ui/ModalContext"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
+import { FaGear } from "react-icons/fa6"
 import Label, { LabelSize } from "@/components/Label"
+import Dropdown from "@/components/Dropdown"
 import Button from "@/components/Button"
 import Slider from "@/components/Slider"
 import Checkbox from "@/components/Checkbox"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { SceneOverlayEvent, SceneOverlayEventKey } from "@/ui/components/SceneOverlayEvents"
-import Dropdown from "@/ui/components/Dropdown"
-import { SynthesisIcons } from "@/ui/components/StyledComponents"
+import { QualitySetting } from "@/systems/preferences/PreferenceTypes"
+import { Box } from "@mui/material"
 
-const screenModeOptions = ["Windowed", "Fullscreen"]
-const qualitySettingsOptions = ["Low", "Medium", "High", "Ultra"]
+const qualitySettingsOptions: QualitySetting[] = ["Low", "Medium", "High"]
 
 const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
 
-    const [screenMode, setScreenMode] = useState<string>(PreferencesSystem.getGlobalPreference<string>("ScreenMode"))
     const [qualitySettings, setQualitySettings] = useState<string>(
         PreferencesSystem.getGlobalPreference<string>("QualitySettings")
     )
@@ -44,7 +44,6 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     )
 
     const saveSettings = () => {
-        PreferencesSystem.setGlobalPreference<string>("ScreenMode", screenMode)
         PreferencesSystem.setGlobalPreference<string>("QualitySettings", qualitySettings)
         PreferencesSystem.setGlobalPreference<number>("ZoomSensitivity", zoomSensitivity)
         PreferencesSystem.setGlobalPreference<number>("PitchSensitivity", pitchSensitivity)
@@ -61,93 +60,94 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="Settings"
-            icon={SynthesisIcons.Gear}
+            icon={<FaGear />}
             modalId={modalId}
             onAccept={() => {
                 saveSettings()
             }}
         >
-            <Label size={LabelSize.Medium}>Screen Settings</Label>
-            <Dropdown
-                label="Screen Mode"
-                defaultValue={PreferencesSystem.getGlobalPreference<string>("ScreenMode")}
-                options={screenModeOptions}
-                onSelect={selected => {
-                    setScreenMode(selected)
-                }}
-            />
-            <Dropdown
-                label="Quality Settings"
-                defaultValue={PreferencesSystem.getGlobalPreference<string>("QualitySettings")}
-                options={qualitySettingsOptions}
-                onSelect={selected => {
-                    setQualitySettings(selected)
-                }}
-            />
-            <Button value="Theme Editor" onClick={() => openModal("theme-editor")} />
-            <Label size={LabelSize.Medium}>Camera Settings</Label>
-            <Slider
-                min={1}
-                max={15}
-                value={PreferencesSystem.getGlobalPreference<number>("ZoomSensitivity")}
-                label={"Zoom Sensitivity"}
-                format={{ maximumFractionDigits: 2 }}
-                onChange={(_, value) => setZoomSensitivity(value as number)}
-            />
-            <Slider
-                min={1}
-                max={15}
-                value={PreferencesSystem.getGlobalPreference<number>("PitchSensitivity")}
-                label={"Pitch Sensitivity"}
-                format={{ maximumFractionDigits: 2 }}
-                onChange={(_, value) => setPitchSensitivity(value as number)}
-            />
-            <Slider
-                min={1}
-                max={15}
-                value={PreferencesSystem.getGlobalPreference<number>("YawSensitivity")}
-                label={"Yaw Sensitivity"}
-                format={{ maximumFractionDigits: 2 }}
-                onChange={(_, value) => setYawSensitivity(value as number)}
-            />
-            <Label size={LabelSize.Medium}>Preferences</Label>
-            <Checkbox
-                label="Report Analytics"
-                defaultState={PreferencesSystem.getGlobalPreference<boolean>("ReportAnalytics")}
-                onClick={checked => {
-                    setReportAnalytics(checked)
-                }}
-            />
-            <Checkbox
-                label="Use Metric"
-                defaultState={PreferencesSystem.getGlobalPreference<boolean>("UseMetric")}
-                onClick={checked => {
-                    setUseMetric(checked)
-                }}
-            />
-            <Checkbox
-                label="Render Score Zones"
-                defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderScoringZones")}
-                onClick={checked => {
-                    setRenderScoringZones(checked)
-                }}
-            />
-            <Checkbox
-                label="Render Scene Tags"
-                defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderSceneTags")}
-                onClick={checked => {
-                    setRenderSceneTags(checked)
-                    if (!checked) new SceneOverlayEvent(SceneOverlayEventKey.DISABLE)
-                    else new SceneOverlayEvent(SceneOverlayEventKey.ENABLE)
-                }}
-            />
-            <Checkbox
-                label="Render Scoreboard"
-                defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderScoreboard")}
-                onClick={checked => {
-                    setRenderScoreboard(checked)
-                }}
-            />
+            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 min-w-[22vw]">
+                <Label size={LabelSize.Medium}>Screen Settings</Label>
+                <Dropdown
+                    label="Quality Settings"
+                    options={qualitySettingsOptions}
+                    defaultValue={PreferencesSystem.getGlobalPreference<string>("QualitySettings")}
+                    onSelect={selected => {
+                        setQualitySettings(selected)
+                    }}
+                />
+                <Box minHeight={"5px"} />
+                <Box alignSelf={"center"}>
+                    <Button value="Theme Editor" onClick={() => openModal("theme-editor")} />
+                </Box>
+                <Box minHeight={"5px"} />
+                <Label size={LabelSize.Medium}>Camera Settings</Label>
+                <Slider
+                    min={1}
+                    max={15}
+                    value={PreferencesSystem.getGlobalPreference<number>("ZoomSensitivity")}
+                    label={"Zoom Sensitivity"}
+                    format={{ maximumFractionDigits: 2 }}
+                    onChange={(_, value) => setZoomSensitivity(value as number)}
+                />
+                <Slider
+                    min={1}
+                    max={15}
+                    value={PreferencesSystem.getGlobalPreference<number>("PitchSensitivity")}
+                    label={"Pitch Sensitivity"}
+                    format={{ maximumFractionDigits: 2 }}
+                    onChange={(_, value) => setPitchSensitivity(value as number)}
+                />
+                <Slider
+                    min={1}
+                    max={15}
+                    value={PreferencesSystem.getGlobalPreference<number>("YawSensitivity")}
+                    label={"Yaw Sensitivity"}
+                    format={{ maximumFractionDigits: 2 }}
+                    onChange={(_, value) => setYawSensitivity(value as number)}
+                />
+                <Box minHeight={"20px"} />
+                <Label size={LabelSize.Medium}>Preferences</Label>
+                <Box display="flex" flexDirection={"column"}>
+                    <Checkbox
+                        label="Report Analytics"
+                        defaultState={PreferencesSystem.getGlobalPreference<boolean>("ReportAnalytics")}
+                        onClick={checked => {
+                            setReportAnalytics(checked)
+                        }}
+                    />
+                    <Checkbox
+                        label="Use Metric"
+                        defaultState={PreferencesSystem.getGlobalPreference<boolean>("UseMetric")}
+                        onClick={checked => {
+                            setUseMetric(checked)
+                        }}
+                    />
+                    <Checkbox
+                        label="Render Score Zones"
+                        defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderScoringZones")}
+                        onClick={checked => {
+                            setRenderScoringZones(checked)
+                        }}
+                    />
+                    <Checkbox
+                        label="Render Scene Tags"
+                        defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderSceneTags")}
+                        onClick={checked => {
+                            setRenderSceneTags(checked)
+                            if (!checked) new SceneOverlayEvent(SceneOverlayEventKey.DISABLE)
+                            else new SceneOverlayEvent(SceneOverlayEventKey.ENABLE)
+                        }}
+                    />
+                    <Checkbox
+                        label="Render Scoreboard"
+                        defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderScoreboard")}
+                        onClick={checked => {
+                            setRenderScoreboard(checked)
+                        }}
+                    />
+                </Box>
+            </div>
         </Modal>
     )
 }
diff --git a/fission/src/ui/modals/configuring/theme-editor/ThemeEditorModal.tsx b/fission/src/ui/modals/configuring/theme-editor/ThemeEditorModal.tsx
index f794ff11b1..342927892d 100644
--- a/fission/src/ui/modals/configuring/theme-editor/ThemeEditorModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/ThemeEditorModal.tsx
@@ -49,6 +49,7 @@ const ThemeEditorModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         <Dropdown
                             label="Select a Theme"
                             options={[currentTheme, ...Object.keys(themes).filter(t => t != currentTheme)]}
+                            defaultValue="Default"
                             onSelect={setSelectedTheme}
                             className="h-min"
                         />

From dd56b75968f72a2bece37f361cc486dc82e22f8a Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 29 Jul 2024 15:47:14 -0700
Subject: [PATCH 068/344] refactor sim input + output, encoder configuration
 modal

---
 .../systems/simulation/SimulationSystem.ts    |  6 +-
 .../simulation/stimulus/ChassisStimulus.ts    |  5 +-
 .../simulation/stimulus/EncoderStimulus.ts    |  5 +-
 .../simulation/stimulus/HingeStimulus.ts      |  5 +-
 .../simulation/stimulus/SliderStimulus.ts     |  5 +-
 .../systems/simulation/stimulus/Stimulus.ts   | 12 ++++
 .../simulation/stimulus/WheelStimulus.ts      |  5 +-
 .../simulation/wpilib_brain/SimInput.ts       | 20 +++++++
 .../simulation/wpilib_brain/SimOutput.ts      | 52 +++++++++++++++++
 .../simulation/wpilib_brain/WPILibBrain.ts    | 53 +----------------
 .../rio-config/RCConfigCANGroupModal.tsx      |  5 +-
 .../rio-config/RCConfigEncoderModal.tsx       | 57 +++++++++++++------
 .../rio-config/RCConfigPWMGroupModal.tsx      |  6 +-
 fission/src/ui/panels/DebugPanel.tsx          | 10 ++--
 14 files changed, 155 insertions(+), 91 deletions(-)
 create mode 100644 fission/src/systems/simulation/wpilib_brain/SimInput.ts
 create mode 100644 fission/src/systems/simulation/wpilib_brain/SimOutput.ts

diff --git a/fission/src/systems/simulation/SimulationSystem.ts b/fission/src/systems/simulation/SimulationSystem.ts
index f0feeba8b2..358b5186df 100644
--- a/fission/src/systems/simulation/SimulationSystem.ts
+++ b/fission/src/systems/simulation/SimulationSystem.ts
@@ -87,19 +87,19 @@ class SimulationLayer {
                 const hinge = JOLT.castObject(x.constraint, JOLT.HingeConstraint)
                 const driver = new HingeDriver(hinge, x.info)
                 this._drivers.push(driver)
-                const stim = new HingeStimulus(hinge)
+                const stim = new HingeStimulus(hinge, x.info)
                 this._stimuli.push(stim)
             } else if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Vehicle) {
                 const vehicle = JOLT.castObject(x.constraint, JOLT.VehicleConstraint)
                 const driver = new WheelDriver(vehicle, x.info)
                 this._drivers.push(driver)
-                const stim = new WheelRotationStimulus(vehicle.GetWheel(0))
+                const stim = new WheelRotationStimulus(vehicle.GetWheel(0), x.info)
                 this._stimuli.push(stim)
             } else if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Slider) {
                 const slider = JOLT.castObject(x.constraint, JOLT.SliderConstraint)
                 const driver = new SliderDriver(slider, x.info)
                 this._drivers.push(driver)
-                const stim = new SliderStimulus(slider)
+                const stim = new SliderStimulus(slider, x.info)
                 this._stimuli.push(stim)
             }
         })
diff --git a/fission/src/systems/simulation/stimulus/ChassisStimulus.ts b/fission/src/systems/simulation/stimulus/ChassisStimulus.ts
index fa59a64f1b..41d160dc6a 100644
--- a/fission/src/systems/simulation/stimulus/ChassisStimulus.ts
+++ b/fission/src/systems/simulation/stimulus/ChassisStimulus.ts
@@ -1,6 +1,7 @@
 import Jolt from "@barclah/jolt-physics"
 import Stimulus from "./Stimulus"
 import World from "@/systems/World"
+import { mirabuf } from "@/proto/mirabuf"
 
 class ChassisStimulus extends Stimulus {
     private _body: Jolt.Body
@@ -19,8 +20,8 @@ class ChassisStimulus extends Stimulus {
         return this._body.GetRotation().GetEulerAngles()
     }
 
-    public constructor(bodyId: Jolt.BodyID) {
-        super()
+    public constructor(bodyId: Jolt.BodyID, info?: mirabuf.IInfo) {
+        super(info)
 
         this._body = World.PhysicsSystem.GetBody(bodyId)
         this._mass = this._body.GetShape().GetMassProperties().mMass
diff --git a/fission/src/systems/simulation/stimulus/EncoderStimulus.ts b/fission/src/systems/simulation/stimulus/EncoderStimulus.ts
index bee93b4923..6b88f5d7b0 100644
--- a/fission/src/systems/simulation/stimulus/EncoderStimulus.ts
+++ b/fission/src/systems/simulation/stimulus/EncoderStimulus.ts
@@ -1,11 +1,12 @@
+import { mirabuf } from "@/proto/mirabuf"
 import Stimulus from "./Stimulus"
 
 abstract class EncoderStimulus extends Stimulus {
     public abstract get positionValue(): number
     public abstract get velocityValue(): number
 
-    protected constructor() {
-        super()
+    protected constructor(info?: mirabuf.IInfo) {
+        super(info)
     }
 
     public abstract Update(_: number): void
diff --git a/fission/src/systems/simulation/stimulus/HingeStimulus.ts b/fission/src/systems/simulation/stimulus/HingeStimulus.ts
index bcb8464275..b26dd7687d 100644
--- a/fission/src/systems/simulation/stimulus/HingeStimulus.ts
+++ b/fission/src/systems/simulation/stimulus/HingeStimulus.ts
@@ -1,5 +1,6 @@
 import Jolt from "@barclah/jolt-physics"
 import EncoderStimulus from "./EncoderStimulus"
+import { mirabuf } from "@/proto/mirabuf"
 
 class HingeStimulus extends EncoderStimulus {
     private _accum: boolean = false
@@ -25,8 +26,8 @@ class HingeStimulus extends EncoderStimulus {
         this._accum = shouldAccum
     }
 
-    public constructor(hinge: Jolt.HingeConstraint) {
-        super()
+    public constructor(hinge: Jolt.HingeConstraint, info?: mirabuf.IInfo) {
+        super(info)
 
         this._hinge = hinge
     }
diff --git a/fission/src/systems/simulation/stimulus/SliderStimulus.ts b/fission/src/systems/simulation/stimulus/SliderStimulus.ts
index 0e66eb63b6..3235256a25 100644
--- a/fission/src/systems/simulation/stimulus/SliderStimulus.ts
+++ b/fission/src/systems/simulation/stimulus/SliderStimulus.ts
@@ -1,5 +1,6 @@
 import Jolt from "@barclah/jolt-physics"
 import EncoderStimulus from "./EncoderStimulus"
+import { mirabuf } from "@/proto/mirabuf"
 
 class SliderStimulus extends EncoderStimulus {
     private _slider: Jolt.SliderConstraint
@@ -12,8 +13,8 @@ class SliderStimulus extends EncoderStimulus {
         return this._velocity
     }
 
-    public constructor(slider: Jolt.SliderConstraint) {
-        super()
+    public constructor(slider: Jolt.SliderConstraint, info?: mirabuf.IInfo) {
+        super(info)
 
         this._slider = slider
     }
diff --git a/fission/src/systems/simulation/stimulus/Stimulus.ts b/fission/src/systems/simulation/stimulus/Stimulus.ts
index 5dd744cce8..9c5ab8758b 100644
--- a/fission/src/systems/simulation/stimulus/Stimulus.ts
+++ b/fission/src/systems/simulation/stimulus/Stimulus.ts
@@ -1,5 +1,17 @@
+import { mirabuf } from "@/proto/mirabuf"
+
 abstract class Stimulus {
+    private _info?: mirabuf.IInfo
+
+    constructor(info?: mirabuf.IInfo) {
+        this._info = info
+    }
+
     public abstract Update(deltaT: number): void
+
+    public get info() {
+        return this._info
+    }
 }
 
 export default Stimulus
diff --git a/fission/src/systems/simulation/stimulus/WheelStimulus.ts b/fission/src/systems/simulation/stimulus/WheelStimulus.ts
index cfb6206085..32214b5336 100644
--- a/fission/src/systems/simulation/stimulus/WheelStimulus.ts
+++ b/fission/src/systems/simulation/stimulus/WheelStimulus.ts
@@ -1,5 +1,6 @@
 import Jolt from "@barclah/jolt-physics"
 import EncoderStimulus from "./EncoderStimulus"
+import { mirabuf } from "@/proto/mirabuf"
 
 /**
  *
@@ -28,8 +29,8 @@ class WheelRotationStimulus extends EncoderStimulus {
         this._accum = shouldAccum
     }
 
-    public constructor(wheel: Jolt.Wheel) {
-        super()
+    public constructor(wheel: Jolt.Wheel, info?: mirabuf.IInfo) {
+        super(info)
 
         this._wheel = wheel
     }
diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
new file mode 100644
index 0000000000..483fcbcd2e
--- /dev/null
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -0,0 +1,20 @@
+import EncoderStimulus from "../stimulus/EncoderStimulus"
+import { SimCANEncoder } from "./WPILibBrain"
+
+export interface SimInput {
+    Update: (deltaT: number) => void
+}
+
+export class Encoder implements SimInput {
+    private _device: number
+    private _stimulus: EncoderStimulus
+
+    constructor(device: number, stimulus: EncoderStimulus) {
+        this._device = device
+        this._stimulus = stimulus
+    }
+
+    public Update(_deltaT: number) {
+        SimCANEncoder.SetRawInputPosition(`${this._device}`, this._stimulus.positionValue)
+    }
+}
diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
new file mode 100644
index 0000000000..846910e96f
--- /dev/null
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -0,0 +1,52 @@
+import Driver from "../driver/Driver"
+import { SimCAN, SimPWM, SimType } from "./WPILibBrain"
+
+export abstract class SimOutputGroup {
+    public name: string
+    public ports: number[]
+    public drivers: Driver[]
+    public type: SimType
+
+    public constructor(name: string, ports: number[], drivers: Driver[], type: SimType) {
+        this.name = name
+        this.ports = ports
+        this.drivers = drivers
+        this.type = type
+    }
+
+    public abstract Update(deltaT: number): void
+}
+
+export class PWMOutputGroup extends SimOutputGroup {
+    public constructor(name: string, ports: number[], drivers: Driver[]) {
+        super(name, ports, drivers, "PWM")
+    }
+
+    public Update(_deltaT: number) {
+        // let average = 0;
+        for (const port of this.ports) {
+            const speed = SimPWM.GetSpeed(`${port}`) ?? 0
+            // average += speed;
+            console.log(port, speed)
+        }
+        // average /= this.ports.length
+
+        // this.drivers.forEach(d => {
+        //     (d as WheelDriver).targetWheelSpeed = average * 40
+        //     d.Update(_deltaT)
+        // })
+    }
+}
+
+export class CANOutputGroup extends SimOutputGroup {
+    public constructor(name: string, ports: number[], drivers: Driver[]) {
+        super(name, ports, drivers, "CANMotor")
+    }
+
+    public Update(_deltaT: number) {
+        for (const port of this.ports) {
+            const device = SimCAN.GetDeviceWithID(port, this.type)
+            console.log(port, device)
+        }
+    }
+}
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 3d9ee7d65e..cc848229c1 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -5,7 +5,8 @@ import Brain from "../Brain"
 import WPILibWSWorker from "./WPILibWSWorker?worker"
 import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
-import Driver from "../driver/Driver"
+
+import { SimOutputGroup } from "./SimOutput"
 
 const worker = new WPILibWSWorker()
 
@@ -263,53 +264,3 @@ export class SimMapUpdateEvent extends Event {
 }
 
 export default WPILibBrain
-
-abstract class SimOutputGroup {
-    public name: string
-    public ports: number[]
-    public drivers: Driver[]
-    public type: SimType
-
-    public constructor(name: string, ports: number[], drivers: Driver[], type: SimType) {
-        this.name = name
-        this.ports = ports
-        this.drivers = drivers
-        this.type = type
-    }
-
-    public abstract Update(deltaT: number): void
-}
-
-export class PWMGroup extends SimOutputGroup {
-    public constructor(name: string, ports: number[], drivers: Driver[]) {
-        super(name, ports, drivers, "PWM")
-    }
-
-    public Update(_deltaT: number) {
-        // let average = 0;
-        for (const port of this.ports) {
-            const speed = SimPWM.GetSpeed(`${port}`) ?? 0
-            // average += speed;
-            console.log(port, speed)
-        }
-        // average /= this.ports.length
-
-        // this.drivers.forEach(d => {
-        //     (d as WheelDriver).targetWheelSpeed = average * 40
-        //     d.Update(_deltaT)
-        // })
-    }
-}
-
-export class CANGroup extends SimOutputGroup {
-    public constructor(name: string, ports: number[], drivers: Driver[]) {
-        super(name, ports, drivers, "CANMotor")
-    }
-
-    public Update(_deltaT: number) {
-        for (const port of this.ports) {
-            const device = SimCAN.GetDeviceWithID(port, this.type)
-            console.log(port, device)
-        }
-    }
-}
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index 8da3bec73c..e7bfe44ee3 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -8,7 +8,8 @@ import Checkbox from "@/components/Checkbox"
 import Container from "@/components/Container"
 import Label, { LabelSize } from "@/components/Label"
 import Input from "@/components/Input"
-import WPILibBrain, { CANGroup, simMap } from "@/systems/simulation/wpilib_brain/WPILibBrain"
+import WPILibBrain, { simMap } from "@/systems/simulation/wpilib_brain/WPILibBrain"
+import { CANOutputGroup } from "@/systems/simulation/wpilib_brain/SimOutput"
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import Driver from "@/systems/simulation/driver/Driver"
@@ -42,7 +43,7 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             acceptName="Done"
             onAccept={() => {
                 // no eslint complain
-                brain.addSimOutputGroup(new CANGroup(name, checkedPorts, checkedDrivers))
+                brain.addSimOutputGroup(new CANOutputGroup(name, checkedPorts, checkedDrivers))
                 console.log(name, checkedPorts, checkedDrivers)
                 const replacer = (_: unknown, value: unknown) => {
                     if (value instanceof Map) {
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
index 310aaa83d0..6febe7599c 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
@@ -6,19 +6,46 @@ import Label, { LabelSize } from "@/components/Label"
 import Input from "@/components/Input"
 import Dropdown from "@/components/Dropdown"
 import NumberInput from "@/components/NumberInput"
+import Driver from "@/systems/simulation/driver/Driver"
+import WPILibBrain, { simMap } from "@/systems/simulation/wpilib_brain/WPILibBrain"
+import World from "@/systems/World"
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import Stimulus from "@/systems/simulation/stimulus/Stimulus"
+import EncoderStimulus from "@/systems/simulation/stimulus/EncoderStimulus"
 
 const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
     const [name, setName] = useState<string>("")
-    const [selectedSignal, setSelectedSignal] = useState<string>("")
-    const [selectedChannelA, setSelectedChannelA] = useState<number>(0)
-    const [selectedChannelB, setSelectedChannelB] = useState<number>(0)
-    const [conversionFactor, setConversionFactor] = useState<number>(1)
 
-    const numPorts = 10
-    const signals = ["Rev0 (uuid)", "Rev1 (uuid)", "Rev2 (uuid)", "Rev3 (uuid)"]
+    let stimuli: EncoderStimulus[] = []
+    let simLayer
+    let brain: WPILibBrain
+
+    const miraObjs = [...World.SceneRenderer.sceneObjects.entries()].filter(x => x[1] instanceof MirabufSceneObject)
+    if (miraObjs.length > 0) {
+        const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism
+        simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)
+        stimuli = simLayer?.stimuli.filter(s => s instanceof EncoderStimulus) ?? []
+        brain = simLayer?.brain as WPILibBrain
+    }
+
+    let devices: [string, unknown][] = []
+
+    const encoders = simMap.get("CANEncoder")
+    if (encoders) {
+        devices = [...encoders.entries()]
+    }
 
-    if (!selectedSignal) setSelectedSignal(signals[0])
+    const stimMap: { [key: string]: Stimulus } = {}
+
+    stimuli.forEach(stim => {
+        const label = `${stim.constructor.name} ${stim.info?.name && "(" + stim.info!.name + ")"}`
+        stimMap[label] = stim
+    })
+
+    const [selectedDevice, setSelectedDevice] = useState<string>(devices[0] && devices[0][0])
+    const [selectedStimulus, setSelectedStimulus] = useState<Stimulus | undefined>(stimuli[0])
+    const [conversionFactor, setConversionFactor] = useState<number>(1)
 
     return (
         <Modal
@@ -27,8 +54,7 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             modalId={modalId}
             acceptName="Done"
             onAccept={() => {
-                // mostly doing this so eslint doesn't complain about unused variables
-                console.log(name, selectedSignal, selectedChannelA, selectedChannelB, conversionFactor)
+                console.log(name, selectedDevice, selectedStimulus)
             }}
             onCancel={() => {
                 openModal("roborio")
@@ -36,16 +62,15 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         >
             <Label size={LabelSize.Small}>Name</Label>
             <Input placeholder="..." className="w-full" onInput={setName} />
-            <Dropdown label="Signal" options={signals} onSelect={s => setSelectedSignal(s)} />
             <Dropdown
-                label="Channel A"
-                options={[...Array(numPorts).keys()].map(n => n.toString())}
-                onSelect={s => setSelectedChannelA(parseInt(s))}
+                label="Encoders"
+                options={devices.map(n => n[0])}
+                onSelect={s => setSelectedDevice(s)}
             />
             <Dropdown
-                label="Channel B"
-                options={[...Array(numPorts).keys()].map(n => n.toString())}
-                onSelect={s => setSelectedChannelB(parseInt(s))}
+                label="Stimuli"
+                options={Object.keys(stimMap)}
+                onSelect={s => setSelectedStimulus(stimMap[s])}
             />
             <NumberInput
                 placeholder="Conversion Factor"
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
index a663abfb14..875cc0c2c3 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
@@ -8,7 +8,8 @@ import Checkbox from "@/components/Checkbox"
 import Container from "@/components/Container"
 import Label, { LabelSize } from "@/components/Label"
 import Input from "@/components/Input"
-import WPILibBrain, { PWMGroup, simMap } from "@/systems/simulation/wpilib_brain/WPILibBrain"
+import WPILibBrain, { simMap } from "@/systems/simulation/wpilib_brain/WPILibBrain"
+import { PWMOutputGroup } from "@/systems/simulation/wpilib_brain/SimOutput"
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import Driver from "@/systems/simulation/driver/Driver"
@@ -24,7 +25,6 @@ const RCConfigPWMGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     let brain: WPILibBrain
 
     const miraObjs = [...World.SceneRenderer.sceneObjects.entries()].filter(x => x[1] instanceof MirabufSceneObject)
-    console.log(`Number of mirabuf scene objects: ${miraObjs.length}`)
     if (miraObjs.length > 0) {
         const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism
         simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)
@@ -48,7 +48,7 @@ const RCConfigPWMGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             acceptName="Done"
             onAccept={() => {
                 // no eslint complain
-                brain.addSimOutputGroup(new PWMGroup(name, checkedPorts, checkedDrivers))
+                brain.addSimOutputGroup(new PWMOutputGroup(name, checkedPorts, checkedDrivers))
                 console.log(name, checkedPorts, checkedDrivers)
             }}
             onCancel={() => {
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index c8494cb87e..9b2187a8b1 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -16,6 +16,7 @@ import Jolt from "@barclah/jolt-physics"
 import Label from "../components/Label"
 import { colorNameToVar } from "../ThemeContext"
 import { FaScrewdriverWrench } from "react-icons/fa6"
+import { useModalControlContext } from "../ModalContext"
 
 const LabelStyled = styled(Label)({
     fontWeight: 700,
@@ -50,6 +51,7 @@ async function TestGodMode() {
 
 const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { openPanel } = usePanelControlContext()
+    const { openModal } = useModalControlContext()
 
     return (
         <Panel
@@ -130,12 +132,8 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         }
                     }}
                 />
-                <Button
-                    value={"WS Viewer"}
-                    onClick={() => {
-                        openPanel("ws-view")
-                    }}
-                />
+                <Button value={"WS Viewer"} onClick={() => openPanel("ws-view")} />
+                <Button value={"RoboRIO"} onClick={() => openModal("roborio")} />
             </Box>
         </Panel>
     )

From ed3e202a0c1b5525f2ae06a6223d6ce761f5ffff Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 29 Jul 2024 15:59:17 -0700
Subject: [PATCH 069/344] implemented suggestions

---
 .../systems/simulation/wpilib_brain/WPILibBrain.ts | 14 +++++---------
 1 file changed, 5 insertions(+), 9 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 31455272ef..e4edbaee8d 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -289,20 +289,16 @@ export class PWMGroup extends SimOutputGroup {
     }
 
     public Update(_deltaT: number) {
-        let average = 0
-        for (const port of this.ports) {
+        const average = this.ports.reduce((sum, port) => {
             const speed = SimPWM.GetSpeed(`${port}`) ?? 0
-            average += speed
-            console.log(port, speed)
-        }
-        average /= this.ports.length
+            console.debug(port, speed)
+            return sum + speed
+        }, 0) / this.ports.length;
 
         this.drivers.forEach(d => {
             if (d instanceof WheelDriver) {
                 d.targetWheelSpeed = average * 40
-            } else if (d instanceof HingeDriver) {
-                d.targetVelocity = average * 40
-            } else if (d instanceof SliderDriver) {
+            } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
                 d.targetVelocity = average * 40
             }
             d.Update(_deltaT)

From 1aed917eb7637daa4075b3ece939a5f55b49fe56 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 29 Jul 2024 15:59:48 -0700
Subject: [PATCH 070/344] ran formatter

---
 .../systems/simulation/wpilib_brain/WPILibBrain.ts    | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index e4edbaee8d..57ca1a40bd 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -289,11 +289,12 @@ export class PWMGroup extends SimOutputGroup {
     }
 
     public Update(_deltaT: number) {
-        const average = this.ports.reduce((sum, port) => {
-            const speed = SimPWM.GetSpeed(`${port}`) ?? 0
-            console.debug(port, speed)
-            return sum + speed
-        }, 0) / this.ports.length;
+        const average =
+            this.ports.reduce((sum, port) => {
+                const speed = SimPWM.GetSpeed(`${port}`) ?? 0
+                console.debug(port, speed)
+                return sum + speed
+            }, 0) / this.ports.length
 
         this.drivers.forEach(d => {
             if (d instanceof WheelDriver) {

From 7a3e84940a718dbcfdbf2ac64ab449d1b8c86854 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Mon, 29 Jul 2024 16:42:13 -0700
Subject: [PATCH 071/344] Revert bad formatting changes

Co-authored-by: azaleacolburn <azalea.colburn@autodesk.com>
---
 exporter/SynthesisFusionAddin/src/APS/APS.py  |  72 +++---------
 .../src/UI/ConfigCommand.py                   |   7 +-
 .../src/UI/JointConfigTab.py                  | 103 +++---------------
 exporter/SynthesisFusionAddin/tools/format.py |   7 +-
 4 files changed, 34 insertions(+), 155 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/APS/APS.py b/exporter/SynthesisFusionAddin/src/APS/APS.py
index 346ae439f7..a65728ec23 100644
--- a/exporter/SynthesisFusionAddin/src/APS/APS.py
+++ b/exporter/SynthesisFusionAddin/src/APS/APS.py
@@ -199,10 +199,7 @@ def create_folder(auth: str, project_id: str, parent_folder_id: str, folder_disp
     success - the href of the new folder ; might be changed to the id in the future
     failure - none if the API request fails ; the failure text will be printed
     """
-    headers = {
-        "Authorization": f"Bearer {auth}",
-        "Content-Type": "application/vnd.api+json",
-    }
+    headers = {"Authorization": f"Bearer {auth}", "Content-Type": "application/vnd.api+json"}
     data: dict[str, Any] = {
         "jsonapi": {"version": "1.0"},
         "data": {
@@ -216,9 +213,7 @@ def create_folder(auth: str, project_id: str, parent_folder_id: str, folder_disp
     }
 
     res = requests.post(
-        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/folders",
-        headers=headers,
-        json=data,
+        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/folders", headers=headers, json=data
     )
     if not res.ok:
         gm.ui.messageBox(f"Failed to create new folder: {res.text}", "ERROR")
@@ -302,15 +297,7 @@ def upload_mirabuf(project_id: str, folder_id: str, file_name: str, file_content
         return None
     if file_id != "":
         update_file_version(
-            auth,
-            project_id,
-            folder_id,
-            lineage_id,
-            file_id,
-            file_name,
-            file_contents,
-            file_version,
-            object_id,
+            auth, project_id, folder_id, lineage_id, file_id, file_name, file_contents, file_version, object_id
         )
     else:
         _lineage_info = create_first_file_version(auth, str(object_id), project_id, str(folder_id), file_name)
@@ -362,8 +349,7 @@ def get_project_id(auth: str, hub_id: str, project_name: str) -> str | None:
 
     headers = {"Authorization": f"Bearer {auth}"}
     project_list_res = requests.get(
-        f"https://developer.api.autodesk.com/project/v1/hubs/{hub_id}/projects",
-        headers=headers,
+        f"https://developer.api.autodesk.com/project/v1/hubs/{hub_id}/projects", headers=headers
     )
     if not project_list_res.ok:
         gm.ui.messageBox("UPLOAD ERROR", f"Failed to retrieve hubs: {project_list_res.text}")
@@ -445,10 +431,7 @@ def update_file_version(
         "Content-Type": "application/vnd.api+json",
     }
 
-    attributes = {
-        "name": file_name,
-        "extension": {"type": "versions:autodesk.core:File", "version": f"1.0"},
-    }
+    attributes = {"name": file_name, "extension": {"type": "versions:autodesk.core:File", "version": f"1.0"}}
 
     relationships: dict[str, Any] = {
         "item": {
@@ -467,23 +450,16 @@ def update_file_version(
 
     data = {
         "jsonapi": {"version": "1.0"},
-        "data": {
-            "type": "versions",
-            "attributes": attributes,
-            "relationships": relationships,
-        },
+        "data": {"type": "versions", "attributes": attributes, "relationships": relationships},
     }
     update_res = requests.post(
-        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/versions",
-        headers=headers,
-        json=data,
+        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/versions", headers=headers, json=data
     )
     if not update_res.ok:
         gm.ui.messageBox(f"UPLOAD ERROR:\n{update_res.text}", "Updating file to new version failed")
         return None
     gm.ui.messageBox(
-        f"Successfully updated file {file_name} to version {int(curr_file_version) + 1} on APS",
-        "UPLOAD SUCCESS",
+        f"Successfully updated file {file_name} to version {int(curr_file_version) + 1} on APS", "UPLOAD SUCCESS"
     )
     new_id: str = update_res.json()["data"]["id"]
     return new_id
@@ -568,15 +544,10 @@ def create_storage_location(auth: str, project_id: str, folder_id: str, file_nam
         "Content-Type": "application/vnd.api+json",
     }
     storage_location_res = requests.post(
-        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/storage",
-        json=data,
-        headers=headers,
+        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/storage", json=data, headers=headers
     )
     if not storage_location_res.ok:
-        gm.ui.messageBox(
-            f"UPLOAD ERROR: {storage_location_res.text}",
-            f"Failed to create storage location",
-        )
+        gm.ui.messageBox(f"UPLOAD ERROR: {storage_location_res.text}", f"Failed to create storage location")
         return None
     storage_location_json: dict[str, Any] = storage_location_res.json()
     object_id: str = storage_location_json["data"]["id"]
@@ -664,8 +635,7 @@ def complete_upload(auth: str, upload_key: str, object_key: str, bucket_key: str
     )
     if not completed_res.ok:
         gm.ui.messageBox(
-            f"UPLOAD ERROR: {completed_res.text}\n{completed_res.status_code}",
-            "Failed to complete upload",
+            f"UPLOAD ERROR: {completed_res.text}\n{completed_res.status_code}", "Failed to complete upload"
         )
         return None
     return ""
@@ -703,10 +673,7 @@ def create_first_file_version(
         "Accept": "application/vnd.api+json",
     }
 
-    included_attributes = {
-        "name": file_name,
-        "extension": {"type": "versions:autodesk.core:File", "version": "1.0"},
-    }
+    included_attributes = {"name": file_name, "extension": {"type": "versions:autodesk.core:File", "version": "1.0"}}
 
     attributes = {
         "displayName": file_name,
@@ -732,24 +699,15 @@ def create_first_file_version(
 
     data = {
         "jsonapi": {"version": "1.0"},
-        "data": {
-            "type": "items",
-            "attributes": attributes,
-            "relationships": relationships,
-        },
+        "data": {"type": "items", "attributes": attributes, "relationships": relationships},
         "included": included,
     }
 
     first_version_res = requests.post(
-        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/items",
-        json=data,
-        headers=headers,
+        f"https://developer.api.autodesk.com/data/v1/projects/{project_id}/items", json=data, headers=headers
     )
     if not first_version_res.ok:
-        gm.ui.messageBox(
-            f"Failed to create first file version: {first_version_res.text}",
-            "UPLOAD ERROR",
-        )
+        gm.ui.messageBox(f"Failed to create first file version: {first_version_res.text}", "UPLOAD ERROR")
         return None
     first_version_json: dict[str, Any] = first_version_res.json()
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 774d8eb53f..4a501b1319 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -179,9 +179,7 @@ def notify(self, args):
         # ~~~~~~~~~~~~~~~~ EXPORT LOCATION ~~~~~~~~~~~~~~~~~~
 
         dropdownExportLocation = inputs.addDropDownCommandInput(
-            "location",
-            "Export Location",
-            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
+            "location", "Export Location", dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle
         )
 
         upload: bool = exporterOptions.exportLocation == ExportLocation.UPLOAD
@@ -555,8 +553,7 @@ def notify(self, args):
         getAuth()
         user_info = getUserInfo()
         apsSettings = INPUTS_ROOT.addTabCommandInput(
-            "aps_settings",
-            f"APS Settings ({user_info.given_name if user_info else 'Not Signed In'})",
+            "aps_settings", f"APS Settings ({user_info.given_name if user_info else 'Not Signed In'})"
         )
         apsSettings.tooltip = "Configuration settings for Autodesk Platform Services."
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
index 9332f11d01..4f25ebfe01 100644
--- a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
@@ -31,73 +31,33 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
         jointConfigTabInputs = self.jointConfigTab.children
         self.jointConfigTable = createTableInput("jointTable", "Joint Table", jointConfigTabInputs, 7, "1:2:2:2:2:2:2")
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput(
-                "jointMotionHeader",
-                "Motion",
-                jointConfigTabInputs,
-                "Motion",
-                bold=False,
-            ),
-            0,
-            0,
+            createTextBoxInput("jointMotionHeader", "Motion", jointConfigTabInputs, "Motion", bold=False), 0, 0
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput("nameHeader", "Name", jointConfigTabInputs, "Joint name", bold=False),
-            0,
-            1,
+            createTextBoxInput("nameHeader", "Name", jointConfigTabInputs, "Joint name", bold=False), 0, 1
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput(
-                "parentHeader",
-                "Parent",
-                jointConfigTabInputs,
-                "Parent joint",
-                background="#d9d9d9",
-            ),
+            createTextBoxInput("parentHeader", "Parent", jointConfigTabInputs, "Parent joint", background="#d9d9d9"),
             0,
             2,
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput(
-                "signalHeader",
-                "Signal",
-                jointConfigTabInputs,
-                "Signal type",
-                background="#d9d9d9",
-            ),
+            createTextBoxInput("signalHeader", "Signal", jointConfigTabInputs, "Signal type", background="#d9d9d9"),
             0,
             3,
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput(
-                "speedHeader",
-                "Speed",
-                jointConfigTabInputs,
-                "Joint Speed",
-                background="#d9d9d9",
-            ),
+            createTextBoxInput("speedHeader", "Speed", jointConfigTabInputs, "Joint Speed", background="#d9d9d9"),
             0,
             4,
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput(
-                "forceHeader",
-                "Force",
-                jointConfigTabInputs,
-                "Joint Force",
-                background="#d9d9d9",
-            ),
+            createTextBoxInput("forceHeader", "Force", jointConfigTabInputs, "Joint Force", background="#d9d9d9"),
             0,
             5,
         )
         self.jointConfigTable.addCommandInput(
-            createTextBoxInput(
-                "wheelHeader",
-                "Is Wheel",
-                jointConfigTabInputs,
-                "Is Wheel",
-                background="#d9d9d9",
-            ),
+            createTextBoxInput("wheelHeader", "Is Wheel", jointConfigTabInputs, "Is Wheel", background="#d9d9d9"),
             0,
             6,
         )
@@ -113,39 +73,21 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
 
         self.wheelConfigTable = createTableInput("wheelTable", "Wheel Table", jointConfigTabInputs, 4, "1:2:2:2")
         self.wheelConfigTable.addCommandInput(
-            createTextBoxInput(
-                "wheelMotionHeader",
-                "Motion",
-                jointConfigTabInputs,
-                "Motion",
-                bold=False,
-            ),
-            0,
-            0,
+            createTextBoxInput("wheelMotionHeader", "Motion", jointConfigTabInputs, "Motion", bold=False), 0, 0
         )
         self.wheelConfigTable.addCommandInput(
-            createTextBoxInput("name_header", "Name", jointConfigTabInputs, "Joint name", bold=False),
-            0,
-            1,
+            createTextBoxInput("name_header", "Name", jointConfigTabInputs, "Joint name", bold=False), 0, 1
         )
         self.wheelConfigTable.addCommandInput(
             createTextBoxInput(
-                "wheelTypeHeader",
-                "WheelType",
-                jointConfigTabInputs,
-                "Wheel type",
-                background="#d9d9d9",
+                "wheelTypeHeader", "WheelType", jointConfigTabInputs, "Wheel type", background="#d9d9d9"
             ),
             0,
             2,
         )
         self.wheelConfigTable.addCommandInput(
             createTextBoxInput(
-                "signalTypeHeader",
-                "SignalType",
-                jointConfigTabInputs,
-                "Signal type",
-                background="#d9d9d9",
+                "signalTypeHeader", "SignalType", jointConfigTabInputs, "Signal type", background="#d9d9d9"
             ),
             0,
             3,
@@ -237,11 +179,7 @@ def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
         if synJoint:
             signalType.listItems.add("‎", synJoint.signalType is SignalType.PWM, IconPaths.signalIcons["PWM"])
             signalType.listItems.add("‎", synJoint.signalType is SignalType.CAN, IconPaths.signalIcons["CAN"])
-            signalType.listItems.add(
-                "‎",
-                synJoint.signalType is SignalType.PASSIVE,
-                IconPaths.signalIcons["PASSIVE"],
-            )
+            signalType.listItems.add("‎", synJoint.signalType is SignalType.PASSIVE, IconPaths.signalIcons["PASSIVE"])
         else:
             signalType.listItems.add("‎", True, IconPaths.signalIcons["PWM"])
             signalType.listItems.add("‎", False, IconPaths.signalIcons["CAN"])
@@ -292,10 +230,7 @@ def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
             jointForceValue = 5
 
         jointForce = commandInputs.addValueInput(
-            "jointForce",
-            "Force",
-            "N",
-            adsk.core.ValueInput.createByReal(jointForceValue),
+            "jointForce", "Force", "N", adsk.core.ValueInput.createByReal(jointForceValue)
         )
         jointForce.tooltip = "Newtons"
         self.jointConfigTable.addCommandInput(jointForce, row, 5)
@@ -338,9 +273,7 @@ def addWheel(self, joint: adsk.fusion.Joint, wheel: Wheel | None = None) -> None
         wheelName = commandInputs.addTextBoxCommandInput("wheelName", "Joint Name", joint.name, 1, True)
         wheelName.tooltip = joint.name  # TODO: Should this be the same?
         wheelType = commandInputs.addDropDownCommandInput(
-            "wheelType",
-            "Wheel Type",
-            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
+            "wheelType", "Wheel Type", dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle
         )
 
         selectedWheelType = wheel.wheelType if wheel else WheelType.STANDARD
@@ -357,9 +290,7 @@ def addWheel(self, joint: adsk.fusion.Joint, wheel: Wheel | None = None) -> None
         )
 
         signalType = commandInputs.addDropDownCommandInput(
-            "wheelSignalType",
-            "Signal Type",
-            dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,
+            "wheelSignalType", "Signal Type", dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle
         )
         signalType.isFullWidth = True
         signalType.isEnabled = False
@@ -462,9 +393,7 @@ def reset(self) -> None:
     # commandInput in a input changed handle for some reason.
     @logFailure
     def handleInputChanged(
-        self,
-        args: adsk.core.InputChangedEventArgs,
-        globalCommandInputs: adsk.core.CommandInputs,
+        self, args: adsk.core.InputChangedEventArgs, globalCommandInputs: adsk.core.CommandInputs
     ) -> None:
         commandInput = args.input
         if commandInput.id == "wheelType":
diff --git a/exporter/SynthesisFusionAddin/tools/format.py b/exporter/SynthesisFusionAddin/tools/format.py
index 60d9ba7063..7531b93de7 100644
--- a/exporter/SynthesisFusionAddin/tools/format.py
+++ b/exporter/SynthesisFusionAddin/tools/format.py
@@ -11,12 +11,7 @@ def main(args: list[str] = sys.argv[1:]) -> None:
     for command in ["isort", "black"]:
         try:
             print(f"Formatting with {command}...")
-            subprocess.call(
-                [command, dir],
-                shell=False,
-                stdout=subprocess.PIPE,
-                stderr=subprocess.PIPE,
-            )
+            subprocess.call([command, dir], shell=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
         except FileNotFoundError:
             print(f'"{command}" could not be found. Please resolve dependencies.')
             return

From 8492b847ab52527e9d72bf3e8083a389622bfce7 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 29 Jul 2024 16:57:55 -0700
Subject: [PATCH 072/344] switch on constructor name

---
 .../systems/simulation/wpilib_brain/WPILibBrain.ts | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 57ca1a40bd..06d0f1edd2 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -297,10 +297,16 @@ export class PWMGroup extends SimOutputGroup {
             }, 0) / this.ports.length
 
         this.drivers.forEach(d => {
-            if (d instanceof WheelDriver) {
-                d.targetWheelSpeed = average * 40
-            } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
-                d.targetVelocity = average * 40
+            switch (d.constructor.name) {
+                case "WheelDriver":
+                    (d as WheelDriver).targetWheelSpeed = average * 40
+                    break
+                case "HingeDriver":
+                    (d as HingeDriver).targetVelocity = average * 40
+                    break
+                case "SliderDriver":
+                    (d as SliderDriver).targetVelocity = average * 40
+                    break
             }
             d.Update(_deltaT)
         })

From 8f265a5ed92f1a42ffe2d809bfd0a18b36c9e82c Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 29 Jul 2024 17:12:39 -0700
Subject: [PATCH 073/344] back to if else

---
 .../systems/simulation/wpilib_brain/WPILibBrain.ts | 14 ++++----------
 1 file changed, 4 insertions(+), 10 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 06d0f1edd2..57ca1a40bd 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -297,16 +297,10 @@ export class PWMGroup extends SimOutputGroup {
             }, 0) / this.ports.length
 
         this.drivers.forEach(d => {
-            switch (d.constructor.name) {
-                case "WheelDriver":
-                    (d as WheelDriver).targetWheelSpeed = average * 40
-                    break
-                case "HingeDriver":
-                    (d as HingeDriver).targetVelocity = average * 40
-                    break
-                case "SliderDriver":
-                    (d as SliderDriver).targetVelocity = average * 40
-                    break
+            if (d instanceof WheelDriver) {
+                d.targetWheelSpeed = average * 40
+            } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
+                d.targetVelocity = average * 40
             }
             d.Update(_deltaT)
         })

From 762281e735087a7135ce645d27141c3a3a8f5118 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 29 Jul 2024 19:44:49 -0700
Subject: [PATCH 074/344] connect encoder to WPILibBrain

---
 .../simulation/wpilib_brain/SimInput.ts       | 10 ++++---
 .../simulation/wpilib_brain/SimOutput.ts      | 30 +++++++++++--------
 .../simulation/wpilib_brain/WPILibBrain.ts    | 11 ++++---
 .../rio-config/RCConfigEncoderModal.tsx       | 10 +++----
 4 files changed, 36 insertions(+), 25 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 483fcbcd2e..0962bd8bb6 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -5,16 +5,18 @@ export interface SimInput {
     Update: (deltaT: number) => void
 }
 
-export class Encoder implements SimInput {
-    private _device: number
+export class SimEncoderInput implements SimInput {
+    private _device: string
     private _stimulus: EncoderStimulus
+    private _conversionFactor: number
 
-    constructor(device: number, stimulus: EncoderStimulus) {
+    constructor(device: string, stimulus: EncoderStimulus, conversionFactor: number) {
         this._device = device
         this._stimulus = stimulus
+        this._conversionFactor = conversionFactor
     }
 
     public Update(_deltaT: number) {
-        SimCANEncoder.SetRawInputPosition(`${this._device}`, this._stimulus.positionValue)
+        SimCANEncoder.SetRawInputPosition(`${this._device}`, this._stimulus.positionValue * this._conversionFactor)
     }
 }
diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index 846910e96f..96f7076e8d 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -1,4 +1,7 @@
 import Driver from "../driver/Driver"
+import HingeDriver from "../driver/HingeDriver"
+import SliderDriver from "../driver/SliderDriver"
+import WheelDriver from "../driver/WheelDriver"
 import { SimCAN, SimPWM, SimType } from "./WPILibBrain"
 
 export abstract class SimOutputGroup {
@@ -23,18 +26,21 @@ export class PWMOutputGroup extends SimOutputGroup {
     }
 
     public Update(_deltaT: number) {
-        // let average = 0;
-        for (const port of this.ports) {
-            const speed = SimPWM.GetSpeed(`${port}`) ?? 0
-            // average += speed;
-            console.log(port, speed)
-        }
-        // average /= this.ports.length
-
-        // this.drivers.forEach(d => {
-        //     (d as WheelDriver).targetWheelSpeed = average * 40
-        //     d.Update(_deltaT)
-        // })
+        const average =
+            this.ports.reduce((sum, port) => {
+                const speed = SimPWM.GetSpeed(`${port}`) ?? 0
+                console.debug(port, speed)
+                return sum + speed
+            }, 0) / this.ports.length
+
+        this.drivers.forEach(d => {
+            if (d instanceof WheelDriver) {
+                d.targetWheelSpeed = average * 40
+            } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
+                d.targetVelocity = average * 40
+            }
+            d.Update(_deltaT)
+        })
     }
 }
 
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 35cc2a1e2a..16d83cc6d9 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -7,10 +7,7 @@ import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 
 import { SimOutputGroup } from "./SimOutput"
-import Driver from "../driver/Driver"
-import WheelDriver from "../driver/WheelDriver"
-import HingeDriver from "../driver/HingeDriver"
-import SliderDriver from "../driver/SliderDriver"
+import { SimInput } from "./SimInput"
 
 const worker = new WPILibWSWorker()
 
@@ -222,6 +219,7 @@ class WPILibBrain extends Brain {
     private _simLayer: SimulationLayer
 
     private _simDevices: SimOutputGroup[] = []
+    private _simInputs: SimInput[] = []
 
     constructor(mechanism: Mechanism) {
         super(mechanism)
@@ -238,8 +236,13 @@ class WPILibBrain extends Brain {
         this._simDevices.push(device)
     }
 
+    public addSimInput(input: SimInput) {
+        this._simInputs.push(input)
+    }
+
     public Update(deltaT: number): void {
         this._simDevices.forEach(d => d.Update(deltaT))
+        this._simInputs.forEach(i => i.Update(deltaT))
     }
 
     public Enable(): void {
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
index 6febe7599c..a7117ec863 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
@@ -6,12 +6,11 @@ import Label, { LabelSize } from "@/components/Label"
 import Input from "@/components/Input"
 import Dropdown from "@/components/Dropdown"
 import NumberInput from "@/components/NumberInput"
-import Driver from "@/systems/simulation/driver/Driver"
 import WPILibBrain, { simMap } from "@/systems/simulation/wpilib_brain/WPILibBrain"
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
-import Stimulus from "@/systems/simulation/stimulus/Stimulus"
 import EncoderStimulus from "@/systems/simulation/stimulus/EncoderStimulus"
+import { SimEncoderInput } from "@/systems/simulation/wpilib_brain/SimInput"
 
 const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -36,7 +35,7 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         devices = [...encoders.entries()]
     }
 
-    const stimMap: { [key: string]: Stimulus } = {}
+    const stimMap: { [key: string]: EncoderStimulus } = {}
 
     stimuli.forEach(stim => {
         const label = `${stim.constructor.name} ${stim.info?.name && "(" + stim.info!.name + ")"}`
@@ -44,7 +43,7 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     })
 
     const [selectedDevice, setSelectedDevice] = useState<string>(devices[0] && devices[0][0])
-    const [selectedStimulus, setSelectedStimulus] = useState<Stimulus | undefined>(stimuli[0])
+    const [selectedStimulus, setSelectedStimulus] = useState<EncoderStimulus | undefined>(stimuli[0])
     const [conversionFactor, setConversionFactor] = useState<number>(1)
 
     return (
@@ -54,7 +53,8 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             modalId={modalId}
             acceptName="Done"
             onAccept={() => {
-                console.log(name, selectedDevice, selectedStimulus)
+                if (selectedDevice && selectedStimulus)
+                    brain.addSimInput(new SimEncoderInput(selectedDevice, selectedStimulus, conversionFactor))
             }}
             onCancel={() => {
                 openModal("roborio")

From 0c6bfa463008eaae26b2e35e6b3b3e54c1c5e412 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 30 Jul 2024 08:45:41 -0700
Subject: [PATCH 075/344] Use proper mass conversion function

---
 exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index b6e088581e..116b8ca7d7 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -84,7 +84,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
         imperialUnits = self.currentUnits == PreferredUnits.IMPERIAL
         if imperialUnits:
             # ExporterOptions always contains the metric value
-            displayWeight = exporterOptions.robotWeight * 2.2046226218
+            displayWeight = toLbs(exporterOptions.robotWeight)
         else:
             displayWeight = exporterOptions.robotWeight
 

From a723159098b0560a766493fa175f8ff0ec6762e1 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 30 Jul 2024 08:53:40 -0700
Subject: [PATCH 076/344] Better import verification

---
 exporter/SynthesisFusionAddin/Synthesis.py    | 21 +++++++++------
 .../SynthesisFusionAddin/src/Dependencies.py  | 26 ++++++++++++++-----
 2 files changed, 33 insertions(+), 14 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 370a52830f..7a691b4789 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -1,16 +1,21 @@
-# DO NOT CHANGE ORDER, OR ADD IMPORTS BEFORE UNTIL END COMMENT
-
 import os
-from shutil import rmtree
 
 import adsk.core
 
-from .src.Dependencies import resolveDependencies
+# Currently required for `resolveDependencies()`, will be required for absolute imports.
+# sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+
+from .src.Dependencies import resolveDependencies  # isort:skip
+
+# Transition: AARD-1741
+# Import order should be removed in AARD-1737 and `setupLogger()` moved to `__init__.py`
+from .src.Logging import getLogger, logFailure, setupLogger  # isort:skip
+
+setupLogger()
 
 try:
     from .src.APS import APS
     from .src.general_imports import APP_NAME, DESCRIPTION, INTERNAL_ID, gm
-    from .src.Logging import getLogger, logFailure, setupLogger
     from .src.UI import (
         HUI,
         Camera,
@@ -21,10 +26,11 @@
         ShowAPSAuthCommand,
     )
     from .src.UI.Toolbar import Toolbar
-except (ImportError, ModuleNotFoundError):
+except (ImportError, ModuleNotFoundError) as error:
+    getLogger().warn(f"Running resolve dependencies with error of:\n{error}")
     result = resolveDependencies()
     if result:
-        adsk.core.Application.get().userInterface.messageBox("Installed required dependencies, please restart Fusion.")
+        adsk.core.Application.get().userInterface.messageBox("Installed required dependencies.\nPlease restart Fusion.")
 
 
 @logFailure
@@ -34,7 +40,6 @@ def run(_):
     Arguments:
         **context** *context* -- Fusion context to derive app and UI.
     """
-    setupLogger()
 
     # Remove all items prior to start just to make sure
     unregister_all()
diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
index 7dac67294c..b508571b49 100644
--- a/exporter/SynthesisFusionAddin/src/Dependencies.py
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -1,4 +1,5 @@
 import importlib.machinery
+import importlib.util
 import os
 import platform
 import subprocess
@@ -54,14 +55,15 @@ def executeCommand(*args: str) -> subprocess.CompletedProcess:
         raise error
 
 
+@logFailure
 def verifyCompiledProtoImports() -> bool:
-    try:
-        from ..proto.proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
+    protoModules = ["assembly_pb2", "joint_pb2", "material_pb2", "types_pb2"]
+    for module in protoModules:
+        spec = importlib.util.find_spec(f"proto.proto_out.{module}")
+        if spec is None:
+            return False
 
-        return True
-    except ImportError:
-        logger.warn("Could not resolve compiled proto dependencies")
-        return False
+    return True
 
 
 def getInstalledPipPackages(pythonExecutablePath: str) -> dict[str, str]:
@@ -141,3 +143,15 @@ def resolveDependencies() -> bool | None:
 
     progressBar.hide()
     return True
+
+
+# Transition: AARD-1741
+# Extra function included here for debugging purposes, this function can be deleted upon verification
+# that everything is working correctly as it can be easily constructed later.
+def uninstallPipDependencies() -> None:
+    pythonFolder = getInternalFusionPythonInstillationFolder()
+    pythonExecutableFile = "python.exe" if system == "Windows" else "python"  # Confirming 110% everything is fine.
+    pythonExecutablePath = os.path.join(pythonFolder, pythonExecutableFile)
+    for dep in PIP_DEPENDENCY_VERSION_MAP.keys():
+        executeCommand(pythonExecutablePath, "-m", "pip", "uninstall", "-y", dep)
+        logger.debug(f"Uninstalled {dep}")

From 517369b84515b45d98478c90e78f178c143ced40 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 30 Jul 2024 08:54:31 -0700
Subject: [PATCH 077/344] Removed old deps file

---
 exporter/SynthesisFusionAddin/proto/deps.py | 191 --------------------
 1 file changed, 191 deletions(-)
 delete mode 100644 exporter/SynthesisFusionAddin/proto/deps.py

diff --git a/exporter/SynthesisFusionAddin/proto/deps.py b/exporter/SynthesisFusionAddin/proto/deps.py
deleted file mode 100644
index 10ec7757b3..0000000000
--- a/exporter/SynthesisFusionAddin/proto/deps.py
+++ /dev/null
@@ -1,191 +0,0 @@
-import os
-import platform
-from pathlib import Path
-
-import adsk.core
-import adsk.fusion
-
-from src.Logging import getLogger, logFailure
-
-system = platform.system()
-logger = getLogger()
-
-
-@logFailure(messageBox=True)
-def getPythonFolder() -> str:
-    """Retreives the folder that contains the Autodesk python executable
-
-    Raises:
-        ImportError: Unrecognized Platform
-
-    Returns:
-        str: The path that contains the Autodesk python executable
-    """
-
-    # Thank you Kris Kaplan
-    import importlib.machinery
-    import sys
-
-    osPath = importlib.machinery.PathFinder.find_spec("os", sys.path).origin
-
-    # The location of the python executable is found relative to the location of the os module in each operating system
-    if system == "Windows":
-        pythonFolder = Path(osPath).parents[1]
-    elif system == "Darwin":
-        pythonFolder = f"{Path(osPath).parents[2]}/bin"
-    else:
-        raise ImportError("Unsupported platform! This add-in only supports windows and macos")
-
-    logger.debug(f"Python Folder -> {pythonFolder}")
-    return pythonFolder
-
-
-def executeCommand(command: tuple) -> int:
-    """Abstracts the execution of commands to account for platform differences
-
-    Args:
-        command (tuple): Tuple starting with command, and each indice having the arguments for said command
-
-    Returns:
-        int: Exit code of the process
-    """
-
-    joinedCommand = str.join(" ", command)
-    logger.debug(f"Command -> {joinedCommand}")
-    executionResult = os.system(joinedCommand)
-
-    return executionResult
-
-
-@logFailure(messageBox=True)
-def installCross(pipDeps: list) -> bool:
-    """Attempts to fetch pip script and resolve dependencies with less user interaction
-
-    Args:
-        pipDeps (list): List of all string imports
-
-    Returns:
-        bool: Success
-
-    Notes:
-        Liam originally came up with this style after realizing accessing the python dir was too unreliable.
-    """
-    app = adsk.core.Application.get()
-    ui = app.userInterface
-
-    if app.isOffLine:
-        ui.messageBox(
-            "Unable to install dependencies when Fusion is offline. Please connect to the internet and try again!"
-        )
-        return False
-
-    progressBar = ui.createProgressDialog()
-    progressBar.isCancelButtonShown = False
-    progressBar.reset()
-    progressBar.show("Synthesis", f"Installing dependencies...", 0, len(pipDeps), 0)
-
-    # this is important to reduce the chance of hang on startup
-    adsk.doEvents()
-
-    try:
-        pythonFolder = getPythonFolder()
-    except ImportError as e:
-        logger.error(f"Failed to download dependencies: {e.msg}")
-        return False
-
-    if system == "Darwin":  # macos
-        # if nothing has previously fetched it
-        if not os.path.exists(f"{pythonFolder}/get-pip.py"):
-            executeCommand(
-                [
-                    "curl",
-                    "https://bootstrap.pypa.io/get-pip.py",
-                    "-o",
-                    f'"{pythonFolder}/get-pip.py"',
-                ]
-            )
-
-        executeCommand([f'"{pythonFolder}/python"', f'"{pythonFolder}/get-pip.py"'])
-
-    pythonExecutable = "python"
-    if system == "Windows":
-        pythonExecutable = "python.exe"
-
-    for depName in pipDeps:
-        progressBar.progressValue += 1
-        progressBar.message = f"Installing {depName}..."
-        adsk.doEvents()
-
-        # os.path.join needed for varying system path separators
-        installResult = executeCommand(
-            [
-                f'"{os.path.join(pythonFolder, pythonExecutable)}"',
-                "-m",
-                "pip",
-                "install",
-                depName,
-            ]
-        )
-        if installResult != 0:
-            logger.warn(f'Dep installation "{depName}" exited with code "{installResult}"')
-
-    if system == "Darwin":
-        pipAntiDeps = ["dataclasses", "typing"]
-        progressBar.progressValue = 0
-        progressBar.maximumValue = len(pipAntiDeps)
-        for depName in pipAntiDeps:
-            progressBar.message = f"Uninstalling {depName}..."
-            progressBar.progressValue += 1
-            adsk.doEvents()
-            uninstallResult = executeCommand(
-                [
-                    f'"{os.path.join(pythonFolder, pythonExecutable)}"',
-                    "-m",
-                    "pip",
-                    "uninstall",
-                    f"{depName}",
-                    "-y",
-                ]
-            )
-            if uninstallResult != 0:
-                logger.warn(f'AntiDep uninstallation "{depName}" exited with code "{uninstallResult}"')
-
-    progressBar.hide()
-
-    if _checkDeps():
-        return True
-    else:
-        # Will be caught and logged to a message box & log file from `@logFailure`
-        raise RuntimeError("Failed to install dependencies needed")
-
-
-def _checkDeps() -> bool:
-    try:
-        from .proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
-
-        return True
-    except ImportError:
-        return False
-
-
-"""
-Checks for, and installs if need be, the dependencies needed by the Synthesis Exporter. Will error if it cannot install the dependencies
-correctly. This should crash the exporter, since most of the exporter needs these dependencies to function in
-the first place.
-"""
-
-
-def installDependencies():
-    try:
-        import logging.handlers
-
-        import google.protobuf
-        import pkg_resources
-        from requests import get, post
-
-        from .proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
-    except ImportError or ModuleNotFoundError:
-        installCross(["protobuf==4.23.3", "requests==2.32.3"])
-        from requests import get, post
-
-        from .proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2

From 46b278b0b73b02427c2d452b2b169532f1526b7b Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 30 Jul 2024 09:02:49 -0700
Subject: [PATCH 078/344] Uncomment add import path

---
 exporter/SynthesisFusionAddin/Synthesis.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 7a691b4789..f5e8b250b7 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -1,9 +1,10 @@
 import os
+import sys
 
 import adsk.core
 
 # Currently required for `resolveDependencies()`, will be required for absolute imports.
-# sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))
 
 from .src.Dependencies import resolveDependencies  # isort:skip
 

From cd226cfc4b7228874cbeb20530aa1b0d44a94671 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 30 Jul 2024 09:04:47 -0700
Subject: [PATCH 079/344] ignore this commit, i made a mistake with git

---
 fission/src/Synthesis.tsx                     |   2 +-
 .../src/systems/analytics/AnalyticsSystem.ts  |   3 +-
 .../src/systems/input/InputSchemeManager.ts   |  16 +-
 .../simulation/wpilib_brain/WPILibBrain.ts    | 190 ++++++------------
 fission/src/ui/components/Button.tsx          |  10 +-
 fission/src/ui/components/MainHUD.tsx         |   4 +-
 fission/src/ui/components/Modal.tsx           |   2 +-
 .../modals/spawning/ManageAssembliesModal.tsx |  73 ++++---
 fission/src/ui/panels/DebugPanel.tsx          |  10 +-
 .../configuring/ChooseInputSchemePanel.tsx    |  38 ++--
 .../ui/panels/information/ScoreboardPanel.tsx |   5 +-
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  |   4 +-
 12 files changed, 152 insertions(+), 205 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 51e9c4db05..1b3d308176 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -95,7 +95,7 @@ function Synthesis() {
 
         World.InitWorld()
 
-        if (!PreferencesSystem.getGlobalPreference<boolean>("ReportAnalytics")) {
+        if (!PreferencesSystem.getGlobalPreference<boolean>("ReportAnalytics") && !import.meta.env.DEV) {
             setConsentPopupDisable(false)
         }
 
diff --git a/fission/src/systems/analytics/AnalyticsSystem.ts b/fission/src/systems/analytics/AnalyticsSystem.ts
index 778a60b69f..6fd1d04a9d 100644
--- a/fission/src/systems/analytics/AnalyticsSystem.ts
+++ b/fission/src/systems/analytics/AnalyticsSystem.ts
@@ -27,7 +27,8 @@ class AnalyticsSystem extends WorldSystem {
         init({
             measurementId: "G-6XNCRD7QNC",
             debug: import.meta.env.DEV,
-            sendPageViews: true,
+            anonymizeIp: true,
+            sendPageViews: false,
             trackingConsent: PreferencesSystem.getGlobalPreference<boolean>("ReportAnalytics"),
         })
 
diff --git a/fission/src/systems/input/InputSchemeManager.ts b/fission/src/systems/input/InputSchemeManager.ts
index 76c433c962..23a5ede69d 100644
--- a/fission/src/systems/input/InputSchemeManager.ts
+++ b/fission/src/systems/input/InputSchemeManager.ts
@@ -122,24 +122,10 @@ class InputSchemeManager {
 
     /** Save all schemes that have been customized to local storage via preferences */
     public static saveSchemes() {
-        const customizedSchemes = Array.from(InputSystem.brainIndexSchemeMap.values()).filter(s => {
+        const customizedSchemes = this.allInputSchemes.filter(s => {
             return s.customized
         })
 
-        // Save default schemes that have been customized if a customized version does not already exist
-        this.defaultInputSchemes.forEach(s => {
-            if (!s.customized) return
-
-            if (
-                customizedSchemes.some(c => {
-                    if (c.schemeName === s.schemeName) return true
-                })
-            )
-                return
-
-            customizedSchemes.push(s)
-        })
-
         PreferencesSystem.setGlobalPreference("InputSchemes", customizedSchemes)
         PreferencesSystem.savePreferences()
     }
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index a6e47e05e1..57ca1a40bd 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -3,43 +3,22 @@ import Mechanism from "@/systems/physics/Mechanism"
 import Brain from "../Brain"
 
 import WPILibWSWorker from "./WPILibWSWorker?worker"
-import Behavior from "../behavior/Behavior"
 import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 import Driver from "../driver/Driver"
 import WheelDriver from "../driver/WheelDriver"
-import WheelRotationStimulus from "../stimulus/WheelStimulus"
-import Jolt from "@barclah/jolt-physics"
-import JOLT from "@/util/loading/JoltSyncLoader"
-import ArcadeDriveBehavior from "../behavior/synthesis/ArcadeDriveBehavior"
-import WPILibArcadeDriveBehavior from "../behavior/wpilib/WPILibArcadeDriveBehavior"
-import { mirabuf } from "@/proto/mirabuf"
+import HingeDriver from "../driver/HingeDriver"
+import SliderDriver from "../driver/SliderDriver"
 
 const worker = new WPILibWSWorker()
 
 const PWM_SPEED = "<speed"
 const PWM_POSITION = "<position"
+const CANMOTOR_DUTY_CYCLE = "<dutyCycle"
+const CANMOTOR_SUPPLY_VOLTAGE = ">supplyVoltage"
+const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput"
 
-const CANMOTOR_PERCENT_OUTPUT = "<percentOutput"
-const CANMOTOR_BRAKE_MODE = "<brakeMode"
-const CANMOTOR_NEUTRAL_DEADBAND = "<neutralDeadband"
-
-const CANMOTOR_SUPPLY_CURRENT = ">supplyCurrent"
-const CANMOTOR_MOTOR_CURRENT = ">motorCurrent"
-const CANMOTOR_BUS_VOLTAGE = ">busVoltage"
-
-// const CANMOTOR_DUTY_CYCLE = "<dutyCycle"
-// const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput"
-const CANENCODER_POSITION = ">position"
-const CANENCODER_VELOCITY = ">velocity"
-
-export enum SimType {
-    PWM = "PWM",
-    CANMOTOR = "CANMotor",
-    SOLENOID = "Solenoid",
-    SIMDEVICE = "SimDevice",
-    CANENCODER = "CANEncoder"
-}
+export type SimType = "PWM" | "CANMotor" | "Solenoid" | "SimDevice" | "CANEncoder"
 
 enum FieldType {
     Read = 0,
@@ -63,31 +42,6 @@ function GetFieldType(field: string): FieldType {
     }
 }
 
-const defaultSimMap: Map<SimType, Map<string, any>> = new Map(
-    Object.entries({
-        CANMotor: {
-            "CANSparkMax[0]": {
-                "<percentOutput": 0.75,
-            },
-            "CANSparkMax[1]": {
-                "<percentOutput": 0.75,
-            },
-            "CANSparkMax[2]": {
-                "<percentOutput": 0.75,
-            },
-            "CANSparkMax[3]": {
-                "<percentOutput": -0.75,
-            },
-            "CANSparkMax[4]": {
-                "<percentOutput": -0.75,
-            },
-            "CANSparkMax[5]": {
-                "<percentOutput": -0.75,
-            },
-        },
-    }).map(([key, value]) => [key as SimType, new Map(Object.entries(value))])
-)
-
 export const simMap = new Map<SimType, Map<string, any>>()
 
 export class SimGeneric {
@@ -156,11 +110,11 @@ export class SimPWM {
     private constructor() {}
 
     public static GetSpeed(device: string): number | undefined {
-        return SimGeneric.Get(SimType.PWM, device, PWM_SPEED, 0.0)
+        return SimGeneric.Get("PWM", device, PWM_SPEED, 0.0)
     }
 
     public static GetPosition(device: string): number | undefined {
-        return SimGeneric.Get(SimType.PWM, device, PWM_POSITION, 0.0)
+        return SimGeneric.Get("PWM", device, PWM_POSITION, 0.0)
     }
 }
 
@@ -172,11 +126,12 @@ export class SimCAN {
         const entries = [...simMap.entries()].filter(([simType, _data]) => simType == type || simType == "SimDevice")
         for (const [_simType, data] of entries) {
             for (const key of data.keys()) {
-                let result = [...key.matchAll(id_exp)]
+                const result = [...key.matchAll(id_exp)]
                 if (result?.length <= 0 || result[0].length <= 1) continue
-
                 const parsed_id = parseInt(result[0][1])
-                if (parsed_id == id) return data.get(key)
+                if (parsed_id != id) continue
+
+                return data.get(key)
             }
         }
         return undefined
@@ -186,61 +141,33 @@ export class SimCAN {
 export class SimCANMotor {
     private constructor() {}
 
-    // public static GetDutyCycle(device: string): number | undefined {
-    //     return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0)
-    // }
-    //
-    // public static SetSupplyVoltage(device: string, voltage: number): boolean {
-    //     return SimGeneric.Set("CANMotor", device, CANMOTOR_SUPPLY_VOLTAGE, voltage)
-    // }
-
-    public static GetPercentOutput(device: string): number | undefined {
-        return SimGeneric.Get(SimType.CANMOTOR, device, CANMOTOR_PERCENT_OUTPUT, 0.0)
-    }
-
-    public static GetBrakeMode(device: string): number | undefined {
-        return SimGeneric.Get(SimType.CANMOTOR, device, CANMOTOR_BRAKE_MODE, 0.0)
-    }
-
-    public static GetNeutralDeadband(device: string): number | undefined {
-        return SimGeneric.Get(SimType.CANMOTOR, device, CANMOTOR_NEUTRAL_DEADBAND, 0.0)
-    }
-
-    public static SetSupplyCurrent(device: string, current: number): boolean {
-        return SimGeneric.Set(SimType.CANMOTOR, device, CANMOTOR_SUPPLY_CURRENT, current)
+    public static GetDutyCycle(device: string): number | undefined {
+        return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0)
     }
 
-    public static SetMotorCurrent(device: string, current: number): boolean {
-        return SimGeneric.Set(SimType.CANMOTOR, device, CANMOTOR_MOTOR_CURRENT, current)
-    }
-    
-    public static SetBusVoltage(device: string, voltage: number): boolean {
-        return SimGeneric.Set(SimType.CANMOTOR, device, CANMOTOR_BUS_VOLTAGE, voltage)
+    public static SetSupplyVoltage(device: string, voltage: number): boolean {
+        return SimGeneric.Set("CANMotor", device, CANMOTOR_SUPPLY_VOLTAGE, voltage)
     }
 }
 
 export class SimCANEncoder {
     private constructor() {}
 
-    public static SetVelocity(device: string, velocity: number): boolean {
-        return SimGeneric.Set(SimType.CANENCODER, device, CANENCODER_VELOCITY, velocity)
-    }
-
-    public static SetPosition(device: string, position: number): boolean {
-        return SimGeneric.Set(SimType.CANENCODER, device, CANENCODER_POSITION, position)
+    public static SetRawInputPosition(device: string, rawInputPosition: number): boolean {
+        return SimGeneric.Set("CANEncoder", device, CANENCODER_RAW_INPUT_POSITION, rawInputPosition)
     }
 }
 
 worker.addEventListener("message", (eventData: MessageEvent) => {
     let data: any | undefined
-    if (typeof eventData.data == "object") {
-        data = eventData.data
-    } else {
-        try {
+    try {
+        if (typeof eventData.data == "object") {
+            data = eventData.data
+        } else {
             data = JSON.parse(eventData.data)
-        } catch (e) {
-            console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
         }
+    } catch (e) {
+        console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
     }
 
     if (!data || !data.type) {
@@ -251,14 +178,25 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
     const device = data.device
     const updateData = data.data
 
-    if (!(data.type in SimType)) {
-        console.error(`Unrecognized SimType: ${data.type}\n${data.data}`)
-        return
+    switch (data.type) {
+        case "PWM":
+            UpdateSimMap("PWM", device, updateData)
+            break
+        case "Solenoid":
+            UpdateSimMap("Solenoid", device, updateData)
+            break
+        case "SimDevice":
+            UpdateSimMap("SimDevice", device, updateData)
+            break
+        case "CANMotor":
+            UpdateSimMap("CANMotor", device, updateData)
+            break
+        case "CANEncoder":
+            UpdateSimMap("CANEncoder", device, updateData)
+            break
+        default:
+            break
     }
-
-    console.debug(data.type);
-
-    UpdateSimMap(data.type, device, updateData)
 })
 
 function UpdateSimMap(type: SimType, device: string, updateData: any) {
@@ -279,15 +217,10 @@ function UpdateSimMap(type: SimType, device: string, updateData: any) {
 }
 
 class WPILibBrain extends Brain {
-    private _behaviors: Behavior[] = []
     private _simLayer: SimulationLayer
 
     private _simDevices: SimOutputGroup[] = []
 
-    public static robotsSpawned: string[] = []
-
-    private static _currentRobotIndex: number = 0
-
     constructor(mechanism: Mechanism) {
         super(mechanism)
 
@@ -297,21 +230,13 @@ class WPILibBrain extends Brain {
             console.warn("SimulationLayer is undefined")
             return
         }
-
-        // if (mechanism.controllable) {
-        //     WPILibBrain.robotsSpawned.push(this.getNumberedAssemblyName())
-        // }
-
-        // WPILibBrain._currentRobotIndex++
-        // this.configureArcadeDriveBehavior()
     }
 
-    public addSimOutputGroup(device: SimOutputGroup): void {
+    public addSimOutputGroup(device: SimOutputGroup) {
         this._simDevices.push(device)
     }
 
     public Update(deltaT: number): void {
-        // this._behaviors.forEach(b => b.Update(deltaT))
         this._simDevices.forEach(d => d.Update(deltaT))
     }
 
@@ -364,18 +289,21 @@ export class PWMGroup extends SimOutputGroup {
     }
 
     public Update(_deltaT: number) {
-        // let average = 0;
-        for (const port of this.ports) {
-            const speed = SimPWM.GetSpeed(`${port}`) ?? 0
-            // average += speed;
-            console.log(port, speed)
-        }
-        // average /= this.ports.length
-
-        // this.drivers.forEach(d => {
-        //     (d as WheelDriver).targetWheelSpeed = average * 40
-        //     d.Update(deltaT)
-        // })
+        const average =
+            this.ports.reduce((sum, port) => {
+                const speed = SimPWM.GetSpeed(`${port}`) ?? 0
+                console.debug(port, speed)
+                return sum + speed
+            }, 0) / this.ports.length
+
+        this.drivers.forEach(d => {
+            if (d instanceof WheelDriver) {
+                d.targetWheelSpeed = average * 40
+            } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
+                d.targetVelocity = average * 40
+            }
+            d.Update(_deltaT)
+        })
     }
 }
 
@@ -390,4 +318,4 @@ export class CANGroup extends SimOutputGroup {
             console.log(port, device)
         }
     }
-}
\ No newline at end of file
+}
diff --git a/fission/src/ui/components/Button.tsx b/fission/src/ui/components/Button.tsx
index 3f6f5ada7e..997a2081af 100644
--- a/fission/src/ui/components/Button.tsx
+++ b/fission/src/ui/components/Button.tsx
@@ -25,16 +25,16 @@ const Button: React.FC<ButtonProps> = ({ value, colorOverrideClass, sizeOverride
     if (!sizeClassNames) {
         switch (size) {
             case ButtonSize.Small:
-                sizeClassNames = "px-4 py-1"
+                sizeClassNames = "w-fit h-fit px-4 py-1"
                 break
             case ButtonSize.Medium:
-                sizeClassNames = "px-6 py-1.5"
+                sizeClassNames = "w-fit h-fit px-6 py-1.5"
                 break
             case ButtonSize.Large:
-                sizeClassNames = "px-8 py-2"
+                sizeClassNames = "w-fit h-fit px-8 py-2"
                 break
             case ButtonSize.XL:
-                sizeClassNames = "px-10 py-2"
+                sizeClassNames = "w-fit h-fit px-10 py-2"
                 break
         }
     }
@@ -46,7 +46,7 @@ const Button: React.FC<ButtonProps> = ({ value, colorOverrideClass, sizeOverride
                 colorOverrideClass
                     ? colorOverrideClass
                     : "bg-gradient-to-r from-interactive-element-left via-interactive-element-right to-interactive-element-left bg-[length:200%_100%] active:bg-right"
-            } w-fit h-fit ${sizeClassNames} rounded-sm font-semibold cursor-pointer duration-200 border-none focus-visible:outline-0 focus:outline-0 ${
+            }  ${sizeClassNames} rounded-sm font-semibold cursor-pointer duration-200 border-none focus-visible:outline-0 focus:outline-0 ${
                 className || ""
             }`}
         >
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index af55290eab..e25a7c6570 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -1,7 +1,7 @@
 import React, { useEffect, useState } from "react"
 import {
     FaGear,
-    FaMagnifyingGlass,
+    // FaMagnifyingGlass,
     FaPlus,
     FaGamepad,
     FaBasketball,
@@ -103,7 +103,7 @@ const MainHUD: React.FC = () => {
                         onClick={() => openModal("manage-assemblies")}
                     />
                     <MainHUDButton value={"Settings"} icon={<FaGear />} onClick={() => openModal("settings")} />
-                    <MainHUDButton value={"View"} icon={<FaMagnifyingGlass />} onClick={() => openModal("view")} />
+                    {/* <MainHUDButton value={"View"} icon={<FaMagnifyingGlass />} onClick={() => openModal("view")} /> */}
                     <MainHUDButton value={"Controls"} icon={<FaGamepad />} onClick={() => openModal("change-inputs")} />
                     <MainHUDButton
                         value={"Import Local Mira"}
diff --git a/fission/src/ui/components/Modal.tsx b/fission/src/ui/components/Modal.tsx
index 97152494b2..a0570db82e 100644
--- a/fission/src/ui/components/Modal.tsx
+++ b/fission/src/ui/components/Modal.tsx
@@ -70,7 +70,7 @@ const Modal: React.FC<ModalProps> = ({
                     id="content"
                     className={`${contentClassName} ${
                         !contentClassName?.includes("mx") ? "mx-[2rem]" : ""
-                    } flex flex-col gap-4 max-h-75vh`}
+                    } flex flex-col gap-4 max-h-75vh overflow-y-auto p-4`}
                 >
                     {children}
                 </div>
diff --git a/fission/src/ui/modals/spawning/ManageAssembliesModal.tsx b/fission/src/ui/modals/spawning/ManageAssembliesModal.tsx
index 4f4451da78..b5b3d9b4e3 100644
--- a/fission/src/ui/modals/spawning/ManageAssembliesModal.tsx
+++ b/fission/src/ui/modals/spawning/ManageAssembliesModal.tsx
@@ -1,38 +1,68 @@
-import React, { useReducer } from "react"
+import React, { useMemo, useReducer } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { FaWrench } from "react-icons/fa6"
-import Button from "@/components/Button"
+import Button, { ButtonProps } from "@/components/Button"
 import Label, { LabelSize } from "@/components/Label"
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import { usePanelControlContext } from "@/ui/PanelContext"
+import { setSelectedBrainIndexGlobal } from "@/ui/panels/configuring/ChooseInputSchemePanel"
+import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
+import { useModalControlContext } from "@/ui/ModalContext"
+import InputSystem from "@/systems/input/InputSystem"
+import { IoTrashBin } from "react-icons/io5"
 
 interface AssemblyCardProps {
     mira: MirabufSceneObject
     update: React.DispatchWithoutAction
 }
 
+const ButtonSecondary: React.FC<ButtonProps> = ({ value, onClick }) => {
+    return (
+        <Button
+            sizeOverrideClass="px-6 py-2"
+            value={value}
+            onClick={onClick}
+            colorOverrideClass="bg-cancel-button hover:brightness-90"
+        ></Button>
+    )
+}
+
 const AssemblyCard: React.FC<AssemblyCardProps> = ({ mira, update }) => {
+    const { openPanel } = usePanelControlContext()
+    const { closeModal } = useModalControlContext()
+
+    const brain = useMemo(() => (mira.brain as SynthesisBrain)?.brainIndex, [mira])
+
     return (
         <div
             key={mira.id}
             className="flex flex-row align-middle justify-between items-center bg-background rounded-sm p-2 gap-2"
         >
-            <Label className="text-wrap break-all">{mira.assemblyName}</Label>
-            <Button
-                value="Delete"
-                onClick={() => {
-                    World.SceneRenderer.RemoveSceneObject(mira.id)
-                    update()
-                }}
-            />
+            <Label className="text-wrap break-all">{`[${InputSystem.brainIndexSchemeMap.get(brain)?.schemeName ?? "-"}] ${mira.assemblyName}`}</Label>
+            <div className="flex flex-row gap-4">
+                <Button
+                    sizeOverrideClass="px-6 py-2"
+                    value="Set Scheme"
+                    onClick={() => {
+                        setSelectedBrainIndexGlobal(brain)
+                        openPanel("choose-scheme")
+                        closeModal()
+                    }}
+                />
+                <ButtonSecondary
+                    value={<IoTrashBin />}
+                    onClick={() => {
+                        World.SceneRenderer.RemoveSceneObject(mira.id)
+                        update()
+                    }}
+                />
+            </div>
         </div>
     )
 }
 
 const ManageAssembliesModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    // update tooltip based on type of drivetrain, receive message from Synthesis
-    // const { showTooltip } = useTooltipControlContext()
-
     const [_, update] = useReducer(x => !x, false)
 
     const assemblies = [...World.SceneRenderer.sceneObjects.entries()]
@@ -43,23 +73,14 @@ const ManageAssembliesModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         .map(x => x[1] as MirabufSceneObject)
 
     return (
-        <Modal
-            name={"Manage Assemblies"}
-            icon={<FaWrench />}
-            modalId={modalId}
-            onAccept={() => {
-                // showTooltip("controls", [
-                //     { control: "WASD", description: "Drive" },
-                //     { control: "E", description: "Intake" },
-                //     { control: "Q", description: "Dispense" },
-                // ]);
-            }}
-        >
+        <Modal name={"Manage Assemblies"} icon={<FaWrench />} modalId={modalId} acceptEnabled={false} cancelName="Back">
             <div className="flex overflow-y-auto flex-col gap-2 min-w-[50vw] max-h-[60vh] bg-background-secondary rounded-md p-2">
                 <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
                     {assemblies ? `${assemblies.length} Assemblies` : "No Assemblies"}
                 </Label>
-                {assemblies.map(x => AssemblyCard({ mira: x, update: update }))}
+                {assemblies.map(x => (
+                    <AssemblyCard key={x.id} mira={x} update={update} />
+                ))}
             </div>
         </Modal>
     )
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index c8494cb87e..9b2187a8b1 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -16,6 +16,7 @@ import Jolt from "@barclah/jolt-physics"
 import Label from "../components/Label"
 import { colorNameToVar } from "../ThemeContext"
 import { FaScrewdriverWrench } from "react-icons/fa6"
+import { useModalControlContext } from "../ModalContext"
 
 const LabelStyled = styled(Label)({
     fontWeight: 700,
@@ -50,6 +51,7 @@ async function TestGodMode() {
 
 const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { openPanel } = usePanelControlContext()
+    const { openModal } = useModalControlContext()
 
     return (
         <Panel
@@ -130,12 +132,8 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         }
                     }}
                 />
-                <Button
-                    value={"WS Viewer"}
-                    onClick={() => {
-                        openPanel("ws-view")
-                    }}
-                />
+                <Button value={"WS Viewer"} onClick={() => openPanel("ws-view")} />
+                <Button value={"RoboRIO"} onClick={() => openModal("roborio")} />
             </Box>
         </Panel>
     )
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index c6cfdceab3..ab42a35daa 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -13,6 +13,16 @@ import { useEffect, useReducer } from "react"
 import { AiOutlinePlus } from "react-icons/ai"
 import { IoCheckmark, IoPencil, IoTrashBin } from "react-icons/io5"
 
+let selectedBrainIndexGlobal: number | undefined = undefined
+// eslint-disable-next-line react-refresh/only-export-components
+export function setSelectedBrainIndexGlobal(index: number | undefined) {
+    selectedBrainIndexGlobal = index
+}
+
+function getBrainIndex() {
+    return selectedBrainIndexGlobal != undefined ? selectedBrainIndexGlobal : SynthesisBrain.brainIndexMap.size - 1
+}
+
 const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { closePanel } = usePanelControlContext()
     const { openModal } = useModalControlContext()
@@ -38,7 +48,8 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
         /** If the panel is closed before a scheme is selected, defaults to the top of the list */
         return () => {
-            const brainIndex = SynthesisBrain.brainIndexMap.size - 1
+            const brainIndex = getBrainIndex()
+            console.log(brainIndex)
 
             if (InputSystem.brainIndexSchemeMap.has(brainIndex)) return
 
@@ -49,6 +60,13 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
             openModal("change-inputs")
         }
+        // eslint-disable-next-line react-hooks/exhaustive-deps
+    }, [])
+
+    useEffect(() => {
+        return () => {
+            selectedBrainIndexGlobal = undefined
+        }
     }, [])
 
     return (
@@ -58,7 +76,8 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             openLocation={"right"}
             sidePadding={8}
             acceptEnabled={false}
-            cancelEnabled={false}
+            cancelEnabled={selectedBrainIndexGlobal != undefined}
+            cancelName="Close"
         >
             {/** A scroll view with buttons to select default and custom input schemes */}
             <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[45vh] bg-background-secondary rounded-md p-2">
@@ -94,10 +113,7 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                                 <Button
                                     value={SelectIcon}
                                     onClick={() => {
-                                        InputSystem.brainIndexSchemeMap.set(
-                                            SynthesisBrain.brainIndexMap.size - 1,
-                                            scheme
-                                        )
+                                        InputSystem.brainIndexSchemeMap.set(getBrainIndex(), scheme)
                                         closePanel(panelId)
                                     }}
                                     colorOverrideClass="bg-accept-button hover:brightness-90"
@@ -106,10 +122,7 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                                 <Button
                                     value={EditIcon}
                                     onClick={() => {
-                                        InputSystem.brainIndexSchemeMap.set(
-                                            SynthesisBrain.brainIndexMap.size - 1,
-                                            scheme
-                                        )
+                                        InputSystem.brainIndexSchemeMap.set(getBrainIndex(), scheme)
                                         InputSystem.selectedScheme = scheme
                                         openModal("change-inputs")
                                     }}
@@ -152,10 +165,7 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             <Button
                 value={AddIcon}
                 onClick={() => {
-                    InputSystem.brainIndexSchemeMap.set(
-                        SynthesisBrain.brainIndexMap.size - 1,
-                        DefaultInputs.newBlankScheme
-                    )
+                    InputSystem.brainIndexSchemeMap.set(getBrainIndex(), DefaultInputs.newBlankScheme)
                     openModal("assign-new-scheme")
                 }}
             />
diff --git a/fission/src/ui/panels/information/ScoreboardPanel.tsx b/fission/src/ui/panels/information/ScoreboardPanel.tsx
index b75ac535e1..3a343861db 100644
--- a/fission/src/ui/panels/information/ScoreboardPanel.tsx
+++ b/fission/src/ui/panels/information/ScoreboardPanel.tsx
@@ -5,10 +5,11 @@ import Stack, { StackDirection } from "@/components/Stack"
 import { OnScoreChangedEvent } from "@/mirabuf/ScoringZoneSceneObject"
 import { usePanelControlContext } from "@/ui/PanelContext"
 import PreferencesSystem, { PreferenceEvent } from "@/systems/preferences/PreferencesSystem"
+import SimulationSystem from "@/systems/simulation/SimulationSystem"
 
 const ScoreboardPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
-    const [redScore, setRedScore] = useState<number>(0)
-    const [blueScore, setBlueScore] = useState<number>(0)
+    const [redScore, setRedScore] = useState<number>(SimulationSystem.redScore)
+    const [blueScore, setBlueScore] = useState<number>(SimulationSystem.blueScore)
     const [initialTime] = useState<number>(-1)
     const [startTime] = useState<number>(Date.now())
     const [time, setTime] = useState<number>(-1)
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index 30b8159cfc..0b9bbb684e 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -282,8 +282,10 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 .catch(() => status.Fail())
 
             closePanel(panelId)
+
+            if (type == MiraType.ROBOT) openPanel("choose-scheme")
         },
-        [closePanel, panelId]
+        [closePanel, panelId, openPanel]
     )
 
     // Generate Item cards for cached robots.

From 979b7516ca659b6dee3032d03ecf51aac5f63c1f Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 30 Jul 2024 09:20:41 -0700
Subject: [PATCH 080/344] No longer require login unless upload is selected

---
 .../SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index b59f391f0b..fe034d20b4 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -34,7 +34,7 @@ def export(self) -> None:
         app = adsk.core.Application.get()
         design: adsk.fusion.Design = app.activeDocument.design
 
-        if not getAuth():
+        if self.exporterOptions.exportLocation == ExportLocation.UPLOAD and not getAuth():
             app.userInterface.messageBox("APS Login Required for Uploading.", "APS Login")
             return
 

From 58bfb16289f9b1d9e4325e6713345c00320eff79 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 30 Jul 2024 09:27:42 -0700
Subject: [PATCH 081/344] merged properly this time

---
 .../simulation/wpilib_brain/WPILibBrain.ts    | 123 ++++++++++++------
 1 file changed, 82 insertions(+), 41 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 57ca1a40bd..10fe387c01 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -14,11 +14,21 @@ const worker = new WPILibWSWorker()
 
 const PWM_SPEED = "<speed"
 const PWM_POSITION = "<position"
-const CANMOTOR_DUTY_CYCLE = "<dutyCycle"
-const CANMOTOR_SUPPLY_VOLTAGE = ">supplyVoltage"
-const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput"
 
-export type SimType = "PWM" | "CANMotor" | "Solenoid" | "SimDevice" | "CANEncoder"
+const CANMOTOR_PERCENT_OUTPUT = "<percentOutput"
+const CANMOTOR_BRAKE_MODE = "<brakeMode"
+const CANMOTOR_NEUTRAL_DEADBAND = "<neutralDeadband"
+
+const CANMOTOR_SUPPLY_CURRENT = ">supplyCurrent"
+const CANMOTOR_MOTOR_CURRENT = ">motorCurrent"
+const CANMOTOR_BUS_VOLTAGE = ">busVoltage"
+
+// const CANMOTOR_DUTY_CYCLE = "<dutyCycle"
+// const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput"
+const CANENCODER_POSITION = ">position"
+const CANENCODER_VELOCITY = ">velocity"
+export enum SimType {
+PWM , CANMotor, Solenoid, SimDevice, CANEncoder} 
 
 enum FieldType {
     Read = 0,
@@ -110,11 +120,11 @@ export class SimPWM {
     private constructor() {}
 
     public static GetSpeed(device: string): number | undefined {
-        return SimGeneric.Get("PWM", device, PWM_SPEED, 0.0)
+        return SimGeneric.Get(SimType.PWM, device, PWM_SPEED, 0.0)
     }
 
     public static GetPosition(device: string): number | undefined {
-        return SimGeneric.Get("PWM", device, PWM_POSITION, 0.0)
+        return SimGeneric.Get(SimType.PWM, device, PWM_POSITION, 0.0)
     }
 }
 
@@ -123,7 +133,7 @@ export class SimCAN {
 
     public static GetDeviceWithID(id: number, type: SimType): any {
         const id_exp = /.*\[(\d+)\]/g
-        const entries = [...simMap.entries()].filter(([simType, _data]) => simType == type || simType == "SimDevice")
+        const entries = [...simMap.entries()].filter(([simType, _data]) => simType == type || simType == SimType.SimDevice)
         for (const [_simType, data] of entries) {
             for (const key of data.keys()) {
                 const result = [...key.matchAll(id_exp)]
@@ -141,34 +151,63 @@ export class SimCAN {
 export class SimCANMotor {
     private constructor() {}
 
-    public static GetDutyCycle(device: string): number | undefined {
-        return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0)
+    // public static GetDutyCycle(device: string): number | undefined {
+    //     return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0)
+    // }
+    //
+    // public static SetSupplyVoltage(device: string, voltage: number): boolean {
+    //     return SimGeneric.Set("CANMotor", device, CANMOTOR_SUPPLY_VOLTAGE, voltage)
+    // }
+
+    public static GetPercentOutput(device: string): number | undefined {
+        return SimGeneric.Get(SimType.CANMotor, device, CANMOTOR_PERCENT_OUTPUT, 0.0)
     }
 
-    public static SetSupplyVoltage(device: string, voltage: number): boolean {
-        return SimGeneric.Set("CANMotor", device, CANMOTOR_SUPPLY_VOLTAGE, voltage)
+    public static GetBrakeMode(device: string): number | undefined {
+        return SimGeneric.Get(SimType.CANMotor, device, CANMOTOR_BRAKE_MODE, 0.0)
+    }
+
+    public static GetNeutralDeadband(device: string): number | undefined {
+        return SimGeneric.Get(SimType.CANMotor, device, CANMOTOR_NEUTRAL_DEADBAND, 0.0)
+    }
+
+    public static SetSupplyCurrent(device: string, current: number): boolean {
+        return SimGeneric.Set(SimType.CANMotor, device, CANMOTOR_SUPPLY_CURRENT, current)
     }
-}
+
+    public static SetMotorCurrent(device: string, current: number): boolean {
+        return SimGeneric.Set(SimType.CANMotor, device, CANMOTOR_MOTOR_CURRENT, current)
+    }
+    
+    public static SetBusVoltage(device: string, voltage: number): boolean {
+        return SimGeneric.Set(SimType.CANMotor, device, CANMOTOR_BUS_VOLTAGE, voltage)
+    }}
 
 export class SimCANEncoder {
     private constructor() {}
 
-    public static SetRawInputPosition(device: string, rawInputPosition: number): boolean {
-        return SimGeneric.Set("CANEncoder", device, CANENCODER_RAW_INPUT_POSITION, rawInputPosition)
+    public static SetVelocity(device: string, velocity: number): boolean {
+        return SimGeneric.Set(SimType.CANENCODER, device, CANENCODER_VELOCITY, velocity)
+    }
+
+    public static SetPosition(device: string, position: number): boolean {
+        return SimGeneric.Set(SimType.CANENCODER, device, CANENCODER_POSITION, position)
     }
 }
 
 worker.addEventListener("message", (eventData: MessageEvent) => {
     let data: any | undefined
-    try {
-        if (typeof eventData.data == "object") {
-            data = eventData.data
-        } else {
+           
+    if (typeof eventData.data == "object") {
+        data = eventData.data
+    } else {
+        try {
             data = JSON.parse(eventData.data)
+        } catch (e) {
+            console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
         }
-    } catch (e) {
-        console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
     }
+    
 
     if (!data || !data.type) {
         console.log("No data, bailing out")
@@ -178,25 +217,10 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
     const device = data.device
     const updateData = data.data
 
-    switch (data.type) {
-        case "PWM":
-            UpdateSimMap("PWM", device, updateData)
-            break
-        case "Solenoid":
-            UpdateSimMap("Solenoid", device, updateData)
-            break
-        case "SimDevice":
-            UpdateSimMap("SimDevice", device, updateData)
-            break
-        case "CANMotor":
-            UpdateSimMap("CANMotor", device, updateData)
-            break
-        case "CANEncoder":
-            UpdateSimMap("CANEncoder", device, updateData)
-            break
-        default:
-            break
-    }
+    if (!Object.values(SimType).includes(data.type)) return;
+    
+    UpdateSimMap(data.type, device, updateData)
+
 })
 
 function UpdateSimMap(type: SimType, device: string, updateData: any) {
@@ -285,7 +309,7 @@ abstract class SimOutputGroup {
 
 export class PWMGroup extends SimOutputGroup {
     public constructor(name: string, ports: number[], drivers: Driver[]) {
-        super(name, ports, drivers, "PWM")
+        super(name, ports, drivers, SimType.PWM)
     }
 
     public Update(_deltaT: number) {
@@ -309,13 +333,30 @@ export class PWMGroup extends SimOutputGroup {
 
 export class CANGroup extends SimOutputGroup {
     public constructor(name: string, ports: number[], drivers: Driver[]) {
-        super(name, ports, drivers, "CANMotor")
+        super(name, ports, drivers, SimType.CANMotor)
     }
 
+    // See what needs to be done differently here
     public Update(_deltaT: number) {
         for (const port of this.ports) {
             const device = SimCAN.GetDeviceWithID(port, this.type)
             console.log(port, device)
         }
+
+        const average =
+            this.ports.reduce((sum, port) => {
+                const speed = SimPWM.GetSpeed(`${port}`) ?? 0
+                console.debug(port, speed)
+                return sum + speed
+            }, 0) / this.ports.length
+
+        this.drivers.forEach(d => {
+            if (d instanceof WheelDriver) {
+                d.targetWheelSpeed = average * 40
+            } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
+                d.targetVelocity = average * 40
+            }
+            d.Update(_deltaT)
+        })
     }
 }

From a601ededf3123e2156dcc1b4cd5e23469e4ba9c9 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 30 Jul 2024 09:59:05 -0700
Subject: [PATCH 082/344] Final cleanups

---
 exporter/SynthesisFusionAddin/Synthesis.py           | 2 +-
 exporter/SynthesisFusionAddin/src/Dependencies.py    | 9 +++++----
 exporter/SynthesisFusionAddin/src/general_imports.py | 5 -----
 3 files changed, 6 insertions(+), 10 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index f5e8b250b7..c7e0072f4e 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -6,7 +6,7 @@
 # Currently required for `resolveDependencies()`, will be required for absolute imports.
 sys.path.append(os.path.dirname(os.path.abspath(__file__)))
 
-from .src.Dependencies import resolveDependencies  # isort:skip
+from .src.Dependencies import resolveDependencies, uninstallPipDependencies  # isort:skip
 
 # Transition: AARD-1741
 # Import order should be removed in AARD-1737 and `setupLogger()` moved to `__init__.py`
diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
index b508571b49..e4726ba52e 100644
--- a/exporter/SynthesisFusionAddin/src/Dependencies.py
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -59,6 +59,7 @@ def executeCommand(*args: str) -> subprocess.CompletedProcess:
 def verifyCompiledProtoImports() -> bool:
     protoModules = ["assembly_pb2", "joint_pb2", "material_pb2", "types_pb2"]
     for module in protoModules:
+        # Absolute imports must be set up by this point for importlib to be able to find each module.
         spec = importlib.util.find_spec(f"proto.proto_out.{module}")
         if spec is None:
             return False
@@ -105,7 +106,7 @@ def resolveDependencies() -> bool | None:
     progressBar = ui.createProgressDialog()
     progressBar.isCancelButtonShown = False
     progressBar.reset()
-    progressBar.show("Synthesis", f"Installing dependencies...", 0, len(PIP_DEPENDENCY_VERSION_MAP), 0)
+    progressBar.show("Synthesis", f"Installing dependencies...", 0, len(PIP_DEPENDENCY_VERSION_MAP) * 2 + 2, 0)
 
     # TODO: Is this really true? Do we need this? waheusnta eho? - Brandon
     # Install pip manually on macos as it is not included by default? Really?
@@ -113,23 +114,23 @@ def resolveDependencies() -> bool | None:
         pipInstallScriptPath = os.path.join(pythonFolder, "get-pip.py")
         if not os.path.exists(pipInstallScriptPath):
             executeCommand("curl", "https://bootstrap.pypa.io/get-pip.py", "-o", pipInstallScriptPath)
-            progressBar.maximumValue += 2
-            progressBar.progressValue += 1
             progressBar.message = "Downloading PIP Installer..."
 
         progressBar.progressValue += 1
         progressBar.message = "Installing PIP..."
         executeCommand(pythonExecutablePath, pipInstallScriptPath)
+        progressBar.progressValue += 1
 
     installedPackages = getInstalledPipPackages(pythonExecutablePath)
     if packagesOutOfDate(installedPackages):
         # Uninstall and reinstall everything to confirm updated versions.
         progressBar.message = "Uninstalling out-of-date Dependencies..."
-        progressBar.maximumValue += len(PIP_DEPENDENCY_VERSION_MAP)
 
         for dep in PIP_DEPENDENCY_VERSION_MAP.keys():
             progressBar.progressValue += 1
             executeCommand(pythonExecutablePath, "-m", "pip", "uninstall", "-y", dep)
+    else:
+        progressBar.progressValue += len(PIP_DEPENDENCY_VERSION_MAP)
 
     progressBar.message = "Installing Dependencies..."
     for dep, version in PIP_DEPENDENCY_VERSION_MAP.items():
diff --git a/exporter/SynthesisFusionAddin/src/general_imports.py b/exporter/SynthesisFusionAddin/src/general_imports.py
index 67d5e3b3cc..aabdae5cac 100644
--- a/exporter/SynthesisFusionAddin/src/general_imports.py
+++ b/exporter/SynthesisFusionAddin/src/general_imports.py
@@ -31,11 +31,6 @@
 
     if not path_proto_files in sys.path:
         sys.path.insert(2, path_proto_files)
-
-    from proto import deps
-
-    deps.installDependencies()
-
 except:
     logger.error("Failed:\n{}".format(traceback.format_exc()))
 

From 08e96960d28eaee721f00ffa70f3cb1e9c4f9d96 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 30 Jul 2024 10:00:01 -0700
Subject: [PATCH 083/344] Remove unused function

---
 exporter/SynthesisFusionAddin/Synthesis.py        |  2 +-
 exporter/SynthesisFusionAddin/src/Dependencies.py | 14 +-------------
 2 files changed, 2 insertions(+), 14 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index c7e0072f4e..f5e8b250b7 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -6,7 +6,7 @@
 # Currently required for `resolveDependencies()`, will be required for absolute imports.
 sys.path.append(os.path.dirname(os.path.abspath(__file__)))
 
-from .src.Dependencies import resolveDependencies, uninstallPipDependencies  # isort:skip
+from .src.Dependencies import resolveDependencies  # isort:skip
 
 # Transition: AARD-1741
 # Import order should be removed in AARD-1737 and `setupLogger()` moved to `__init__.py`
diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
index e4726ba52e..99dc216020 100644
--- a/exporter/SynthesisFusionAddin/src/Dependencies.py
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -106,7 +106,7 @@ def resolveDependencies() -> bool | None:
     progressBar = ui.createProgressDialog()
     progressBar.isCancelButtonShown = False
     progressBar.reset()
-    progressBar.show("Synthesis", f"Installing dependencies...", 0, len(PIP_DEPENDENCY_VERSION_MAP) * 2 + 2, 0)
+    progressBar.show("Synthesis", f"Installing dependencies...", 0, len(PIP_DEPENDENCY_VERSION_MAP * 2 + 2), 0)
 
     # TODO: Is this really true? Do we need this? waheusnta eho? - Brandon
     # Install pip manually on macos as it is not included by default? Really?
@@ -144,15 +144,3 @@ def resolveDependencies() -> bool | None:
 
     progressBar.hide()
     return True
-
-
-# Transition: AARD-1741
-# Extra function included here for debugging purposes, this function can be deleted upon verification
-# that everything is working correctly as it can be easily constructed later.
-def uninstallPipDependencies() -> None:
-    pythonFolder = getInternalFusionPythonInstillationFolder()
-    pythonExecutableFile = "python.exe" if system == "Windows" else "python"  # Confirming 110% everything is fine.
-    pythonExecutablePath = os.path.join(pythonFolder, pythonExecutableFile)
-    for dep in PIP_DEPENDENCY_VERSION_MAP.keys():
-        executeCommand(pythonExecutablePath, "-m", "pip", "uninstall", "-y", dep)
-        logger.debug(f"Uninstalled {dep}")

From 8c565ed0180383ce30d467d9e806faf72af66ec7 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 30 Jul 2024 10:36:24 -0700
Subject: [PATCH 084/344] Syntax fix got lost somehow

---
 exporter/SynthesisFusionAddin/src/Dependencies.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
index 99dc216020..f55643dfae 100644
--- a/exporter/SynthesisFusionAddin/src/Dependencies.py
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -106,7 +106,7 @@ def resolveDependencies() -> bool | None:
     progressBar = ui.createProgressDialog()
     progressBar.isCancelButtonShown = False
     progressBar.reset()
-    progressBar.show("Synthesis", f"Installing dependencies...", 0, len(PIP_DEPENDENCY_VERSION_MAP * 2 + 2), 0)
+    progressBar.show("Synthesis", f"Installing dependencies...", 0, len(PIP_DEPENDENCY_VERSION_MAP) * 2 + 2, 0)
 
     # TODO: Is this really true? Do we need this? waheusnta eho? - Brandon
     # Install pip manually on macos as it is not included by default? Really?

From f1d60d7741364804dd063a8ce9a0005e051e70a1 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 30 Jul 2024 10:55:36 -0700
Subject: [PATCH 085/344] changed to local server, will change back before
 merge

---
 .../systems/simulation/SimulationSystem.ts    |   8 +-
 .../simulation/wpilib_brain/WPILibBrain.ts    |  23 ++--
 fission/vite.config.ts                        | 105 ++++++++++--------
 3 files changed, 75 insertions(+), 61 deletions(-)

diff --git a/fission/src/systems/simulation/SimulationSystem.ts b/fission/src/systems/simulation/SimulationSystem.ts
index 6b735a3e18..bc5e1a3a6a 100644
--- a/fission/src/systems/simulation/SimulationSystem.ts
+++ b/fission/src/systems/simulation/SimulationSystem.ts
@@ -83,27 +83,25 @@ class SimulationLayer {
         this._drivers = []
         this._stimuli = []
         this._mechanism.constraints.forEach(x => {
-            let stim: Stimulus
             if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Hinge) {
                 const hinge = JOLT.castObject(x.constraint, JOLT.HingeConstraint)
                 const driver = new HingeDriver(hinge, x.info)
                 this._drivers.push(driver)
-                stim = new HingeStimulus(hinge)
+                const stim = new HingeStimulus(hinge)
                 this._stimuli.push(stim)
             } else if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Vehicle) {
                 const vehicle = JOLT.castObject(x.constraint, JOLT.VehicleConstraint)
                 const driver = new WheelDriver(vehicle, x.info)
                 this._drivers.push(driver)
-                stim = new WheelRotationStimulus(vehicle.GetWheel(0))
+                const stim = new WheelRotationStimulus(vehicle.GetWheel(0))
                 this._stimuli.push(stim)
             } else if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Slider) {
                 const slider = JOLT.castObject(x.constraint, JOLT.SliderConstraint)
                 const driver = new SliderDriver(slider, x.info)
                 this._drivers.push(driver)
-                stim = new SliderStimulus(slider)
+                const stim = new SliderStimulus(slider)
                 this._stimuli.push(stim)
             }
-            this._stimuli.push(stim)
         })
         this._stimuli.push(new ChassisStimulus(mechanism.nodeToBody.get(mechanism.rootBody)!))
     }
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 1e254798ba..b14fa19145 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -27,7 +27,12 @@ const CANMOTOR_BUS_VOLTAGE = ">busVoltage"
 const CANENCODER_POSITION = ">position"
 const CANENCODER_VELOCITY = ">velocity"
 export enum SimType {
-PWM , CANMotor, Solenoid, SimDevice, CANEncoder} 
+    PWM,
+    CANMotor,
+    Solenoid,
+    SimDevice,
+    CANEncoder,
+}
 
 enum FieldType {
     Read = 0,
@@ -132,7 +137,9 @@ export class SimCAN {
 
     public static GetDeviceWithID(id: number, type: SimType): any {
         const id_exp = /.*\[(\d+)\]/g
-        const entries = [...simMap.entries()].filter(([simType, _data]) => simType == type || simType == SimType.SimDevice)
+        const entries = [...simMap.entries()].filter(
+            ([simType, _data]) => simType == type || simType == SimType.SimDevice
+        )
         for (const [_simType, data] of entries) {
             for (const key of data.keys()) {
                 const result = [...key.matchAll(id_exp)]
@@ -177,7 +184,7 @@ export class SimCANMotor {
     public static SetMotorCurrent(device: string, current: number): boolean {
         return SimGeneric.Set(SimType.CANMotor, device, CANMOTOR_MOTOR_CURRENT, current)
     }
-    
+
     public static SetBusVoltage(device: string, voltage: number): boolean {
         return SimGeneric.Set(SimType.CANMotor, device, CANMOTOR_BUS_VOLTAGE, voltage)
     }
@@ -191,11 +198,12 @@ export class SimCANEncoder {
 
     public static SetPosition(device: string, position: number): boolean {
         return SimGeneric.Set(SimType.CANEncoder, device, CANENCODER_POSITION, position)
-    }}
+    }
+}
 
 worker.addEventListener("message", (eventData: MessageEvent) => {
     let data: any | undefined
-           
+
     if (typeof eventData.data == "object") {
         data = eventData.data
     } else {
@@ -205,7 +213,6 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
             console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
         }
     }
-            
 
     if (!data || !data.type) {
         console.log("No data, bailing out")
@@ -215,8 +222,8 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
     const device = data.device
     const updateData = data.data
 
-    if (!Object.values(SimType).includes(data.type)) return;
-    
+    if (!Object.values(SimType).includes(data.type)) return
+
     UpdateSimMap(data.type, device, updateData)
 })
 
diff --git a/fission/vite.config.ts b/fission/vite.config.ts
index d1120aebe9..4f415481ef 100644
--- a/fission/vite.config.ts
+++ b/fission/vite.config.ts
@@ -1,47 +1,54 @@
-import { defineConfig } from 'vitest/config'
-import * as path from 'path'
-import react from '@vitejs/plugin-react-swc'
-import glsl from 'vite-plugin-glsl';
+import { defineConfig } from "vitest/config"
+import * as path from "path"
+import react from "@vitejs/plugin-react-swc"
+import glsl from "vite-plugin-glsl"
 
-const basePath = '/fission/'
+const basePath = "/fission/"
 const serverPort = 3000
 const dockerServerPort = 80
 
-const useLocal = false
+const useLocal = true
 
 // https://vitejs.dev/config/
 export default defineConfig({
-    plugins: [react(), /* viteSingleFile() */ glsl({
-    include: [                   // Glob pattern, or array of glob patterns to import
-      '**/*.glsl', '**/*.wgsl',
-      '**/*.vert', '**/*.frag',
-      '**/*.vs', '**/*.fs'
+    plugins: [
+        react(),
+        /* viteSingleFile() */ glsl({
+            include: [
+                // Glob pattern, or array of glob patterns to import
+                "**/*.glsl",
+                "**/*.wgsl",
+                "**/*.vert",
+                "**/*.frag",
+                "**/*.vs",
+                "**/*.fs",
+            ],
+            exclude: undefined, // Glob pattern, or array of glob patterns to ignore
+            warnDuplicatedImports: true, // Warn if the same chunk was imported multiple times
+            defaultExtension: "glsl", // Shader suffix when no extension is specified
+            compress: false, // Compress output shader code
+            watch: true, // Recompile shader on change
+            root: "/", // Directory for root imports
+        }),
     ],
-    exclude: undefined,          // Glob pattern, or array of glob patterns to ignore
-    warnDuplicatedImports: true, // Warn if the same chunk was imported multiple times
-    defaultExtension: 'glsl',    // Shader suffix when no extension is specified
-    compress: false,             // Compress output shader code
-    watch: true,                 // Recompile shader on change
-    root: '/'                    // Directory for root imports
-  }) ],
     resolve: {
         alias: [
-            { find: '@/components', replacement: path.resolve(__dirname, 'src', 'ui', 'components') },
-            { find: '@/modals', replacement: path.resolve(__dirname, 'src', 'ui', 'modals') },
-            { find: '@/panels', replacement: path.resolve(__dirname, 'src', 'ui', 'panels') },
-            { find: '@', replacement: path.resolve(__dirname, 'src') }
-        ]
+            { find: "@/components", replacement: path.resolve(__dirname, "src", "ui", "components") },
+            { find: "@/modals", replacement: path.resolve(__dirname, "src", "ui", "modals") },
+            { find: "@/panels", replacement: path.resolve(__dirname, "src", "ui", "panels") },
+            { find: "@", replacement: path.resolve(__dirname, "src") },
+        ],
     },
     test: {
         testTimeout: 5000,
         globals: true,
-        environment: 'jsdom',
+        environment: "jsdom",
         browser: {
             enabled: true,
-            name: 'chromium',
+            name: "chromium",
             headless: true,
-            provider: 'playwright'
-        }
+            provider: "playwright",
+        },
     },
     server: {
         // this ensures that the browser opens upon server start
@@ -49,28 +56,30 @@ export default defineConfig({
         // this sets a default port to 3000
         port: serverPort,
         cors: false,
-        proxy: useLocal ? {
-            '/api/mira': {
-                target: `http://localhost:${serverPort}${basePath}`,
-                changeOrigin: true,
-                secure: false,
-                rewrite: (path) => path.replace(/^\/api\/mira/, '/Downloadables/Mira')
-            },
-            '/api/aps': {
-                target: `http://localhost:${dockerServerPort}/`,
-                changeOrigin: true,
-                secure: false,
-            },
-        } : {
-            '/api': {
-                target: `https://synthesis.autodesk.com/`,
-                changeOrigin: true,
-                secure: true,
-            },
-        },
+        proxy: useLocal
+            ? {
+                  "/api/mira": {
+                      target: `http://localhost:${serverPort}${basePath}`,
+                      changeOrigin: true,
+                      secure: false,
+                      rewrite: path => path.replace(/^\/api\/mira/, "/Downloadables/Mira"),
+                  },
+                  "/api/aps": {
+                      target: `http://localhost:${dockerServerPort}/`,
+                      changeOrigin: true,
+                      secure: false,
+                  },
+              }
+            : {
+                  "/api": {
+                      target: `https://synthesis.autodesk.com/`,
+                      changeOrigin: true,
+                      secure: true,
+                  },
+              },
     },
     build: {
-        target: 'esnext',
+        target: "esnext",
     },
-    base: basePath
+    base: basePath,
 })

From b3f65ece7fd64a775f874df5ba3694a7b858c581 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 30 Jul 2024 11:05:17 -0700
Subject: [PATCH 086/344] Fixed an issue where removed joints would crash upon
 startup

---
 exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 4a501b1319..322ea113c5 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -263,8 +263,9 @@ def notify(self, args):
         # Should investigate changes to improve performance.
         if exporterOptions.joints:
             for synJoint in exporterOptions.joints:
-                fusionJoint = gm.app.activeDocument.design.findEntityByToken(synJoint.jointToken)[0]
-                jointConfigTab.addJoint(fusionJoint, synJoint)
+                fusionJoints = gm.app.activeDocument.design.findEntityByToken(synJoint.jointToken)
+                if len(fusionJoints):
+                    jointConfigTab.addJoint(fusionJoints[0], synJoint)
         else:
             for joint in [
                 *gm.app.activeDocument.design.rootComponent.allJoints,

From cfc821e52ba9f9c0425f0f02fdaa7c669e1ebe54 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 30 Jul 2024 11:16:08 -0700
Subject: [PATCH 087/344] Fixed problem with crash on startup

---
 exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 322ea113c5..424385d351 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -127,7 +127,6 @@ class ConfigureCommandCreatedHandler(adsk.core.CommandCreatedEventHandler):
 
     def __init__(self, configure):
         super().__init__()
-        self.designAttrs = adsk.core.Application.get().activeProduct.attributes
 
     @logFailure(messageBox=True)
     def notify(self, args):
@@ -282,8 +281,9 @@ def notify(self, args):
         # Should consider changing how the parser handles wheels and joints to avoid overlap
         if exporterOptions.wheels:
             for wheel in exporterOptions.wheels:
-                fusionJoint = gm.app.activeDocument.design.findEntityByToken(wheel.jointToken)[0]
-                jointConfigTab.addWheel(fusionJoint, wheel)
+                fusionJoints = gm.app.activeDocument.design.findEntityByToken(wheel.jointToken)
+                if len(fusionJoints):
+                    jointConfigTab.addWheel(fusionJoints[0], wheel)
 
         # ~~~~~~~~~~~~~~~~ GAMEPIECE CONFIGURATION ~~~~~~~~~~~~~~~~
         """

From bd4543050f35c7751ee2819cecf7836c11fe0a31 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 30 Jul 2024 12:32:43 -0600
Subject: [PATCH 088/344] Added internal flag for traffic filtering

---
 fission/src/systems/World.ts                  |  2 +-
 .../src/systems/analytics/AnalyticsSystem.ts  | 48 +++++++++++++------
 2 files changed, 34 insertions(+), 16 deletions(-)

diff --git a/fission/src/systems/World.ts b/fission/src/systems/World.ts
index 4ab1186483..6a7ee44e4a 100644
--- a/fission/src/systems/World.ts
+++ b/fission/src/systems/World.ts
@@ -14,7 +14,7 @@ class World {
     private static _physicsSystem: PhysicsSystem
     private static _simulationSystem: SimulationSystem
     private static _inputSystem: InputSystem
-    private static _analyticsSystem: AnalyticsSystem | undefined
+    private static _analyticsSystem: AnalyticsSystem | undefined = undefined
 
     private static _accumTimes: AccumTimes = {
         frames: 0,
diff --git a/fission/src/systems/analytics/AnalyticsSystem.ts b/fission/src/systems/analytics/AnalyticsSystem.ts
index 6fd1d04a9d..c035aaf3c3 100644
--- a/fission/src/systems/analytics/AnalyticsSystem.ts
+++ b/fission/src/systems/analytics/AnalyticsSystem.ts
@@ -19,37 +19,27 @@ export interface AccumTimes {
 }
 
 class AnalyticsSystem extends WorldSystem {
+
     private _lastSampleTime = Date.now()
+    private _consent: boolean
 
     public constructor() {
         super()
 
+        this._consent = PreferencesSystem.getGlobalPreference<boolean>("ReportAnalytics")
         init({
             measurementId: "G-6XNCRD7QNC",
             debug: import.meta.env.DEV,
             anonymizeIp: true,
             sendPageViews: false,
-            trackingConsent: PreferencesSystem.getGlobalPreference<boolean>("ReportAnalytics"),
+            trackingConsent: this._consent,
         })
 
         PreferencesSystem.addEventListener(
             e => e.prefName == "ReportAnalytics" && this.ConsentUpdate(e.prefValue as boolean)
         )
 
-        let betaCode = document.cookie.match(BETA_CODE_COOKIE_REGEX)?.[0]
-        if (betaCode) {
-            betaCode = betaCode.substring(betaCode.indexOf("=") + 1, betaCode.indexOf(";"))
-
-            this.SetUserProperty("Beta Code", betaCode)
-        } else {
-            console.debug("No code match")
-        }
-
-        if (MOBILE_USER_AGENT_REGEX.test(navigator.userAgent)) {
-            this.SetUserProperty("Is Mobile", "true")
-        } else {
-            this.SetUserProperty("Is Mobile", "false")
-        }
+        this.SendMetaData()
     }
 
     public Event(name: string, params?: { [key: string]: string | number }) {
@@ -69,7 +59,35 @@ class AnalyticsSystem extends WorldSystem {
     }
 
     private ConsentUpdate(granted: boolean) {
+        this._consent = granted
         consent(granted)
+
+        this.SendMetaData()
+    }
+
+    private SendMetaData() {
+        if (import.meta.env.DEV) {
+            this.SetUserProperty("Internal Traffic", "true")
+        }
+        
+        if (!this._consent) {
+            return
+        }
+        
+        let betaCode = document.cookie.match(BETA_CODE_COOKIE_REGEX)?.[0]
+        if (betaCode) {
+            betaCode = betaCode.substring(betaCode.indexOf("=") + 1, betaCode.indexOf(";"))
+
+            this.SetUserProperty("Beta Code", betaCode)
+        } else {
+            console.debug("No code match")
+        }
+
+        if (MOBILE_USER_AGENT_REGEX.test(navigator.userAgent)) {
+            this.SetUserProperty("Is Mobile", "true")
+        } else {
+            this.SetUserProperty("Is Mobile", "false")
+        }
     }
 
     private currentSampleInterval() {

From 79f5e2b64ea1ed718883d255db04d4e434095c9c Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 30 Jul 2024 12:36:37 -0600
Subject: [PATCH 089/344] Formatted

---
 fission/src/systems/analytics/AnalyticsSystem.ts | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/fission/src/systems/analytics/AnalyticsSystem.ts b/fission/src/systems/analytics/AnalyticsSystem.ts
index c035aaf3c3..4eb0b9fa27 100644
--- a/fission/src/systems/analytics/AnalyticsSystem.ts
+++ b/fission/src/systems/analytics/AnalyticsSystem.ts
@@ -19,7 +19,6 @@ export interface AccumTimes {
 }
 
 class AnalyticsSystem extends WorldSystem {
-
     private _lastSampleTime = Date.now()
     private _consent: boolean
 
@@ -69,11 +68,11 @@ class AnalyticsSystem extends WorldSystem {
         if (import.meta.env.DEV) {
             this.SetUserProperty("Internal Traffic", "true")
         }
-        
+
         if (!this._consent) {
             return
         }
-        
+
         let betaCode = document.cookie.match(BETA_CODE_COOKIE_REGEX)?.[0]
         if (betaCode) {
             betaCode = betaCode.substring(betaCode.indexOf("=") + 1, betaCode.indexOf(";"))

From 404f7be5f8ad8a12dd0b10554abf69fb9a99c7ff Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Tue, 30 Jul 2024 12:06:46 -0700
Subject: [PATCH 090/344] Working shadows

---
 fission/src/mirabuf/MirabufInstance.ts     |  1 +
 fission/src/systems/scene/SceneRenderer.ts | 14 +++++++-------
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 89ce6f2a92..700395611c 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -146,6 +146,7 @@ class MirabufInstance {
                     material = new THREE.MeshPhongMaterial({
                         color: hex,
                         shininess: 0.0,
+                        shadowSide: THREE.DoubleSide,
                         opacity: opacity,
                         transparent: opacity < 1.0,
                     })
diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index 55b883056c..1935b6a704 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -79,13 +79,13 @@ class SceneRenderer extends WorldSystem {
         // Adding the lighting uisng quality preferences
         this.ChangeLighting(PreferencesSystem.getGlobalPreference<string>("QualitySettings"))
 
-        const ambientLight = new THREE.AmbientLight(0xffffff, 0.1)
+        const ambientLight = new THREE.AmbientLight(0xffffff, 0.3)
         this._scene.add(ambientLight)
 
         const ground = new THREE.Mesh(new THREE.BoxGeometry(10, 1, 10), this.CreateToonMaterial(GROUND_COLOR))
         ground.position.set(0.0, -2.0, 0.0)
         ground.receiveShadow = true
-        ground.castShadow = false
+        ground.castShadow = true
         this._scene.add(ground)
 
         // Adding spherical skybox mesh
@@ -189,20 +189,19 @@ class SceneRenderer extends WorldSystem {
             this._light.shadow.mapSize = new THREE.Vector2(shadowMapSize, shadowMapSize)
             this._light.shadow.blurSamples = 16
             this._light.shadow.bias = 0.0
+            this._light.shadow.normalBias = 0.01
             this._scene.add(this._light)
-        }
-
-        // setting light to cascading shadows
-        else if (quality === "High") {
+        } else if (quality === "High") { // setting light to cascading shadows
             this._light = new CSM({
                 parent: this._scene,
                 camera: this._mainCamera,
                 cascades: 3,
-                lightDirection: new THREE.Vector3(0.5, -0.5, 0.5).normalize(),
+                lightDirection: new THREE.Vector3(1.0, -3.0, -2.0).normalize(),
                 lightIntensity: 5,
                 shadowMapSize: shadowMapSize,
                 mode: "custom",
                 maxFar: 30,
+                shadowBias: -0.00001,
                 customSplitsCallback: (cascades: number, near: number, far: number, breaks: number[]) => {
                     const blend = 0.7
                     for (let i = 1; i < cascades; i++) {
@@ -267,6 +266,7 @@ class SceneRenderer extends WorldSystem {
         gradientMap.needsUpdate = true
         const material = new THREE.MeshToonMaterial({
             color: color,
+            shadowSide: THREE.DoubleSide,
             gradientMap: gradientMap,
         })
         if (this._light instanceof CSM) this._light.setupMaterial(material)

From 0258364bcdbe0815b1ab677ed7df17cc27d175c3 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 30 Jul 2024 13:42:19 -0700
Subject: [PATCH 091/344] Configure assemblies panel navigation

---
 fission/src/Synthesis.tsx                     |   2 +
 fission/src/ui/components/MainHUD.tsx         |   6 +
 fission/src/ui/components/SelectMenu.tsx      | 145 +++++++++++++++++
 .../configuring/ConfigureAssemblies.tsx       | 151 ++++++++++++++++++
 4 files changed, 304 insertions(+)
 create mode 100644 fission/src/ui/components/SelectMenu.tsx
 create mode 100644 fission/src/ui/panels/configuring/ConfigureAssemblies.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 51e9c4db05..810e6d9dba 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -66,6 +66,7 @@ import NewInputSchemeModal from "./ui/modals/configuring/theme-editor/NewInputSc
 import AssignNewSchemeModal from "./ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx"
 import AnalyticsConsent from "./ui/components/AnalyticsConsent.tsx"
 import PreferencesSystem from "./systems/preferences/PreferencesSystem.ts"
+import ConfigureAssembliesPanel from "./ui/panels/configuring/ConfigureAssemblies.tsx"
 
 const worker = new Lazy<Worker>(() => new WPILibWSWorker())
 
@@ -253,6 +254,7 @@ const initialPanels: ReactElement[] = [
     <ChooseInputSchemePanel key="choose-scheme" panelId="choose-scheme" />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
+    <ConfigureAssembliesPanel key="configure-assemblies" panelId="configure-assemblies" />,
 ]
 
 export default Synthesis
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index af55290eab..d9bba9ca36 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -120,6 +120,12 @@ const MainHUD: React.FC = () => {
                         }}
                     />
                     <MainHUDButton value={"Configure"} icon={<FaGear />} onClick={() => openModal("config-robot")} />
+                    <MainHUDButton
+                        value={"Configure Assemblies"}
+                        icon={<FaGear />}
+                        onClick={() => openPanel("configure-assemblies")}
+                    />
+
                     <MainHUDButton
                         value={"Debug Tools"}
                         icon={<FaScrewdriverWrench />}
diff --git a/fission/src/ui/components/SelectMenu.tsx b/fission/src/ui/components/SelectMenu.tsx
new file mode 100644
index 0000000000..245bd70686
--- /dev/null
+++ b/fission/src/ui/components/SelectMenu.tsx
@@ -0,0 +1,145 @@
+import React, { useEffect, useState } from "react"
+
+import { Box, Button as MUIButton, styled, alpha, Divider } from "@mui/material"
+import Label, { LabelSize } from "./Label"
+import { FaArrowLeft } from "react-icons/fa6"
+import Button from "./Button"
+
+const LeftArrow = <FaArrowLeft size={"1.25rem"} />
+
+const CustomButton = styled(MUIButton)({
+    "borderStyle": "solid",
+    "borderWidth": "1px",
+    "transition": "border-color 0.3s ease",
+    "&:hover": {
+        borderColor: "white",
+        backgroundColor: alpha("#33333333", 0.3),
+    },
+    "position": "relative",
+    "overflow": "hidden",
+    "& .MuiTouchRipple-root span": {
+        backgroundColor: alpha("#ffffff", 0.3),
+        animationDuration: "300ms",
+    },
+})
+
+const LabelStyled = styled(Label)({
+    fontWeight: 700,
+    margin: "0pt",
+    textWrap: "nowrap",
+})
+
+const DividerStyled = styled(Divider)({
+    borderColor: "white",
+})
+
+/** Extend this to make a type that contains custom data */
+export class SelectMenuOption {
+    name: string
+    constructor(name: string) {
+        this.name = name
+    }
+}
+
+interface OptionCardProps {
+    value: SelectMenuOption
+    onSelected: (val: SelectMenuOption) => void
+}
+
+const OptionCard: React.FC<OptionCardProps> = ({ value, onSelected }) => {
+    return (
+        /* Box containing the entire card */
+        <Box display="flex" textAlign={"center"} key={value.name} minHeight={"30px"}>
+            {/* Box containing the label */}
+            <Box position="absolute" alignSelf={"center"} display="flex">
+                {/* Indentation before the name */}
+                <Box width="8px" />
+                {/* Label for joint index and type (grey if child) */}
+                <LabelStyled
+                    key={`arm-nodes-notation ${value}`}
+                    size={LabelSize.Small}
+                    className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                >
+                    {value.name}
+                </LabelStyled>
+            </Box>
+
+            {/* Button used for selecting a parent (shows up as an outline) */}
+            <CustomButton
+                fullWidth={true}
+                onClick={() => {
+                    onSelected(value)
+                }}
+                sx={{ borderColor: "#888888" }}
+            />
+        </Box>
+    )
+}
+
+interface SelectMenuProps {
+    options: SelectMenuOption[]
+    onOptionSelected: (val: SelectMenuOption | undefined) => void
+    headerText: string
+    indentation?: number
+}
+
+const SelectMenu: React.FC<SelectMenuProps> = ({ options, onOptionSelected, headerText, indentation }) => {
+    const [selectedOption, setSelectedOption] = useState<SelectMenuOption | undefined>(undefined)
+
+    useEffect(() => {
+        if (selectedOption == undefined) return
+
+        if (!options.some(o => o.name == selectedOption.name)) setSelectedOption(undefined)
+    }, [options])
+
+    return (
+        <>
+            <Box
+                display="flex"
+                textAlign={"center"}
+                minHeight={"30px"}
+                // border="solid"
+                // borderColor={"white"}
+                key="selected-item"
+            >
+                <Box width={`${20 * (indentation ?? 0)}px`} />
+                {selectedOption != undefined ? (
+                    <Button
+                        value={LeftArrow}
+                        onClick={() => {
+                            setSelectedOption(undefined)
+                            onOptionSelected(undefined)
+                        }}
+                        colorOverrideClass="bg-[#00000000] hover:brightness-90"
+                        sizeOverrideClass="p-[0.25rem]"
+                    />
+                ) : null}
+                <Box alignSelf={"center"} display="flex">
+                    <Box width="8px" />
+                    <LabelStyled size={LabelSize.Small} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                        {selectedOption != undefined ? selectedOption.name : headerText}
+                    </LabelStyled>
+                </Box>
+            </Box>
+            <DividerStyled />
+            {selectedOption == undefined ? (
+                <>
+                    {options.map(option => {
+                        return (
+                            <OptionCard
+                                value={option}
+                                onSelected={val => {
+                                    setSelectedOption(val)
+                                    onOptionSelected(val)
+                                }}
+                                key={option.name}
+                            />
+                        )
+                    })}
+                </>
+            ) : null}
+        </>
+    )
+}
+
+export default SelectMenu
diff --git a/fission/src/ui/panels/configuring/ConfigureAssemblies.tsx b/fission/src/ui/panels/configuring/ConfigureAssemblies.tsx
new file mode 100644
index 0000000000..beb65c1c80
--- /dev/null
+++ b/fission/src/ui/panels/configuring/ConfigureAssemblies.tsx
@@ -0,0 +1,151 @@
+import { MiraType } from "@/mirabuf/MirabufLoader"
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import World from "@/systems/World"
+import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
+import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
+import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
+import { useMemo, useState } from "react"
+import { AiOutlinePlus } from "react-icons/ai"
+
+const AddIcon = <AiOutlinePlus size={"1.25rem"} />
+
+class AssemblySelectionOption extends SelectMenuOption {
+    assemblyObject: MirabufSceneObject
+
+    constructor(name: string, assemblyObject: MirabufSceneObject) {
+        super(name)
+        this.assemblyObject = assemblyObject
+    }
+}
+
+interface AssemblySelectionProps {
+    assemblyType: MiraType
+    onAssemblySelected: (assembly: MirabufSceneObject | undefined) => void
+}
+
+const AssemblySelection: React.FC<AssemblySelectionProps> = ({ assemblyType, onAssemblySelected }) => {
+    const robots = useMemo(() => {
+        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
+            if (x instanceof MirabufSceneObject) {
+                return x.miraType === MiraType.ROBOT
+            }
+            return false
+        }) as MirabufSceneObject[]
+
+        return assemblies
+    }, [])
+
+    const fields = useMemo(() => {
+        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
+            if (x instanceof MirabufSceneObject) {
+                return x.miraType === MiraType.FIELD
+            }
+            return false
+        }) as MirabufSceneObject[]
+
+        return assemblies
+    }, [])
+
+    return (
+        <SelectMenu
+            // TODO: Add control scheme name if it's a robot
+            options={(assemblyType == MiraType.ROBOT ? robots : fields).map(assembly => {
+                return new AssemblySelectionOption(`${assembly.assemblyName} (${assembly.id})`, assembly)
+            })}
+            onOptionSelected={val => {
+                onAssemblySelected((val as AssemblySelectionOption)?.assemblyObject)
+            }}
+            headerText={`Select a ${assemblyType == MiraType.ROBOT ? "Robot" : "Field"}`}
+        />
+    )
+}
+
+enum ConfigMode {
+    INTAKE,
+    EJECTOR,
+    JOINTS,
+    CONTROLS,
+    SCORING_ZONES,
+}
+
+class ConfigModeSelectionOption extends SelectMenuOption {
+    configMode: ConfigMode
+
+    constructor(name: string, configMode: ConfigMode) {
+        super(name)
+        this.configMode = configMode
+    }
+}
+
+interface ConfigModeSelectionProps {
+    assemblyType: MiraType
+    onModeSelected: (mode: ConfigMode | undefined) => void
+}
+
+const robotModes = [
+    new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
+    new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
+    new ConfigModeSelectionOption("Joints", ConfigMode.JOINTS),
+    new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
+]
+const fieldModes = [new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES)]
+
+const ConfigureModeSelection: React.FC<ConfigModeSelectionProps> = ({ assemblyType, onModeSelected }) => {
+    return (
+        <SelectMenu
+            options={assemblyType == MiraType.ROBOT ? robotModes : fieldModes}
+            onOptionSelected={val => {
+                onModeSelected((val as ConfigModeSelectionOption)?.configMode)
+            }}
+            headerText="Select a Configuration Mode"
+            indentation={1}
+        />
+    )
+}
+
+const ConfigureAssembliesPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
+    const [assemblyType, setAssemblyType] = useState<MiraType>(MiraType.ROBOT)
+    const [selectedAssembly, setSelectedAssembly] = useState<MirabufSceneObject | undefined>(undefined)
+
+    console.log(selectedAssembly == undefined)
+
+    return (
+        <Panel
+            name={"Configure Assemblies"}
+            icon={AddIcon}
+            panelId={panelId}
+            acceptEnabled={false}
+            cancelName="Back"
+            openLocation="right"
+        >
+            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2">
+                <ToggleButtonGroup
+                    value={assemblyType}
+                    exclusive
+                    onChange={(_, v) => {
+                        v != null && setAssemblyType(v)
+                        setSelectedAssembly(undefined)
+                        console.log("triggered")
+                    }}
+                    sx={{
+                        alignSelf: "center",
+                    }}
+                >
+                    <ToggleButton value={MiraType.ROBOT}>Robots</ToggleButton>
+                    <ToggleButton value={MiraType.FIELD}>Fields</ToggleButton>
+                </ToggleButtonGroup>
+                <AssemblySelection assemblyType={assemblyType} onAssemblySelected={setSelectedAssembly} />
+                {selectedAssembly != undefined ? (
+                    <ConfigureModeSelection
+                        assemblyType={assemblyType}
+                        onModeSelected={mode => {
+                            //console.log(mode)
+                        }}
+                    />
+                ) : null}
+            </div>
+        </Panel>
+    )
+}
+
+export default ConfigureAssembliesPanel

From 3cce5e3be0c0bdbd3affd129a4ba2b08025bd20f Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 30 Jul 2024 14:07:18 -0700
Subject: [PATCH 092/344] UI dropdown pr requests

---
 fission/src/systems/preferences/PreferenceTypes.ts  |  2 +-
 fission/src/ui/components/StyledComponents.tsx      |  6 +++++-
 fission/src/ui/modals/configuring/SettingsModal.tsx | 13 ++++++-------
 3 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/fission/src/systems/preferences/PreferenceTypes.ts b/fission/src/systems/preferences/PreferenceTypes.ts
index 25b1a079e1..37b04a83ce 100644
--- a/fission/src/systems/preferences/PreferenceTypes.ts
+++ b/fission/src/systems/preferences/PreferenceTypes.ts
@@ -17,7 +17,7 @@ export const RobotPreferencesKey: string = "Robots"
 export const FieldPreferencesKey: string = "Fields"
 
 export const DefaultGlobalPreferences: { [key: string]: unknown } = {
-    QualitySettings: "High",
+    QualitySettings: "High" as QualitySetting,
     ZoomSensitivity: 15,
     PitchSensitivity: 10,
     YawSensitivity: 3,
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index f6b08f2171..b91922abc6 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -1,4 +1,4 @@
-import { Divider, styled } from "@mui/material"
+import { Box, Divider, styled } from "@mui/material"
 import Label from "./Label"
 import Button, { ButtonProps, ButtonSize } from "./Button"
 import { IoCheckmark, IoPencil, IoPeople, IoTrashBin } from "react-icons/io5"
@@ -65,6 +65,10 @@ export const SectionLabel = styled(Label)({
     margin: "0pt",
 })
 
+export const Spacer = (widthPx: number) => {
+    return <Box minHeight={`${widthPx}px`} />
+}
+
 export const PositiveButton: React.FC<ButtonProps> = ({ value, onClick }) => {
     return (
         <Button
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index 499c40b839..9e2ab7e340 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -11,8 +11,7 @@ import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { SceneOverlayEvent, SceneOverlayEventKey } from "@/ui/components/SceneOverlayEvents"
 import { QualitySetting } from "@/systems/preferences/PreferenceTypes"
 import { Box } from "@mui/material"
-
-const qualitySettingsOptions: QualitySetting[] = ["Low", "Medium", "High"]
+import { Spacer } from "@/ui/components/StyledComponents"
 
 const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -70,17 +69,17 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 <Label size={LabelSize.Medium}>Screen Settings</Label>
                 <Dropdown
                     label="Quality Settings"
-                    options={qualitySettingsOptions}
-                    defaultValue={PreferencesSystem.getGlobalPreference<string>("QualitySettings")}
+                    options={["Low", "Medium", "High"] as QualitySetting[]}
+                    defaultValue={PreferencesSystem.getGlobalPreference<QualitySetting>("QualitySettings")}
                     onSelect={selected => {
                         setQualitySettings(selected)
                     }}
                 />
-                <Box minHeight={"5px"} />
+                {Spacer(5)}
                 <Box alignSelf={"center"}>
                     <Button value="Theme Editor" onClick={() => openModal("theme-editor")} />
                 </Box>
-                <Box minHeight={"5px"} />
+                {Spacer(5)}
                 <Label size={LabelSize.Medium}>Camera Settings</Label>
                 <Slider
                     min={1}
@@ -106,7 +105,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                     format={{ maximumFractionDigits: 2 }}
                     onChange={(_, value) => setYawSensitivity(value as number)}
                 />
-                <Box minHeight={"20px"} />
+                {Spacer(20)}
                 <Label size={LabelSize.Medium}>Preferences</Label>
                 <Box display="flex" flexDirection={"column"}>
                     <Checkbox

From 8a7bb77bd8d73c44ea7faf0aa730634178a20508 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 30 Jul 2024 14:25:49 -0700
Subject: [PATCH 093/344] added can devices to modal

---
 .../simulation/wpilib_brain/WPILibBrain.ts    |  4 +++-
 fission/src/ui/components/Modal.tsx           | 20 ++++++++-----------
 .../rio-config/RCConfigCANGroupModal.tsx      | 17 +++++++++-------
 .../rio-config/RCConfigPWMGroupModal.tsx      |  3 ++-
 4 files changed, 23 insertions(+), 21 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index b14fa19145..f565f42425 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -239,6 +239,7 @@ function UpdateSimMap(type: SimType, device: string, updateData: any) {
         currentData = {}
         typeMap.set(device, currentData)
     }
+
     Object.entries(updateData).forEach(([key, value]) => (currentData[key] = value))
 
     window.dispatchEvent(new SimMapUpdateEvent(false))
@@ -311,6 +312,8 @@ abstract class SimOutputGroup {
     public abstract Update(deltaT: number): void
 }
 
+// Averaging is probably not the right solution
+
 export class PWMGroup extends SimOutputGroup {
     public constructor(name: string, ports: number[], drivers: Driver[]) {
         super(name, ports, drivers, SimType.PWM)
@@ -340,7 +343,6 @@ export class CANGroup extends SimOutputGroup {
         super(name, ports, drivers, SimType.CANMotor)
     }
 
-    // See what needs to be done differently here
     public Update(_deltaT: number) {
         for (const port of this.ports) {
             const device = SimCAN.GetDeviceWithID(port, this.type)
diff --git a/fission/src/ui/components/Modal.tsx b/fission/src/ui/components/Modal.tsx
index a0570db82e..b550d82bfd 100644
--- a/fission/src/ui/components/Modal.tsx
+++ b/fission/src/ui/components/Modal.tsx
@@ -68,9 +68,8 @@ const Modal: React.FC<ModalProps> = ({
                 )}
                 <div
                     id="content"
-                    className={`${contentClassName} ${
-                        !contentClassName?.includes("mx") ? "mx-[2rem]" : ""
-                    } flex flex-col gap-4 max-h-75vh overflow-y-auto p-4`}
+                    className={`${contentClassName} ${!contentClassName?.includes("mx") ? "mx-[2rem]" : ""
+                        } flex flex-col gap-4 max-h-75vh p-4`}
                 >
                     {children}
                 </div>
@@ -83,9 +82,8 @@ const Modal: React.FC<ModalProps> = ({
                                 closeModal()
                                 if (!cancelBlocked && onCancel) onCancel()
                             }}
-                            className={`${
-                                cancelBlocked ? "bg-interactive-background" : "bg-cancel-button"
-                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                            className={`${cancelBlocked ? "bg-interactive-background" : "bg-cancel-button"
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
                         />
                     )}
                     {middleEnabled && (
@@ -95,9 +93,8 @@ const Modal: React.FC<ModalProps> = ({
                             onClick={() => {
                                 if (!middleBlocked && onMiddle) onMiddle()
                             }}
-                            className={`${
-                                middleBlocked ? "bg-interactive-background" : "bg-accept-button"
-                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                            className={`${middleBlocked ? "bg-interactive-background" : "bg-accept-button"
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
                         />
                     )}
                     {acceptEnabled && (
@@ -108,9 +105,8 @@ const Modal: React.FC<ModalProps> = ({
                                 closeModal()
                                 if (!acceptBlocked && onAccept) onAccept()
                             }}
-                            className={`${
-                                acceptBlocked ? "bg-interactive-background" : "bg-accept-button"
-                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                            className={`${acceptBlocked ? "bg-interactive-background" : "bg-accept-button"
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
                         />
                     )}
                 </div>
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index 8da3bec73c..7303d22d5e 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -8,7 +8,7 @@ import Checkbox from "@/components/Checkbox"
 import Container from "@/components/Container"
 import Label, { LabelSize } from "@/components/Label"
 import Input from "@/components/Input"
-import WPILibBrain, { CANGroup, simMap } from "@/systems/simulation/wpilib_brain/WPILibBrain"
+import WPILibBrain, { CANGroup, simMap, SimType } from "@/systems/simulation/wpilib_brain/WPILibBrain"
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import Driver from "@/systems/simulation/driver/Driver"
@@ -19,7 +19,6 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const [checkedPorts, setCheckedPorts] = useState<number[]>([])
     const [checkedDrivers, setCheckedDrivers] = useState<Driver[]>([])
 
-    const numPorts = 8
     let drivers: Driver[] = []
     let simLayer
     let brain: WPILibBrain
@@ -34,6 +33,9 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         simLayer?.SetBrain(brain)
     }
 
+    const cans = simMap.get(SimType.CANMotor) ?? new Map<string, any>
+    const devices: [string, any][] = [...cans.entries()].filter(([_, data]) => data["<init"])
+
     return (
         <Modal
             name="Create Device"
@@ -63,16 +65,17 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 <Container className="w-max">
                     <Label>Ports</Label>
                     <ScrollView className="h-full px-2">
-                        {[...Array(numPorts).keys()].map(p => (
+                        {devices.map(([p, _]) => (
                             <Checkbox
                                 key={p}
                                 label={p.toString()}
                                 defaultState={false}
                                 onClick={checked => {
-                                    if (checked && !checkedPorts.includes(p)) {
-                                        setCheckedPorts([...checkedPorts, p])
-                                    } else if (!checked && checkedPorts.includes(p)) {
-                                        setCheckedPorts(checkedPorts.filter(a => a != p))
+                                    const port = parseInt(p)
+                                    if (checked && !checkedPorts.includes(port)) {
+                                        setCheckedPorts([...checkedPorts, port])
+                                    } else if (!checked && checkedPorts.includes(port)) {
+                                        setCheckedPorts(checkedPorts.filter(a => a != port))
                                     }
                                 }}
                             />
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
index a663abfb14..57db3e853c 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
@@ -12,6 +12,7 @@ import WPILibBrain, { PWMGroup, simMap } from "@/systems/simulation/wpilib_brain
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import Driver from "@/systems/simulation/driver/Driver"
+import { SimType } from "@/systems/simulation/wpilib_brain/WPILibBrain"
 
 const RCConfigPWMGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -35,7 +36,7 @@ const RCConfigPWMGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     }
 
     let devices: [string, unknown][] = []
-    const pwms = simMap.get("PWM")
+    const pwms = simMap.get(SimType.PWM)
     if (pwms) {
         devices = [...pwms.entries()].filter(([_, data]) => data["<init"])
     }

From 2352417d3fc2b5e1099d189d8a485308c8c22703 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 30 Jul 2024 15:51:08 -0700
Subject: [PATCH 094/344] Configure assemblies panel support for intake and
 ejector data

---
 fission/src/Synthesis.tsx                     |  18 +-
 .../configuring/ConfigureRobotModal.tsx       |  38 -----
 .../configuring/ChooseInputSchemePanel.tsx    |   1 -
 .../ConfigureAssembliesPanel.tsx}             |  84 ++++++++--
 .../ConfigureGamepiecePickupInterface.tsx}    | 154 +++++++----------
 .../ConfigureShotTrajectoryInterface.tsx}     | 156 +++++++-----------
 6 files changed, 193 insertions(+), 258 deletions(-)
 delete mode 100644 fission/src/ui/modals/configuring/ConfigureRobotModal.tsx
 rename fission/src/ui/panels/configuring/{ConfigureAssemblies.tsx => assembly-config/ConfigureAssembliesPanel.tsx} (64%)
 rename fission/src/ui/panels/configuring/{ConfigureGamepiecePickupPanel.tsx => assembly-config/ConfigureGamepiecePickupInterface.tsx} (59%)
 rename fission/src/ui/panels/configuring/{ConfigureShotTrajectoryPanel.tsx => assembly-config/ConfigureShotTrajectoryInterface.tsx} (57%)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index f86a5fb160..5ce7e04b9d 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -37,8 +37,6 @@ import ThemeEditorModal from "@/modals/configuring/theme-editor/ThemeEditorModal
 import MatchModeModal from "@/modals/spawning/MatchModeModal"
 import RobotSwitchPanel from "@/panels/RobotSwitchPanel"
 import SpawnLocationsPanel from "@/panels/SpawnLocationPanel"
-import ConfigureGamepiecePickupPanel from "@/panels/configuring/ConfigureGamepiecePickupPanel"
-import ConfigureShotTrajectoryPanel from "@/panels/configuring/ConfigureShotTrajectoryPanel"
 import ScoringZonesPanel from "@/panels/configuring/scoring/ScoringZonesPanel"
 import ScoreboardPanel from "@/panels/information/ScoreboardPanel"
 import DriverStationPanel from "@/panels/simulation/DriverStationPanel"
@@ -51,7 +49,6 @@ import ImportMirabufPanel from "@/ui/panels/mirabuf/ImportMirabufPanel.tsx"
 import Skybox from "./ui/components/Skybox.tsx"
 import ChooseInputSchemePanel from "./ui/panels/configuring/ChooseInputSchemePanel.tsx"
 import ProgressNotifications from "./ui/components/ProgressNotification.tsx"
-import ConfigureRobotModal from "./ui/modals/configuring/ConfigureRobotModal.tsx"
 import ResetAllInputsModal from "./ui/modals/configuring/ResetAllInputsModal.tsx"
 import ZoneConfigPanel from "./ui/panels/configuring/scoring/ZoneConfigPanel.tsx"
 import SceneOverlay from "./ui/components/SceneOverlay.tsx"
@@ -66,7 +63,7 @@ import NewInputSchemeModal from "./ui/modals/configuring/theme-editor/NewInputSc
 import AssignNewSchemeModal from "./ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx"
 import AnalyticsConsent from "./ui/components/AnalyticsConsent.tsx"
 import PreferencesSystem from "./systems/preferences/PreferencesSystem.ts"
-import ConfigureAssembliesPanel from "./ui/panels/configuring/ConfigureAssemblies.tsx"
+import ConfigureAssembliesPanel from "./ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx"
 
 const worker = new Lazy<Worker>(() => new WPILibWSWorker())
 
@@ -226,7 +223,6 @@ const initialModals = [
     <ConfigMotorModal key="config-motor" modalId="config-motor" />,
     <ManageAssembliesModal key="manage-assemblies" modalId="manage-assemblies" />,
     <ImportLocalMirabufModal key="import-local-mirabuf" modalId="import-local-mirabuf" />,
-    <ConfigureRobotModal key="config-robot" modalId="config-robot" />,
     <ResetAllInputsModal key="reset-inputs" modalId="reset-inputs" />,
 ]
 
@@ -235,18 +231,6 @@ const initialPanels: ReactElement[] = [
     <DriverStationPanel key="driver-station" panelId="driver-station" />,
     <SpawnLocationsPanel key="spawn-locations" panelId="spawn-locations" />,
     <ScoreboardPanel key="scoreboard" panelId="scoreboard" openLocation="top" sidePadding={8} />,
-    <ConfigureGamepiecePickupPanel
-        key="config-gamepiece-pickup"
-        panelId="config-gamepiece-pickup"
-        openLocation="right"
-        sidePadding={8}
-    />,
-    <ConfigureShotTrajectoryPanel
-        key="config-shot-trajectory"
-        panelId="config-shot-trajectory"
-        openLocation="right"
-        sidePadding={8}
-    />,
     <ScoringZonesPanel key="scoring-zones" panelId="scoring-zones" openLocation="right" sidePadding={8} />,
     <ZoneConfigPanel key="zone-config" panelId="zone-config" openLocation="right" sidePadding={8} />,
     <ImportMirabufPanel key="import-mirabuf" panelId="import-mirabuf" />,
diff --git a/fission/src/ui/modals/configuring/ConfigureRobotModal.tsx b/fission/src/ui/modals/configuring/ConfigureRobotModal.tsx
deleted file mode 100644
index fd3cbd7b5d..0000000000
--- a/fission/src/ui/modals/configuring/ConfigureRobotModal.tsx
+++ /dev/null
@@ -1,38 +0,0 @@
-import Button, { ButtonSize } from "@/ui/components/Button"
-import Modal, { ModalPropsImpl } from "@/ui/components/Modal"
-import Stack, { StackDirection } from "@/ui/components/Stack"
-import { useModalControlContext } from "@/ui/ModalContext"
-import { usePanelControlContext } from "@/ui/PanelContext"
-import { FaGear } from "react-icons/fa6"
-
-export const ConfigureRobotModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { openPanel } = usePanelControlContext()
-    const { closeModal } = useModalControlContext()
-
-    return (
-        <Modal name={"Configure Robot"} icon={<FaGear />} modalId={modalId}>
-            <Stack direction={StackDirection.Vertical}>
-                <Button
-                    value={"Intake"}
-                    onClick={() => {
-                        openPanel("config-gamepiece-pickup")
-                        closeModal()
-                    }}
-                    size={ButtonSize.Large}
-                    className="m-auto"
-                />
-                <Button
-                    value={"Ejector"}
-                    onClick={() => {
-                        openPanel("config-shot-trajectory")
-                        closeModal()
-                    }}
-                    size={ButtonSize.Large}
-                    className="m-auto"
-                />
-            </Stack>
-        </Modal>
-    )
-}
-
-export default ConfigureRobotModal
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index ab42a35daa..fee6adb52a 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -49,7 +49,6 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
         /** If the panel is closed before a scheme is selected, defaults to the top of the list */
         return () => {
             const brainIndex = getBrainIndex()
-            console.log(brainIndex)
 
             if (InputSystem.brainIndexSchemeMap.has(brainIndex)) return
 
diff --git a/fission/src/ui/panels/configuring/ConfigureAssemblies.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx
similarity index 64%
rename from fission/src/ui/panels/configuring/ConfigureAssemblies.tsx
rename to fission/src/ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx
index beb65c1c80..5ddc5821b4 100644
--- a/fission/src/ui/panels/configuring/ConfigureAssemblies.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx
@@ -1,11 +1,14 @@
 import { MiraType } from "@/mirabuf/MirabufLoader"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import World from "@/systems/World"
+import Label from "@/ui/components/Label"
 import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
 import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
 import { useMemo, useState } from "react"
 import { AiOutlinePlus } from "react-icons/ai"
+import ConfigureGamepiecePickupInterface from "./ConfigureGamepiecePickupInterface"
+import ConfigureShotTrajectoryInterface from "./ConfigureShotTrajectoryInterface"
 
 const AddIcon = <AiOutlinePlus size={"1.25rem"} />
 
@@ -77,11 +80,6 @@ class ConfigModeSelectionOption extends SelectMenuOption {
     }
 }
 
-interface ConfigModeSelectionProps {
-    assemblyType: MiraType
-    onModeSelected: (mode: ConfigMode | undefined) => void
-}
-
 const robotModes = [
     new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
     new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
@@ -90,7 +88,12 @@ const robotModes = [
 ]
 const fieldModes = [new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES)]
 
-const ConfigureModeSelection: React.FC<ConfigModeSelectionProps> = ({ assemblyType, onModeSelected }) => {
+interface ConfigModeSelectionProps {
+    assemblyType: MiraType
+    onModeSelected: (mode: ConfigMode | undefined) => void
+}
+
+const ConfigModeSelection: React.FC<ConfigModeSelectionProps> = ({ assemblyType, onModeSelected }) => {
     return (
         <SelectMenu
             options={assemblyType == MiraType.ROBOT ? robotModes : fieldModes}
@@ -103,20 +106,59 @@ const ConfigureModeSelection: React.FC<ConfigModeSelectionProps> = ({ assemblyTy
     )
 }
 
+interface ConfigInterfaceProps {
+    configMode: ConfigMode
+    assembly: MirabufSceneObject
+}
+
+const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly }) => {
+    switch (configMode) {
+        case ConfigMode.INTAKE:
+            return <ConfigureGamepiecePickupInterface selectedRobot={assembly} />
+        case ConfigMode.EJECTOR:
+            return <ConfigureShotTrajectoryInterface selectedRobot={assembly} />
+        case ConfigMode.JOINTS:
+            return <Label>interface not set up</Label>
+        case ConfigMode.CONTROLS:
+            return <Label>interface not set up</Label>
+        case ConfigMode.SCORING_ZONES:
+            return <Label>interface not set up</Label>
+        default:
+            throw new Error(`Config mode ${configMode} has no associated interface`)
+    }
+}
+
+export class ConfigurationSavedEvent extends Event {
+    public constructor() {
+        super("ConfigurationSaved")
+
+        window.dispatchEvent(this)
+    }
+
+    public static Listen(func: (e: Event) => void) {
+        window.addEventListener("ConfigurationSaved", func)
+    }
+
+    public static RemoveListener(func: (e: Event) => void) {
+        window.removeEventListener("ConfigurationSaved", func)
+    }
+}
+
 const ConfigureAssembliesPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const [assemblyType, setAssemblyType] = useState<MiraType>(MiraType.ROBOT)
     const [selectedAssembly, setSelectedAssembly] = useState<MirabufSceneObject | undefined>(undefined)
-
-    console.log(selectedAssembly == undefined)
+    const [selectedConfigMode, setSelectedConfigMode] = useState<ConfigMode | undefined>(undefined)
 
     return (
         <Panel
             name={"Configure Assemblies"}
             icon={AddIcon}
             panelId={panelId}
-            acceptEnabled={false}
-            cancelName="Back"
+            cancelEnabled={false}
             openLocation="right"
+            onAccept={() => {
+                new ConfigurationSavedEvent()
+            }}
         >
             <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2">
                 <ToggleButtonGroup
@@ -125,7 +167,7 @@ const ConfigureAssembliesPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     onChange={(_, v) => {
                         v != null && setAssemblyType(v)
                         setSelectedAssembly(undefined)
-                        console.log("triggered")
+                        setSelectedConfigMode(undefined)
                     }}
                     sx={{
                         alignSelf: "center",
@@ -134,15 +176,25 @@ const ConfigureAssembliesPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     <ToggleButton value={MiraType.ROBOT}>Robots</ToggleButton>
                     <ToggleButton value={MiraType.FIELD}>Fields</ToggleButton>
                 </ToggleButtonGroup>
-                <AssemblySelection assemblyType={assemblyType} onAssemblySelected={setSelectedAssembly} />
-                {selectedAssembly != undefined ? (
-                    <ConfigureModeSelection
+                <AssemblySelection
+                    assemblyType={assemblyType}
+                    onAssemblySelected={a => {
+                        if (selectedConfigMode != undefined) new ConfigurationSavedEvent()
+                        setSelectedAssembly(a)
+                    }}
+                />
+                {selectedAssembly != undefined && (
+                    <ConfigModeSelection
                         assemblyType={assemblyType}
                         onModeSelected={mode => {
-                            //console.log(mode)
+                            if (selectedConfigMode != undefined) new ConfigurationSavedEvent()
+                            setSelectedConfigMode(mode)
                         }}
                     />
-                ) : null}
+                )}
+                {selectedConfigMode != undefined && selectedAssembly != undefined && (
+                    <ConfigInterface configMode={selectedConfigMode} assembly={selectedAssembly} />
+                )}
             </div>
         </Panel>
     )
diff --git a/fission/src/ui/panels/configuring/ConfigureGamepiecePickupPanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigureGamepiecePickupInterface.tsx
similarity index 59%
rename from fission/src/ui/panels/configuring/ConfigureGamepiecePickupPanel.tsx
rename to fission/src/ui/panels/configuring/assembly-config/ConfigureGamepiecePickupInterface.tsx
index 0709f129b6..63a7fcbba5 100644
--- a/fission/src/ui/panels/configuring/ConfigureGamepiecePickupPanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigureGamepiecePickupInterface.tsx
@@ -1,17 +1,12 @@
 import * as THREE from "three"
 import { useCallback, useEffect, useMemo, useState } from "react"
-import { FaGear } from "react-icons/fa6"
-import Panel, { PanelPropsImpl } from "@/components/Panel"
 import SelectButton from "@/components/SelectButton"
 import TransformGizmos from "@/ui/components/TransformGizmos"
 import World from "@/systems/World"
 import Slider from "@/ui/components/Slider"
 import Jolt from "@barclah/jolt-physics"
-import Label from "@/ui/components/Label"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
-import Button from "@/ui/components/Button"
 import MirabufSceneObject, { RigidNodeAssociate } from "@/mirabuf/MirabufSceneObject"
-import { MiraType } from "@/mirabuf/MirabufLoader"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
 import {
     Array_ThreeMatrix4,
@@ -21,6 +16,8 @@ import {
 } from "@/util/TypeConversions"
 import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
 import { useTheme } from "@/ui/ThemeContext"
+import React from "react"
+import { ConfigurationSavedEvent } from "./ConfigureAssembliesPanel"
 
 // slider constants
 const MIN_ZONE_SIZE = 0.1
@@ -76,25 +73,34 @@ function save(zoneSize: number, gizmo: TransformGizmos, selectedRobot: MirabufSc
     PreferencesSystem.savePreferences()
 }
 
-const ConfigureGamepiecePickupPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
+interface ConfigPickupProps {
+    selectedRobot: MirabufSceneObject
+}
+
+const ConfigureGamepiecePickupInterface: React.FC<ConfigPickupProps> = ({ selectedRobot }) => {
     const { currentTheme, themes } = useTheme()
     const theme = useMemo(() => {
         return themes[currentTheme]
     }, [currentTheme, themes])
 
-    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
     const [selectedNode, setSelectedNode] = useState<RigidNodeId | undefined>(undefined)
     const [zoneSize, setZoneSize] = useState<number>((MIN_ZONE_SIZE + MAX_ZONE_SIZE) / 2.0)
     const [transformGizmo, setTransformGizmo] = useState<TransformGizmos | undefined>(undefined)
-    const robots = useMemo(() => {
-        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
-            if (x instanceof MirabufSceneObject) {
-                return x.miraType === MiraType.ROBOT
-            }
-            return false
-        }) as MirabufSceneObject[]
-        return assemblies
-    }, [])
+
+    const saveEvent = useCallback(() => {
+        if (transformGizmo && selectedRobot) {
+            save(zoneSize, transformGizmo, selectedRobot, selectedNode)
+            selectedRobot.UpdateIntakeSensor()
+        }
+    }, [transformGizmo, selectedRobot, selectedNode, zoneSize])
+
+    useEffect(() => {
+        ConfigurationSavedEvent.Listen(saveEvent)
+
+        return () => {
+            ConfigurationSavedEvent.RemoveListener(saveEvent)
+        }
+    }, [saveEvent])
 
     useEffect(() => {
         if (!transformGizmo) {
@@ -142,6 +148,7 @@ const ConfigureGamepiecePickupPanel: React.FC<PanelPropsImpl> = ({ panelId, open
         setTransformGizmo(gizmo)
 
         return () => {
+            console.log("remove gizmos")
             gizmo.RemoveGizmos()
             setTransformGizmo(undefined)
         }
@@ -182,82 +189,45 @@ const ConfigureGamepiecePickupPanel: React.FC<PanelPropsImpl> = ({ panelId, open
     )
 
     return (
-        <Panel
-            name="Configure Pickup"
-            icon={<FaGear />}
-            panelId={panelId}
-            openLocation={openLocation}
-            sidePadding={sidePadding}
-            onAccept={() => {
-                if (transformGizmo && selectedRobot) {
-                    save(zoneSize, transformGizmo, selectedRobot, selectedNode)
-                    selectedRobot.UpdateIntakeSensor()
-                }
-            }}
-            onCancel={() => {}}
-            acceptEnabled={selectedRobot?.ejectorPreferences != undefined}
-        >
-            {selectedRobot?.ejectorPreferences == undefined ? (
-                <>
-                    <Label>Select a robot</Label>
-                    {/** Scroll view for selecting a robot to configure */}
-                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
-                        {robots.map(mirabufSceneObject => {
-                            return (
-                                <Button
-                                    value={mirabufSceneObject.assemblyName}
-                                    onClick={() => {
-                                        setSelectedRobot(mirabufSceneObject)
-                                    }}
-                                    key={mirabufSceneObject.id}
-                                ></Button>
-                            )
-                        })}
-                    </div>
-                    {/* TODO: remove the accept button on this version */}
-                </>
-            ) : (
-                <>
-                    {/* Button for user to select the parent node */}
-                    <SelectButton
-                        placeholder="Select parent node"
-                        value={selectedNode}
-                        onSelect={(body: Jolt.Body) => trySetSelectedNode(body.GetID())}
-                    />
-
-                    {/* Slider for user to set velocity of ejector configuration */}
-                    <Slider
-                        min={MIN_ZONE_SIZE}
-                        max={MAX_ZONE_SIZE}
-                        value={zoneSize}
-                        label="Size"
-                        format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
-                        onChange={(_, vel: number | number[]) => {
-                            setZoneSize(vel as number)
-                        }}
-                        step={0.01}
-                    />
-                    <LabeledButton
-                        placement={LabelPlacement.Left}
-                        label="Reset"
-                        value="Reset"
-                        buttonClassName="w-min"
-                        onClick={() => {
-                            if (transformGizmo) {
-                                const robotTransformation = JoltMat44_ThreeMatrix4(
-                                    World.PhysicsSystem.GetBody(selectedRobot.GetRootNodeId()!).GetWorldTransform()
-                                )
-                                transformGizmo.mesh.position.setFromMatrixPosition(robotTransformation)
-                                transformGizmo.mesh.rotation.setFromRotationMatrix(robotTransformation)
-                            }
-                            setZoneSize((MIN_ZONE_SIZE + MAX_ZONE_SIZE) / 2.0)
-                            setSelectedNode(selectedRobot?.rootNodeId)
-                        }}
-                    />
-                </>
-            )}
-        </Panel>
+        <>
+            {/* Button for user to select the parent node */}
+            <SelectButton
+                placeholder="Select parent node"
+                value={selectedNode}
+                onSelect={(body: Jolt.Body) => trySetSelectedNode(body.GetID())}
+            />
+
+            {/* Slider for user to set velocity of ejector configuration */}
+            <Slider
+                min={MIN_ZONE_SIZE}
+                max={MAX_ZONE_SIZE}
+                value={zoneSize}
+                label="Size"
+                format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
+                onChange={(_, vel: number | number[]) => {
+                    setZoneSize(vel as number)
+                }}
+                step={0.01}
+            />
+            <LabeledButton
+                placement={LabelPlacement.Left}
+                label="Reset"
+                value="Reset"
+                buttonClassName="w-min"
+                onClick={() => {
+                    if (transformGizmo) {
+                        const robotTransformation = JoltMat44_ThreeMatrix4(
+                            World.PhysicsSystem.GetBody(selectedRobot.GetRootNodeId()!).GetWorldTransform()
+                        )
+                        transformGizmo.mesh.position.setFromMatrixPosition(robotTransformation)
+                        transformGizmo.mesh.rotation.setFromRotationMatrix(robotTransformation)
+                    }
+                    setZoneSize((MIN_ZONE_SIZE + MAX_ZONE_SIZE) / 2.0)
+                    setSelectedNode(selectedRobot?.rootNodeId)
+                }}
+            />
+        </>
     )
 }
 
-export default ConfigureGamepiecePickupPanel
+export default ConfigureGamepiecePickupInterface
diff --git a/fission/src/ui/panels/configuring/ConfigureShotTrajectoryPanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigureShotTrajectoryInterface.tsx
similarity index 57%
rename from fission/src/ui/panels/configuring/ConfigureShotTrajectoryPanel.tsx
rename to fission/src/ui/panels/configuring/assembly-config/ConfigureShotTrajectoryInterface.tsx
index 6f8d2cd046..29ff7ad713 100644
--- a/fission/src/ui/panels/configuring/ConfigureShotTrajectoryPanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigureShotTrajectoryInterface.tsx
@@ -1,17 +1,12 @@
 import * as THREE from "three"
 import { useCallback, useEffect, useMemo, useState } from "react"
-import { FaGear } from "react-icons/fa6"
-import Panel, { PanelPropsImpl } from "@/components/Panel"
 import SelectButton from "@/components/SelectButton"
 import TransformGizmos from "@/ui/components/TransformGizmos"
 import Slider from "@/ui/components/Slider"
 import Jolt from "@barclah/jolt-physics"
-import Label from "@/ui/components/Label"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
-import Button from "@/ui/components/Button"
 import MirabufSceneObject, { RigidNodeAssociate } from "@/mirabuf/MirabufSceneObject"
 import World from "@/systems/World"
-import { MiraType } from "@/mirabuf/MirabufLoader"
 import {
     Array_ThreeMatrix4,
     JoltMat44_ThreeMatrix4,
@@ -21,6 +16,7 @@ import {
 import { useTheme } from "@/ui/ThemeContext"
 import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
+import { ConfigurationSavedEvent } from "./ConfigureAssembliesPanel"
 
 // slider constants
 const MIN_VELOCITY = 0.0
@@ -77,25 +73,36 @@ function save(
     PreferencesSystem.savePreferences()
 }
 
-const ConfigureShotTrajectoryPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
+interface ConfigEjectorProps {
+    selectedRobot: MirabufSceneObject
+}
+
+const ConfigureShotTrajectoryInterface: React.FC<ConfigEjectorProps> = ({ selectedRobot }) => {
     const { currentTheme, themes } = useTheme()
     const theme = useMemo(() => {
         return themes[currentTheme]
     }, [currentTheme, themes])
 
-    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
     const [selectedNode, setSelectedNode] = useState<RigidNodeId | undefined>(undefined)
     const [ejectorVelocity, setEjectorVelocity] = useState<number>((MIN_VELOCITY + MAX_VELOCITY) / 2.0)
     const [transformGizmo, setTransformGizmo] = useState<TransformGizmos | undefined>(undefined)
-    const robots = useMemo(() => {
-        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
-            if (x instanceof MirabufSceneObject) {
-                return x.miraType === MiraType.ROBOT
-            }
-            return false
-        }) as MirabufSceneObject[]
-        return assemblies
-    }, [])
+
+    const saveEvent = useCallback(() => {
+        if (transformGizmo && selectedRobot) {
+            save(ejectorVelocity, transformGizmo, selectedRobot, selectedNode)
+            const currentGp = selectedRobot.activeEjectable
+            selectedRobot.SetEjectable(undefined, true)
+            selectedRobot.SetEjectable(currentGp)
+        }
+    }, [transformGizmo, selectedRobot, selectedNode, ejectorVelocity])
+
+    useEffect(() => {
+        ConfigurationSavedEvent.Listen(saveEvent)
+
+        return () => {
+            ConfigurationSavedEvent.RemoveListener(saveEvent)
+        }
+    }, [saveEvent])
 
     // Not sure I like this, but made it a state and effect rather than a memo to add the cleanup to the end
     useEffect(() => {
@@ -176,84 +183,45 @@ const ConfigureShotTrajectoryPanel: React.FC<PanelPropsImpl> = ({ panelId, openL
     )
 
     return (
-        <Panel
-            name="Configure Ejector"
-            icon={<FaGear />}
-            panelId={panelId}
-            openLocation={openLocation}
-            sidePadding={sidePadding}
-            onAccept={() => {
-                if (transformGizmo && selectedRobot) {
-                    save(ejectorVelocity, transformGizmo, selectedRobot, selectedNode)
-                    const currentGp = selectedRobot.activeEjectable
-                    selectedRobot.SetEjectable(undefined, true)
-                    selectedRobot.SetEjectable(currentGp)
-                }
-            }}
-            onCancel={() => {}}
-            acceptEnabled={selectedRobot?.ejectorPreferences != undefined}
-        >
-            {selectedRobot?.ejectorPreferences == undefined ? (
-                <>
-                    <Label>Select a robot</Label>
-                    {/** Scroll view for selecting a robot to configure */}
-                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
-                        {robots.map(mirabufSceneObject => {
-                            return (
-                                <Button
-                                    value={mirabufSceneObject.assemblyName}
-                                    onClick={() => {
-                                        setSelectedRobot(mirabufSceneObject)
-                                    }}
-                                    key={mirabufSceneObject.id}
-                                ></Button>
-                            )
-                        })}
-                    </div>
-                    {/* TODO: remove the accept button on this version */}
-                </>
-            ) : (
-                <>
-                    {/* Button for user to select the parent node */}
-                    <SelectButton
-                        placeholder="Select parent node"
-                        value={selectedNode}
-                        onSelect={(body: Jolt.Body) => trySetSelectedNode(body.GetID())}
-                    />
-
-                    {/* Slider for user to set velocity of ejector configuration */}
-                    <Slider
-                        min={MIN_VELOCITY}
-                        max={MAX_VELOCITY}
-                        value={ejectorVelocity}
-                        label="Velocity"
-                        format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
-                        onChange={(_, vel: number | number[]) => {
-                            setEjectorVelocity(vel as number)
-                        }}
-                        step={0.01}
-                    />
-                    <LabeledButton
-                        placement={LabelPlacement.Left}
-                        label="Reset"
-                        value="Reset"
-                        buttonClassName="w-min"
-                        onClick={() => {
-                            if (transformGizmo) {
-                                const robotTransformation = JoltMat44_ThreeMatrix4(
-                                    World.PhysicsSystem.GetBody(selectedRobot.GetRootNodeId()!).GetWorldTransform()
-                                )
-                                transformGizmo.mesh.position.setFromMatrixPosition(robotTransformation)
-                                transformGizmo.mesh.rotation.setFromRotationMatrix(robotTransformation)
-                            }
-                            setEjectorVelocity((MIN_VELOCITY + MAX_VELOCITY) / 2.0)
-                            setSelectedNode(selectedRobot?.rootNodeId)
-                        }}
-                    />
-                </>
-            )}
-        </Panel>
+        <>
+            {/* Button for user to select the parent node */}
+            <SelectButton
+                placeholder="Select parent node"
+                value={selectedNode}
+                onSelect={(body: Jolt.Body) => trySetSelectedNode(body.GetID())}
+            />
+
+            {/* Slider for user to set velocity of ejector configuration */}
+            <Slider
+                min={MIN_VELOCITY}
+                max={MAX_VELOCITY}
+                value={ejectorVelocity}
+                label="Velocity"
+                format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
+                onChange={(_, vel: number | number[]) => {
+                    setEjectorVelocity(vel as number)
+                }}
+                step={0.01}
+            />
+            <LabeledButton
+                placement={LabelPlacement.Left}
+                label="Reset"
+                value="Reset"
+                buttonClassName="w-min"
+                onClick={() => {
+                    if (transformGizmo) {
+                        const robotTransformation = JoltMat44_ThreeMatrix4(
+                            World.PhysicsSystem.GetBody(selectedRobot.GetRootNodeId()!).GetWorldTransform()
+                        )
+                        transformGizmo.mesh.position.setFromMatrixPosition(robotTransformation)
+                        transformGizmo.mesh.rotation.setFromRotationMatrix(robotTransformation)
+                    }
+                    setEjectorVelocity((MIN_VELOCITY + MAX_VELOCITY) / 2.0)
+                    setSelectedNode(selectedRobot?.rootNodeId)
+                }}
+            />
+        </>
     )
 }
 
-export default ConfigureShotTrajectoryPanel
+export default ConfigureShotTrajectoryInterface

From 18bbff40bd26d9f09d05c73f8f7c51937137398b Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Tue, 30 Jul 2024 17:36:40 -0700
Subject: [PATCH 095/344] Initial setup of exporter MacOS installer

Co-authored-by: PepperLola <PepperLola@users.noreply.github.com>
---
 .gitignore                                    |   1 +
 installer/Linux/.gitignore                    |   6 -
 installer/Linux/README.md                     |  58 ---
 installer/Linux/Synthesis.AppDir/.DirIcon     |   1 -
 installer/Linux/Synthesis.AppDir/AppRun       |  89 -----
 .../Linux/Synthesis.AppDir/synthesis.desktop  |   6 -
 .../Linux/Synthesis.AppDir/synthesis.png      | Bin 42175 -> 0 bytes
 installer/Linux/package.sh                    |  96 -----
 installer/OSX-DMG/.gitignore                  |   9 -
 installer/OSX-DMG/README.md                   |  25 --
 .../SynthesisMacInstallerBackground.png       | Bin 5014 -> 0 bytes
 .../OSX-DMG/exporter-install-instructions.md  |  12 -
 installer/OSX-DMG/license.txt                 | 188 ----------
 installer/OSX-DMG/make-installer.sh           |  22 --
 installer/OSX/.gitignore                      |  12 -
 installer/OSX/App/payload/Contents/Info.plist |  39 --
 installer/OSX/App/payload/Contents/README.md  |   1 -
 installer/OSX/App/scripts/postinstall         |   7 -
 installer/OSX/App/scripts/preinstall          |   2 -
 .../OSX/Assets/payload/Contents/Info.plist    |  39 --
 .../payload/Contents/Synthesis/README.md      |   1 -
 installer/OSX/Assets/scripts/postinstall      |   5 -
 installer/OSX/Assets/scripts/preinstall       |   2 -
 .../OSX/Exporter/payload/Contents/Info.plist  |  39 --
 .../SynthesisInventorGltfExporter/README.md   |   1 -
 installer/OSX/Exporter/scripts/postinstall    |   4 -
 installer/OSX/Exporter/scripts/preinstall     |   3 -
 installer/OSX/Installer/Distribution.xml      |  28 --
 .../OSX/Installer/Resources/conclusion.html   |  27 --
 .../OSX/Installer/Resources/license.html      | 206 -----------
 .../OSX/Installer/Resources/welcome.html      |  12 -
 installer/OSX/README.md                       |  36 --
 installer/OSX/Resources/LICENSE.txt           |   1 +
 installer/OSX/build.sh                        |   8 +
 installer/OSX/distribution.xml                |  15 +
 installer/OSX/pkginstall                      |  12 -
 installer/Windows/.gitignore                  |  11 -
 installer/Windows/.gitkeep                    |   0
 installer/Windows/MainInstaller.nsi           | 332 ------------------
 installer/Windows/README.md                   |  23 --
 installer/Windows/W21_SYN_sidebar.bmp         | Bin 152310 -> 0 bytes
 installer/Windows/orange-install-nsis.ico     | Bin 25214 -> 0 bytes
 installer/Windows/orange-r.bmp                | Bin 9744 -> 0 bytes
 installer/Windows/synthesis-logo-64x64.ico    | Bin 184765 -> 0 bytes
 installer/exporter/.gitignore                 |   2 -
 installer/exporter/README.md                  |  14 -
 installer/exporter/create.sh                  |  11 -
 installer/exporter/install.bat                |  10 -
 installer/exporter/install.sh                 |  10 -
 installer/exporter/setup.bat                  |   9 -
 50 files changed, 25 insertions(+), 1410 deletions(-)
 delete mode 100644 installer/Linux/.gitignore
 delete mode 100644 installer/Linux/README.md
 delete mode 120000 installer/Linux/Synthesis.AppDir/.DirIcon
 delete mode 100755 installer/Linux/Synthesis.AppDir/AppRun
 delete mode 100755 installer/Linux/Synthesis.AppDir/synthesis.desktop
 delete mode 100644 installer/Linux/Synthesis.AppDir/synthesis.png
 delete mode 100755 installer/Linux/package.sh
 delete mode 100644 installer/OSX-DMG/.gitignore
 delete mode 100644 installer/OSX-DMG/README.md
 delete mode 100644 installer/OSX-DMG/SynthesisMacInstallerBackground.png
 delete mode 100644 installer/OSX-DMG/exporter-install-instructions.md
 delete mode 100755 installer/OSX-DMG/license.txt
 delete mode 100755 installer/OSX-DMG/make-installer.sh
 delete mode 100644 installer/OSX/.gitignore
 delete mode 100755 installer/OSX/App/payload/Contents/Info.plist
 delete mode 100644 installer/OSX/App/payload/Contents/README.md
 delete mode 100755 installer/OSX/App/scripts/postinstall
 delete mode 100755 installer/OSX/App/scripts/preinstall
 delete mode 100755 installer/OSX/Assets/payload/Contents/Info.plist
 delete mode 100644 installer/OSX/Assets/payload/Contents/Synthesis/README.md
 delete mode 100755 installer/OSX/Assets/scripts/postinstall
 delete mode 100755 installer/OSX/Assets/scripts/preinstall
 delete mode 100755 installer/OSX/Exporter/payload/Contents/Info.plist
 delete mode 100644 installer/OSX/Exporter/payload/Contents/SynthesisInventorGltfExporter/README.md
 delete mode 100755 installer/OSX/Exporter/scripts/postinstall
 delete mode 100755 installer/OSX/Exporter/scripts/preinstall
 delete mode 100755 installer/OSX/Installer/Distribution.xml
 delete mode 100755 installer/OSX/Installer/Resources/conclusion.html
 delete mode 100755 installer/OSX/Installer/Resources/license.html
 delete mode 100755 installer/OSX/Installer/Resources/welcome.html
 delete mode 100644 installer/OSX/README.md
 create mode 100644 installer/OSX/Resources/LICENSE.txt
 create mode 100755 installer/OSX/build.sh
 create mode 100644 installer/OSX/distribution.xml
 delete mode 100644 installer/OSX/pkginstall
 delete mode 100644 installer/Windows/.gitignore
 create mode 100644 installer/Windows/.gitkeep
 delete mode 100644 installer/Windows/MainInstaller.nsi
 delete mode 100644 installer/Windows/README.md
 delete mode 100644 installer/Windows/W21_SYN_sidebar.bmp
 delete mode 100644 installer/Windows/orange-install-nsis.ico
 delete mode 100644 installer/Windows/orange-r.bmp
 delete mode 100644 installer/Windows/synthesis-logo-64x64.ico
 delete mode 100644 installer/exporter/.gitignore
 delete mode 100644 installer/exporter/README.md
 delete mode 100755 installer/exporter/create.sh
 delete mode 100644 installer/exporter/install.bat
 delete mode 100755 installer/exporter/install.sh
 delete mode 100644 installer/exporter/setup.bat

diff --git a/.gitignore b/.gitignore
index a7ea447430..5057e53d24 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,3 +3,4 @@
 /build/
 *.log
 .DS_Store
+*.pkg
diff --git a/installer/Linux/.gitignore b/installer/Linux/.gitignore
deleted file mode 100644
index 2bdd6e8d6c..0000000000
--- a/installer/Linux/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-Synthesis.AppDir/usr/bin/*
-Synthesis.AppDir/fields/*
-Synthesis.AppDir/robots/*
-
-*.md5
-*.AppImage
diff --git a/installer/Linux/README.md b/installer/Linux/README.md
deleted file mode 100644
index 46e539d52a..0000000000
--- a/installer/Linux/README.md
+++ /dev/null
@@ -1,58 +0,0 @@
-# `>_` Synthesis App Image
-
-For running Synthesis we have decided to package our application as an AppImage. It allows Synthesis to be packaged as a single .AppImage file. This also allows for users to run Synthesis without needing a specific distribution.
-
-### Initial Setup ###
-It is recommended that you update the packages on your system. For arch users, run `pacman -Syu` as root. Debian users can run `apt update && apt upgrade` as root.
-
-### Dependencies ###
-Certain dependencies are necessary in order to package Synthesis as an AppImage.
-
-##### FUSE #####
-For Arch, you may need to run: `pacman -S fuse` as root. For Debian, run: `apt install fuse` as root.
-If you are still encountering issues, refer to this page: https://docs.appimage.org/user-guide/troubleshooting/fuse.html#ref-install-fuse
-
-##### appimagetool #####
-You will also end up needing appimagetool to actually create the AppImage file. However the `package.sh` script will prompt you and install it automatically. If you wish to install in manually, download the latest release from here: https://github.com/AppImage/AppImageKit/releases and make it executable. It should be called appimagetool-$ARCH.AppImage ($ARCH = whatever architecture you are using to package synthesis; most likely x86_64).
-
-### Initial Setup ###
-In order to acheive the proper package structure for proper extraction, you must first compile a Unity build as: `Synthesis.x86_64` and store it along with all other files and directories that came with it somewhere on your machine.
-
-Note: It is important that you do not modify or remove any of the files and folders that come built with the `Synthesis.x86_64` file.
-
-It is also strongly recommended that you have some fields and robots exported in the Mirabuf format.
-
-### Packaging ###
-The recommended way of creating the AppImage is by using the `package.sh` script. You may also opt to package Synthesis manually. There is some documentation for that process but it is recommended that you have a good understanding of what you are doing if you choose this option.
-
-To run the script, you will likely need to make it executable by running: `chmod +x package.sh` in your preferred terminal. You may also right click on `package.sh` in a file browser and select the option to make it executable.
-
-Now run the script and specify input directories for the version of synthesis you compiled as well as fields and robots: `./init.sh -f /path/to/fields/ -r /path/to/robots/ -b /path/to/synthesis/`
-
-Note: While it is not strictly necessary to include fields and robots, it is strongly recommended to include at least one of each
-
-If it is not already installed, the script will ask to install appimagetool. We recommended answering yes as it will install appimagetool.AppImage to the `~/Applications/` directory and is necessary for creating AppImage files.
-
-### Installing appimagetool ###
-appimagetool is the name of the program that is used to create AppImages. You can download and install appimagetool through the official website https://appimage.github.io/appimagetool/ or get it through your distribution's package manager.
-
-Note: appimagetool is usually packaged under AppImageKit rather than as a standalone application.
-
-### Manual Packaging ###
-
-##### File locations #####
-Certain files must be moved to the correct locations. First you should move any robot files to `Synthesis.AppDir/robots` (create it if it doesn't exist). Do the same for field files but put them in `Synthesis.AppDir/fields` (create it if it doesn't exist). Finally, move all files and directories in your Synthesis build directory into `Synthesis.AppDir/usr/bin/` (once again, create it if it doesn't exist).
-
-##### Creating The AppImage #####
-Finally you can create your AppImage! Make sure you have all dependencies installed and run: `ARCH=x86_64 appimagetool Synthesis.AppDir` which will create the Synthesis AppImage.
-
-Note: Run this instead if you installed appimagetool locally: `ARCH=x86_64 /path/to/appimagetool Synthesis.AppDir`
-
-### Final Note ###
-When the end user is downloading the AppImage file, it is strongly recommended to have them put it in the `~/Applications/` directory. This allows it to be found by appimaged as well as itself when running uninstall. It is also recommended to allow them to download the checksum.md5 file so that the file integrity can be verified using `md5sum -c checksum.md5` in the same directory as the AppImage and md5 files.
-
-### Troubleshooting ###
-Refer to the AppImage troubleshooting page first if you are having issues: https://docs.appimage.org/user-guide/troubleshooting/index.html
-The general documentation may be of use as well: https://docs.appimage.org/index.html
-If the issues persist, open a github issue with details about the problem.
-
diff --git a/installer/Linux/Synthesis.AppDir/.DirIcon b/installer/Linux/Synthesis.AppDir/.DirIcon
deleted file mode 120000
index 8c7bb9a13f..0000000000
--- a/installer/Linux/Synthesis.AppDir/.DirIcon
+++ /dev/null
@@ -1 +0,0 @@
-synthesis.png
\ No newline at end of file
diff --git a/installer/Linux/Synthesis.AppDir/AppRun b/installer/Linux/Synthesis.AppDir/AppRun
deleted file mode 100755
index da2da947f5..0000000000
--- a/installer/Linux/Synthesis.AppDir/AppRun
+++ /dev/null
@@ -1,89 +0,0 @@
-#!/bin/sh
-
-show_help() {
-	echo "-h	display help message"
-	echo "-u	run uninstall script"
-}
-
-install_appimaged() {
-	mkdir -p ~/Applications
-	wget -c https://github.com/$(wget -q https://github.com/probonopd/go-appimage/releases -O - | grep "appimaged-.*-x86_64.AppImage" | head -n 1 | cut -d '"' -f 2) -P ~/Applications/
-	chmod +x ~/Applications/appimaged-*.AppImage
-	
-	# Launch
-	~/Applications/appimaged-*.AppImage &
-}
-
-uninstall_synthesis() {
-	rm -R ~/.config/Autodesk/Synthesis/
-	if [ -e ~/Applications/Synthesis*.AppImage ]
-	then 
-		rm ~/Applications/Synthesis*.AppImage
-	fi 
-	if [ -e ~/Applications/appimaged-*.AppImage ]
-	then
-		while true; do
-			read -p "Do You wish to try and uninstall appimaged? (recommended) (y/n): " yn
-			case $yn in
-				[Yy]* ) 
-					rm ~/Applications/appimaged-*.AppImage
-					break
-					;;
-				[Nn]* )
-					break
-					;;
-				* ) 
-					echo "Please answer yes or no."
-					;;
-			esac
-		done
-	fi
-}
-
-run_synthesis() {
-	mkdir -p ~/.config/Autodesk/Synthesis/Mira/Fields
-	cp "$HERE/fields/"*.mira ~/.config/Autodesk/Synthesis/Mira/Fields
-	cp "$HERE/robots/"*.mira ~/.config/Autodesk/Synthesis/Mira/
-
-	if [ ! -e ~/Applications/appimaged-*.AppImage ] 
-	then
-		while true; do
-			read -p "Do You wish to install and start appimaged? (recommended) (y/n): " yn
-			case $yn in
-				[Yy]* ) 
-					install_appimaged;
-					break
-					;;
-				[Nn]* )
-					break
-					;;
-				* ) 
-					echo "Please answer yes or no."
-					;;
-			esac
-		done
-	fi
-
-	exec "$EXEC"
-}
-
-HERE="$(dirname "$(readlink -f "${0}")")"
-EXEC="$HERE/usr/bin/Synthesis.x86_64"
-
-OPTIND=1
-while getopts ":hu" opt; do
-	case "$opt" in
-		h|\?)
-			show_help
-			exit 0
-			;;
-		u)
-			uninstall_synthesis
-			exit 0
-			;;
-	esac
-done
-
-shift $((OPTIND-1))
-
-run_synthesis
diff --git a/installer/Linux/Synthesis.AppDir/synthesis.desktop b/installer/Linux/Synthesis.AppDir/synthesis.desktop
deleted file mode 100755
index 424ddebffb..0000000000
--- a/installer/Linux/Synthesis.AppDir/synthesis.desktop
+++ /dev/null
@@ -1,6 +0,0 @@
-[Desktop Entry]
-Name=Synthesis
-Exec=Synthesis.x86_64
-Icon=synthesis
-Type=Application
-Categories=Game
diff --git a/installer/Linux/Synthesis.AppDir/synthesis.png b/installer/Linux/Synthesis.AppDir/synthesis.png
deleted file mode 100644
index 35f6df073646ad75f8fa7dbe386068e65eaddbab..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/installer/Linux/package.sh b/installer/Linux/package.sh
deleted file mode 100755
index 8a584f90a1..0000000000
--- a/installer/Linux/package.sh
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/bin/sh
-
-# run before with path to a compiled build as well as robots and fields directory
-# also allow user to specify version
-
-show_help() {
-	echo "-h	display help message"
-	echo "-f	specify the input directory for fields"
-	echo "-r	specify the input directory for robots"
-	echo "-b	specify the build directory of synthesis"
-}
-
-install_appimagetool() {
-	mkdir -p ~/Applications/
-	wget -c https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-x86_64.AppImage -P ~/Applications/
-	chmod +x ~/Applications/appimagetool-x86_64.AppImage
-}
-
-create_appimage() {
-	~/Applications/appimagetool-x86_64.AppImage $APP_DIR
-	md5sum $INIT_DIR/Synthesis-x86_64.AppImage > $INIT_DIR/checksum.md5
-	md5sum -c $INIT_DIR/checksum.md5
-}
-
-OPTIND=1
-
-ARCH="x86_64"
-APP_NAME="Synthesis"
-INIT_DIR="$(dirname "$(readlink -f "${0}")")"
-APP_DIR="$INIT_DIR/$APP_NAME.AppDir"
-
-mkdir -p "$APP_DIR/usr/bin/"
-mkdir -p "$APP_DIR/fields"
-mkdir -p "$APP_DIR/robots"
-
-while getopts "h?f:r:b:" opt; do
-	case "$opt" in
-		h|\?)
-			show_help
-			exit 0
-			;;
-		f)
-			fields="$OPTARG"
-			;;
-		r)
-			robots="$OPTARG"
-			;;
-		b)
-			build="$OPTARG"
-			;;
-	esac
-done
-
-shift $((OPTIND-1))
-
-if [ ! -n "$build" ] ; then
-	echo "Specify synthesis build directory using \"-b\""
-	exit 1
-fi
-
-if [ -n "$fields" ] ; then
-	cp "$fields/"*.mira "$APP_DIR/fields/" 
-fi
-
-if [ -n "$robots" ] ; then
-	cp "$robots/"*.mira "$APP_DIR/robots/"
-fi
-
-cp -R "$build/"* "$APP_DIR/usr/bin" 
-chmod +x "$APP_DIR/AppRun"
-chmod +x "$APP_DIR/synthesis.desktop"
-chmod +x "$APP_DIR/usr/bin/Synthesis.x86_64"
-
-if [ ! -e ~/Applications/appimagetool-*.AppImage ] ; then
-	while true; do
-		read -p "Do you wish to install appimagetool (Needed for creating the AppImage file) (y/n): " yn
-		case $yn in
-			[Yy]* )
-				install_appimagetool
-				break
-				;;
-			[Nn]* )
-				break
-				;;
-			* )
-				echo "Please answer yes or no."
-				;;
-		esac
-	done
-fi
-
-if [ -e ~/Applications/appimagetool-x86_64.AppImage ] ; then
-	create_appimage
-else
-	echo "Install appimagetool before creating AppImage"
-fi
diff --git a/installer/OSX-DMG/.gitignore b/installer/OSX-DMG/.gitignore
deleted file mode 100644
index 5ddb15821b..0000000000
--- a/installer/OSX-DMG/.gitignore
+++ /dev/null
@@ -1,9 +0,0 @@
-source_folder/Synthesis.app/
-exporter_source_folder/
-Synthesis-Installer.dmg
-create-dmg/
-addins-folder-link
-
-exporter-install-instructions.pdf
-
-*.dmg
diff --git a/installer/OSX-DMG/README.md b/installer/OSX-DMG/README.md
deleted file mode 100644
index 18cd11dd1c..0000000000
--- a/installer/OSX-DMG/README.md
+++ /dev/null
@@ -1,25 +0,0 @@
-# Synthesis OSX Installer (DMG Version)
-
-## Setup
-1. Install `create-dmg`:
-```
-$ git clone git@github.com:create-dmg/create-dmg.git
-```
-
-2. Copy the signed Synthesis app into source_folder:
-```
-$ cp -r [Location of app] ./source_folder/Synthesis.app
-```
-
-2. Compile the `exporter-install-instructions.md` into a PDF. I recommend using the Yzane extension in VSCode. 
-
-## Create Disk Image
-Run the `make-installer.sh` shell script:
-```
-$ ./make-installer.sh
-```
-
-Disk Image will be created at `/installer/OSX-DMG/Synthesis-Installer.dmg`
-
-## Notes
-Update `source_folder/license.html` as needed as well as settings for the `create-dmg` command inside of `make-installer.sh`. See [create-dmg repository](https://github.com/create-dmg/create-dmg) for configuration information.
\ No newline at end of file
diff --git a/installer/OSX-DMG/SynthesisMacInstallerBackground.png b/installer/OSX-DMG/SynthesisMacInstallerBackground.png
deleted file mode 100644
index 0d4d27e9a140ec497ca72b0a09c210c7b4f5f5a4..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/installer/OSX-DMG/exporter-install-instructions.md b/installer/OSX-DMG/exporter-install-instructions.md
deleted file mode 100644
index 2b99e16696..0000000000
--- a/installer/OSX-DMG/exporter-install-instructions.md
+++ /dev/null
@@ -1,12 +0,0 @@
-# MacOS Exporter Installation Instructions
-## Requirements
-- Fusion 360 installed on your system.
-
-## Copy the Files
-Move the `Exporter` folder, located in the installer pointing to this file, into the following directory:
-```
-~/Library/Application Support/Autodesk/Autodesk Fusion 360/API/AddIns/
-```
-
-## Usage
-Upon opening Fusion 360, the exporter should automatically run and be made available in the `UTILITIES` tab. If not, please open the add-ins panel and manually run it.
\ No newline at end of file
diff --git a/installer/OSX-DMG/license.txt b/installer/OSX-DMG/license.txt
deleted file mode 100755
index 4704a010d5..0000000000
--- a/installer/OSX-DMG/license.txt
+++ /dev/null
@@ -1,188 +0,0 @@
-TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
-
-1. Definitions.
-
-"License" shall mean the terms and conditions for use, reproduction,
-and distribution as defined by Sections 1 through 9 of this document.
-
-"Licensor" shall mean the copyright owner or entity authorized by
-the copyright owner that is granting the License.
-
-"Legal Entity" shall mean the union of the acting entity and all
-other entities that control, are controlled by, or are under common
-control with that entity. For the purposes of this definition,
-"control" means (i) the power, direct or indirect, to cause the
-direction or management of such entity, whether by contract or
-otherwise, or (ii) ownership of fifty percent (50%) or more of the
-outstanding shares, or (iii) beneficial ownership of such entity.
-
-"You" (or "Your") shall mean an individual or Legal Entity
-exercising permissions granted by this License.
-
-"Source" form shall mean the preferred form for making modifications,
-including but not limited to software source code, documentation
-source, and configuration files.
-
-"Object" form shall mean any form resulting from mechanical
-transformation or translation of a Source form, including but
-not limited to compiled object code, generated documentation,
-and conversions to other media types.
-
-"Work" shall mean the work of authorship, whether in Source or
-Object form, made available under the License, as indicated by a
-copyright notice that is included in or attached to the work
-(an example is provided in the Appendix below).
-
-"Derivative Works" shall mean any work, whether in Source or Object
-form, that is based on (or derived from) the Work and for which the
-editorial revisions, annotations, elaborations, or other modifications
-represent, as a whole, an original work of authorship. For the purposes
-of this License, Derivative Works shall not include works that remain
-separable from, or merely link (or bind by name) to the interfaces of,
-the Work and Derivative Works thereof.
-
-"Contribution" shall mean any work of authorship, including
-the original version of the Work and any modifications or additions
-to that Work or Derivative Works thereof, that is intentionally
-submitted to Licensor for inclusion in the Work by the copyright owner
-or by an individual or Legal Entity authorized to submit on behalf of
-the copyright owner. For the purposes of this definition, "submitted"
-means any form of electronic, verbal, or written communication sent
-to the Licensor or its representatives, including but not limited to
-communication on electronic mailing lists, source code control systems,
-and issue tracking systems that are managed by, or on behalf of, the
-Licensor for the purpose of discussing and improving the Work, but
-excluding communication that is conspicuously marked or otherwise
-designated in writing by the copyright owner as "Not a Contribution."
-
-"Contributor" shall mean Licensor and any individual or Legal Entity
-on behalf of whom a Contribution has been received by Licensor and
-subsequently incorporated within the Work.
-
-2. Grant of Copyright License. Subject to the terms and conditions of
-this License, each Contributor hereby grants to You a perpetual,
-worldwide, non-exclusive, no-charge, royalty-free, irrevocable
-copyright license to reproduce, prepare Derivative Works of,
-publicly display, publicly perform, sublicense, and distribute the
-Work and such Derivative Works in Source or Object form.
-
-3. Grant of Patent License. Subject to the terms and conditions of
-this License, each Contributor hereby grants to You a perpetual,
-worldwide, non-exclusive, no-charge, royalty-free, irrevocable
-(except as stated in this section) patent license to make, have made,
-use, offer to sell, sell, import, and otherwise transfer the Work,
-where such license applies only to those patent claims licensable
-by such Contributor that are necessarily infringed by their
-Contribution(s) alone or by combination of their Contribution(s)
-with the Work to which such Contribution(s) was submitted. If You
-institute patent litigation against any entity (including a
-cross-claim or counterclaim in a lawsuit) alleging that the Work
-or a Contribution incorporated within the Work constitutes direct
-or contributory patent infringement, then any patent licenses
-granted to You under this License for that Work shall terminate
-as of the date such litigation is filed.
-
-4. Redistribution. You may reproduce and distribute copies of the
-Work or Derivative Works thereof in any medium, with or without
-modifications, and in Source or Object form, provided that You
-meet the following conditions:
-
-(a) You must give any other recipients of the Work or
-Derivative Works a copy of this License; and
-
-(b) You must cause any modified files to carry prominent notices
-stating that You changed the files; and
-
-(c) You must retain, in the Source form of any Derivative Works
-that You distribute, all copyright, patent, trademark, and
-attribution notices from the Source form of the Work,
-excluding those notices that do not pertain to any part of
-the Derivative Works; and
-
-(d) If the Work includes a "NOTICE" text file as part of its
-distribution, then any Derivative Works that You distribute must
-include a readable copy of the attribution notices contained
-within such NOTICE file, excluding those notices that do not
-pertain to any part of the Derivative Works, in at least one
-of the following places: within a NOTICE text file distributed
-as part of the Derivative Works; within the Source form or
-documentation, if provided along with the Derivative Works; or,
-within a display generated by the Derivative Works, if and
-wherever such third-party notices normally appear. The contents
-of the NOTICE file are for informational purposes only and
-do not modify the License. You may add Your own attribution
-notices within Derivative Works that You distribute, alongside
-or as an addendum to the NOTICE text from the Work, provided
-that such additional attribution notices cannot be construed
-as modifying the License.
-
-You may add Your own copyright statement to Your modifications and
-may provide additional or different license terms and conditions
-for use, reproduction, or distribution of Your modifications, or
-for any such Derivative Works as a whole, provided Your use,
-reproduction, and distribution of the Work otherwise complies with
-the conditions stated in this License.
-
-5. Submission of Contributions. Unless You explicitly state otherwise,
-any Contribution intentionally submitted for inclusion in the Work
-by You to the Licensor shall be under the terms and conditions of
-this License, without any additional terms or conditions.
-Notwithstanding the above, nothing herein shall supersede or modify
-the terms of any separate license agreement you may have executed
-with Licensor regarding such Contributions.
-
-6. Trademarks. This License does not grant permission to use the trade
-names, trademarks, service marks, or product names of the Licensor,
-except as required for reasonable and customary use in describing the
-origin of the Work and reproducing the content of the NOTICE file.
-
-7. Disclaimer of Warranty. Unless required by applicable law or
-agreed to in writing, Licensor provides the Work (and each
-Contributor provides its Contributions) on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
-implied, including, without limitation, any warranties or conditions
-of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
-PARTICULAR PURPOSE. You are solely responsible for determining the
-appropriateness of using or redistributing the Work and assume any
-risks associated with Your exercise of permissions under this License.
-
-8. Limitation of Liability. In no event and under no legal theory,
-whether in tort (including negligence), contract, or otherwise,
-unless required by applicable law (such as deliberate and grossly
-negligent acts) or agreed to in writing, shall any Contributor be
-liable to You for damages, including any direct, indirect, special,
-incidental, or consequential damages of any character arising as a
-result of this License or out of the use or inability to use the
-Work (including but not limited to damages for loss of goodwill,
-work stoppage, computer failure or malfunction, or any and all
-other commercial damages or losses), even if such Contributor
-has been advised of the possibility of such damages.
-
-9. Accepting Warranty or Additional Liability. While redistributing
-the Work or Derivative Works thereof, You may choose to offer,
-and charge a fee for, acceptance of support, warranty, indemnity,
-or other liability obligations and/or rights consistent with this
-License. However, in accepting such obligations, You may act only
-on Your own behalf and on Your sole responsibility, not on behalf
-of any other Contributor, and only if You agree to indemnify,
-defend, and hold each Contributor harmless for any liability
-incurred by, or claims asserted against, such Contributor by reason
-of your accepting any such warranty or additional liability.
-
-END OF TERMS AND CONDITIONS
-
-APPENDIX: How to apply the Apache License to your work.
-
-Copyright 2021 Autodesk inc.
-
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-
-http://www.apache.org/licenses/LICENSE-2.0
-
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
diff --git a/installer/OSX-DMG/make-installer.sh b/installer/OSX-DMG/make-installer.sh
deleted file mode 100755
index e153bd8614..0000000000
--- a/installer/OSX-DMG/make-installer.sh
+++ /dev/null
@@ -1,22 +0,0 @@
-#!/bin/sh
-test -f Synthesis-Installer.dmg && rm Synthesis-Installer.dmg
-./create-dmg/create-dmg \
-  --volname "Synthesis Installer" \
-  --background "SynthesisMacInstallerBackground.png" \
-  --window-pos 200 120 \
-  --window-size 375 320 \
-  --text-size 12 \
-  --icon-size 60 \
-  --icon "Synthesis.app" 85 80 \
-  --add-file Instructions.pdf exporter-install-instructions.pdf 288 190 \
-  --add-file Exporter ../../exporter/SynthesisFusionAddin 85 190 \
-  --hide-extension "Synthesis.app" \
-  --app-drop-link 288 80 \
-  --eula "license.txt" \
-  --text-size 10 \
-  "Synthesis-Installer.dmg" \
-  "source_folder/"
-
-# --volicon "synthesis-icon.icns" \
-# --background "installer_background.png" \
-# --background "Synthesis-Background.png" \
diff --git a/installer/OSX/.gitignore b/installer/OSX/.gitignore
deleted file mode 100644
index 57068f9f27..0000000000
--- a/installer/OSX/.gitignore
+++ /dev/null
@@ -1,12 +0,0 @@
-target/
-application/*
-Autdoesk
-!application/.gitkeep
-!application/uninstall.sh
-!application/background.png
-!application/spec.json
-*.pkg
-dmg
-
-build
-build.zip
\ No newline at end of file
diff --git a/installer/OSX/App/payload/Contents/Info.plist b/installer/OSX/App/payload/Contents/Info.plist
deleted file mode 100755
index 734c2b7a8a..0000000000
--- a/installer/OSX/App/payload/Contents/Info.plist
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-  <dict>
-    <key>CFBundleDevelopmentRegion</key>
-    <string>English</string>
-    <key>CFBundleExecutable</key>
-    <string>Synthesis</string>
-    <key>CFBundleGetInfoString</key>
-    <string>Unity Player version 2019.4.0f1 (0af376155913). (c) 2020 Unity Technologies ApS. All rights reserved.</string>
-    <key>CFBundleIconFile</key>
-    <string>PlayerIcon.icns</string>
-    <key>CFBundleIdentifier</key>
-    <string>com.Autodesk.Synthesis</string>
-    <key>CFBundleInfoDictionaryVersion</key>
-    <string>6.0</string>
-    <key>CFBundleName</key>
-    <string>Synthesis</string>
-    <key>CFBundlePackageType</key>
-    <string>APPL</string>
-    <key>CFBundleShortVersionString</key>
-    <string>0.1</string>
-    <key>CFBundleSupportedPlatforms</key>
-    <array>
-      <string>MacOSX</string>
-    </array>
-    <key>CFBundleVersion</key>
-    <string>0</string>
-    <key>LSApplicationCategoryType</key>
-    <string>public.app-category.games</string>
-    <key>LSMinimumSystemVersion</key>
-    <string>10.9.0</string>
-    <key>NSAppTransportSecurity</key>
-    <dict>
-      <key>NSAllowsArbitraryLoads</key>
-      <true />
-    </dict>
-  </dict>
-</plist>
diff --git a/installer/OSX/App/payload/Contents/README.md b/installer/OSX/App/payload/Contents/README.md
deleted file mode 100644
index 3b82ea5db1..0000000000
--- a/installer/OSX/App/payload/Contents/README.md
+++ /dev/null
@@ -1 +0,0 @@
-## Synthesis.zip
diff --git a/installer/OSX/App/scripts/postinstall b/installer/OSX/App/scripts/postinstall
deleted file mode 100755
index 2c990d0d53..0000000000
--- a/installer/OSX/App/scripts/postinstall
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash
-mv $2/Contents/Synthesis.zip /Applications/
-rm -rf $2
-cd /Applications/
-unzip /Applications/Synthesis.zip
-rm -rf Synthesis.zip
-exit 0
diff --git a/installer/OSX/App/scripts/preinstall b/installer/OSX/App/scripts/preinstall
deleted file mode 100755
index 06bd986563..0000000000
--- a/installer/OSX/App/scripts/preinstall
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/bin/bash
-exit 0
diff --git a/installer/OSX/Assets/payload/Contents/Info.plist b/installer/OSX/Assets/payload/Contents/Info.plist
deleted file mode 100755
index 734c2b7a8a..0000000000
--- a/installer/OSX/Assets/payload/Contents/Info.plist
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-  <dict>
-    <key>CFBundleDevelopmentRegion</key>
-    <string>English</string>
-    <key>CFBundleExecutable</key>
-    <string>Synthesis</string>
-    <key>CFBundleGetInfoString</key>
-    <string>Unity Player version 2019.4.0f1 (0af376155913). (c) 2020 Unity Technologies ApS. All rights reserved.</string>
-    <key>CFBundleIconFile</key>
-    <string>PlayerIcon.icns</string>
-    <key>CFBundleIdentifier</key>
-    <string>com.Autodesk.Synthesis</string>
-    <key>CFBundleInfoDictionaryVersion</key>
-    <string>6.0</string>
-    <key>CFBundleName</key>
-    <string>Synthesis</string>
-    <key>CFBundlePackageType</key>
-    <string>APPL</string>
-    <key>CFBundleShortVersionString</key>
-    <string>0.1</string>
-    <key>CFBundleSupportedPlatforms</key>
-    <array>
-      <string>MacOSX</string>
-    </array>
-    <key>CFBundleVersion</key>
-    <string>0</string>
-    <key>LSApplicationCategoryType</key>
-    <string>public.app-category.games</string>
-    <key>LSMinimumSystemVersion</key>
-    <string>10.9.0</string>
-    <key>NSAppTransportSecurity</key>
-    <dict>
-      <key>NSAllowsArbitraryLoads</key>
-      <true />
-    </dict>
-  </dict>
-</plist>
diff --git a/installer/OSX/Assets/payload/Contents/Synthesis/README.md b/installer/OSX/Assets/payload/Contents/Synthesis/README.md
deleted file mode 100644
index 970708317f..0000000000
--- a/installer/OSX/Assets/payload/Contents/Synthesis/README.md
+++ /dev/null
@@ -1 +0,0 @@
-## Asset/Data Files
diff --git a/installer/OSX/Assets/scripts/postinstall b/installer/OSX/Assets/scripts/postinstall
deleted file mode 100755
index 421ba3de1c..0000000000
--- a/installer/OSX/Assets/scripts/postinstall
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-rm -rf ~/.config/Autodesk/Synthesis
-mv $2/Contents/Synthesis ~/.config/Autodesk/
-rm -rf $2
-exit 0
diff --git a/installer/OSX/Assets/scripts/preinstall b/installer/OSX/Assets/scripts/preinstall
deleted file mode 100755
index 06bd986563..0000000000
--- a/installer/OSX/Assets/scripts/preinstall
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/bin/bash
-exit 0
diff --git a/installer/OSX/Exporter/payload/Contents/Info.plist b/installer/OSX/Exporter/payload/Contents/Info.plist
deleted file mode 100755
index 734c2b7a8a..0000000000
--- a/installer/OSX/Exporter/payload/Contents/Info.plist
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-  <dict>
-    <key>CFBundleDevelopmentRegion</key>
-    <string>English</string>
-    <key>CFBundleExecutable</key>
-    <string>Synthesis</string>
-    <key>CFBundleGetInfoString</key>
-    <string>Unity Player version 2019.4.0f1 (0af376155913). (c) 2020 Unity Technologies ApS. All rights reserved.</string>
-    <key>CFBundleIconFile</key>
-    <string>PlayerIcon.icns</string>
-    <key>CFBundleIdentifier</key>
-    <string>com.Autodesk.Synthesis</string>
-    <key>CFBundleInfoDictionaryVersion</key>
-    <string>6.0</string>
-    <key>CFBundleName</key>
-    <string>Synthesis</string>
-    <key>CFBundlePackageType</key>
-    <string>APPL</string>
-    <key>CFBundleShortVersionString</key>
-    <string>0.1</string>
-    <key>CFBundleSupportedPlatforms</key>
-    <array>
-      <string>MacOSX</string>
-    </array>
-    <key>CFBundleVersion</key>
-    <string>0</string>
-    <key>LSApplicationCategoryType</key>
-    <string>public.app-category.games</string>
-    <key>LSMinimumSystemVersion</key>
-    <string>10.9.0</string>
-    <key>NSAppTransportSecurity</key>
-    <dict>
-      <key>NSAllowsArbitraryLoads</key>
-      <true />
-    </dict>
-  </dict>
-</plist>
diff --git a/installer/OSX/Exporter/payload/Contents/SynthesisInventorGltfExporter/README.md b/installer/OSX/Exporter/payload/Contents/SynthesisInventorGltfExporter/README.md
deleted file mode 100644
index 0ec8650013..0000000000
--- a/installer/OSX/Exporter/payload/Contents/SynthesisInventorGltfExporter/README.md
+++ /dev/null
@@ -1 +0,0 @@
-## Exporter Files
diff --git a/installer/OSX/Exporter/scripts/postinstall b/installer/OSX/Exporter/scripts/postinstall
deleted file mode 100755
index 4000f1e866..0000000000
--- a/installer/OSX/Exporter/scripts/postinstall
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash
-mv $2/Contents/SynthesisFusionAddin ~/Library/Application\ Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/
-rm -rf $2
-exit 0
diff --git a/installer/OSX/Exporter/scripts/preinstall b/installer/OSX/Exporter/scripts/preinstall
deleted file mode 100755
index 495e3edbba..0000000000
--- a/installer/OSX/Exporter/scripts/preinstall
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/bash
-mkdir -p ~/Library/Application Support/Autodesk/Autodesk Fusion 360/API/AddIns/
-exit 0
diff --git a/installer/OSX/Installer/Distribution.xml b/installer/OSX/Installer/Distribution.xml
deleted file mode 100755
index 4d54db2521..0000000000
--- a/installer/OSX/Installer/Distribution.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<installer-gui-script minSpecVersion="1">
-    <welcome file="welcome.html" mime-type="text/html" />
-    <license file="license.html" mime-type="text/html" />
-    <conclusion file="conclusion.html" mime-type="text/html" />
-    <pkg-ref id="org.autodesk.synthesis.app"/>
-    <pkg-ref id="org.autodesk.synthesis.assets"/>
-    <pkg-ref id="org.autodesk.synthesis.exporter"/>
-    <options customize="allow" require-scripts="false"/>
-    <choices-outline>
-        <line choice="org.autodesk.synthesis.app"/>
-        <line choice="org.autodesk.synthesis.assets"/>
-	<line choice="org.autodesk.synthesis.exporter"/>
-    </choices-outline>
-    <choice id="default"/>
-    <choice id="org.autodesk.synthesis.app" visible="true" title="Synthesis">
-        <pkg-ref id="org.autodesk.synthesis.app"/>
-    </choice>
-    <pkg-ref id="org.autodesk.synthesis.app" version="0" onConclusion="none">App.pkg</pkg-ref>
-    <choice id="org.autodesk.synthesis.assets" visible="true" title="Synthesis Assets">
-        <pkg-ref id="org.autodesk.synthesis.assets"/>
-    </choice>
-    <pkg-ref id="org.autodesk.synthesis.assets" version="0" onConclusion="none">Assets.pkg</pkg-ref>
-    <choice id="org.autodesk.synthesis.exporter" visible="true" title="Synthesis Exporter">
-	<pkg-ref id="org.autodesk.synthesis.exporter"/>
-    </choice>
-    <pkg-ref id="org.autodesk.synthesis.exporter" version="0" onConclusion="none">Exporter.pkg</pkg-ref>
-</installer-gui-script>
diff --git a/installer/OSX/Installer/Resources/conclusion.html b/installer/OSX/Installer/Resources/conclusion.html
deleted file mode 100755
index 9151c5f509..0000000000
--- a/installer/OSX/Installer/Resources/conclusion.html
+++ /dev/null
@@ -1,27 +0,0 @@
-
-<!DOCTYPE html>
-<html lang="en">
-    <head>
-        <meta charset="utf-8" />
-    </head>
-    <body>
-        <div style="font-family: Helvetica; padding-left: 10px;" align="left">
-            <h3>Synthesis: An Autodesk Technology | 5.0.0.0 ALPHA</h3>
-                <p style="color: #020202; font-size: 12px;">Thank you for installing Synthesis: An Autodesk Technology</p>
-        </div>
-        <div style="font-family: Helvetica; padding-left: 11px;" align="left">
-                <p style="color: #020202; font-size: 11px;">In order to improve this product and understand how it is used, we collect non-personal product usage information. This usage information may consist of custom events like Replay Mode, Driver Practice Mode, Tutorial Link Clicked, etc. This information is not used to identify or contact you. You can turn data collection off from the Control Panel within the simulator. By installing, you agree that you have read the terms of service agreement and data collection statement above.</p>
-        </div>
-        <div style="font-family: Helvetica; padding-left: 10px;" align="left">
-            <h4>Resources</h5>
-                <p style="color: #020202; font-size: 11px;">Go through the following link for additional information.</p>
-                <ul>
-                    <li><a href="http://synthesis.autodesk.com" style="font-size: 11px;">Website</a></li>
-                </ul>
-        </div>
-        <div style="font-family: Helvetica; padding-left: 10px;" align="left">
-            <br/>
-	    <p style="color: #abb0b0; font-size: 10px;">Copyright © 2021 Autodesk inc.</p>
-        </div>
-    </body>
-</html>
diff --git a/installer/OSX/Installer/Resources/license.html b/installer/OSX/Installer/Resources/license.html
deleted file mode 100755
index 6be72e4428..0000000000
--- a/installer/OSX/Installer/Resources/license.html
+++ /dev/null
@@ -1,206 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-    <head>
-        <meta charset="utf-8" />
-    </head>
-    <body>
-        <div style="font-family: Helvetica; padding-left: 10px;" align="left">
-            <p>
-            Apache License<br>
-            Version 2.0, January 2004<br>
-         http://www.apache.org/licenses/<br><br>
-
-TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION<br><br>
-
-1. Definitions.<br><br>
-
-"License" shall mean the terms and conditions for use, reproduction,
-and distribution as defined by Sections 1 through 9 of this document.
-<br><br><br>
-"Licensor" shall mean the copyright owner or entity authorized by
-the copyright owner that is granting the License.
-<br><br><br>
-"Legal Entity" shall mean the union of the acting entity and all
-other entities that control, are controlled by, or are under common
-control with that entity. For the purposes of this definition,
-"control" means (i) the power, direct or indirect, to cause the
-direction or management of such entity, whether by contract or
-otherwise, or (ii) ownership of fifty percent (50%) or more of the
-outstanding shares, or (iii) beneficial ownership of such entity.
-<br><br><br>
-"You" (or "Your") shall mean an individual or Legal Entity
-exercising permissions granted by this License.
-<br><br><br>
-"Source" form shall mean the preferred form for making modifications,
-including but not limited to software source code, documentation
-source, and configuration files.
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-"Object" form shall mean any form resulting from mechanical
-transformation or translation of a Source form, including but
-not limited to compiled object code, generated documentation,
-and conversions to other media types.
-<br><br><br>
-"Work" shall mean the work of authorship, whether in Source or
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-copyright notice that is included in or attached to the work
-(an example is provided in the Appendix below).
-<br><br><br>
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-form, that is based on (or derived from) the Work and for which the
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-"Contribution" shall mean any work of authorship, including
-the original version of the Work and any modifications or additions
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-and issue tracking systems that are managed by, or on behalf of, the
-Licensor for the purpose of discussing and improving the Work, but
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-"Contributor" shall mean Licensor and any individual or Legal Entity
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-institute patent litigation against any entity (including a
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-or a Contribution incorporated within the Work constitutes direct
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-granted to You under this License for that Work shall terminate
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-4. Redistribution. You may reproduce and distribute copies of the
-Work or Derivative Works thereof in any medium, with or without
-modifications, and in Source or Object form, provided that You
-meet the following conditions:
-<br><br><br>
-(a) You must give any other recipients of the Work or
-Derivative Works a copy of this License; and
-<br><br><br>
-(b) You must cause any modified files to carry prominent notices
-stating that You changed the files; and
-<br><br><br>
-(c) You must retain, in the Source form of any Derivative Works
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-(d) If the Work includes a "NOTICE" text file as part of its
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-pertain to any part of the Derivative Works, in at least one
-of the following places: within a NOTICE text file distributed
-as part of the Derivative Works; within the Source form or
-documentation, if provided along with the Derivative Works; or,
-within a display generated by the Derivative Works, if and
-wherever such third-party notices normally appear. The contents
-of the NOTICE file are for informational purposes only and
-do not modify the License. You may add Your own attribution
-notices within Derivative Works that You distribute, alongside
-or as an addendum to the NOTICE text from the Work, provided
-that such additional attribution notices cannot be construed
-as modifying the License.
-<br><br><br>
-You may add Your own copyright statement to Your modifications and
-may provide additional or different license terms and conditions
-for use, reproduction, or distribution of Your modifications, or
-for any such Derivative Works as a whole, provided Your use,
-reproduction, and distribution of the Work otherwise complies with
-the conditions stated in this License.
-<br><br><br>
-5. Submission of Contributions. Unless You explicitly state otherwise,
-any Contribution intentionally submitted for inclusion in the Work
-by You to the Licensor shall be under the terms and conditions of
-this License, without any additional terms or conditions.
-Notwithstanding the above, nothing herein shall supersede or modify
-the terms of any separate license agreement you may have executed
-with Licensor regarding such Contributions.
-<br><br><br>
-6. Trademarks. This License does not grant permission to use the trade
-names, trademarks, service marks, or product names of the Licensor,
-except as required for reasonable and customary use in describing the
-origin of the Work and reproducing the content of the NOTICE file.
-<br><br><br>
-7. Disclaimer of Warranty. Unless required by applicable law or
-agreed to in writing, Licensor provides the Work (and each
-Contributor provides its Contributions) on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
-implied, including, without limitation, any warranties or conditions
-of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
-PARTICULAR PURPOSE. You are solely responsible for determining the
-appropriateness of using or redistributing the Work and assume any
-risks associated with Your exercise of permissions under this License.
-<br><br><br>
-8. Limitation of Liability. In no event and under no legal theory,
-whether in tort (including negligence), contract, or otherwise,
-unless required by applicable law (such as deliberate and grossly
-negligent acts) or agreed to in writing, shall any Contributor be
-liable to You for damages, including any direct, indirect, special,
-incidental, or consequential damages of any character arising as a
-result of this License or out of the use or inability to use the
-Work (including but not limited to damages for loss of goodwill,
-work stoppage, computer failure or malfunction, or any and all
-other commercial damages or losses), even if such Contributor
-has been advised of the possibility of such damages.
-<br><br><br>
-9. Accepting Warranty or Additional Liability. While redistributing
-the Work or Derivative Works thereof, You may choose to offer,
-and charge a fee for, acceptance of support, warranty, indemnity,
-or other liability obligations and/or rights consistent with this
-License. However, in accepting such obligations, You may act only
-on Your own behalf and on Your sole responsibility, not on behalf
-of any other Contributor, and only if You agree to indemnify,
-defend, and hold each Contributor harmless for any liability
-incurred by, or claims asserted against, such Contributor by reason
-of your accepting any such warranty or additional liability.
-<br><br><br>
-END OF TERMS AND CONDITIONS
-<br><br><br>
-APPENDIX: How to apply the Apache License to your work.
-<br><br><br>
-Copyright 2021 Autodesk inc.
-<br><br><br>
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-<br><br><br>
-http://www.apache.org/licenses/LICENSE-2.0
-<br><br><br>
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
-<br><br><br>
-            </p>
-            <p style="color: #abb0b0; font-size: 12px;">Click <span style="color: #626666">“Continue"</span> to continue the setup</p>
-        </div>
-    </body>
-</html>
diff --git a/installer/OSX/Installer/Resources/welcome.html b/installer/OSX/Installer/Resources/welcome.html
deleted file mode 100755
index dcea4723b3..0000000000
--- a/installer/OSX/Installer/Resources/welcome.html
+++ /dev/null
@@ -1,12 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-<head>
-    <meta charset="utf-8" />
-</head>
-<body>
-    <div align="left" style="font-family: Helvetica; padding-left: 10px;">
-        <p style="color: #020202; font-size: 12px;">This will install <span style="color: #FF7F00; font-size: 12px;">Synthesis: An Autodesk Application 5.0.0.0 ALPHA</span> on your computer. You will be guided through the steps necessary to install this software.</p>
-        <p style="color: #abb0b0; font-size: 12px;">Click <span style="color: #626666">“Continue"</span> to continue the setup</p>
-    </div>
-</body>
-</html>
diff --git a/installer/OSX/README.md b/installer/OSX/README.md
deleted file mode 100644
index 846f17c8b2..0000000000
--- a/installer/OSX/README.md
+++ /dev/null
@@ -1,36 +0,0 @@
-# OSX packager
-
-## Build Steps :
-
-1. Get signed Synthesis.app
-
-2. Zip Synthesis.app
-
-3. Copy Synthesis.zip to file system ` cp [Synthesis.zip] [synthesis/installer/OSX/App/payload/Contents] `
-
-    - Remove the Synthesis.zip placeholder ` rm [synthesis/installer/OSX/App/payload/Contents/README.md] `
-
-3. Add data files to ` synthesis/installer/OSX/Assets/payload/Contents/Synthesis `
-
-    - Remove the data file placeholder ` rm [synthesis/installer/OSX/Assets/payload/Contents/Synthesis/README.md] `	
-
-4. Add unzipped exporter files to ` synthesis/installer/OSX/Exporter/payload/Contents/SynthesisFusionGltfExporter `
-  
-    - Remove the exporter file placeholder ` rm [synthesis/installer/OSX/Exporter/payload/Contents/SynthesisFusionGltfExporter/README.md] `	
-
-5. Change directories to the OSX installer directory ` cd [synthesis/installer/OSX] `
-
-6. Run the pkginstall script ` ./pkginstall `
-
-### Optional Build Steps
-
-Update the license, welcome and conclusion installer menus located in ` [synthesis/installer/OSX/Installer/Resources] `
-
-## Package
-
-Publish the newly created Synthesis.pkg
-
-## Important Note
-
-**Do not** rename or move files
-
diff --git a/installer/OSX/Resources/LICENSE.txt b/installer/OSX/Resources/LICENSE.txt
new file mode 100644
index 0000000000..b10760de2f
--- /dev/null
+++ b/installer/OSX/Resources/LICENSE.txt
@@ -0,0 +1 @@
+../../../LICENSE.txt
diff --git a/installer/OSX/build.sh b/installer/OSX/build.sh
new file mode 100755
index 0000000000..c6a2095a77
--- /dev/null
+++ b/installer/OSX/build.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+FUSION_ADDIN_LOCATION="Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/"
+EXPORTER_SOURCE_DIR=../../exporter/
+FUSION_ADDIN_LOCATION=~/Documents/
+
+pkgbuild --root $EXPORTER_SOURCE_DIR --identifier com.Autodesk.Synthesis --version 1.0 --scripts Scripts --install-location $FUSION_ADDIN_LOCATION MyApp.pkg
+productbuild --distribution distribution.xml --package-path . MyAppInstaller.pkg
diff --git a/installer/OSX/distribution.xml b/installer/OSX/distribution.xml
new file mode 100644
index 0000000000..534c1465b1
--- /dev/null
+++ b/installer/OSX/distribution.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<installer-gui-script minSpecVersion="1">
+  <title>Synthesis Exporter Installer</title>
+  <choices-outline>
+    <line choice="default">
+      <line choice="install"/>
+    </line>
+  </choices-outline>
+  <choice id="default"/>
+  <choice id="install" title="Install MyApp" description="Installs MyApp">
+    <pkg-ref id="com.Autodesk.Synthesis"/>
+  </choice>
+
+  <pkg-ref id="com.Autodesk.Synthesis" version="1.0" auth="root">#MyApp.pkg</pkg-ref>
+</installer-gui-script>
diff --git a/installer/OSX/pkginstall b/installer/OSX/pkginstall
deleted file mode 100644
index 359e862088..0000000000
--- a/installer/OSX/pkginstall
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash
-#Priviledges
-chmod -R 777 ./Assets/payload/Contents/Synthesis
-#Build app
-pkgbuild --install-location ~/.config/Autodesk/SynthesisAppInstall --root ./App/payload/ --scripts ./App/scripts/ --identifier org.autodesk.synthesis.app ./Installer/App.pkg
-#Build data files
-pkgbuild --install-location ~/.config/Autodesk/SynthesisAssetsInstall --root ./Assets/payload/ --scripts ./Assets/scripts/ --identifier org.autodesk.synthesis.assets ./Installer/Assets.pkg
-#Build exporter
-pkgbuild --install-location ~/.config/Autodesk/SynthesisExporterInstall --root ./Exporter/payload/ --scripts ./Exporter/scripts/ --identifier org.autodesk.synthesis.exporter ./Installer/Exporter.pkg
-#Build installer
-cd Installer
-productbuild --distribution Distribution.xml --resources Resources/ ../Synthesis.pkg
diff --git a/installer/Windows/.gitignore b/installer/Windows/.gitignore
deleted file mode 100644
index 65fac130c8..0000000000
--- a/installer/Windows/.gitignore
+++ /dev/null
@@ -1,11 +0,0 @@
-Robots/
-Fields/
-Exporter/
-Themes/
-MixAndMatch/
-Synthesis/
-
-Robots.zip
-Fields.zip
-Themes.zip
-MixAndMatch.zip
diff --git a/installer/Windows/.gitkeep b/installer/Windows/.gitkeep
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/installer/Windows/MainInstaller.nsi b/installer/Windows/MainInstaller.nsi
deleted file mode 100644
index 7cf07b658e..0000000000
--- a/installer/Windows/MainInstaller.nsi
+++ /dev/null
@@ -1,332 +0,0 @@
-!include MUI2.nsh
-!include x64.nsh
-!define PRODUCT_VERSION "6.0.0"
-
-Name "Synthesis"
-
-;Icon "W16_SYN_launch.ico"
-Icon "synthesis-logo-64x64.ico"
-
-Caption "Synthesis ${PRODUCT_VERSION} Setup"
-
-OutFile "SynthesisWin${PRODUCT_VERSION}.exe"
-
-InstallDir $PROGRAMFILES64\Autodesk\Synthesis
-
-InstallDirRegKey HKLM "Software\Synthesis" "Install_Dir"
-
-RequestExecutionLevel admin
-
-  Section
-  ${If} ${RunningX64}
-	goto install_stuff
-  ${Else}
-	MessageBox MB_OK "ERROR: This install requires a 64 bit system."
-	Quit
-  ${EndIf}
-    install_stuff:
-  SectionEnd
-
-;--------------------------------
-
-;Interface Settings
-  !define MUI_WELCOMEFINISHPAGE_BITMAP "W21_SYN_sidebar.bmp"
-  !define MUI_UNWELCOMEFINISHPAGE_BITMAP "W21_SYN_sidebar.bmp"
-  !define MUI_ICON "synthesis-logo-64x64.ico"
-  !define MUI_UNICON "synthesis-logo-64x64.ico"
-  !define MUI_HEADERIMAGE
-  !define MUI_HEADERIMAGE_BITMAP "orange-r.bmp"
-  !define MUI_HEADERIMAGE_RIGHT
-  !define MUI_ABORTWARNING
-  !define MUI_FINISHPAGE_TEXT 'Synthesis has been successfully installed on your system. $\r$\n $\r$\nIn order to improve this product and understand how it is used, we collect non-personal product usage information. This usage information may consist of custom events like Replay Mode, Driver Practice Mode, etc. $\r$\nThis information is not used to identify or contact you. $\r$\nYou can turn data collection off from the Control Panel within the simulator. $\r$\n $\r$\nBy clicking Finish, you agree that you have read the terms of service agreement and data collection statement above.'
-  !define MUI_FINISHPAGE_LINK "Synthesis Discord"
-  !define MUI_FINISHPAGE_LINK_LOCATION "https://www.discord.gg/hHcF9AVgZA"
-  
-;--------------------------------
-
-  ; Installer GUI Pages
-  !insertmacro MUI_PAGE_WELCOME
-  !insertmacro MUI_PAGE_LICENSE "..\..\LICENSE.txt"
-  !insertmacro MUI_PAGE_COMPONENTS
-  !insertmacro MUI_PAGE_INSTFILES
-  !insertmacro MUI_PAGE_FINISH
-
-  ; Uninstaller GUI Pages
-  !insertmacro MUI_UNPAGE_WELCOME
-  !insertmacro MUI_UNPAGE_CONFIRM
-  !insertmacro MUI_UNPAGE_INSTFILES
-  !insertmacro MUI_UNPAGE_FINISH
-  
-;--------------------------------
-
-  ; Default Language
-  !insertmacro MUI_LANGUAGE "English"
-
-Section
-
-IfFileExists "$APPDATA\Autodesk\Synthesis" +1 +28
-    MessageBox MB_YESNO "You appear to have Synthesis installed; would you like to reinstall it?" IDYES true IDNO false
-      true:
-        DeleteRegKey HKLM SOFTWARE\Synthesis
-		
-		; Remove fusion plugins
-		RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\FusionRobotExporter"
-		RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis"
-		RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\FusionExporter"
-		RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\FusionRobotExporter.bundle"
-		RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\FusionSynth.bundle"
-
-	    ; Remove inventor plugins
-		Delete "$APPDATA\Autodesk\Inventor 2021\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-	    Delete "$APPDATA\Autodesk\Inventor 2020\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-	    Delete "$APPDATA\Autodesk\Inventor 2019\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-	    Delete "$APPDATA\Autodesk\Inventor 2018\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-	    Delete "$APPDATA\Autodesk\Inventor 2017\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-	    Delete "$APPDATA\Autodesk\ApplicationPlugins\Autodesk.InventorRobotExporter.Inventor.addin"
-		RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\InventorRobotExporter"
-  
-		; Remove deprecated bxd inventor plugins
-		Delete "$APPDATA\Autodesk\Inventor 2020\Addins\autodesk.BxDRobotExporter.inventor.addin"
-        Delete "$APPDATA\Autodesk\Inventor 2019\Addins\autodesk.BxDRobotExporter.inventor.addin"
-		Delete "$APPDATA\Autodesk\Inventor 2019\Addins\autodesk.BxDFieldExporter.inventor.addin"
-		Delete "$APPDATA\Autodesk\Inventor 2018\Addins\autodesk.BxDRobotExporter.inventor.addin"
-		Delete "$APPDATA\Autodesk\Inventor 2018\Addins\autodesk.BxDFieldExporter.inventor.addin"
-        Delete "$APPDATA\Autodesk\Inventor 2017\Addins\autodesk.BxDRobotExporter.inventor.addin"
-        Delete "$APPDATA\Autodesk\Inventor 2017\Addins\autodesk.BxDFieldExporter.inventor.addin"
-		Delete "$APPDATA\Autodesk\ApplicationPlugins\Autodesk.BxDRobotExporter.Inventor.addin"
-		RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\BxDRobotExporter"
-        RMDIR /r $APPDATA\RobotViewer
-
-        ; Remove excess shortcuts
-        Delete "$SMPROGRAMS\Synthesis.lnk"
-        Delete "$DESKTOP\Synthesis.lnk"
-		Delete "$SMPROGRAMS\BXD Synthesis.lnk"
-        Delete "$DESKTOP\BXD Synthesis.lnk"
-		Delete "$SMPROGRAMS\Autodesk Synthesis.lnk"
-        Delete "$DESKTOP\Autodesk Synthesis.lnk"
-		Delete "$DESKTOP\FieldExporter.lnk"
-        
-        ; Remove obsolete directories
-		RMDir /r $INSTDIR
-		RMDir /r $APPDATA\Synthesis
-		RMDir /r $APPDATA\BXD_Aardvark
-		RMDir /r $PROGRAMFILES\Autodesk\Synthesis
-
-        DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis"
-		DeleteRegKey HKCU "SOFTWARE\Autodesk\Synthesis"
-		;DeleteRegKey HKCU "SOFTWARE\Autodesk\BXD Synthesis"
-
-        Goto next
-
-      false:
-        Quit
-
-      next:
-	  
-# default section end
-SectionEnd
-
-Section "Synthesis (required)" Synthesis
-
-  SectionIn RO
-
-  ; Set output path to the installation directory.
-  SetOutPath $INSTDIR
-
-  File /r "Synthesis\*"
-  
-  CreateShortCut "$SMPROGRAMS\Synthesis.lnk" "$INSTDIR\Synthesis.exe"
-  CreateShortCut "$DESKTOP\Synthesis.lnk" "$INSTDIR\Synthesis.exe"
-
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                "DisplayName" "Autodesk Synthesis"
-
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                "DisplayIcon" "$INSTDIR\uninstall.exe"
-
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                "Publisher" "Autodesk"
-  
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                "URLInfoAbout" "synthesis.autodesk.com/tutorials"
-
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                 "DisplayVersion" "${PRODUCT_VERSION}"
-
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                 "UninstallString" "$\"$INSTDIR\uninstall.exe$\""
-
-
-  WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Synthesis" "NoModify" 1
-  WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Synthesis" "NoRepair" 1
-  WriteUninstaller "uninstall.exe"
-
-SectionEnd
-
-/*
-Section "Inventor Exporter Plugin" iExporter
-
-  ; Set extraction path to Inventor plugin directory
-  SetOutPath $INSTDIR\Exporter
-  File /r "InventorExporter\*"
-  
-  SetOutPath $APPDATA\Autodesk\ApplicationPlugins
-  File /r "InventorExporter\Autodesk.InventorRobotExporter.Inventor.addin"
-
-SectionEnd
-*/
-
-Section "Fusion Exporter Plugin" fExporter
-
-  ; Set extraction path to Fusion plugin directories
-  SetOutPath "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis"
-  File /r "Exporter\*"
-  ; File /r "..\..\exporter\SynthesisFusionAddin\*"
-  
-  ; SetOutPath "$APPDATA\Autodesk\ApplicationPlugins\FusionRobotExporter.bundle\Contents\"
-  ; File /r "FusionExporter\FusionRobotExporter.dll"
-
-SectionEnd
-
-Section "Robots and Fields" RobotFiles
-
-  ; Set extraction path for preloaded robot files
-  SetOutPath $APPDATA\Autodesk\Synthesis\Mira
-  File /r "Robots\*"
-
-  SetOutPath $APPDATA\Autodesk\Synthesis\Mira\Fields
-  File /r "Fields\*"
-
-SectionEnd
-
-Section "PartBuilder Samples" PartBuilder
-
-  ; Set extraction path for preloaded robot files
-  SetOutPath $APPDATA\Autodesk\Synthesis\MixAndMatch
-  File /r "MixAndMatch\*"
-
-SectionEnd
-
-Section "Themes" Themes
-
-  ; Set extraction path for preloaded robot files
-  SetOutPath $APPDATA\Autodesk\Synthesis\Themes
-  File /r "Themes\*"
-
-SectionEnd
-
-/*
-Section "Code Emulator" Emulator
-
-	; INetC.dll must be installed to proper NSIS Plugins x86 directories
-	inetc::get "https://qemu.weilnetz.de/w64/2019/qemu-w64-setup-20190724.exe" "$PLUGINSDIR\qemu-w64-setup-20190724.exe"
-	Pop $R0 ;Get the return value
-	
-	${If} $R0 == "OK"  ;Return value should be "OK"
-	SetOutPath $APPDATA\Autodesk\Synthesis\Emulator
-	  File /r "Emulator\*"
-	  HideWindow
-	  ExecWait '"$PLUGINSDIR\qemu-w64-setup-20190724.exe" /SILENT'
-	  ShowWindow hwnd show_state
-	${Else}
-	  MessageBox MB_ICONSTOP "Error: $R0" ;Show cancel/error message
-	${EndIf}
-		
-SectionEnd
-*/
-
-;--------------------------------
-;Component Descriptions
-
-  LangString DESC_Synthesis ${LANG_ENGLISH} "The Simulator Engine is the real-time physics environment which simulates the robots and fields."
-  ; LangString DESC_iExporter ${LANG_ENGLISH} "The Inventor Exporter Plugin is an Inventor addin used to export Autodesk Inventor Assemblies directly into the simulator"
-  LangString DESC_fExporter ${LANG_ENGLISH} "The Fusion360 Exporter Plugin is a Fusion addin used to export Autodesk Fusion Assemblies directly into the simulator"
-  LangString DESC_RobotFiles ${LANG_ENGLISH} "A library of sample robots and fields pre-loaded into the simulator"
-  LangString DESC_PartBuilder ${LANG_ENGLISH} "A library of sample parts to use in Robot Builder"
-  LangString DESC_Themes ${LANG_ENGLISH} "Preinstalled themes"
-  ; LangString DESC_Emulator ${LANG_ENGLISH} "The Robot Code Emulator allows you to emulate your C++ & JAVA robot code in the simulator"
-
-  !insertmacro MUI_FUNCTION_DESCRIPTION_BEGIN
-  !insertmacro MUI_DESCRIPTION_TEXT ${Synthesis} $(DESC_Synthesis)
-  ; !insertmacro MUI_DESCRIPTION_TEXT ${iExporter} $(DESC_iExporter)
-  !insertmacro MUI_DESCRIPTION_TEXT ${fExporter} $(DESC_fExporter)
-  !insertmacro MUI_DESCRIPTION_TEXT ${RobotFiles} $(DESC_RobotFiles)
-  !insertmacro MUI_DESCRIPTION_TEXT ${PartBuilder} $(DESC_PartBuilder)
-  !insertmacro MUI_DESCRIPTION_TEXT ${Themes} $(DESC_Themes)
-  ; !insertmacro MUI_DESCRIPTION_TEXT ${Emulator} $(DESC_Emulator)
-  !insertmacro MUI_FUNCTION_DESCRIPTION_END
-  
-;--------------------------------
-  
-Section "Uninstall"
-
-  MessageBox MB_YESNO "Would you like to remove your robot files?" IDNO NawFam
-  RMDir /r /REBOOTOK $APPDATA\Synthesis
-  RMDir /r /REBOOTOK $APPDATA\Autodesk\Synthesis
-  
-  NawFam:
-  ; Remove registry keys
-  DeleteRegKey HKLM SOFTWARE\Synthesis
-  DeleteRegKey HKCU SOFTWARE\Autodesk\Synthesis
-  DeleteRegKey HKCU "SOFTWARE\Autodesk\BXD Synthesis"
-  DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis"
-
-  ; Remove installation directories
-  RMDir /r /REBOOTOK $INSTDIR
-  RMDir /r /REBOOTOK $PROGRAMFILES\Autodesk\Synthesis
-  RMDir /r /REBOOTOK $APPDATA\BXD_Aardvark
-  RMDir /r /REBOOTOK $APPDATA\SynthesisTEMP
-  
-  ; Remove fusion plugins
-  RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\FusionRobotExporter"
-  RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis"
-  RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\FusionExporter"
-  RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\FusionRobotExporter.bundle"
-  RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\FusionSynth.bundle"
-  
-  ; Remove inventor plugins
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2022\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2021\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2020\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2019\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2018\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2017\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\ApplicationPlugins\Autodesk.InventorRobotExporter.Inventor.addin"
-  
-  ; Remove deprecated bxd inventor plugins
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2020\Addins\autodesk.BxDRobotExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2019\Addins\autodesk.BxDRobotExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2019\Addins\autodesk.BxDFieldExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2018\Addins\autodesk.BxDRobotExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2018\Addins\autodesk.BxDFieldExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2017\Addins\autodesk.BxDRobotExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2017\Addins\autodesk.BxDFieldExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\ApplicationPlugins\Autodesk.BxDRobotExporter.Inventor.addin"
-  RMDir /REBOOTOK "$APPDATA\Autodesk\ApplicationPlugins\BxDRobotExporter"
-  
-  ; Remove excess shortcuts
-  Delete "$SMPROGRAMS\Synthesis.lnk"
-  Delete "$DESKTOP\Synthesis.lnk"
-  Delete "$SMPROGRAMS\BXD Synthesis.lnk"
-  Delete "$DESKTOP\BXD Synthesis.lnk"
-  Delete "$SMPROGRAMS\Autodesk Synthesis.lnk"
-  Delete "$DESKTOP\Autodesk Synthesis.lnk"
-  Delete "$DESKTOP\FieldExporter.lnk"
-  
-  /*
-  ; Execute QEMU uninstaller
-  IfFileExists "$PROGRAMFILES64\qemu" file_found uninstall_complete
-  
-	file_found:
-	MessageBox MB_YESNO "Would you like to uninstall QEMU as well?" IDNO uninstall_complete
-	Exec '"$PROGRAMFILES64\qemu\qemu-uninstall.exe"'
-	Quit
-	
-	uninstall_complete:
-  */
-
-SectionEnd
-
-Function .OnInstSuccess
-  Exec "$INSTDIR\Synthesis.exe"
-FunctionEnd
diff --git a/installer/Windows/README.md b/installer/Windows/README.md
deleted file mode 100644
index 21ea8340c9..0000000000
--- a/installer/Windows/README.md
+++ /dev/null
@@ -1,23 +0,0 @@
-# <img src="https://raw.githubusercontent.com/Autodesk/synthesis/prod/installer/Windows/orange-install-nsis.ico" alt="logo" width="50" height ="50" align="left"/>Nullsoft Scriptable Install System
-
-For installation on Windows Operating Systems, we use our own custom written NSIS installer in order to extract all the necessary files to their proper locations on the system.
-
-- [MainInstaller(x64)](https://github.com/Autodesk/synthesis/blob/prod/installer/Windows/MainInstaller.nsi) - (Used for the full installation of Synthesis, only compatible on 64 bit operating systems.)
-- [EngInstaller(x86)](https://github.com/Autodesk/synthesis/blob/prod/installer/Windows/EngInstaller(x86).nsi) - (Used only for installation on 32 bit operating systems and extracts just the Unity Engine.)
-
-### Compiling NSIS:
-In order to compile the NSIS configuration properly, you must compile all of the individual components of Synthesis pertaining to the particular script you are trying to compile. Then the compiled components must be stored in the same directory as the NSIS script, in order for them to be packaged during NSIS compilation. For details on this process, feel free to contact matthew.moradi@autodesk.com
-
-### NSIS FAQ:
-
-Q: Will I need admin privileges to run the installer?
-
-A: Yup.
-
-Q: If I download an updated Synthesis installer, will running it replace all of my custom robot export files?
-
-A: No, _reinstalling_ Synthesis will only replace all of the application components, but your custom robots will be saved.
-
-Q: Is it possible to accidently install multiple versions of Synthesis?
-
-A: It shouldn't be. The installer will always replace any existing Synthesis installations on your system.
diff --git a/installer/Windows/W21_SYN_sidebar.bmp b/installer/Windows/W21_SYN_sidebar.bmp
deleted file mode 100644
index 60c007ab76e40e022f2eb73aa36a4fdd86a7bbbd..0000000000000000000000000000000000000000
GIT binary patch
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zDAj8_{rvV#uZZo7MJHC*<tyLA@BZhKm)o`~IoIH-Cd>uA%C~UIYxf<5x8?w1E66?h
z27GI~zWcak$AQA3bc60t?W4`Riv+e#f=#L2C|12yNV|;|<d{7E!f~~))}hmHyKmp(
z>kIh;@522hq`aNiZa<fL#mh+o(s{pgE-!`ZTyX8{-;+!44R~)3;7aHB-f%KHGqSp6
zxeKGSUJ761^RH-{+j$+{!6-ZL7zlSeO1<jBukJ?7Z)rgBtzrY!#V+EmBfEk;fkNgE
zwlDiSCGv}}-P?YP4;=wSzwZDS2fA_(TtVEAE4BT&FA;PuSoD@y<lBnd_IG#w^4iC>
z^M02o>8joTyvsXvA_xD{d%X2$3fqBr%&&_8Zt{G6YWR>2AR51IZypQxQM<A03@*bZ
z=J!GNOWXX!`+cvQ{5)?umpxvG_vZlorO#NP0jhAT!*ic}1kj_$UBrjfQHl<r0?Kf!
z=p8_h9=C?~=K%amH;1Rfv%#~(vjhqx3b=>cfF3<=A0ILTu*j;v1kQnTJd5yL?*MxA
zxCMO3B%lS>z$x$ym;igg0sR)BM~_><hjai9umVmH;~%2f2Oa|UIxpO#M~`>IdvpLV
zNzX(Fa0=w0hQJZ<7>NuffVu4x(xb<H!iU}hY=9Y%fggf81|9+XNI^F`0fpoz;_WR*
z*YxPo<0|;j4xmDkfCk7AgCB*T&w)eY_5kwmI|<?h`skoXj~m8^bO2HY+|F$@c%O;V
zB^6Q`_zcMj93ct95ikH!wiSy$3h2?}hVWsjz>)eZPQU;u-fJX3P@q%=?az{MGvW5`
zL+5(*=y54NtOE$z4@m9bAYp&jxs8#sV8NCp*qKPtqeqXM#BGgK^>}JLC6X9ihx=&w
j4Y6aeH~t<y-W&dZgaAf%776=>00000NkvXXu0mjfPEVab

diff --git a/installer/exporter/.gitignore b/installer/exporter/.gitignore
deleted file mode 100644
index 290dfd77ff..0000000000
--- a/installer/exporter/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-/Synthesis
-/*.zip
diff --git a/installer/exporter/README.md b/installer/exporter/README.md
deleted file mode 100644
index 631eb3527b..0000000000
--- a/installer/exporter/README.md
+++ /dev/null
@@ -1,14 +0,0 @@
-# Synthesis Exporter Installer
-
-## Creating the installer
-### Windows
-1. Run `setup.bat`. This will copy the Synthesis exporter into the current directory.
-2. Zip together the `install.bat` script and the `Synthesis` directory.
-
-### MacOS
-1. Run `create.sh`. This will copy the Synthesis exporter into the current directory and create a zip file with the necessary files.
-
-## Using the installer
-1. Download the zip file.
-2. Unzip it anywhere (likely your Downloads folder).
-3. Run the `install.bat` (`install.sh` for MacOS) script.
diff --git a/installer/exporter/create.sh b/installer/exporter/create.sh
deleted file mode 100755
index 22efb4ac4b..0000000000
--- a/installer/exporter/create.sh
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/bin/bash
-
-if test -d ./Synthesis; then
-	rm -rf ./Synthesis
-fi
-
-cp -r ../../exporter/SynthesisFusionAddin/ ./Synthesis
-echo "Copied over Synthesis exporter!"
-
-zip -r SynthesisExporter Synthesis/ install.sh
-echo "Created zip installer!"
diff --git a/installer/exporter/install.bat b/installer/exporter/install.bat
deleted file mode 100644
index 293bac431a..0000000000
--- a/installer/exporter/install.bat
+++ /dev/null
@@ -1,10 +0,0 @@
-@echo off
-
-if exist "%AppData%\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis\" (
-	echo "Removing existing Synthesis exporter..."
-	rmdir "%AppData%\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis\" /Q/S
-)
-
-echo "Copying to %AppData%\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis..."
-xcopy Synthesis "%AppData%\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis\" /E
-echo "Synthesis Exporter Successfully Installed!"
diff --git a/installer/exporter/install.sh b/installer/exporter/install.sh
deleted file mode 100755
index 4ab0801918..0000000000
--- a/installer/exporter/install.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/bin/bash
-
-if test -d ~/Library/Application\ Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/SynthesisFusionAddin; then
-	echo "Removing existing Synthesis exporter..."
-	rm -rf ~/Library/Application\ Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/SynthesisFusionAddin
-fi
-
-cp -r Synthesis/ ~/Library/Application\ Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/SynthesisFusionAddin
-
-echo "Synthesis successfully copied!"
diff --git a/installer/exporter/setup.bat b/installer/exporter/setup.bat
deleted file mode 100644
index a6ec90bb68..0000000000
--- a/installer/exporter/setup.bat
+++ /dev/null
@@ -1,9 +0,0 @@
-@echo off
-
-if exist Synthesis\ (
-	rmdir Synthesis /Q/S
-	echo Removed .\Synthesis
-)
-
-xcopy ..\..\exporter\SynthesisFusionAddin Synthesis\ /E
-echo Copied exporter into .\Synthesis

From dce50890903aafb1194093315918c995f9680cad Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 31 Jul 2024 09:29:38 -0700
Subject: [PATCH 096/344] Basic installer done

---
 installer/OSX/build.sh | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/installer/OSX/build.sh b/installer/OSX/build.sh
index c6a2095a77..383b1519ae 100755
--- a/installer/OSX/build.sh
+++ b/installer/OSX/build.sh
@@ -1,8 +1,12 @@
 #!/bin/bash
 
-FUSION_ADDIN_LOCATION="Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/"
-EXPORTER_SOURCE_DIR=../../exporter/
-FUSION_ADDIN_LOCATION=~/Documents/
+FUSION_ADDIN_LOCATION=~/Library/Application\ Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/
+EXPORTER_SOURCE_DIR=../../exporter/SynthesisFusionAddin/
 
-pkgbuild --root $EXPORTER_SOURCE_DIR --identifier com.Autodesk.Synthesis --version 1.0 --scripts Scripts --install-location $FUSION_ADDIN_LOCATION MyApp.pkg
+mkdir -p tmp/
+cp -r "$EXPORTER_SOURCE_DIR"/* tmp/
+
+pkgbuild --root tmp/ --identifier com.Autodesk.Synthesis --version 1.0 --install-location "$FUSION_ADDIN_LOCATION" MyApp.pkg
 productbuild --distribution distribution.xml --package-path . MyAppInstaller.pkg
+
+rm -r tmp/

From 56ae665d6666e7c3383e8e435eaf32ee474ba7e8 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 31 Jul 2024 09:52:43 -0700
Subject: [PATCH 097/344] Fixed

---
 fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
index 194cfa03bf..6bcd867d90 100644
--- a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
+++ b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
@@ -57,7 +57,7 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                     ])
 
                     const hashBuffer = await selectedFile.arrayBuffer()
-                    await MirabufCachingService.CacheAndGetLocal(hashBuffer, MiraType.ROBOT)
+                    await MirabufCachingService.CacheAndGetLocal(hashBuffer, miraType)
                         .then(x => CreateMirabuf(x!))
                         .then(x => {
                             if (x) {

From 0d51cf7294c6501833234a43be9fe1769a97e47e Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Wed, 31 Jul 2024 10:41:55 -0700
Subject: [PATCH 098/344] Bump exporter version

---
 exporter/SynthesisFusionAddin/Synthesis.manifest | 2 +-
 installer/OSX/build.sh                           | 5 +++--
 installer/OSX/distribution.xml                   | 3 +--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.manifest b/exporter/SynthesisFusionAddin/Synthesis.manifest
index f8e96ae366..47434ab6a2 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.manifest
+++ b/exporter/SynthesisFusionAddin/Synthesis.manifest
@@ -6,7 +6,7 @@
 	"description":	{
 		"":	"Synthesis Exporter"
 	},
-	"version":	"1.0.0",
+	"version":	"2.0.0",
 	"runOnStartup":	true,
 	"supportedOS":	"windows|mac",
 	"editEnabled":	true
diff --git a/installer/OSX/build.sh b/installer/OSX/build.sh
index 383b1519ae..673c7c80a7 100755
--- a/installer/OSX/build.sh
+++ b/installer/OSX/build.sh
@@ -6,7 +6,8 @@ EXPORTER_SOURCE_DIR=../../exporter/SynthesisFusionAddin/
 mkdir -p tmp/
 cp -r "$EXPORTER_SOURCE_DIR"/* tmp/
 
-pkgbuild --root tmp/ --identifier com.Autodesk.Synthesis --version 1.0 --install-location "$FUSION_ADDIN_LOCATION" MyApp.pkg
-productbuild --distribution distribution.xml --package-path . MyAppInstaller.pkg
+pkgbuild --root tmp/ --identifier com.Autodesk.Synthesis --version 2.0.0 --install-location "$FUSION_ADDIN_LOCATION" SynthesisExporter.pkg
+productbuild --distribution distribution.xml --package-path . SynthesisExporterInstaller.pkg
 
+rm SynthesisExporter.pkg
 rm -r tmp/
diff --git a/installer/OSX/distribution.xml b/installer/OSX/distribution.xml
index 534c1465b1..e46f643e6f 100644
--- a/installer/OSX/distribution.xml
+++ b/installer/OSX/distribution.xml
@@ -10,6 +10,5 @@
   <choice id="install" title="Install MyApp" description="Installs MyApp">
     <pkg-ref id="com.Autodesk.Synthesis"/>
   </choice>
-
-  <pkg-ref id="com.Autodesk.Synthesis" version="1.0" auth="root">#MyApp.pkg</pkg-ref>
+  <pkg-ref id="com.Autodesk.Synthesis" version="2.0.0" auth="root">#SynthesisExporter.pkg</pkg-ref>
 </installer-gui-script>

From 1b141da50e878bdeb6f3d9fe743ace5980b11183 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 31 Jul 2024 11:47:10 -0700
Subject: [PATCH 099/344] Scoring zone config in configure assemblies panel

---
 fission/src/Synthesis.tsx                     |   4 -
 fission/src/ui/components/MainHUD.tsx         |   8 -
 .../ConfigureAssembliesPanel.tsx              |  23 +-
 .../ConfigureGamepiecePickupInterface.tsx     |   2 +-
 .../ConfigureShotTrajectoryInterface.tsx      |   2 +-
 .../ConfigureScoringZonesInterface.tsx        |  47 ++++
 .../scoring/ManageZonesInterface.tsx          | 156 +++++++++++++
 .../scoring/ZoneConfigInterface.tsx}          | 202 ++++++++---------
 .../configuring/scoring/ScoringZonesPanel.tsx | 206 ------------------
 9 files changed, 319 insertions(+), 331 deletions(-)
 rename fission/src/ui/panels/configuring/assembly-config/{ => interfaces}/ConfigureGamepiecePickupInterface.tsx (99%)
 rename fission/src/ui/panels/configuring/assembly-config/{ => interfaces}/ConfigureShotTrajectoryInterface.tsx (99%)
 create mode 100644 fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
 create mode 100644 fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx
 rename fission/src/ui/panels/configuring/{scoring/ZoneConfigPanel.tsx => assembly-config/interfaces/scoring/ZoneConfigInterface.tsx} (58%)
 delete mode 100644 fission/src/ui/panels/configuring/scoring/ScoringZonesPanel.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 5ce7e04b9d..88a719202d 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -37,7 +37,6 @@ import ThemeEditorModal from "@/modals/configuring/theme-editor/ThemeEditorModal
 import MatchModeModal from "@/modals/spawning/MatchModeModal"
 import RobotSwitchPanel from "@/panels/RobotSwitchPanel"
 import SpawnLocationsPanel from "@/panels/SpawnLocationPanel"
-import ScoringZonesPanel from "@/panels/configuring/scoring/ScoringZonesPanel"
 import ScoreboardPanel from "@/panels/information/ScoreboardPanel"
 import DriverStationPanel from "@/panels/simulation/DriverStationPanel"
 import PokerPanel from "@/panels/PokerPanel.tsx"
@@ -50,7 +49,6 @@ import Skybox from "./ui/components/Skybox.tsx"
 import ChooseInputSchemePanel from "./ui/panels/configuring/ChooseInputSchemePanel.tsx"
 import ProgressNotifications from "./ui/components/ProgressNotification.tsx"
 import ResetAllInputsModal from "./ui/modals/configuring/ResetAllInputsModal.tsx"
-import ZoneConfigPanel from "./ui/panels/configuring/scoring/ZoneConfigPanel.tsx"
 import SceneOverlay from "./ui/components/SceneOverlay.tsx"
 
 import WPILibWSWorker from "@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker"
@@ -231,8 +229,6 @@ const initialPanels: ReactElement[] = [
     <DriverStationPanel key="driver-station" panelId="driver-station" />,
     <SpawnLocationsPanel key="spawn-locations" panelId="spawn-locations" />,
     <ScoreboardPanel key="scoreboard" panelId="scoreboard" openLocation="top" sidePadding={8} />,
-    <ScoringZonesPanel key="scoring-zones" panelId="scoring-zones" openLocation="right" sidePadding={8} />,
-    <ZoneConfigPanel key="zone-config" panelId="zone-config" openLocation="right" sidePadding={8} />,
     <ImportMirabufPanel key="import-mirabuf" panelId="import-mirabuf" />,
     <PokerPanel key="poker" panelId="poker" />,
     <ChooseInputSchemePanel key="choose-scheme" panelId="choose-scheme" />,
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 3450c0deab..2b0bb212c8 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -4,7 +4,6 @@ import {
     // FaMagnifyingGlass,
     FaPlus,
     FaGamepad,
-    FaBasketball,
     FaFileImport,
     FaWrench,
     FaScrewdriverWrench,
@@ -112,13 +111,6 @@ const MainHUD: React.FC = () => {
                     />
                 </div>
                 <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
-                    <MainHUDButton
-                        value={"Edit Scoring Zones"}
-                        icon={<FaBasketball />}
-                        onClick={() => {
-                            openPanel("scoring-zones")
-                        }}
-                    />
                     <MainHUDButton value={"Configure"} icon={<FaGear />} onClick={() => openModal("config-robot")} />
                     <MainHUDButton
                         value={"Configure Assemblies"}
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx
index 5ddc5821b4..9f2dc8a200 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx
@@ -7,8 +7,9 @@ import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
 import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
 import { useMemo, useState } from "react"
 import { AiOutlinePlus } from "react-icons/ai"
-import ConfigureGamepiecePickupInterface from "./ConfigureGamepiecePickupInterface"
-import ConfigureShotTrajectoryInterface from "./ConfigureShotTrajectoryInterface"
+import ConfigureGamepiecePickupInterface from "./interfaces/ConfigureGamepiecePickupInterface"
+import ConfigureShotTrajectoryInterface from "./interfaces/ConfigureShotTrajectoryInterface"
+import ConfigureScoringZonesInterface from "./interfaces/scoring/ConfigureScoringZonesInterface"
 
 const AddIcon = <AiOutlinePlus size={"1.25rem"} />
 
@@ -122,7 +123,12 @@ const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly
         case ConfigMode.CONTROLS:
             return <Label>interface not set up</Label>
         case ConfigMode.SCORING_ZONES:
-            return <Label>interface not set up</Label>
+            const zones = assembly.fieldPreferences?.scoringZones
+            if (zones == undefined) {
+                console.error("Field does not contain scoring zone preferences!")
+                return <Label>ERROR: Field does not contain scoring zone configuration!</Label>
+            }
+            return <ConfigureScoringZonesInterface selectedField={assembly} initialZones={zones} />
         default:
             throw new Error(`Config mode ${configMode} has no associated interface`)
     }
@@ -159,6 +165,7 @@ const ConfigureAssembliesPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             onAccept={() => {
                 new ConfigurationSavedEvent()
             }}
+            acceptName="Close"
         >
             <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2">
                 <ToggleButtonGroup
@@ -167,7 +174,10 @@ const ConfigureAssembliesPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     onChange={(_, v) => {
                         v != null && setAssemblyType(v)
                         setSelectedAssembly(undefined)
-                        setSelectedConfigMode(undefined)
+                        if (selectedConfigMode != undefined) {
+                            new ConfigurationSavedEvent()
+                            setSelectedConfigMode(undefined)
+                        }
                     }}
                     sx={{
                         alignSelf: "center",
@@ -179,7 +189,10 @@ const ConfigureAssembliesPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 <AssemblySelection
                     assemblyType={assemblyType}
                     onAssemblySelected={a => {
-                        if (selectedConfigMode != undefined) new ConfigurationSavedEvent()
+                        if (selectedConfigMode != undefined) {
+                            new ConfigurationSavedEvent()
+                            setSelectedConfigMode(undefined)
+                        }
                         setSelectedAssembly(a)
                     }}
                 />
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigureGamepiecePickupInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
similarity index 99%
rename from fission/src/ui/panels/configuring/assembly-config/ConfigureGamepiecePickupInterface.tsx
rename to fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
index 63a7fcbba5..6e30d2d81c 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigureGamepiecePickupInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
@@ -17,7 +17,7 @@ import {
 import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
 import { useTheme } from "@/ui/ThemeContext"
 import React from "react"
-import { ConfigurationSavedEvent } from "./ConfigureAssembliesPanel"
+import { ConfigurationSavedEvent } from "../ConfigureAssembliesPanel"
 
 // slider constants
 const MIN_ZONE_SIZE = 0.1
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigureShotTrajectoryInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
similarity index 99%
rename from fission/src/ui/panels/configuring/assembly-config/ConfigureShotTrajectoryInterface.tsx
rename to fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
index 29ff7ad713..99ebb95ac8 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigureShotTrajectoryInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
@@ -16,7 +16,7 @@ import {
 import { useTheme } from "@/ui/ThemeContext"
 import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
-import { ConfigurationSavedEvent } from "./ConfigureAssembliesPanel"
+import { ConfigurationSavedEvent } from "../ConfigureAssembliesPanel"
 
 // slider constants
 const MIN_VELOCITY = 0.0
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
new file mode 100644
index 0000000000..ff48d4f917
--- /dev/null
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
@@ -0,0 +1,47 @@
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import { ScoringZonePreferences } from "@/systems/preferences/PreferenceTypes"
+import React, { useState } from "react"
+import ManageZonesInterface from "./ManageZonesInterface"
+import ZoneConfigInterface from "./ZoneConfigInterface"
+import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+
+const saveZones = (zones: ScoringZonePreferences[] | undefined, field: MirabufSceneObject | undefined) => {
+    if (!zones || !field) return
+
+    const fieldPrefs = field.fieldPreferences
+    if (fieldPrefs) fieldPrefs.scoringZones = zones
+
+    PreferencesSystem.savePreferences()
+    field.UpdateScoringZones()
+}
+
+interface ConfigureZonesProps {
+    selectedField: MirabufSceneObject
+    initialZones: ScoringZonePreferences[]
+}
+
+const ConfigureScoringZonesInterface: React.FC<ConfigureZonesProps> = ({ selectedField, initialZones }) => {
+    const [selectedZone, setSelectedZone] = useState<ScoringZonePreferences | undefined>(undefined)
+
+    return (
+        <>
+            {selectedZone == undefined ? (
+                <ManageZonesInterface
+                    selectedField={selectedField}
+                    initialZones={initialZones}
+                    selectZone={setSelectedZone}
+                />
+            ) : (
+                <ZoneConfigInterface
+                    selectedField={selectedField}
+                    selectedZone={selectedZone}
+                    saveAllZones={() => {
+                        saveZones(selectedField.fieldPreferences?.scoringZones, selectedField)
+                    }}
+                />
+            )}
+        </>
+    )
+}
+
+export default ConfigureScoringZonesInterface
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx
new file mode 100644
index 0000000000..61fa0743dc
--- /dev/null
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx
@@ -0,0 +1,156 @@
+import { useCallback, useEffect, useState } from "react"
+import Button from "@/components/Button"
+import Label, { LabelSize } from "@/components/Label"
+import ScrollView from "@/components/ScrollView"
+import Stack, { StackDirection } from "@/components/Stack"
+import { ScoringZonePreferences } from "@/systems/preferences/PreferenceTypes"
+import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import { AiOutlinePlus } from "react-icons/ai"
+import { IoPencil, IoTrashBin } from "react-icons/io5"
+import World from "@/systems/World"
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import { Box } from "@mui/material"
+import { ConfigurationSavedEvent } from "../../ConfigureAssembliesPanel"
+
+const AddIcon = <AiOutlinePlus size={"1.25rem"} />
+const DeleteIcon = <IoTrashBin size={"1.25rem"} />
+const EditIcon = <IoPencil size={"1.25rem"} />
+
+const saveZones = (zones: ScoringZonePreferences[] | undefined, field: MirabufSceneObject | undefined) => {
+    if (!zones || !field) return
+
+    const fieldPrefs = field.fieldPreferences
+    if (fieldPrefs) fieldPrefs.scoringZones = zones
+
+    PreferencesSystem.savePreferences()
+    field.UpdateScoringZones()
+}
+
+type ScoringZoneRowProps = {
+    zone: ScoringZonePreferences
+    save: () => void
+    deleteZone: () => void
+    selectZone: (zone: ScoringZonePreferences) => void
+}
+
+const ScoringZoneRow: React.FC<ScoringZoneRowProps> = ({ zone, save, deleteZone, selectZone }) => {
+    return (
+        <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>
+            <Stack direction={StackDirection.Horizontal} spacing={8} justify="start">
+                <div className={`w-12 h-12 bg-match-${zone.alliance}-alliance rounded-lg`} />
+                <Stack direction={StackDirection.Vertical} spacing={4} justify={"center"} className="w-max">
+                    <Label size={LabelSize.Small}>{zone.name}</Label>
+                    <Label size={LabelSize.Small}>
+                        {zone.points} {zone.points == 1 ? "point" : "points"}
+                    </Label>
+                </Stack>
+            </Stack>
+            <Box
+                component={"div"}
+                display={"flex"}
+                flexDirection={"row-reverse"}
+                gap={"0.25rem"}
+                justifyContent={"center"}
+                alignItems={"center"}
+            >
+                <Button
+                    value={EditIcon}
+                    onClick={() => {
+                        selectZone(zone)
+                        save()
+                    }}
+                    colorOverrideClass="bg-accept-button hover:brightness-90"
+                />
+                <Button
+                    value={DeleteIcon}
+                    onClick={() => {
+                        deleteZone()
+                    }}
+                    colorOverrideClass="bg-cancel-button hover:brightness-90"
+                />
+            </Box>
+        </Box>
+    )
+}
+
+interface ScoringZonesProps {
+    selectedField: MirabufSceneObject
+    initialZones: ScoringZonePreferences[]
+    selectZone: (zone: ScoringZonePreferences) => void
+}
+
+const ManageZonesInterface: React.FC<ScoringZonesProps> = ({ selectedField, initialZones, selectZone }) => {
+    const [zones, setZones] = useState<ScoringZonePreferences[]>(initialZones)
+
+    const saveEvent = useCallback(() => {
+        saveZones(zones, selectedField)
+    }, [zones, selectedField])
+
+    useEffect(() => {
+        ConfigurationSavedEvent.Listen(saveEvent)
+
+        return () => {
+            ConfigurationSavedEvent.RemoveListener(saveEvent)
+        }
+    }, [saveEvent])
+
+    useEffect(() => {
+        saveZones(zones, selectedField)
+
+        World.PhysicsSystem.HoldPause()
+
+        return () => {
+            World.PhysicsSystem.ReleasePause()
+        }
+    }, [])
+
+    return (
+        <>
+            {zones?.length > 0 ? (
+                <ScrollView className="flex flex-col gap-4">
+                    {zones.map((zonePrefs: ScoringZonePreferences, i: number) => (
+                        <ScoringZoneRow
+                            key={i}
+                            zone={(() => {
+                                return zonePrefs
+                            })()}
+                            save={() => saveZones(zones, selectedField)}
+                            deleteZone={() => {
+                                setZones(zones.filter((_, idx) => idx !== i))
+                                saveZones(
+                                    zones.filter((_, idx) => idx !== i),
+                                    selectedField
+                                )
+                            }}
+                            selectZone={selectZone}
+                        />
+                    ))}
+                </ScrollView>
+            ) : (
+                <Label>No scoring zones</Label>
+            )}
+            <Button
+                value={AddIcon}
+                onClick={() => {
+                    if (zones == undefined) return
+
+                    const newZone: ScoringZonePreferences = {
+                        name: "New Scoring Zone",
+                        alliance: "blue",
+                        parentNode: undefined,
+                        points: 0,
+                        destroyGamepiece: false,
+                        persistentPoints: false,
+                        deltaTransformation: [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1],
+                    }
+
+                    saveZones(zones, selectedField)
+
+                    selectZone(newZone)
+                }}
+            />
+        </>
+    )
+}
+
+export default ManageZonesInterface
diff --git a/fission/src/ui/panels/configuring/scoring/ZoneConfigPanel.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ZoneConfigInterface.tsx
similarity index 58%
rename from fission/src/ui/panels/configuring/scoring/ZoneConfigPanel.tsx
rename to fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ZoneConfigInterface.tsx
index d6964f3cbd..def697082d 100644
--- a/fission/src/ui/panels/configuring/scoring/ZoneConfigPanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ZoneConfigInterface.tsx
@@ -1,12 +1,9 @@
 import { useCallback, useEffect, useMemo, useState } from "react"
 import Input from "@/components/Input"
-import Panel, { PanelPropsImpl } from "@/components/Panel"
 import Button from "@/components/Button"
 import Checkbox from "@/components/Checkbox"
 import NumberInput from "@/components/NumberInput"
-import { SelectedZone } from "./ScoringZonesPanel"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
-import { usePanelControlContext } from "@/ui/PanelContext"
 import SelectButton from "@/ui/components/SelectButton"
 import Jolt from "@barclah/jolt-physics"
 import TransformGizmos, { GizmoTransformMode } from "@/ui/components/TransformGizmos"
@@ -14,12 +11,12 @@ import * as THREE from "three"
 import World from "@/systems/World"
 import { Array_ThreeMatrix4, JoltMat44_ThreeMatrix4, ThreeMatrix4_Array } from "@/util/TypeConversions"
 import { useTheme } from "@/ui/ThemeContext"
-import { RigidNodeAssociate } from "@/mirabuf/MirabufSceneObject"
+import MirabufSceneObject, { RigidNodeAssociate } from "@/mirabuf/MirabufSceneObject"
 import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
-import { Alliance } from "@/systems/preferences/PreferenceTypes"
+import { Alliance, ScoringZonePreferences } from "@/systems/preferences/PreferenceTypes"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
 import { DeltaFieldTransforms_PhysicalProp as DeltaFieldTransforms_VisualProperties } from "@/util/threejs/MeshCreation"
-import { FaBasketball } from "react-icons/fa6"
+import { ConfigurationSavedEvent } from "../../ConfigureAssembliesPanel"
 
 /**
  * Saves ejector configuration to selected field.
@@ -48,6 +45,8 @@ import { FaBasketball } from "react-icons/fa6"
  * @param selectedNode Selected node that configuration is relative to.
  */
 function save(
+    field: MirabufSceneObject,
+    zone: ScoringZonePreferences,
     name: string,
     alliance: Alliance,
     points: number,
@@ -56,7 +55,7 @@ function save(
     gizmo: TransformGizmos,
     selectedNode?: RigidNodeId
 ) {
-    const field = SelectedZone.field
+    console.log("save")
     if (!field?.fieldPreferences || !gizmo) {
         return
     }
@@ -78,8 +77,6 @@ function save(
     const fieldTransformation = JoltMat44_ThreeMatrix4(World.PhysicsSystem.GetBody(nodeBodyId).GetWorldTransform())
     const deltaTransformation = gizmoTransformation.premultiply(fieldTransformation.invert())
 
-    const zone = SelectedZone.zone
-
     zone.deltaTransformation = ThreeMatrix4_Array(deltaTransformation)
     zone.name = name
     zone.alliance = alliance
@@ -93,8 +90,15 @@ function save(
     PreferencesSystem.savePreferences()
 }
 
-const ZoneConfigPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
+interface ZoneConfigProps {
+    selectedField: MirabufSceneObject
+    selectedZone: ScoringZonePreferences
+    saveAllZones: () => void
+}
+
+const ZoneConfigInterface: React.FC<ZoneConfigProps> = ({ selectedField, selectedZone, saveAllZones }) => {
     //Official FIRST hex
+    // TODO: Do we want to eventually make these editable?
     const redMaterial = new THREE.MeshPhongMaterial({
         color: 0xed1c24,
         shininess: 0.0,
@@ -107,14 +111,13 @@ const ZoneConfigPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, side
         opacity: 0.7,
         transparent: true,
     }) //0x0000ff
-    const { openPanel, closePanel } = usePanelControlContext()
 
-    const [name, setName] = useState<string>(SelectedZone.zone.name)
-    const [alliance, setAlliance] = useState<Alliance>(SelectedZone.zone.alliance)
-    const [selectedNode, setSelectedNode] = useState<RigidNodeId | undefined>(SelectedZone.zone.parentNode)
-    const [points, setPoints] = useState<number>(SelectedZone.zone.points)
-    const [destroy] = useState<boolean>(SelectedZone.zone.destroyGamepiece)
-    const [persistent, setPersistent] = useState<boolean>(SelectedZone.zone.persistentPoints)
+    const [name, setName] = useState<string>(selectedZone.name)
+    const [alliance, setAlliance] = useState<Alliance>(selectedZone.alliance)
+    const [selectedNode, setSelectedNode] = useState<RigidNodeId | undefined>(selectedZone.parentNode)
+    const [points, setPoints] = useState<number>(selectedZone.points)
+    const [destroy] = useState<boolean>(selectedZone.destroyGamepiece)
+    const [persistent, setPersistent] = useState<boolean>(selectedZone.persistentPoints)
 
     const [transformGizmo, setTransformGizmo] = useState<TransformGizmos | undefined>(undefined)
     const [transformMode, setTransformMode] = useState<GizmoTransformMode>("translate")
@@ -124,9 +127,22 @@ const ZoneConfigPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, side
         return themes[currentTheme]
     }, [currentTheme, themes])
 
+    const saveEvent = useCallback(() => {
+        if (transformGizmo && selectedField) {
+            save(selectedField, selectedZone, name, alliance, points, destroy, persistent, transformGizmo, selectedNode)
+            saveAllZones()
+        }
+    }, [selectedField, selectedZone, name, alliance, points, destroy, persistent, transformGizmo, selectedNode])
+
     useEffect(() => {
-        closePanel("scoring-zones")
+        ConfigurationSavedEvent.Listen(saveEvent)
 
+        return () => {
+            ConfigurationSavedEvent.RemoveListener(saveEvent)
+        }
+    }, [saveEvent])
+
+    useEffect(() => {
         World.PhysicsSystem.HoldPause()
 
         return () => {
@@ -135,8 +151,8 @@ const ZoneConfigPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, side
     }, [])
 
     useEffect(() => {
-        const field = SelectedZone.field
-        const zone = SelectedZone.zone
+        const field = selectedField
+        const zone = selectedZone
 
         if (!field || !zone) {
             setTransformGizmo(undefined)
@@ -177,12 +193,12 @@ const ZoneConfigPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, side
 
     /** Sets the selected node if it is a part of the currently loaded field */
     const trySetSelectedNode = useCallback((body: Jolt.BodyID) => {
-        if (!SelectedZone.field) {
+        if (!selectedField) {
             return false
         }
 
         const assoc = World.PhysicsSystem.GetBodyAssociation(body) as RigidNodeAssociate
-        if (!assoc || assoc?.sceneObject != SelectedZone.field) {
+        if (!assoc || assoc?.sceneObject != selectedField) {
             return false
         }
 
@@ -191,94 +207,68 @@ const ZoneConfigPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, side
     }, [])
 
     return (
-        <Panel
-            name="Scoring Zone Config"
-            panelId={panelId}
-            icon={<FaBasketball />}
-            openLocation={openLocation}
-            sidePadding={sidePadding}
-            onAccept={() => {
-                if (transformGizmo && SelectedZone.field) {
-                    save(name, alliance, points, destroy, persistent, transformGizmo, selectedNode)
-                }
-                openPanel("scoring-zones")
-            }}
-            onCancel={() => {
-                openPanel("scoring-zones")
-            }}
-        >
-            <div className="flex flex-col gap-2 bg-background-secondary rounded-md p-2">
-                {/** Set the zone name */}
-                <Input
-                    label="Name"
-                    placeholder="Enter zone name"
-                    defaultValue={SelectedZone.zone.name}
-                    onInput={setName}
-                />
-
-                {/** Set the alliance color */}
-                <Button
-                    value={`${alliance[0].toUpperCase() + alliance.substring(1)} Alliance`}
-                    onClick={() => {
-                        setAlliance(alliance == "blue" ? "red" : "blue")
-                        if (transformGizmo) {
-                            transformGizmo.mesh.material = alliance == "blue" ? redMaterial : blueMaterial
-                        }
-                    }}
-                    colorOverrideClass={`bg-match-${alliance}-alliance`}
-                />
-
-                {/** Select a parent node */}
-                <SelectButton
-                    placeholder="Select parent node"
-                    value={selectedNode}
-                    onSelect={(body: Jolt.Body) => trySetSelectedNode(body.GetID())}
-                />
-
-                {/** Set the point value */}
-                <NumberInput
-                    label="Points"
-                    placeholder="Zone points"
-                    defaultValue={SelectedZone.zone.points}
-                    onInput={v => setPoints(v || 1)}
-                />
-
-                {/** When checked, the zone will destroy gamepieces it comes in contact with */}
-                {/** <Checkbox
+        <div className="flex flex-col gap-2 bg-background-secondary rounded-md p-2">
+            {/** Set the zone name */}
+            <Input label="Name" placeholder="Enter zone name" defaultValue={selectedZone.name} onInput={setName} />
+
+            {/** Set the alliance color */}
+            <Button
+                value={`${alliance[0].toUpperCase() + alliance.substring(1)} Alliance`}
+                onClick={() => {
+                    setAlliance(alliance == "blue" ? "red" : "blue")
+                    if (transformGizmo) {
+                        transformGizmo.mesh.material = alliance == "blue" ? redMaterial : blueMaterial
+                    }
+                }}
+                colorOverrideClass={`bg-match-${alliance}-alliance`}
+            />
+
+            {/** Select a parent node */}
+            <SelectButton
+                placeholder="Select parent node"
+                value={selectedNode}
+                onSelect={(body: Jolt.Body) => trySetSelectedNode(body.GetID())}
+            />
+
+            {/** Set the point value */}
+            <NumberInput
+                label="Points"
+                placeholder="Zone points"
+                defaultValue={selectedZone.points}
+                onInput={v => setPoints(v || 1)}
+            />
+
+            {/** When checked, the zone will destroy gamepieces it comes in contact with */}
+            {/** <Checkbox
                     label="Destroy Gamepiece"
-                    defaultState={SelectedZone.zone.destroyGamepiece}
+                    defaultState={selectedZone.destroyGamepiece}
                     onClick={setDestroy}
                 /> */}
 
-                {/** When checked, points will stay even when a gamepiece leaves the zone */}
-                <Checkbox
-                    label="Persistent Points"
-                    defaultState={SelectedZone.zone.persistentPoints}
-                    onClick={setPersistent}
-                />
-
-                {/** Switch between transform control modes */}
-
-                <ToggleButtonGroup
-                    value={transformMode}
-                    exclusive
-                    onChange={(_, v) => {
-                        if (v == undefined) return
-
-                        setTransformMode(v)
-                        transformGizmo?.SwitchGizmo(v, 1.5)
-                    }}
-                    sx={{
-                        alignSelf: "center",
-                    }}
-                >
-                    <ToggleButton value={"translate"}>Move</ToggleButton>
-                    <ToggleButton value={"scale"}>Scale</ToggleButton>
-                    <ToggleButton value={"rotate"}>Rotate</ToggleButton>
-                </ToggleButtonGroup>
-            </div>
-        </Panel>
+            {/** When checked, points will stay even when a gamepiece leaves the zone */}
+            <Checkbox label="Persistent Points" defaultState={selectedZone.persistentPoints} onClick={setPersistent} />
+
+            {/** Switch between transform control modes */}
+
+            <ToggleButtonGroup
+                value={transformMode}
+                exclusive
+                onChange={(_, v) => {
+                    if (v == undefined) return
+
+                    setTransformMode(v)
+                    transformGizmo?.SwitchGizmo(v, 1.5)
+                }}
+                sx={{
+                    alignSelf: "center",
+                }}
+            >
+                <ToggleButton value={"translate"}>Move</ToggleButton>
+                <ToggleButton value={"scale"}>Scale</ToggleButton>
+                <ToggleButton value={"rotate"}>Rotate</ToggleButton>
+            </ToggleButtonGroup>
+        </div>
     )
 }
 
-export default ZoneConfigPanel
+export default ZoneConfigInterface
diff --git a/fission/src/ui/panels/configuring/scoring/ScoringZonesPanel.tsx b/fission/src/ui/panels/configuring/scoring/ScoringZonesPanel.tsx
deleted file mode 100644
index d8e3a281e4..0000000000
--- a/fission/src/ui/panels/configuring/scoring/ScoringZonesPanel.tsx
+++ /dev/null
@@ -1,206 +0,0 @@
-import { useEffect, useMemo, useState } from "react"
-import { usePanelControlContext } from "@/ui/PanelContext"
-import Button from "@/components/Button"
-import Label, { LabelSize } from "@/components/Label"
-import Panel, { PanelPropsImpl } from "@/components/Panel"
-import ScrollView from "@/components/ScrollView"
-import Stack, { StackDirection } from "@/components/Stack"
-import { ScoringZonePreferences } from "@/systems/preferences/PreferenceTypes"
-import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
-import { AiOutlinePlus } from "react-icons/ai"
-import { IoPencil, IoTrashBin } from "react-icons/io5"
-import World from "@/systems/World"
-import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
-import { MiraType } from "@/mirabuf/MirabufLoader"
-import { Box } from "@mui/material"
-import { FaBasketball } from "react-icons/fa6"
-
-const AddIcon = <AiOutlinePlus size={"1.25rem"} />
-const DeleteIcon = <IoTrashBin size={"1.25rem"} />
-const EditIcon = <IoPencil size={"1.25rem"} />
-
-type ScoringZoneRowProps = {
-    zone: ScoringZonePreferences
-    field: MirabufSceneObject
-    save: () => void
-    openPanel: (id: string) => void
-    deleteZone: () => void
-}
-
-export class SelectedZone {
-    public static field: MirabufSceneObject | undefined
-    public static zone: ScoringZonePreferences
-}
-
-const saveZones = (zones: ScoringZonePreferences[] | undefined, field: MirabufSceneObject | undefined) => {
-    if (!zones || !field) return
-
-    const fieldPrefs = field.fieldPreferences
-    if (fieldPrefs) fieldPrefs.scoringZones = zones
-
-    PreferencesSystem.savePreferences()
-    field.UpdateScoringZones()
-}
-
-const ScoringZoneRow: React.FC<ScoringZoneRowProps> = ({ zone, save, field, openPanel, deleteZone }) => {
-    return (
-        <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>
-            <Stack direction={StackDirection.Horizontal} spacing={8} justify="start">
-                <div className={`w-12 h-12 bg-match-${zone.alliance}-alliance rounded-lg`} />
-                <Stack direction={StackDirection.Vertical} spacing={4} justify={"center"} className="w-max">
-                    <Label size={LabelSize.Small}>{zone.name}</Label>
-                    <Label size={LabelSize.Small}>
-                        {zone.points} {zone.points == 1 ? "point" : "points"}
-                    </Label>
-                </Stack>
-            </Stack>
-            <Box
-                component={"div"}
-                display={"flex"}
-                flexDirection={"row-reverse"}
-                gap={"0.25rem"}
-                justifyContent={"center"}
-                alignItems={"center"}
-            >
-                <Button
-                    value={EditIcon}
-                    onClick={() => {
-                        SelectedZone.zone = zone
-                        SelectedZone.field = field
-                        save()
-                        openPanel("zone-config")
-                    }}
-                    colorOverrideClass="bg-accept-button hover:brightness-90"
-                />
-                <Button
-                    value={DeleteIcon}
-                    onClick={() => {
-                        deleteZone()
-                        // Saves in the delete function instead because zones isn't updated in time
-                    }}
-                    colorOverrideClass="bg-cancel-button hover:brightness-90"
-                />
-            </Box>
-        </Box>
-    )
-}
-
-const ScoringZonesPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
-    const { openPanel, closePanel } = usePanelControlContext()
-
-    const [selectedField, setSelectedField] = useState<MirabufSceneObject | undefined>(SelectedZone.field)
-    const [zones, setZones] = useState<ScoringZonePreferences[] | undefined>(
-        SelectedZone.field?.fieldPreferences?.scoringZones
-    )
-
-    const fields = useMemo(() => {
-        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
-            if (x instanceof MirabufSceneObject) {
-                return x.miraType === MiraType.FIELD
-            }
-            return false
-        }) as MirabufSceneObject[]
-
-        return assemblies
-    }, [])
-
-    useEffect(() => {
-        closePanel("zone-config")
-        saveZones(zones, selectedField)
-
-        World.PhysicsSystem.HoldPause()
-
-        return () => {
-            World.PhysicsSystem.ReleasePause()
-        }
-    }, [])
-
-    return (
-        <Panel
-            name="Scoring Zones"
-            icon={<FaBasketball />}
-            panelId={panelId}
-            openLocation={openLocation}
-            sidePadding={sidePadding}
-            cancelEnabled={false}
-            acceptName="Close"
-            onAccept={() => {
-                SelectedZone.field = undefined
-                saveZones(zones, selectedField)
-            }}
-        >
-            {selectedField == undefined || zones == undefined ? (
-                <>
-                    <Label>Select a field</Label>
-                    {/** Scroll view for selecting a robot to configure */}
-                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
-                        {fields.map(mirabufSceneObject => {
-                            return (
-                                <Button
-                                    value={mirabufSceneObject.assemblyName}
-                                    onClick={() => {
-                                        setSelectedField(mirabufSceneObject)
-                                        setZones(mirabufSceneObject.fieldPreferences?.scoringZones)
-                                    }}
-                                    key={mirabufSceneObject.id}
-                                ></Button>
-                            )
-                        })}
-                    </div>
-                </>
-            ) : (
-                <>
-                    {zones?.length > 0 ? (
-                        <ScrollView className="flex flex-col gap-4">
-                            {zones.map((zonePrefs: ScoringZonePreferences, i: number) => (
-                                <ScoringZoneRow
-                                    key={i}
-                                    zone={(() => {
-                                        return zonePrefs
-                                    })()}
-                                    field={selectedField}
-                                    openPanel={openPanel}
-                                    save={() => saveZones(zones, selectedField)}
-                                    deleteZone={() => {
-                                        setZones(zones.filter((_, idx) => idx !== i))
-                                        saveZones(
-                                            zones.filter((_, idx) => idx !== i),
-                                            selectedField
-                                        )
-                                    }}
-                                />
-                            ))}
-                        </ScrollView>
-                    ) : (
-                        <Label>No scoring zones</Label>
-                    )}
-                    <Button
-                        value={AddIcon}
-                        onClick={() => {
-                            if (zones == undefined) return
-
-                            const newZone: ScoringZonePreferences = {
-                                name: "New Scoring Zone",
-                                alliance: "blue",
-                                parentNode: undefined,
-                                points: 0,
-                                destroyGamepiece: false,
-                                persistentPoints: false,
-                                deltaTransformation: [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1],
-                            }
-
-                            saveZones(zones, selectedField)
-
-                            SelectedZone.zone = newZone
-                            SelectedZone.field = selectedField
-
-                            openPanel("zone-config")
-                        }}
-                    />
-                </>
-            )}
-        </Panel>
-    )
-}
-
-export default ScoringZonesPanel

From 914d4953a6c534207d7518ec5d6f46504d5c2367 Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Wed, 31 Jul 2024 13:16:56 -0700
Subject: [PATCH 100/344] Moved import local mirabuf into spawn mirabuf

---
 fission/src/ui/components/MainHUD.tsx                |  4 ++--
 .../ui/modals/mirabuf/ImportLocalMirabufModal.tsx    |  6 +++---
 fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx | 12 ++++++++++++
 3 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 91ace0dbeb..394101b6f8 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -105,11 +105,11 @@ const MainHUD: React.FC = () => {
                         icon={SynthesisIcons.Gamepad}
                         onClick={() => openModal("change-inputs")}
                     />
-                    <MainHUDButton
+                    {/* <MainHUDButton
                         value={"Import Local Mira"}
                         icon={SynthesisIcons.Import}
                         onClick={() => openModal("import-local-mirabuf")}
-                    />
+                    /> */}
                 </div>
                 <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
                     <MainHUDButton
diff --git a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
index 6bcd867d90..9b68010590 100644
--- a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
+++ b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
@@ -44,7 +44,7 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
 
     return (
         <Modal
-            name={"Import Local Assemblies"}
+            name={"Import From File"}
             icon={SynthesisIcons.Import}
             modalId={modalId}
             acceptEnabled={selectedFile !== undefined && miraType !== undefined}
@@ -69,7 +69,7 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         >
             <div className="flex flex-col items-center gap-5">
                 <input ref={fileUploadRef} onChange={onInputChanged} type="file" hidden={true} />
-                <Button value="Upload" size={ButtonSize.Large} onClick={uploadClicked} />
+                <Button value="Upload File" size={ButtonSize.Large} onClick={uploadClicked} />
                 {selectedFile ? (
                     <Label
                         className="text-center"
@@ -79,7 +79,7 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                     <></>
                 )}
                 <Dropdown
-                    label="Type"
+                    label="File Type"
                     options={["None", "Robot", "Field"]}
                     onSelect={(selected: string) => {
                         typeSelected(selected)
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index d2be05336f..93dcf2563a 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -15,6 +15,7 @@ import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
 import { Box } from "@mui/material"
 import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
 import { usePanelControlContext } from "@/ui/PanelContext"
+import { useModalControlContext } from "@/ui/ModalContext"
 import TaskStatus from "@/util/TaskStatus"
 import {
     PositiveButton,
@@ -23,9 +24,11 @@ import {
     DeleteButton,
     RefreshButton,
     SynthesisIcons,
+    Spacer,
 } from "@/ui/components/StyledComponents"
 import { ProgressHandle } from "@/ui/components/ProgressNotificationData"
 import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
+import Button from "@/ui/components/Button"
 
 interface ItemCardProps {
     id: string
@@ -100,6 +103,7 @@ function SpawnCachedMira(info: MirabufCacheInfo, type: MiraType, progressHandle?
 const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { showTooltip } = useTooltipControlContext()
     const { closePanel, openPanel } = usePanelControlContext()
+    const { openModal } = useModalControlContext()
 
     const [cachedRobots, setCachedRobots] = useState(GetCacheInfo(MiraType.ROBOT))
     const [cachedFields, setCachedFields] = useState(GetCacheInfo(MiraType.FIELD))
@@ -363,6 +367,10 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         </SectionLabel>
                         <SectionDivider />
                         {cachedRobotElements}
+                        {Spacer(5)}
+                        <Box alignSelf={"center"}>
+                            <Button value="Import from File" onClick={() => openModal("import-local-mirabuf")} />
+                        </Box>
                     </>
                 ) : (
                     <>
@@ -373,6 +381,10 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         </SectionLabel>
                         <SectionDivider />
                         {cachedFieldElements}
+                        {Spacer(5)}
+                        <Box alignSelf={"center"}>
+                            <Button value="Import from File" onClick={() => openModal("import-local-mirabuf")} />
+                        </Box>
                     </>
                 )}
                 <Box

From 01e889dfb9c0f30618531b10a1be0931520a892a Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 31 Jul 2024 13:25:45 -0700
Subject: [PATCH 101/344] Uses velocity and force from mirabuf

---
 fission/src/mirabuf/MirabufParser.ts          |  2 +-
 fission/src/systems/physics/Mechanism.ts      |  1 +
 fission/src/systems/physics/PhysicsSystem.ts  | 30 +++++++++++++------
 .../systems/simulation/SimulationSystem.ts    |  2 +-
 .../synthesis/GenericElevatorBehavior.ts      |  5 ++--
 .../systems/simulation/driver/SliderDriver.ts | 18 ++++++++---
 6 files changed, 40 insertions(+), 18 deletions(-)

diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index dd7df1e7cf..ae1607b97c 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -240,7 +240,7 @@ class MirabufParser {
             console.log("Failed to get part definitions")
             return
         }
-        console.log(partDefinitions)
+        console.debug(partDefinitions)
     }
 
     private NewRigidNode(suffix?: string): RigidNode {
diff --git a/fission/src/systems/physics/Mechanism.ts b/fission/src/systems/physics/Mechanism.ts
index bf6502b4f5..4a240576ed 100644
--- a/fission/src/systems/physics/Mechanism.ts
+++ b/fission/src/systems/physics/Mechanism.ts
@@ -8,6 +8,7 @@ export interface MechanismConstraint {
     childBody: Jolt.BodyID
     constraint: Jolt.Constraint
     info?: mirabuf.IInfo
+    maxVelocity: number
 }
 
 class Mechanism {
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 42c43f213a..fce7525811 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -323,7 +323,7 @@ class PhysicsSystem extends WorldSystem {
         const jointData = parser.assembly.data!.joints!
         for (const [jGuid, jInst] of Object.entries(jointData.jointInstances!) as [
             string,
-            mirabuf.joint.JointInstance,
+            mirabuf.joint.JointInstance
         ][]) {
             if (jGuid == GROUNDED_JOINT_ID) continue
 
@@ -350,9 +350,13 @@ class PhysicsSystem extends WorldSystem {
             const bodyA = this.GetBody(bodyIdA)
             const bodyB = this.GetBody(bodyIdB)
 
-            const constraints: Jolt.Constraint[] = []
+            const constraints: [Jolt.Constraint, number][] = []
             let listener: Jolt.PhysicsStepListener | undefined = undefined
 
+            const motor = jointData.motorDefinitions![jDef.motorReference]
+            
+            const maxVel = parser.assembly.data?.joints?.motorDefinitions![jDef.motorReference].simpleMotor?.maxVelocity
+
             switch (jDef.jointMotionType!) {
                 case mirabuf.joint.JointMotion.REVOLUTE:
                     if (this.IsWheel(jDef)) {
@@ -364,8 +368,8 @@ class PhysicsSystem extends WorldSystem {
                                 bodyB,
                                 parser.assembly.info!.version!
                             )
-                            constraints.push(res[0])
-                            constraints.push(res[1])
+                            constraints.push([res[0], maxVel ?? 40])
+                            constraints.push([res[1], maxVel ?? 40])
                             listener = res[2]
                         } else {
                             const res = this.CreateWheelConstraint(
@@ -375,18 +379,18 @@ class PhysicsSystem extends WorldSystem {
                                 bodyA,
                                 parser.assembly.info!.version!
                             )
-                            constraints.push(res[0])
-                            constraints.push(res[1])
+                            constraints.push([res[0], maxVel ?? 40])
+                            constraints.push([res[1], maxVel ?? 40])
                             listener = res[2]
                         }
                     } else {
                         constraints.push(
-                            this.CreateHingeConstraint(jInst, jDef, bodyA, bodyB, parser.assembly.info!.version!)
+                            [this.CreateHingeConstraint(jInst, jDef, bodyA, bodyB, parser.assembly.info!.version!), maxVel ?? 40]
                         )
                     }
                     break
                 case mirabuf.joint.JointMotion.SLIDER:
-                    constraints.push(this.CreateSliderConstraint(jInst, jDef, bodyA, bodyB))
+                    constraints.push([this.CreateSliderConstraint(jInst, jDef, motor, bodyA, bodyB), maxVel ?? 40])
                     break
                 default:
                     console.debug("Unsupported joint detected. Skipping...")
@@ -398,8 +402,10 @@ class PhysicsSystem extends WorldSystem {
                     mechanism.AddConstraint({
                         parentBody: bodyIdA,
                         childBody: bodyIdB,
-                        constraint: x,
+                        constraint: x[0],
+                        maxVelocity: x[1],
                         info: jInst.info ?? undefined, // remove possibility for null
+
                     })
                 )
             }
@@ -490,6 +496,7 @@ class PhysicsSystem extends WorldSystem {
     private CreateSliderConstraint(
         jointInstance: mirabuf.joint.JointInstance,
         jointDefinition: mirabuf.joint.Joint,
+        motor: mirabuf.motor.IMotor,
         bodyA: Jolt.Body,
         bodyB: Jolt.Body
     ): Jolt.Constraint {
@@ -535,6 +542,11 @@ class PhysicsSystem extends WorldSystem {
             sliderConstraintSettings.mLimitsMin = -halfRange
         }
 
+        if (motor.simpleMotor?.stallTorque) {
+            sliderConstraintSettings.mMotorSettings.mMaxForceLimit = motor.simpleMotor?.stallTorque * 5
+            sliderConstraintSettings.mMotorSettings.mMinForceLimit = -sliderConstraintSettings.mMotorSettings.mMaxForceLimit
+        }
+
         const constraint = sliderConstraintSettings.Create(bodyA, bodyB)
 
         this._constraints.push(constraint)
diff --git a/fission/src/systems/simulation/SimulationSystem.ts b/fission/src/systems/simulation/SimulationSystem.ts
index f0feeba8b2..cd141d98ba 100644
--- a/fission/src/systems/simulation/SimulationSystem.ts
+++ b/fission/src/systems/simulation/SimulationSystem.ts
@@ -97,7 +97,7 @@ class SimulationLayer {
                 this._stimuli.push(stim)
             } else if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Slider) {
                 const slider = JOLT.castObject(x.constraint, JOLT.SliderConstraint)
-                const driver = new SliderDriver(slider, x.info)
+                const driver = new SliderDriver(slider, x.maxVelocity, x.info)
                 this._drivers.push(driver)
                 const stim = new SliderStimulus(slider)
                 this._stimuli.push(stim)
diff --git a/fission/src/systems/simulation/behavior/synthesis/GenericElevatorBehavior.ts b/fission/src/systems/simulation/behavior/synthesis/GenericElevatorBehavior.ts
index fb8b237d16..cc5dfda7ee 100644
--- a/fission/src/systems/simulation/behavior/synthesis/GenericElevatorBehavior.ts
+++ b/fission/src/systems/simulation/behavior/synthesis/GenericElevatorBehavior.ts
@@ -8,8 +8,6 @@ class GenericElevatorBehavior extends Behavior {
     private _inputName: string
     private _brainIndex: number
 
-    private _linearSpeed = 2.5
-
     constructor(sliderDriver: SliderDriver, sliderStimulus: SliderStimulus, jointIndex: number, brainIndex: number) {
         super([sliderDriver], [sliderStimulus])
 
@@ -20,11 +18,12 @@ class GenericElevatorBehavior extends Behavior {
 
     // Changes the elevators target position
     moveElevator(linearVelocity: number) {
+        // Multiplied by velocity in driver
         this._sliderDriver.targetVelocity = linearVelocity
     }
 
     public Update(_: number): void {
-        this.moveElevator(InputSystem.getInput(this._inputName, this._brainIndex) * this._linearSpeed)
+        this.moveElevator(InputSystem.getInput(this._inputName, this._brainIndex))
     }
 }
 
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index dd442b38aa..dcc26e0db0 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -10,6 +10,15 @@ class SliderDriver extends Driver {
     private _controlMode: DriverControlMode = DriverControlMode.Velocity
     private _targetVelocity: number = 0.0
     private _targetPosition: number = 0.0
+    private _maxVelocity: number = 0.0
+
+    public get maxVelocity(): number {
+        return this._maxVelocity
+    }
+
+    public set maxVelocity(radsPerSec: number) {
+        this._maxVelocity = radsPerSec
+    }
 
     public get targetVelocity(): number {
         return this._targetVelocity
@@ -56,7 +65,7 @@ class SliderDriver extends Driver {
         }
     }
 
-    public constructor(constraint: Jolt.SliderConstraint, info?: mirabuf.IInfo) {
+    public constructor(constraint: Jolt.SliderConstraint, maxVelocity: number, info?: mirabuf.IInfo) {
         super(info)
 
         this._constraint = constraint
@@ -67,8 +76,8 @@ class SliderDriver extends Driver {
         springSettings.mDamping = 0.999
 
         motorSettings.mSpringSettings = springSettings
-        motorSettings.mMinForceLimit = -900.0
-        motorSettings.mMaxForceLimit = 900.0
+
+        this._maxVelocity = maxVelocity
 
         this._constraint.SetMotorState(JOLT.EMotorState_Velocity)
         this.controlMode = DriverControlMode.Velocity
@@ -76,8 +85,9 @@ class SliderDriver extends Driver {
 
     public Update(_: number): void {
         if (this._controlMode == DriverControlMode.Velocity) {
-            this._constraint.SetTargetVelocity(this._targetVelocity)
+            this._constraint.SetTargetVelocity(this._targetVelocity * this._maxVelocity)
         } else if (this._controlMode == DriverControlMode.Position) {
+            //TODO: MaxVel checks diff
             this._constraint.SetTargetPosition(this._targetPosition)
         }
     }

From e217efde54b388542ad83ae7439c0359812c3b38 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 31 Jul 2024 14:14:47 -0700
Subject: [PATCH 102/344] Removed the blue border from toggle button groups

---
 .../src/ui/components/ToggleButtonGroup.tsx    | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/fission/src/ui/components/ToggleButtonGroup.tsx b/fission/src/ui/components/ToggleButtonGroup.tsx
index 8b11fafe59..5ca0d2707a 100644
--- a/fission/src/ui/components/ToggleButtonGroup.tsx
+++ b/fission/src/ui/components/ToggleButtonGroup.tsx
@@ -4,13 +4,29 @@ import { colorNameToVar } from "../ThemeContext"
 
 export const ToggleButton = styled(ToggleButtonMUI)({
     // backgroundColor: "white"
-    "borderColor": "none",
+    "borderColor": "transparent",
     "fontFamily": "Artifakt",
     "fontWeight": 700,
     "color": "white",
     "&.Mui-selected": {
         color: "white",
         backgroundImage: `linear-gradient(to right, ${colorNameToVar("InteractiveElementLeft")}, ${colorNameToVar("InteractiveElementRight")})`,
+        borderColor: "transparent",
+    },
+    "&:focus": {
+        borderColor: "transparent",
+    },
+    "&:hover": {
+        borderColor: "white",
+    },
+    "&:focus-visible": {
+        borderColor: "transparent",
+    },
+    "&:active": {
+        borderColor: "transparent",
+    },
+    "&::-moz-focus-inner": {
+        borderColor: "transparent",
     },
 })
 

From 97227e26ef3fa796a4daf9f58949bce10ab4f29f Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 31 Jul 2024 14:30:55 -0700
Subject: [PATCH 103/344] Configure vel and force

---
 fission/src/Synthesis.tsx                     |   2 +
 fission/src/systems/physics/PhysicsSystem.ts  |   9 +-
 .../systems/simulation/driver/SliderDriver.ts |   8 +-
 fission/src/ui/components/MainHUD.tsx         |   1 +
 .../configuring/ConfigureJointsPanel.tsx      | 157 ++++++++++++++++++
 5 files changed, 173 insertions(+), 4 deletions(-)
 create mode 100644 fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 1b3d308176..7fbbff4470 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -40,6 +40,7 @@ import SpawnLocationsPanel from "@/panels/SpawnLocationPanel"
 import ConfigureGamepiecePickupPanel from "@/panels/configuring/ConfigureGamepiecePickupPanel"
 import ConfigureShotTrajectoryPanel from "@/panels/configuring/ConfigureShotTrajectoryPanel"
 import ScoringZonesPanel from "@/panels/configuring/scoring/ScoringZonesPanel"
+import ConfigureJointsPanel from "@/panels/configuring/ConfigureJointsPanel"
 import ScoreboardPanel from "@/panels/information/ScoreboardPanel"
 import DriverStationPanel from "@/panels/simulation/DriverStationPanel"
 import PokerPanel from "@/panels/PokerPanel.tsx"
@@ -253,6 +254,7 @@ const initialPanels: ReactElement[] = [
     <ChooseInputSchemePanel key="choose-scheme" panelId="choose-scheme" />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
+    <ConfigureJointsPanel key="joint-config" panelId="joint-config" openLocation="right" sidePadding={8} />
 ]
 
 export default Synthesis
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index fce7525811..2ff61d3725 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -355,7 +355,10 @@ class PhysicsSystem extends WorldSystem {
 
             const motor = jointData.motorDefinitions![jDef.motorReference]
             
-            const maxVel = parser.assembly.data?.joints?.motorDefinitions![jDef.motorReference].simpleMotor?.maxVelocity
+            let maxVel = undefined;
+            if (parser.assembly.data?.joints?.motorDefinitions && parser.assembly.data?.joints?.motorDefinitions![jDef.motorReference] && parser.assembly.data?.joints?.motorDefinitions![jDef.motorReference].simpleMotor) {
+                maxVel = parser.assembly.data?.joints?.motorDefinitions![jDef.motorReference].simpleMotor?.maxVelocity
+            }
 
             switch (jDef.jointMotionType!) {
                 case mirabuf.joint.JointMotion.REVOLUTE:
@@ -385,12 +388,12 @@ class PhysicsSystem extends WorldSystem {
                         }
                     } else {
                         constraints.push(
-                            [this.CreateHingeConstraint(jInst, jDef, bodyA, bodyB, parser.assembly.info!.version!), maxVel ?? 40]
+                            [this.CreateHingeConstraint(jInst, jDef, bodyA, bodyB, parser.assembly.info!.version!), maxVel ? maxVel /5 : 40]
                         )
                     }
                     break
                 case mirabuf.joint.JointMotion.SLIDER:
-                    constraints.push([this.CreateSliderConstraint(jInst, jDef, motor, bodyA, bodyB), maxVel ?? 40])
+                    constraints.push([this.CreateSliderConstraint(jInst, jDef, motor, bodyA, bodyB), maxVel ? maxVel / 5 : 40])
                     break
                 default:
                     console.debug("Unsupported joint detected. Skipping...")
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index dcc26e0db0..f1de635a9f 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -10,7 +10,7 @@ class SliderDriver extends Driver {
     private _controlMode: DriverControlMode = DriverControlMode.Velocity
     private _targetVelocity: number = 0.0
     private _targetPosition: number = 0.0
-    private _maxVelocity: number = 0.0
+    private _maxVelocity: number = 1.0
 
     public get maxVelocity(): number {
         return this._maxVelocity
@@ -37,10 +37,16 @@ class SliderDriver extends Driver {
         )
     }
 
+    public get minForceLimit(): number {
+        return this._constraint.GetMotorSettings().get_mMinForceLimit()
+    }
     public set minForceLimit(newtons: number) {
         const motorSettings = this._constraint.GetMotorSettings()
         motorSettings.mMinForceLimit = newtons
     }
+    public get maxForceLimit(): number {
+        return this._constraint.GetMotorSettings().get_mMaxForceLimit()
+    }
     public set maxForceLimit(newtons: number) {
         const motorSettings = this._constraint.GetMotorSettings()
         motorSettings.mMaxForceLimit = newtons
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index e25a7c6570..59a3679e1a 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -120,6 +120,7 @@ const MainHUD: React.FC = () => {
                         }}
                     />
                     <MainHUDButton value={"Configure"} icon={<FaGear />} onClick={() => openModal("config-robot")} />
+                    <MainHUDButton value={"Joints"} icon={<FaGear />} onClick={() => openPanel("joint-config")} />
                     <MainHUDButton
                         value={"Debug Tools"}
                         icon={<FaScrewdriverWrench />}
diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
new file mode 100644
index 0000000000..96ac87751a
--- /dev/null
+++ b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
@@ -0,0 +1,157 @@
+import { MiraType } from "@/mirabuf/MirabufLoader"
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import { MechanismConstraint } from "@/systems/physics/Mechanism"
+import Driver from "@/systems/simulation/driver/Driver"
+import SliderDriver from "@/systems/simulation/driver/SliderDriver"
+import World from "@/systems/World"
+import Button from "@/ui/components/Button"
+import Label, { LabelSize } from "@/ui/components/Label"
+import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
+import ScrollView from "@/ui/components/ScrollView"
+import Slider from "@/ui/components/Slider"
+import Stack, { StackDirection } from "@/ui/components/Stack"
+import { useTheme } from "@/ui/ThemeContext"
+import { Box } from "@mui/material"
+import { useEffect, useMemo, useState } from "react"
+import { FaGear } from "react-icons/fa6"
+
+type JointRowProps = {
+    driver: Driver
+}
+
+const JointRow: React.FC<JointRowProps> = ({ driver }) => {
+    const [velocity, setVelocity] = useState<number>((driver as SliderDriver).maxVelocity)
+    const [force, setForce] = useState<number>((driver as SliderDriver).maxForceLimit)
+
+    return (
+        <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>
+            <Stack direction={StackDirection.Vertical} spacing={8} justify="start">
+                <Label size={LabelSize.Medium}>{driver.info?.name}</Label>
+                <Slider
+                    min={0.1}
+                    max={80}
+                    value={velocity}
+                    label="Max Velocity"
+                    format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
+                    onChange={(_, vel: number | number[]) => {
+                        setVelocity(vel as number);
+                        (driver as SliderDriver).maxVelocity = velocity
+                    }}
+                    step={0.01}
+                />
+                <Slider
+                    min={150}
+                    max={1000}
+                    value={force}
+                    label="Force"
+                    format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
+                    onChange={(_, forc: number | number[]) => {
+                        setForce(forc as number);
+                        (driver as SliderDriver).maxForceLimit = force;
+                        (driver as SliderDriver).minForceLimit = -force
+                    }}
+                    step={0.01}
+                />
+            </Stack>
+        </Box>
+    )
+}
+
+
+const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding}) => {
+    const { currentTheme, themes } = useTheme()
+    const theme = useMemo(() => {
+        return themes[currentTheme]
+    }, [currentTheme, themes])
+
+    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
+
+    const robots = useMemo(() => {
+        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
+            if (x instanceof MirabufSceneObject) {
+                return x.miraType === MiraType.ROBOT
+            }
+            return false
+        }) as MirabufSceneObject[]
+        return assemblies
+    }, [])
+
+    const drivers = useMemo(() => {
+        return selectedRobot?.mechanism ?
+            World.SimulationSystem.GetSimulationLayer(selectedRobot.mechanism)?.drivers : undefined
+    }, [selectedRobot])
+
+
+    return (
+        <Panel 
+            name="Configure Joints"
+            icon={<FaGear />}
+            panelId={panelId}
+            openLocation={openLocation}
+            sidePadding={sidePadding}
+            onAccept={() => {}}       
+            onCancel={() => {/* Back to original */ }}
+            acceptEnabled={true}
+        >
+            {selectedRobot?.ejectorPreferences == undefined ? (
+                <>
+                    <Label>Select a robot</Label>
+                    {/** Scroll view for selecting a robot to configure */}
+                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
+                        {robots.map(mirabufSceneObject => {
+                            return (
+                                <Button
+                                    value={mirabufSceneObject.assemblyName}
+                                    onClick={() => {
+                                        setSelectedRobot(mirabufSceneObject)
+                                    }}
+                                    key={mirabufSceneObject.id}
+                                ></Button>
+                            )
+                        })}
+                    </div>
+                </>
+            ) : (
+                <>
+                    {/* {selectedRobot.mechanism.constraints.filter(x=> x.constraint.GetSubType() == JOLT.EConstraintSubType_Slider).length > 0 ? (
+                        <ScrollView className="flex flex-col gap-4">
+                            {selectedRobot.mechanism.constraints.filter(x=> x.constraint.GetSubType() == JOLT.EConstraintSubType_Slider).map((mechanism: MechanismConstraint, i: number) => (
+
+                                <JointRow
+                                    key={i}
+                                    driver={(() => {
+                                        return driver
+                                    })()}
+                                />
+                            
+                            ))}
+                        </ScrollView>
+                    ) : (
+                        <Label>No SliderDrivers</Label>
+                    )} */}
+
+                    {drivers ? (
+                        <ScrollView className="flex flex-col gap-4">
+                            {drivers.filter(x => x instanceof SliderDriver).map((driver: Driver, i: number) => (
+                                <JointRow
+                                    key={i}
+                                    driver={(() => {
+                                        return driver
+                                    })()}
+                                />
+                            
+                            ))}
+                        </ScrollView>
+                    ) : (
+                        <Label>No SliderDrivers</Label>
+                    )}
+                </>
+            )}
+
+
+        </Panel>
+
+    )
+}
+
+export default ConfigureJointsPanel
\ No newline at end of file

From bed9f1655427830e0afaecf707197db175a4ca1d Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 31 Jul 2024 14:37:07 -0700
Subject: [PATCH 104/344] Clean up

---
 .../configuring/ConfigureJointsPanel.tsx      | 19 +------------------
 1 file changed, 1 insertion(+), 18 deletions(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
index 96ac87751a..dc1f66b195 100644
--- a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
@@ -1,6 +1,5 @@
 import { MiraType } from "@/mirabuf/MirabufLoader"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
-import { MechanismConstraint } from "@/systems/physics/Mechanism"
 import Driver from "@/systems/simulation/driver/Driver"
 import SliderDriver from "@/systems/simulation/driver/SliderDriver"
 import World from "@/systems/World"
@@ -12,7 +11,7 @@ import Slider from "@/ui/components/Slider"
 import Stack, { StackDirection } from "@/ui/components/Stack"
 import { useTheme } from "@/ui/ThemeContext"
 import { Box } from "@mui/material"
-import { useEffect, useMemo, useState } from "react"
+import { useMemo, useState } from "react"
 import { FaGear } from "react-icons/fa6"
 
 type JointRowProps = {
@@ -113,22 +112,6 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
                 </>
             ) : (
                 <>
-                    {/* {selectedRobot.mechanism.constraints.filter(x=> x.constraint.GetSubType() == JOLT.EConstraintSubType_Slider).length > 0 ? (
-                        <ScrollView className="flex flex-col gap-4">
-                            {selectedRobot.mechanism.constraints.filter(x=> x.constraint.GetSubType() == JOLT.EConstraintSubType_Slider).map((mechanism: MechanismConstraint, i: number) => (
-
-                                <JointRow
-                                    key={i}
-                                    driver={(() => {
-                                        return driver
-                                    })()}
-                                />
-                            
-                            ))}
-                        </ScrollView>
-                    ) : (
-                        <Label>No SliderDrivers</Label>
-                    )} */}
 
                     {drivers ? (
                         <ScrollView className="flex flex-col gap-4">

From ee6cf471512a36a9425d573e1ee80833c74befd4 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Wed, 31 Jul 2024 14:38:13 -0700
Subject: [PATCH 105/344] ran formatter

---
 fission/src/ui/modals/APSManagementModal.tsx | 22 ++++++++++----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/fission/src/ui/modals/APSManagementModal.tsx b/fission/src/ui/modals/APSManagementModal.tsx
index ab1ec57e7c..fa4d8ddaaa 100644
--- a/fission/src/ui/modals/APSManagementModal.tsx
+++ b/fission/src/ui/modals/APSManagementModal.tsx
@@ -1,22 +1,22 @@
 import React, { useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import Stack, { StackDirection } from "@/components/Stack"
-import Label, { LabelSize } from "@/components/Label"
 import { HiUser } from "react-icons/hi"
 import APS from "@/aps/APS"
 
 const APSManagementModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const [userInfo, setUserInfo] = useState(APS.userInfo)
+    const [userInfo, _] = useState(APS.userInfo)
     return (
-        <Modal name={userInfo?.name ?? "Not signed in"} icon={
-            userInfo?.picture ?
-                <img src={userInfo?.picture} className="h-10 rounded-full" /> :
-                <HiUser />
-        } modalId={modalId} acceptName="Logout" onAccept={() => {
-            APS.logout()
-        }}>
-            <Stack direction={StackDirection.Vertical} spacing={10}>
-            </Stack>
+        <Modal
+            name={userInfo?.name ?? "Not signed in"}
+            icon={userInfo?.picture ? <img src={userInfo?.picture} className="h-10 rounded-full" /> : <HiUser />}
+            modalId={modalId}
+            acceptName="Logout"
+            onAccept={() => {
+                APS.logout()
+            }}
+        >
+            <Stack direction={StackDirection.Vertical} spacing={10}></Stack>
         </Modal>
     )
 }

From 459c8ff524692c243aca3184d5c6fd1f1353aa29 Mon Sep 17 00:00:00 2001
From: Brandon Pacewic <pacewicbrandon@gmail.com>
Date: Wed, 31 Jul 2024 14:45:42 -0700
Subject: [PATCH 106/344] Remove confirmed `TODO`

---
 exporter/SynthesisFusionAddin/src/Dependencies.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
index f55643dfae..b9ad31f7be 100644
--- a/exporter/SynthesisFusionAddin/src/Dependencies.py
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -108,7 +108,6 @@ def resolveDependencies() -> bool | None:
     progressBar.reset()
     progressBar.show("Synthesis", f"Installing dependencies...", 0, len(PIP_DEPENDENCY_VERSION_MAP) * 2 + 2, 0)
 
-    # TODO: Is this really true? Do we need this? waheusnta eho? - Brandon
     # Install pip manually on macos as it is not included by default? Really?
     if system == "Darwin" and not os.path.exists(os.path.join(pythonFolder, "pip")):
         pipInstallScriptPath = os.path.join(pythonFolder, "get-pip.py")

From 16b988af92caaad59892cae5d308056844ec5b1e Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 31 Jul 2024 14:47:19 -0700
Subject: [PATCH 107/344] Merge conflicts

---
 fission/src/ui/components/MainHUD.tsx | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 0cc48c2b14..c29d1b1a5c 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -10,6 +10,7 @@ import APS, { APS_USER_INFO_UPDATE_EVENT } from "@/aps/APS"
 import { UserIcon } from "./UserIcon"
 import { Button } from "@mui/base/Button"
 import { ButtonIcon, SynthesisIcons } from "./StyledComponents"
+import Synthesis from "@/Synthesis"
 
 type ButtonProps = {
     value: string
@@ -119,8 +120,8 @@ const MainHUD: React.FC = () => {
                             openPanel("scoring-zones")
                         }}
                     />
-                    <MainHUDButton value={"Configure"} icon={<FaGear />} onClick={() => openModal("config-robot")} />
-                    <MainHUDButton value={"Joints"} icon={<FaGear />} onClick={() => openPanel("joint-config")} />
+                    <MainHUDButton value={"Configure"} icon={SynthesisIcons.Gear} onClick={() => openModal("config-robot")} />
+                    <MainHUDButton value={"Joints"} icon={SynthesisIcons.Gear} onClick={() => openPanel("joint-config")} />
                     <MainHUDButton
                         value={"Configure"}
                         icon={SynthesisIcons.Gear}

From 4fd12d5243c2859966974555bc0ce6f29fb62564 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 31 Jul 2024 14:55:23 -0700
Subject: [PATCH 108/344] Removed toggle button group border color on select

---
 .../src/ui/components/ToggleButtonGroup.tsx   | 37 ++++++++++++++++---
 1 file changed, 32 insertions(+), 5 deletions(-)

diff --git a/fission/src/ui/components/ToggleButtonGroup.tsx b/fission/src/ui/components/ToggleButtonGroup.tsx
index 5ca0d2707a..8159c97b97 100644
--- a/fission/src/ui/components/ToggleButtonGroup.tsx
+++ b/fission/src/ui/components/ToggleButtonGroup.tsx
@@ -14,25 +14,52 @@ export const ToggleButton = styled(ToggleButtonMUI)({
         borderColor: "transparent",
     },
     "&:focus": {
+        borderColor: "transparent !important",
+        outline: "none",
+    },
+    "&:selected": {
+        outline: "none",
         borderColor: "transparent",
     },
     "&:hover": {
-        borderColor: "white",
+        outline: "none",
+        borderColor: "transparent",
     },
     "&:focus-visible": {
+        outline: "none",
         borderColor: "transparent",
     },
     "&:active": {
+        outline: "none",
         borderColor: "transparent",
     },
     "&::-moz-focus-inner": {
+        outline: "none",
         borderColor: "transparent",
     },
 })
 
 export const ToggleButtonGroup = styled(ToggleButtonGroupMUI)({
-    backgroundColor: colorNameToVar("Background"),
-    fontFamily: "Artifakt",
-    fontWeight: 700,
-    width: "fit-content",
+    "backgroundColor": colorNameToVar("Background"),
+    "fontFamily": "Artifakt",
+    "fontWeight": 700,
+    "width": "fit-content",
+    "&:focus": {
+        borderColor: "transparent",
+    },
+    "&:selected": {
+        borderColor: "transparent",
+    },
+    "&:hover": {
+        borderColor: "transparent",
+    },
+    "&:focus-visible": {
+        borderColor: "transparent",
+    },
+    "&:active": {
+        borderColor: "transparent",
+    },
+    "&::-moz-focus-inner": {
+        borderColor: "transparent",
+    },
 })

From d9271f13ee2982810a0c7e419597f7c24f0e7e1e Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 31 Jul 2024 15:56:30 -0700
Subject: [PATCH 109/344] added deadband suport for talonFX

---
 .../simulation/wpilib_brain/WPILibBrain.ts    | 17 +++++------
 .../java/com/autodesk/synthesis/CANMotor.java | 28 ++++++++++++-------
 .../com/autodesk/synthesis/ctre/TalonFX.java  | 24 ++++++++++++----
 .../synthesis/revrobotics/CANSparkMax.java    | 23 +++++++++------
 .../src/main/java/frc/robot/Robot.java        |  7 +++--
 5 files changed, 63 insertions(+), 36 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index f565f42425..75eeda0328 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -210,21 +210,22 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
         try {
             data = JSON.parse(eventData.data)
         } catch (e) {
-            console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
+            console.error(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
+            return
         }
     }
 
-    if (!data || !data.type) {
+    if (!data?.type) {
         console.log("No data, bailing out")
         return
     }
 
-    const device = data.device
-    const updateData = data.data
-
-    if (!Object.values(SimType).includes(data.type)) return
+    if (!Object.values(SimType).includes(data.type)) {
+        console.log("Unknown data type, bailing out")
+        return
+    }
 
-    UpdateSimMap(data.type, device, updateData)
+    UpdateSimMap(data.type, data.device, data.data)
 })
 
 function UpdateSimMap(type: SimType, device: string, updateData: any) {
@@ -240,7 +241,7 @@ function UpdateSimMap(type: SimType, device: string, updateData: any) {
         typeMap.set(device, currentData)
     }
 
-    Object.entries(updateData).forEach(([key, value]) => (currentData[key] = value))
+    Object.entries(updateData).forEach(([key, value]) => currentData[key] = value)
 
     window.dispatchEvent(new SimMapUpdateEvent(false))
 }
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
index 1793aabddc..7dd36e8e93 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
@@ -6,9 +6,11 @@
 import edu.wpi.first.hal.SimDouble;
 
 /**
- * CANMotor class for easy implementation of documentation-compliant simulation data.
+ * CANMotor class for easy implementation of documentation-compliant simulation
+ * data.
  * 
- * See https://github.com/wpilibsuite/allwpilib/blob/6478ba6e3fa317ee041b8a41e562d925602b6ea4/simulation/halsim_ws_core/doc/hardware_ws_api.md
+ * See
+ * https://github.com/wpilibsuite/allwpilib/blob/6478ba6e3fa317ee041b8a41e562d925602b6ea4/simulation/halsim_ws_core/doc/hardware_ws_api.md
  * for documentation on the WebSocket API Specification.
  */
 public class CANMotor {
@@ -24,20 +26,26 @@ public class CANMotor {
     private SimDouble m_busVoltage;
 
     /**
-     * Creates a CANMotor sim device in accordance with the WebSocket API Specification.
+     * Creates a CANMotor sim device in accordance with the WebSocket API
+     * Specification.
      * 
-     * @param name Name of the CAN Motor. This is generally the class name of the originating motor, prefixed with something (ie. "SYN CANSparkMax").
-     * @param deviceId CAN Device ID.
-     * @param defaultPercentOutput Default PercentOutput value. [-1.0, 1.0]
-     * @param defaultBrakeMode Default BrakeMode value. (true/false)
-     * @param defaultNeutralDeadband Default Neutral Deadband value. This is used to determine when braking should be enabled. [0.0, 1.0]
+     * @param name                   Name of the CAN Motor. This is generally the
+     *                               class name of the originating motor, prefixed
+     *                               with something (ie. "SYN CANSparkMax").
+     * @param deviceId               CAN Device ID.
+     * @param defaultPercentOutput   Default PercentOutput value. [-1.0, 1.0]
+     * @param defaultBrakeMode       Default BrakeMode value. (true/false)
+     * @param defaultNeutralDeadband Default Neutral Deadband value. This is used to
+     *                               determine when braking should be enabled. [0.0,
+     *                               1.0]
      */
-    public CANMotor(String name, int deviceId, double defaultPercentOutput, boolean defaultBrakeMode, double defaultNeutralDeadband) {
+    public CANMotor(String name, int deviceId, double defaultPercentOutput, boolean defaultBrakeMode,
+            double defaultNeutralDeadband) {
         m_device = SimDevice.create(name, deviceId);
 
         m_percentOutput = m_device.createDouble("percentOutput", Direction.kOutput, 0.0);
         m_brakeMode = m_device.createBoolean("brakeMode", Direction.kOutput, false);
-        m_neutralDeadband = m_device.createDouble("neutralDeadband", Direction.kOutput, deviceId);
+        m_neutralDeadband = m_device.createDouble("neutralDeadband", Direction.kOutput, 0.5);
 
         m_supplyCurrent = m_device.createDouble("supplyCurrent", Direction.kInput, 120.0);
         m_motorCurrent = m_device.createDouble("motorCurrent", Direction.kInput, 120.0);
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
index 6b54db84b9..90da0a8e5e 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
@@ -1,33 +1,45 @@
 package com.autodesk.synthesis.ctre;
 
 import com.autodesk.synthesis.CANMotor;
-// import com.ctre.phoenix6.configs.TalonFXConfigurator;
-// import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.ctre.phoenix6.configs.TalonFXConfigurator;
+import com.ctre.phoenix6.hardware.DeviceIdentifier;
 
 public class TalonFX extends com.ctre.phoenix6.hardware.TalonFX {
     private CANMotor m_motor;
 
+    /**
+     * Creates a new TalonFX, wrapped with simulation support.
+     * 
+     * @param deviceId CAN Devic ID.
+     */
     public TalonFX(int deviceNumber) {
         super(deviceNumber);
 
-        m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3);
+        this.m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3);
     }
 
+    @Override
     public void set(double speed) {
         super.set(speed);
         this.m_motor.setPercentOutput(speed);
     }
 
+    @Override
     public void setNeutralMode(NeutralModeValue mode) {
         super.setNeutralMode(mode);
 
         this.m_motor.setBrakeMode(mode == NeutralModeValue.Brake);
     }
 
-    public void configureNeutralDeadband(double deadband) {
-        //super.configureNeutralDeadband(deadband);
-        // TODO: Find actual deadband config method
+    @Override
+    public TalonFXConfigurator getConfigurator() {
+        DeviceIdentifier id = this.deviceIdentifier;
+        return new com.autodesk.synthesis.ctre.TalonFXConfigurator(id, this);
+    }
+
+    // called internally by the configurator to set the deadband, not for user use
+    public void setNeutralDeadband(double deadband) {
         this.m_motor.setNeutralDeadband(deadband);
     }
 }
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index e60f82cc4d..5575836744 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -2,6 +2,7 @@
 
 import com.autodesk.synthesis.CANEncoder;
 import com.autodesk.synthesis.CANMotor;
+import com.revrobotics.CANSparkBase;
 import com.revrobotics.REVLibError;
 
 /**
@@ -22,30 +23,34 @@ public class CANSparkMax extends com.revrobotics.CANSparkMax {
     public CANSparkMax(int deviceId, MotorType motorType) {
         super(deviceId, motorType);
 
-        m_motor = new CANMotor("SYN CANSparkMax", deviceId, 0.0, false, 0.3);
-        m_encoder = new CANEncoder("SYN CANSparkMax/Encoder", deviceId);
+        this.m_motor = new CANMotor("SYN CANSparkMax", deviceId, 0.0, false, 0.3);
+        this.m_encoder = new CANEncoder("SYN CANSparkMax/Encoder", deviceId);
     }
 
     @Override
     public void set(double percent) {
         super.set(percent);
-        m_motor.setPercentOutput(percent);
-    }
-
-    public void test() {
-        System.out.println("test");
+        this.m_motor.setPercentOutput(percent);
     }
 
     public void setNeutralDeadband(double n) {
-        m_motor.setNeutralDeadband(n);
+        this.m_motor.setNeutralDeadband(n);
     }
 
     @Override
     public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) {
         if (mode != null) {
-            m_motor.setBrakeMode(mode.equals(com.revrobotics.CANSparkBase.IdleMode.kBrake));
+            this.m_motor.setBrakeMode(mode.equals(com.revrobotics.CANSparkBase.IdleMode.kBrake));
         }
 
         return super.setIdleMode(mode);
     }
+
+    @Override
+    public REVLibError follow(CANSparkBase leader) {
+        REVLibError err = super.follow(leader);
+        // figure out how to have primitives follow
+        this.m_motor.m_percentOuput = leader.x;
+        return err;
+    }
 }
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 6f78dca9c9..9b15b83188 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -7,7 +7,7 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
+//import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -31,7 +31,7 @@ public class Robot extends TimedRobot {
 
     // private Spark m_Spark = new Spark(0);
     private CANSparkMax m_SparkMax = new CANSparkMax(1, MotorType.kBrushless);
-    private TalonFX m_Talon = new TalonFX(2);
+    private com.autodesk.synthesis.ctre.TalonFX m_Talon = new com.autodesk.synthesis.ctre.TalonFX(2);
 
     /**
      * This function is run when the robot is first started up and should be used
@@ -89,9 +89,10 @@ public void autonomousPeriodic() {
 
         // m_Spark.set(0.5);
         m_SparkMax.set(1.0);
-        // m_SparkMax.setNeutralDeadband(0.01); // FIXME: for some reason I can't set
+        //m_SparkMax.setNeutralDeadband(0.01); // FIXME: for some reason I can't set
         // the deadband even after defining the function in the child
         m_Talon.set(-1.0);
+        m_Talon.configureNeutralDeadband(0.2);
 
         switch (m_autoSelected) {
             case kCustomAuto:

From 797ee1a89db200cd42bb1935d3bfd1e4db7ada9d Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 31 Jul 2024 17:23:29 -0700
Subject: [PATCH 110/344] Saves in prefs

---
 fission/src/systems/physics/PhysicsSystem.ts  | 26 ++++++----
 .../systems/preferences/PreferenceTypes.ts    |  8 +++
 .../systems/simulation/driver/SliderDriver.ts | 15 ++----
 fission/src/ui/components/MainHUD.tsx         |  1 -
 .../configuring/ConfigureJointsPanel.tsx      | 52 +++++++++++++++----
 5 files changed, 71 insertions(+), 31 deletions(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 2ff61d3725..4dd011d066 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -23,6 +23,7 @@ import {
     OnContactValidateData,
     PhysicsEvent,
 } from "./ContactEvents"
+import PreferencesSystem from "../preferences/PreferencesSystem"
 
 export type JoltBodyIndexAndSequence = number
 
@@ -353,12 +354,20 @@ class PhysicsSystem extends WorldSystem {
             const constraints: [Jolt.Constraint, number][] = []
             let listener: Jolt.PhysicsStepListener | undefined = undefined
 
-            const motor = jointData.motorDefinitions![jDef.motorReference]
-            
+            const motors = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").motors
+            let maxForce = jointData.motorDefinitions![jDef.motorReference].simpleMotor?.stallTorque
             let maxVel = undefined;
             if (parser.assembly.data?.joints?.motorDefinitions && parser.assembly.data?.joints?.motorDefinitions![jDef.motorReference] && parser.assembly.data?.joints?.motorDefinitions![jDef.motorReference].simpleMotor) {
                 maxVel = parser.assembly.data?.joints?.motorDefinitions![jDef.motorReference].simpleMotor?.maxVelocity
             }
+            if (motors) {
+                const thisMotor = motors.filter(x => x.name == jInst.info?.name)
+                if (thisMotor && thisMotor[0]) {
+                    maxVel = thisMotor[0].maxVelocity
+                    maxForce = thisMotor[0].maxForce
+                }
+
+            }
 
             switch (jDef.jointMotionType!) {
                 case mirabuf.joint.JointMotion.REVOLUTE:
@@ -388,12 +397,13 @@ class PhysicsSystem extends WorldSystem {
                         }
                     } else {
                         constraints.push(
-                            [this.CreateHingeConstraint(jInst, jDef, bodyA, bodyB, parser.assembly.info!.version!), maxVel ? maxVel /5 : 40]
+                            [this.CreateHingeConstraint(jInst, jDef, bodyA, bodyB, parser.assembly.info!.version!), maxVel ? maxVel : 40]
                         )
                     }
                     break
                 case mirabuf.joint.JointMotion.SLIDER:
-                    constraints.push([this.CreateSliderConstraint(jInst, jDef, motor, bodyA, bodyB), maxVel ? maxVel / 5 : 40])
+                    
+                    constraints.push([this.CreateSliderConstraint(jInst, jDef, maxForce ?? 200, bodyA, bodyB), maxVel ? maxVel : 40])
                     break
                 default:
                     console.debug("Unsupported joint detected. Skipping...")
@@ -499,7 +509,7 @@ class PhysicsSystem extends WorldSystem {
     private CreateSliderConstraint(
         jointInstance: mirabuf.joint.JointInstance,
         jointDefinition: mirabuf.joint.Joint,
-        motor: mirabuf.motor.IMotor,
+        maxForce: number,
         bodyA: Jolt.Body,
         bodyB: Jolt.Body
     ): Jolt.Constraint {
@@ -545,10 +555,8 @@ class PhysicsSystem extends WorldSystem {
             sliderConstraintSettings.mLimitsMin = -halfRange
         }
 
-        if (motor.simpleMotor?.stallTorque) {
-            sliderConstraintSettings.mMotorSettings.mMaxForceLimit = motor.simpleMotor?.stallTorque * 5
-            sliderConstraintSettings.mMotorSettings.mMinForceLimit = -sliderConstraintSettings.mMotorSettings.mMaxForceLimit
-        }
+        sliderConstraintSettings.mMotorSettings.mMaxForceLimit = maxForce
+        sliderConstraintSettings.mMotorSettings.mMinForceLimit = -sliderConstraintSettings.mMotorSettings.mMaxForceLimit
 
         const constraint = sliderConstraintSettings.Create(bodyA, bodyB)
 
diff --git a/fission/src/systems/preferences/PreferenceTypes.ts b/fission/src/systems/preferences/PreferenceTypes.ts
index 37b04a83ce..27c1821ac6 100644
--- a/fission/src/systems/preferences/PreferenceTypes.ts
+++ b/fission/src/systems/preferences/PreferenceTypes.ts
@@ -45,10 +45,17 @@ export type EjectorPreferences = {
 
 export type RobotPreferences = {
     inputsSchemes: InputScheme[]
+    motors: MotorPreferences[]
     intake: IntakePreferences
     ejector: EjectorPreferences
 }
 
+export type MotorPreferences = {
+    name: string
+    maxVelocity: number
+    maxForce: number
+}
+
 export type Alliance = "red" | "blue"
 
 export type ScoringZonePreferences = {
@@ -70,6 +77,7 @@ export type FieldPreferences = {
 export function DefaultRobotPreferences(): RobotPreferences {
     return {
         inputsSchemes: [],
+        motors: [],
         intake: {
             deltaTransformation: [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1],
             zoneDiameter: 0.5,
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index f1de635a9f..06dcb2e830 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -3,6 +3,7 @@ import Driver, { DriverControlMode } from "./Driver"
 import { GetLastDeltaT } from "@/systems/physics/PhysicsSystem"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { mirabuf } from "@/proto/mirabuf"
+import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 
 class SliderDriver extends Driver {
     private _constraint: Jolt.SliderConstraint
@@ -37,19 +38,13 @@ class SliderDriver extends Driver {
         )
     }
 
-    public get minForceLimit(): number {
-        return this._constraint.GetMotorSettings().get_mMinForceLimit()
+    public get maxForce(): number {
+        return this._constraint.GetMotorSettings().mMaxForceLimit
     }
-    public set minForceLimit(newtons: number) {
-        const motorSettings = this._constraint.GetMotorSettings()
-        motorSettings.mMinForceLimit = newtons
-    }
-    public get maxForceLimit(): number {
-        return this._constraint.GetMotorSettings().get_mMaxForceLimit()
-    }
-    public set maxForceLimit(newtons: number) {
+    public set maxForce(newtons: number) {
         const motorSettings = this._constraint.GetMotorSettings()
         motorSettings.mMaxForceLimit = newtons
+        motorSettings.mMinForceLimit = -newtons
     }
 
     public get controlMode(): DriverControlMode {
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index c29d1b1a5c..af43cd3521 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -120,7 +120,6 @@ const MainHUD: React.FC = () => {
                             openPanel("scoring-zones")
                         }}
                     />
-                    <MainHUDButton value={"Configure"} icon={SynthesisIcons.Gear} onClick={() => openModal("config-robot")} />
                     <MainHUDButton value={"Joints"} icon={SynthesisIcons.Gear} onClick={() => openPanel("joint-config")} />
                     <MainHUDButton
                         value={"Configure"}
diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
index dc1f66b195..4847c69ab5 100644
--- a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
@@ -1,5 +1,6 @@
 import { MiraType } from "@/mirabuf/MirabufLoader"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import Driver from "@/systems/simulation/driver/Driver"
 import SliderDriver from "@/systems/simulation/driver/SliderDriver"
 import World from "@/systems/World"
@@ -11,16 +12,17 @@ import Slider from "@/ui/components/Slider"
 import Stack, { StackDirection } from "@/ui/components/Stack"
 import { useTheme } from "@/ui/ThemeContext"
 import { Box } from "@mui/material"
-import { useMemo, useState } from "react"
+import { useEffect, useMemo, useState } from "react"
 import { FaGear } from "react-icons/fa6"
 
 type JointRowProps = {
+    robot: MirabufSceneObject
     driver: Driver
 }
 
-const JointRow: React.FC<JointRowProps> = ({ driver }) => {
+const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
     const [velocity, setVelocity] = useState<number>((driver as SliderDriver).maxVelocity)
-    const [force, setForce] = useState<number>((driver as SliderDriver).maxForceLimit)
+    const [force, setForce] = useState<number>((driver as SliderDriver).maxForce)
 
     return (
         <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>
@@ -34,7 +36,22 @@ const JointRow: React.FC<JointRowProps> = ({ driver }) => {
                     format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
                     onChange={(_, vel: number | number[]) => {
                         setVelocity(vel as number);
-                        (driver as SliderDriver).maxVelocity = velocity
+                        (driver as SliderDriver).maxVelocity = vel as number
+                        if (driver.info && driver.info.name) {
+                            const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors ? PreferencesSystem.getRobotPreferences(robot.assemblyName).motors.filter(x => {
+                                if (x.name)
+                                    return x.name != driver.info?.name
+                                return false
+                            }) : []
+
+                            removedMotor.push({
+                                name: driver.info?.name ?? "",
+                                maxVelocity: vel as number,
+                                maxForce: force})
+
+                            PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
+                            PreferencesSystem.savePreferences()
+                        }
                     }}
                     step={0.01}
                 />
@@ -46,8 +63,22 @@ const JointRow: React.FC<JointRowProps> = ({ driver }) => {
                     format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
                     onChange={(_, forc: number | number[]) => {
                         setForce(forc as number);
-                        (driver as SliderDriver).maxForceLimit = force;
-                        (driver as SliderDriver).minForceLimit = -force
+                        (driver as SliderDriver).maxForce = forc as number
+                        if (driver.info && driver.info.name) {
+                            const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors ? PreferencesSystem.getRobotPreferences(robot.assemblyName).motors.filter(x => {
+                                if (x.name)
+                                    return x.name != driver.info?.name
+                                return false
+                            }) : []
+
+                            removedMotor.push({
+                                name: driver.info?.name ?? "",
+                                maxVelocity: velocity,
+                                maxForce: forc as number})
+
+                            PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
+                            PreferencesSystem.savePreferences()
+                        }
                     }}
                     step={0.01}
                 />
@@ -58,10 +89,6 @@ const JointRow: React.FC<JointRowProps> = ({ driver }) => {
 
 
 const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding}) => {
-    const { currentTheme, themes } = useTheme()
-    const theme = useMemo(() => {
-        return themes[currentTheme]
-    }, [currentTheme, themes])
 
     const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
 
@@ -88,7 +115,7 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
             panelId={panelId}
             openLocation={openLocation}
             sidePadding={sidePadding}
-            onAccept={() => {}}       
+            onAccept={() => { PreferencesSystem.savePreferences()}}       
             onCancel={() => {/* Back to original */ }}
             acceptEnabled={true}
         >
@@ -118,6 +145,9 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
                             {drivers.filter(x => x instanceof SliderDriver).map((driver: Driver, i: number) => (
                                 <JointRow
                                     key={i}
+                                    robot={(() => {
+                                        return selectedRobot
+                                    })()}
                                     driver={(() => {
                                         return driver
                                     })()}

From 85966701b149167f5c2cdd33dfa7ae7c368748ec Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 31 Jul 2024 18:04:59 -0700
Subject: [PATCH 111/344] HingeDrivers

---
 fission/src/systems/physics/PhysicsSystem.ts  |  15 +--
 .../systems/simulation/SimulationSystem.ts    |   2 +-
 .../behavior/synthesis/GenericArmBehavior.ts  |   4 +-
 .../systems/simulation/driver/HingeDriver.ts  |  26 ++--
 .../systems/simulation/driver/SliderDriver.ts |   1 -
 .../configuring/ConfigureJointsPanel.tsx      | 112 +++++++++++-------
 6 files changed, 94 insertions(+), 66 deletions(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 4dd011d066..5f438fd913 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -355,18 +355,14 @@ class PhysicsSystem extends WorldSystem {
             let listener: Jolt.PhysicsStepListener | undefined = undefined
 
             const motors = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").motors
+            let maxVel = jointData.motorDefinitions![jDef.motorReference].simpleMotor?.maxVelocity
             let maxForce = jointData.motorDefinitions![jDef.motorReference].simpleMotor?.stallTorque
-            let maxVel = undefined;
-            if (parser.assembly.data?.joints?.motorDefinitions && parser.assembly.data?.joints?.motorDefinitions![jDef.motorReference] && parser.assembly.data?.joints?.motorDefinitions![jDef.motorReference].simpleMotor) {
-                maxVel = parser.assembly.data?.joints?.motorDefinitions![jDef.motorReference].simpleMotor?.maxVelocity
-            }
             if (motors) {
                 const thisMotor = motors.filter(x => x.name == jInst.info?.name)
-                if (thisMotor && thisMotor[0]) {
+                if (thisMotor[0]) {
                     maxVel = thisMotor[0].maxVelocity
                     maxForce = thisMotor[0].maxForce
                 }
-
             }
 
             switch (jDef.jointMotionType!) {
@@ -397,7 +393,7 @@ class PhysicsSystem extends WorldSystem {
                         }
                     } else {
                         constraints.push(
-                            [this.CreateHingeConstraint(jInst, jDef, bodyA, bodyB, parser.assembly.info!.version!), maxVel ? maxVel : 40]
+                            [this.CreateHingeConstraint(jInst, jDef, maxForce ?? 200, bodyA, bodyB, parser.assembly.info!.version!), maxVel ? maxVel : 40]
                         )
                     }
                     break
@@ -441,6 +437,7 @@ class PhysicsSystem extends WorldSystem {
     private CreateHingeConstraint(
         jointInstance: mirabuf.joint.JointInstance,
         jointDefinition: mirabuf.joint.Joint,
+        torque: number,
         bodyA: Jolt.Body,
         bodyB: Jolt.Body,
         versionNum: number
@@ -490,6 +487,10 @@ class PhysicsSystem extends WorldSystem {
             hingeConstraintSettings.mLimitsMax = -lower
         }
 
+        hingeConstraintSettings.mMotorSettings.mMaxTorqueLimit = torque
+        hingeConstraintSettings.mMotorSettings.mMinTorqueLimit = -torque
+
+
         const constraint = hingeConstraintSettings.Create(bodyA, bodyB)
         this._joltPhysSystem.AddConstraint(constraint)
 
diff --git a/fission/src/systems/simulation/SimulationSystem.ts b/fission/src/systems/simulation/SimulationSystem.ts
index cd141d98ba..93e585c369 100644
--- a/fission/src/systems/simulation/SimulationSystem.ts
+++ b/fission/src/systems/simulation/SimulationSystem.ts
@@ -85,7 +85,7 @@ class SimulationLayer {
         this._mechanism.constraints.forEach(x => {
             if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Hinge) {
                 const hinge = JOLT.castObject(x.constraint, JOLT.HingeConstraint)
-                const driver = new HingeDriver(hinge, x.info)
+                const driver = new HingeDriver(hinge, x.maxVelocity, x.info)
                 this._drivers.push(driver)
                 const stim = new HingeStimulus(hinge)
                 this._stimuli.push(stim)
diff --git a/fission/src/systems/simulation/behavior/synthesis/GenericArmBehavior.ts b/fission/src/systems/simulation/behavior/synthesis/GenericArmBehavior.ts
index a9d19c5c03..1d55bfd9e6 100644
--- a/fission/src/systems/simulation/behavior/synthesis/GenericArmBehavior.ts
+++ b/fission/src/systems/simulation/behavior/synthesis/GenericArmBehavior.ts
@@ -8,8 +8,6 @@ class GenericArmBehavior extends Behavior {
     private _inputName: string
     private _brainIndex: number
 
-    private _rotationalSpeed = 6
-
     constructor(hingeDriver: HingeDriver, hingeStimulus: HingeStimulus, jointIndex: number, brainIndex: number) {
         super([hingeDriver], [hingeStimulus])
 
@@ -24,7 +22,7 @@ class GenericArmBehavior extends Behavior {
     }
 
     public Update(_: number): void {
-        this.rotateArm(InputSystem.getInput(this._inputName, this._brainIndex) * this._rotationalSpeed)
+        this.rotateArm(InputSystem.getInput(this._inputName, this._brainIndex))
     }
 }
 
diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
index 29ab7fc6af..aa9ef3aeb5 100644
--- a/fission/src/systems/simulation/driver/HingeDriver.ts
+++ b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -10,6 +10,15 @@ class HingeDriver extends Driver {
     private _controlMode: DriverControlMode = DriverControlMode.Velocity
     private _targetVelocity: number = 0.0
     private _targetAngle: number
+    private _maxVelocity: number
+
+    public get maxVelocity(): number {
+        return this._maxVelocity
+    }
+
+    public set maxVelocity(radsPerSec: number) {
+        this._maxVelocity = radsPerSec
+    }
 
     public get targetVelocity(): number {
         return this._targetVelocity
@@ -25,13 +34,14 @@ class HingeDriver extends Driver {
         this._targetAngle = Math.max(this._constraint.GetLimitsMin(), Math.min(this._constraint.GetLimitsMax(), rads))
     }
 
-    public set minTorqueLimit(nm: number) {
-        const motorSettings = this._constraint.GetMotorSettings()
-        motorSettings.mMinTorqueLimit = nm
+    public get maxTorque() {
+        return this._constraint.GetMotorSettings().mMaxTorqueLimit
     }
-    public set maxTorqueLimit(nm: number) {
+
+    public set maxTorque(nm: number) {
         const motorSettings = this._constraint.GetMotorSettings()
         motorSettings.mMaxTorqueLimit = nm
+        motorSettings.mMinTorqueLimit = -nm
     }
 
     public get controlMode(): DriverControlMode {
@@ -53,7 +63,7 @@ class HingeDriver extends Driver {
         }
     }
 
-    public constructor(constraint: Jolt.HingeConstraint, info?: mirabuf.IInfo) {
+    public constructor(constraint: Jolt.HingeConstraint, maxVelocity: number, info?: mirabuf.IInfo) {
         super(info)
 
         this._constraint = constraint
@@ -66,18 +76,18 @@ class HingeDriver extends Driver {
         springSettings.mDamping = 0.995
 
         motorSettings.mSpringSettings = springSettings
-        motorSettings.mMinTorqueLimit = -200.0
-        motorSettings.mMaxTorqueLimit = 200.0
 
         this._targetAngle = this._constraint.GetCurrentAngle()
+        this._maxVelocity = maxVelocity
 
         this.controlMode = DriverControlMode.Velocity
     }
 
     public Update(_: number): void {
         if (this._controlMode == DriverControlMode.Velocity) {
-            this._constraint.SetTargetAngularVelocity(this._targetVelocity)
+            this._constraint.SetTargetAngularVelocity(this._targetVelocity * this._maxVelocity)
         } else if (this._controlMode == DriverControlMode.Position) {
+            //TODO add maxVel to diff
             this._constraint.SetTargetAngle(this._targetAngle)
         }
     }
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index 06dcb2e830..f00249f521 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -3,7 +3,6 @@ import Driver, { DriverControlMode } from "./Driver"
 import { GetLastDeltaT } from "@/systems/physics/PhysicsSystem"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { mirabuf } from "@/proto/mirabuf"
-import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 
 class SliderDriver extends Driver {
     private _constraint: Jolt.SliderConstraint
diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
index 4847c69ab5..f3545d308d 100644
--- a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
@@ -2,6 +2,7 @@ import { MiraType } from "@/mirabuf/MirabufLoader"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import Driver from "@/systems/simulation/driver/Driver"
+import HingeDriver from "@/systems/simulation/driver/HingeDriver"
 import SliderDriver from "@/systems/simulation/driver/SliderDriver"
 import World from "@/systems/World"
 import Button from "@/ui/components/Button"
@@ -10,9 +11,8 @@ import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 import ScrollView from "@/ui/components/ScrollView"
 import Slider from "@/ui/components/Slider"
 import Stack, { StackDirection } from "@/ui/components/Stack"
-import { useTheme } from "@/ui/ThemeContext"
 import { Box } from "@mui/material"
-import { useEffect, useMemo, useState } from "react"
+import { useMemo, useState } from "react"
 import { FaGear } from "react-icons/fa6"
 
 type JointRowProps = {
@@ -21,64 +21,84 @@ type JointRowProps = {
 }
 
 const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
-    const [velocity, setVelocity] = useState<number>((driver as SliderDriver).maxVelocity)
-    const [force, setForce] = useState<number>((driver as SliderDriver).maxForce)
+    const [velocity, setVelocity] = useState<number>(() => {
+        switch (driver.constructor) {
+            case SliderDriver:
+                return (driver as SliderDriver).maxVelocity
+            case HingeDriver:
+                return (driver as HingeDriver).maxVelocity
+            default:
+                return 40
+        }
+    })
+    const [force, setForce] = useState<number>(() => {
+        switch (driver.constructor) {
+            case SliderDriver:
+                return (driver as SliderDriver).maxForce
+            case HingeDriver:
+                return (driver as HingeDriver).maxTorque
+            default:
+                return 40
+        }
+    })
+
+    const onChange = (vel: number, force: number) => {
+        (driver as SliderDriver || driver as HingeDriver).maxVelocity = vel
+        switch (driver.constructor) {
+            case SliderDriver:
+                (driver as SliderDriver).maxForce = force
+                break
+            case HingeDriver:
+                (driver as HingeDriver).maxTorque = force
+                break
+            default:
+                return 40
+        }
+
+        // Preferences
+        if (driver.info && driver.info.name) {
+            const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors ? PreferencesSystem.getRobotPreferences(robot.assemblyName).motors.filter(x => {
+                if (x.name)
+                    return x.name != driver.info?.name
+                return false
+            }) : []
+
+            removedMotor.push({
+                name: driver.info?.name ?? "",
+                maxVelocity: vel,
+                maxForce: force})
+
+            PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
+            PreferencesSystem.savePreferences()
+        }
+    }
+
 
     return (
         <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>
             <Stack direction={StackDirection.Vertical} spacing={8} justify="start">
-                <Label size={LabelSize.Medium}>{driver.info?.name}</Label>
+                <Label size={LabelSize.Medium}>{driver.info?.name ?? "UnnamedMotor"}</Label>
                 <Slider
                     min={0.1}
                     max={80}
                     value={velocity}
                     label="Max Velocity"
                     format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
-                    onChange={(_, vel: number | number[]) => {
-                        setVelocity(vel as number);
-                        (driver as SliderDriver).maxVelocity = vel as number
-                        if (driver.info && driver.info.name) {
-                            const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors ? PreferencesSystem.getRobotPreferences(robot.assemblyName).motors.filter(x => {
-                                if (x.name)
-                                    return x.name != driver.info?.name
-                                return false
-                            }) : []
-
-                            removedMotor.push({
-                                name: driver.info?.name ?? "",
-                                maxVelocity: vel as number,
-                                maxForce: force})
-
-                            PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
-                            PreferencesSystem.savePreferences()
-                        }
+                    onChange={(_, _velocity: number | number[]) => {
+                        setVelocity(_velocity as number);
+                        onChange(_velocity as number, force)
                     }}
                     step={0.01}
                 />
                 <Slider
-                    min={150}
-                    max={1000}
+                    min={(() => {return driver instanceof HingeDriver ? 20 : 100})()}
+                    max={(() => {return driver instanceof HingeDriver ? 200 : 800})()}
                     value={force}
-                    label="Force"
+                    label={(() => {return driver instanceof HingeDriver ? "Max Torque" : "Max Force"})()}
                     format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
-                    onChange={(_, forc: number | number[]) => {
-                        setForce(forc as number);
-                        (driver as SliderDriver).maxForce = forc as number
-                        if (driver.info && driver.info.name) {
-                            const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors ? PreferencesSystem.getRobotPreferences(robot.assemblyName).motors.filter(x => {
-                                if (x.name)
-                                    return x.name != driver.info?.name
-                                return false
-                            }) : []
-
-                            removedMotor.push({
-                                name: driver.info?.name ?? "",
-                                maxVelocity: velocity,
-                                maxForce: forc as number})
-
-                            PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
-                            PreferencesSystem.savePreferences()
-                        }
+                    onChange={(_, _force: number | number[]) => {
+                        setForce(_force as number);
+                        onChange(velocity, _force as number)
                     }}
                     step={0.01}
                 />
@@ -142,7 +162,7 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
 
                     {drivers ? (
                         <ScrollView className="flex flex-col gap-4">
-                            {drivers.filter(x => x instanceof SliderDriver).map((driver: Driver, i: number) => (
+                            {drivers.filter(x => x instanceof SliderDriver || x instanceof HingeDriver).map((driver: Driver, i: number) => (
                                 <JointRow
                                     key={i}
                                     robot={(() => {
@@ -156,7 +176,7 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
                             ))}
                         </ScrollView>
                     ) : (
-                        <Label>No SliderDrivers</Label>
+                        <Label>No Joints</Label>
                     )}
                 </>
             )}

From 77dc66012c302d8f00d92cbf95086dcb7df57867 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 1 Aug 2024 10:21:17 -0700
Subject: [PATCH 112/344] Friciton override bug fix

---
 exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
index 121c5cb623..9151a7115d 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
@@ -51,7 +51,7 @@ class ExporterOptions:
     autoCalcGamepieceWeight: bool = field(default=False)
 
     frictionOverride: bool = field(default=False)
-    frictionOverrideCoeff: float | None = field(default=None)
+    frictionOverrideCoeff: float = field(default=0.5)
 
     compressOutput: bool = field(default=True)
     exportAsPart: bool = field(default=False)

From 68d4801b57f522b9d4dc9ab3a594ca5b5db06dd7 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 1 Aug 2024 10:44:01 -0700
Subject: [PATCH 113/344] Javascript language detection workaround

---
 .gitattributes | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.gitattributes b/.gitattributes
index 176a458f94..648af249d0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1 +1,6 @@
 * text=auto
+
+# Workaround for a bug it GitHub's language detection,
+# previously half of our code was being counted as JavaScript.. for some reason...
+# and we certainly can't have that. - Brandon
+*.js linguist-detectable=false

From f3df103eaeccf7519de39e2952dd715adcbfaf4a Mon Sep 17 00:00:00 2001
From: Brandon Pacewic <pacewicbrandon@gmail.com>
Date: Thu, 1 Aug 2024 11:15:14 -0700
Subject: [PATCH 114/344] Fix typo

---
 .gitattributes | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitattributes b/.gitattributes
index 648af249d0..ebbf058172 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,6 +1,6 @@
 * text=auto
 
-# Workaround for a bug it GitHub's language detection,
+# Workaround for a bug in GitHub's language detection,
 # previously half of our code was being counted as JavaScript.. for some reason...
 # and we certainly can't have that. - Brandon
 *.js linguist-detectable=false

From b4a233fad0069ded85d96ba636571d824ebc4fa8 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 1 Aug 2024 11:59:45 -0700
Subject: [PATCH 115/344] Manual exporter install readme & codelab

---
 README.md                                     |   4 +-
 installer/Linux/.gitignore                    |   6 -
 installer/Linux/README.md                     |  58 ---
 installer/Linux/Synthesis.AppDir/.DirIcon     |   1 -
 installer/Linux/Synthesis.AppDir/AppRun       |  89 -----
 .../Linux/Synthesis.AppDir/synthesis.desktop  |   6 -
 .../Linux/Synthesis.AppDir/synthesis.png      | Bin 42175 -> 0 bytes
 installer/Linux/package.sh                    |  96 -----
 installer/OSX-DMG/.gitignore                  |   9 -
 installer/OSX-DMG/README.md                   |  25 --
 .../SynthesisMacInstallerBackground.png       | Bin 5014 -> 0 bytes
 .../OSX-DMG/exporter-install-instructions.md  |  12 -
 installer/OSX-DMG/license.txt                 | 188 ----------
 installer/OSX-DMG/make-installer.sh           |  22 --
 installer/OSX/.gitignore                      |  12 -
 installer/OSX/App/payload/Contents/Info.plist |  39 --
 installer/OSX/App/payload/Contents/README.md  |   1 -
 installer/OSX/App/scripts/postinstall         |   7 -
 installer/OSX/App/scripts/preinstall          |   2 -
 .../OSX/Assets/payload/Contents/Info.plist    |  39 --
 .../payload/Contents/Synthesis/README.md      |   1 -
 installer/OSX/Assets/scripts/postinstall      |   5 -
 installer/OSX/Assets/scripts/preinstall       |   2 -
 .../OSX/Exporter/payload/Contents/Info.plist  |  39 --
 .../SynthesisInventorGltfExporter/README.md   |   1 -
 installer/OSX/Exporter/scripts/postinstall    |   4 -
 installer/OSX/Exporter/scripts/preinstall     |   3 -
 installer/OSX/Installer/Distribution.xml      |  28 --
 .../OSX/Installer/Resources/conclusion.html   |  27 --
 .../OSX/Installer/Resources/license.html      | 206 -----------
 .../OSX/Installer/Resources/welcome.html      |  12 -
 installer/OSX/README.md                       |  36 --
 installer/OSX/pkginstall                      |  12 -
 installer/README.md                           |  31 ++
 installer/Windows/.gitignore                  |  11 -
 installer/Windows/MainInstaller.nsi           | 332 ------------------
 installer/Windows/README.md                   |  23 --
 installer/Windows/W21_SYN_sidebar.bmp         | Bin 152310 -> 0 bytes
 installer/Windows/orange-install-nsis.ico     | Bin 25214 -> 0 bytes
 installer/Windows/orange-r.bmp                | Bin 9744 -> 0 bytes
 installer/Windows/synthesis-logo-64x64.ico    | Bin 184765 -> 0 bytes
 installer/exporter/.gitignore                 |   2 -
 installer/exporter/README.md                  |  14 -
 installer/exporter/create.sh                  |  11 -
 installer/exporter/install.bat                |  10 -
 installer/exporter/install.sh                 |  10 -
 installer/exporter/setup.bat                  |   9 -
 tutorials/FusionExporter.md                   |  39 +-
 tutorials/img/fusion/fusion-add-addin.png     | Bin 0 -> 1788931 bytes
 .../img/fusion/fusion-addin-synthesis.png     | Bin 0 -> 1762982 bytes
 .../img/fusion/fusion-addins-highlight.png    | Bin 0 -> 1482281 bytes
 tutorials/img/fusion/fusion-addins-panel.png  | Bin 0 -> 1694013 bytes
 tutorials/img/fusion/fusion-empty.png         | Bin 0 -> 1393412 bytes
 .../fusion-utilities-with-synthesis.png       | Bin 0 -> 1443682 bytes
 54 files changed, 67 insertions(+), 1417 deletions(-)
 delete mode 100644 installer/Linux/.gitignore
 delete mode 100644 installer/Linux/README.md
 delete mode 120000 installer/Linux/Synthesis.AppDir/.DirIcon
 delete mode 100755 installer/Linux/Synthesis.AppDir/AppRun
 delete mode 100755 installer/Linux/Synthesis.AppDir/synthesis.desktop
 delete mode 100644 installer/Linux/Synthesis.AppDir/synthesis.png
 delete mode 100755 installer/Linux/package.sh
 delete mode 100644 installer/OSX-DMG/.gitignore
 delete mode 100644 installer/OSX-DMG/README.md
 delete mode 100644 installer/OSX-DMG/SynthesisMacInstallerBackground.png
 delete mode 100644 installer/OSX-DMG/exporter-install-instructions.md
 delete mode 100755 installer/OSX-DMG/license.txt
 delete mode 100755 installer/OSX-DMG/make-installer.sh
 delete mode 100644 installer/OSX/.gitignore
 delete mode 100755 installer/OSX/App/payload/Contents/Info.plist
 delete mode 100644 installer/OSX/App/payload/Contents/README.md
 delete mode 100755 installer/OSX/App/scripts/postinstall
 delete mode 100755 installer/OSX/App/scripts/preinstall
 delete mode 100755 installer/OSX/Assets/payload/Contents/Info.plist
 delete mode 100644 installer/OSX/Assets/payload/Contents/Synthesis/README.md
 delete mode 100755 installer/OSX/Assets/scripts/postinstall
 delete mode 100755 installer/OSX/Assets/scripts/preinstall
 delete mode 100755 installer/OSX/Exporter/payload/Contents/Info.plist
 delete mode 100644 installer/OSX/Exporter/payload/Contents/SynthesisInventorGltfExporter/README.md
 delete mode 100755 installer/OSX/Exporter/scripts/postinstall
 delete mode 100755 installer/OSX/Exporter/scripts/preinstall
 delete mode 100755 installer/OSX/Installer/Distribution.xml
 delete mode 100755 installer/OSX/Installer/Resources/conclusion.html
 delete mode 100755 installer/OSX/Installer/Resources/license.html
 delete mode 100755 installer/OSX/Installer/Resources/welcome.html
 delete mode 100644 installer/OSX/README.md
 delete mode 100644 installer/OSX/pkginstall
 create mode 100644 installer/README.md
 delete mode 100644 installer/Windows/.gitignore
 delete mode 100644 installer/Windows/MainInstaller.nsi
 delete mode 100644 installer/Windows/README.md
 delete mode 100644 installer/Windows/W21_SYN_sidebar.bmp
 delete mode 100644 installer/Windows/orange-install-nsis.ico
 delete mode 100644 installer/Windows/orange-r.bmp
 delete mode 100644 installer/Windows/synthesis-logo-64x64.ico
 delete mode 100644 installer/exporter/.gitignore
 delete mode 100644 installer/exporter/README.md
 delete mode 100755 installer/exporter/create.sh
 delete mode 100644 installer/exporter/install.bat
 delete mode 100755 installer/exporter/install.sh
 delete mode 100644 installer/exporter/setup.bat
 create mode 100644 tutorials/img/fusion/fusion-add-addin.png
 create mode 100644 tutorials/img/fusion/fusion-addin-synthesis.png
 create mode 100644 tutorials/img/fusion/fusion-addins-highlight.png
 create mode 100644 tutorials/img/fusion/fusion-addins-panel.png
 create mode 100644 tutorials/img/fusion/fusion-empty.png
 create mode 100644 tutorials/img/fusion/fusion-utilities-with-synthesis.png

diff --git a/README.md b/README.md
index b9c8e56aa0..3a6135d588 100644
--- a/README.md
+++ b/README.md
@@ -34,13 +34,13 @@ If you're a developer who wants to contribute to Synthesis, you're in the right
 
 - [Fission (Core Web App)](/fission/README.md)
 - [Fusion Exporter (Fusion exporter to Mirabuf file format)](/exporter/SynthesisFusionAddin/README.md)
-- [Installers](/installer/)
+- [Fusion Exporter Installer](/installer/)
 
 Follow the above links to the respective READMEs on how to build and run each component.
 
 ### Compatibility Notes
 
-As Fusion is not supported on linux, the linux installer does not come with the Fusion Addin for exporting robots and fields.
+As Fusion is not officially supported on Linux, we do not provide an installer for the Fusion Exporter on Linux.
 
 ## Contributing
 
diff --git a/installer/Linux/.gitignore b/installer/Linux/.gitignore
deleted file mode 100644
index 2bdd6e8d6c..0000000000
--- a/installer/Linux/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-Synthesis.AppDir/usr/bin/*
-Synthesis.AppDir/fields/*
-Synthesis.AppDir/robots/*
-
-*.md5
-*.AppImage
diff --git a/installer/Linux/README.md b/installer/Linux/README.md
deleted file mode 100644
index 46e539d52a..0000000000
--- a/installer/Linux/README.md
+++ /dev/null
@@ -1,58 +0,0 @@
-# `>_` Synthesis App Image
-
-For running Synthesis we have decided to package our application as an AppImage. It allows Synthesis to be packaged as a single .AppImage file. This also allows for users to run Synthesis without needing a specific distribution.
-
-### Initial Setup ###
-It is recommended that you update the packages on your system. For arch users, run `pacman -Syu` as root. Debian users can run `apt update && apt upgrade` as root.
-
-### Dependencies ###
-Certain dependencies are necessary in order to package Synthesis as an AppImage.
-
-##### FUSE #####
-For Arch, you may need to run: `pacman -S fuse` as root. For Debian, run: `apt install fuse` as root.
-If you are still encountering issues, refer to this page: https://docs.appimage.org/user-guide/troubleshooting/fuse.html#ref-install-fuse
-
-##### appimagetool #####
-You will also end up needing appimagetool to actually create the AppImage file. However the `package.sh` script will prompt you and install it automatically. If you wish to install in manually, download the latest release from here: https://github.com/AppImage/AppImageKit/releases and make it executable. It should be called appimagetool-$ARCH.AppImage ($ARCH = whatever architecture you are using to package synthesis; most likely x86_64).
-
-### Initial Setup ###
-In order to acheive the proper package structure for proper extraction, you must first compile a Unity build as: `Synthesis.x86_64` and store it along with all other files and directories that came with it somewhere on your machine.
-
-Note: It is important that you do not modify or remove any of the files and folders that come built with the `Synthesis.x86_64` file.
-
-It is also strongly recommended that you have some fields and robots exported in the Mirabuf format.
-
-### Packaging ###
-The recommended way of creating the AppImage is by using the `package.sh` script. You may also opt to package Synthesis manually. There is some documentation for that process but it is recommended that you have a good understanding of what you are doing if you choose this option.
-
-To run the script, you will likely need to make it executable by running: `chmod +x package.sh` in your preferred terminal. You may also right click on `package.sh` in a file browser and select the option to make it executable.
-
-Now run the script and specify input directories for the version of synthesis you compiled as well as fields and robots: `./init.sh -f /path/to/fields/ -r /path/to/robots/ -b /path/to/synthesis/`
-
-Note: While it is not strictly necessary to include fields and robots, it is strongly recommended to include at least one of each
-
-If it is not already installed, the script will ask to install appimagetool. We recommended answering yes as it will install appimagetool.AppImage to the `~/Applications/` directory and is necessary for creating AppImage files.
-
-### Installing appimagetool ###
-appimagetool is the name of the program that is used to create AppImages. You can download and install appimagetool through the official website https://appimage.github.io/appimagetool/ or get it through your distribution's package manager.
-
-Note: appimagetool is usually packaged under AppImageKit rather than as a standalone application.
-
-### Manual Packaging ###
-
-##### File locations #####
-Certain files must be moved to the correct locations. First you should move any robot files to `Synthesis.AppDir/robots` (create it if it doesn't exist). Do the same for field files but put them in `Synthesis.AppDir/fields` (create it if it doesn't exist). Finally, move all files and directories in your Synthesis build directory into `Synthesis.AppDir/usr/bin/` (once again, create it if it doesn't exist).
-
-##### Creating The AppImage #####
-Finally you can create your AppImage! Make sure you have all dependencies installed and run: `ARCH=x86_64 appimagetool Synthesis.AppDir` which will create the Synthesis AppImage.
-
-Note: Run this instead if you installed appimagetool locally: `ARCH=x86_64 /path/to/appimagetool Synthesis.AppDir`
-
-### Final Note ###
-When the end user is downloading the AppImage file, it is strongly recommended to have them put it in the `~/Applications/` directory. This allows it to be found by appimaged as well as itself when running uninstall. It is also recommended to allow them to download the checksum.md5 file so that the file integrity can be verified using `md5sum -c checksum.md5` in the same directory as the AppImage and md5 files.
-
-### Troubleshooting ###
-Refer to the AppImage troubleshooting page first if you are having issues: https://docs.appimage.org/user-guide/troubleshooting/index.html
-The general documentation may be of use as well: https://docs.appimage.org/index.html
-If the issues persist, open a github issue with details about the problem.
-
diff --git a/installer/Linux/Synthesis.AppDir/.DirIcon b/installer/Linux/Synthesis.AppDir/.DirIcon
deleted file mode 120000
index 8c7bb9a13f..0000000000
--- a/installer/Linux/Synthesis.AppDir/.DirIcon
+++ /dev/null
@@ -1 +0,0 @@
-synthesis.png
\ No newline at end of file
diff --git a/installer/Linux/Synthesis.AppDir/AppRun b/installer/Linux/Synthesis.AppDir/AppRun
deleted file mode 100755
index da2da947f5..0000000000
--- a/installer/Linux/Synthesis.AppDir/AppRun
+++ /dev/null
@@ -1,89 +0,0 @@
-#!/bin/sh
-
-show_help() {
-	echo "-h	display help message"
-	echo "-u	run uninstall script"
-}
-
-install_appimaged() {
-	mkdir -p ~/Applications
-	wget -c https://github.com/$(wget -q https://github.com/probonopd/go-appimage/releases -O - | grep "appimaged-.*-x86_64.AppImage" | head -n 1 | cut -d '"' -f 2) -P ~/Applications/
-	chmod +x ~/Applications/appimaged-*.AppImage
-	
-	# Launch
-	~/Applications/appimaged-*.AppImage &
-}
-
-uninstall_synthesis() {
-	rm -R ~/.config/Autodesk/Synthesis/
-	if [ -e ~/Applications/Synthesis*.AppImage ]
-	then 
-		rm ~/Applications/Synthesis*.AppImage
-	fi 
-	if [ -e ~/Applications/appimaged-*.AppImage ]
-	then
-		while true; do
-			read -p "Do You wish to try and uninstall appimaged? (recommended) (y/n): " yn
-			case $yn in
-				[Yy]* ) 
-					rm ~/Applications/appimaged-*.AppImage
-					break
-					;;
-				[Nn]* )
-					break
-					;;
-				* ) 
-					echo "Please answer yes or no."
-					;;
-			esac
-		done
-	fi
-}
-
-run_synthesis() {
-	mkdir -p ~/.config/Autodesk/Synthesis/Mira/Fields
-	cp "$HERE/fields/"*.mira ~/.config/Autodesk/Synthesis/Mira/Fields
-	cp "$HERE/robots/"*.mira ~/.config/Autodesk/Synthesis/Mira/
-
-	if [ ! -e ~/Applications/appimaged-*.AppImage ] 
-	then
-		while true; do
-			read -p "Do You wish to install and start appimaged? (recommended) (y/n): " yn
-			case $yn in
-				[Yy]* ) 
-					install_appimaged;
-					break
-					;;
-				[Nn]* )
-					break
-					;;
-				* ) 
-					echo "Please answer yes or no."
-					;;
-			esac
-		done
-	fi
-
-	exec "$EXEC"
-}
-
-HERE="$(dirname "$(readlink -f "${0}")")"
-EXEC="$HERE/usr/bin/Synthesis.x86_64"
-
-OPTIND=1
-while getopts ":hu" opt; do
-	case "$opt" in
-		h|\?)
-			show_help
-			exit 0
-			;;
-		u)
-			uninstall_synthesis
-			exit 0
-			;;
-	esac
-done
-
-shift $((OPTIND-1))
-
-run_synthesis
diff --git a/installer/Linux/Synthesis.AppDir/synthesis.desktop b/installer/Linux/Synthesis.AppDir/synthesis.desktop
deleted file mode 100755
index 424ddebffb..0000000000
--- a/installer/Linux/Synthesis.AppDir/synthesis.desktop
+++ /dev/null
@@ -1,6 +0,0 @@
-[Desktop Entry]
-Name=Synthesis
-Exec=Synthesis.x86_64
-Icon=synthesis
-Type=Application
-Categories=Game
diff --git a/installer/Linux/Synthesis.AppDir/synthesis.png b/installer/Linux/Synthesis.AppDir/synthesis.png
deleted file mode 100644
index 35f6df073646ad75f8fa7dbe386068e65eaddbab..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/installer/Linux/package.sh b/installer/Linux/package.sh
deleted file mode 100755
index 8a584f90a1..0000000000
--- a/installer/Linux/package.sh
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/bin/sh
-
-# run before with path to a compiled build as well as robots and fields directory
-# also allow user to specify version
-
-show_help() {
-	echo "-h	display help message"
-	echo "-f	specify the input directory for fields"
-	echo "-r	specify the input directory for robots"
-	echo "-b	specify the build directory of synthesis"
-}
-
-install_appimagetool() {
-	mkdir -p ~/Applications/
-	wget -c https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-x86_64.AppImage -P ~/Applications/
-	chmod +x ~/Applications/appimagetool-x86_64.AppImage
-}
-
-create_appimage() {
-	~/Applications/appimagetool-x86_64.AppImage $APP_DIR
-	md5sum $INIT_DIR/Synthesis-x86_64.AppImage > $INIT_DIR/checksum.md5
-	md5sum -c $INIT_DIR/checksum.md5
-}
-
-OPTIND=1
-
-ARCH="x86_64"
-APP_NAME="Synthesis"
-INIT_DIR="$(dirname "$(readlink -f "${0}")")"
-APP_DIR="$INIT_DIR/$APP_NAME.AppDir"
-
-mkdir -p "$APP_DIR/usr/bin/"
-mkdir -p "$APP_DIR/fields"
-mkdir -p "$APP_DIR/robots"
-
-while getopts "h?f:r:b:" opt; do
-	case "$opt" in
-		h|\?)
-			show_help
-			exit 0
-			;;
-		f)
-			fields="$OPTARG"
-			;;
-		r)
-			robots="$OPTARG"
-			;;
-		b)
-			build="$OPTARG"
-			;;
-	esac
-done
-
-shift $((OPTIND-1))
-
-if [ ! -n "$build" ] ; then
-	echo "Specify synthesis build directory using \"-b\""
-	exit 1
-fi
-
-if [ -n "$fields" ] ; then
-	cp "$fields/"*.mira "$APP_DIR/fields/" 
-fi
-
-if [ -n "$robots" ] ; then
-	cp "$robots/"*.mira "$APP_DIR/robots/"
-fi
-
-cp -R "$build/"* "$APP_DIR/usr/bin" 
-chmod +x "$APP_DIR/AppRun"
-chmod +x "$APP_DIR/synthesis.desktop"
-chmod +x "$APP_DIR/usr/bin/Synthesis.x86_64"
-
-if [ ! -e ~/Applications/appimagetool-*.AppImage ] ; then
-	while true; do
-		read -p "Do you wish to install appimagetool (Needed for creating the AppImage file) (y/n): " yn
-		case $yn in
-			[Yy]* )
-				install_appimagetool
-				break
-				;;
-			[Nn]* )
-				break
-				;;
-			* )
-				echo "Please answer yes or no."
-				;;
-		esac
-	done
-fi
-
-if [ -e ~/Applications/appimagetool-x86_64.AppImage ] ; then
-	create_appimage
-else
-	echo "Install appimagetool before creating AppImage"
-fi
diff --git a/installer/OSX-DMG/.gitignore b/installer/OSX-DMG/.gitignore
deleted file mode 100644
index 5ddb15821b..0000000000
--- a/installer/OSX-DMG/.gitignore
+++ /dev/null
@@ -1,9 +0,0 @@
-source_folder/Synthesis.app/
-exporter_source_folder/
-Synthesis-Installer.dmg
-create-dmg/
-addins-folder-link
-
-exporter-install-instructions.pdf
-
-*.dmg
diff --git a/installer/OSX-DMG/README.md b/installer/OSX-DMG/README.md
deleted file mode 100644
index 18cd11dd1c..0000000000
--- a/installer/OSX-DMG/README.md
+++ /dev/null
@@ -1,25 +0,0 @@
-# Synthesis OSX Installer (DMG Version)
-
-## Setup
-1. Install `create-dmg`:
-```
-$ git clone git@github.com:create-dmg/create-dmg.git
-```
-
-2. Copy the signed Synthesis app into source_folder:
-```
-$ cp -r [Location of app] ./source_folder/Synthesis.app
-```
-
-2. Compile the `exporter-install-instructions.md` into a PDF. I recommend using the Yzane extension in VSCode. 
-
-## Create Disk Image
-Run the `make-installer.sh` shell script:
-```
-$ ./make-installer.sh
-```
-
-Disk Image will be created at `/installer/OSX-DMG/Synthesis-Installer.dmg`
-
-## Notes
-Update `source_folder/license.html` as needed as well as settings for the `create-dmg` command inside of `make-installer.sh`. See [create-dmg repository](https://github.com/create-dmg/create-dmg) for configuration information.
\ No newline at end of file
diff --git a/installer/OSX-DMG/SynthesisMacInstallerBackground.png b/installer/OSX-DMG/SynthesisMacInstallerBackground.png
deleted file mode 100644
index 0d4d27e9a140ec497ca72b0a09c210c7b4f5f5a4..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/installer/OSX-DMG/exporter-install-instructions.md b/installer/OSX-DMG/exporter-install-instructions.md
deleted file mode 100644
index 2b99e16696..0000000000
--- a/installer/OSX-DMG/exporter-install-instructions.md
+++ /dev/null
@@ -1,12 +0,0 @@
-# MacOS Exporter Installation Instructions
-## Requirements
-- Fusion 360 installed on your system.
-
-## Copy the Files
-Move the `Exporter` folder, located in the installer pointing to this file, into the following directory:
-```
-~/Library/Application Support/Autodesk/Autodesk Fusion 360/API/AddIns/
-```
-
-## Usage
-Upon opening Fusion 360, the exporter should automatically run and be made available in the `UTILITIES` tab. If not, please open the add-ins panel and manually run it.
\ No newline at end of file
diff --git a/installer/OSX-DMG/license.txt b/installer/OSX-DMG/license.txt
deleted file mode 100755
index 4704a010d5..0000000000
--- a/installer/OSX-DMG/license.txt
+++ /dev/null
@@ -1,188 +0,0 @@
-TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
-
-1. Definitions.
-
-"License" shall mean the terms and conditions for use, reproduction,
-and distribution as defined by Sections 1 through 9 of this document.
-
-"Licensor" shall mean the copyright owner or entity authorized by
-the copyright owner that is granting the License.
-
-"Legal Entity" shall mean the union of the acting entity and all
-other entities that control, are controlled by, or are under common
-control with that entity. For the purposes of this definition,
-"control" means (i) the power, direct or indirect, to cause the
-direction or management of such entity, whether by contract or
-otherwise, or (ii) ownership of fifty percent (50%) or more of the
-outstanding shares, or (iii) beneficial ownership of such entity.
-
-"You" (or "Your") shall mean an individual or Legal Entity
-exercising permissions granted by this License.
-
-"Source" form shall mean the preferred form for making modifications,
-including but not limited to software source code, documentation
-source, and configuration files.
-
-"Object" form shall mean any form resulting from mechanical
-transformation or translation of a Source form, including but
-not limited to compiled object code, generated documentation,
-and conversions to other media types.
-
-"Work" shall mean the work of authorship, whether in Source or
-Object form, made available under the License, as indicated by a
-copyright notice that is included in or attached to the work
-(an example is provided in the Appendix below).
-
-"Derivative Works" shall mean any work, whether in Source or Object
-form, that is based on (or derived from) the Work and for which the
-editorial revisions, annotations, elaborations, or other modifications
-represent, as a whole, an original work of authorship. For the purposes
-of this License, Derivative Works shall not include works that remain
-separable from, or merely link (or bind by name) to the interfaces of,
-the Work and Derivative Works thereof.
-
-"Contribution" shall mean any work of authorship, including
-the original version of the Work and any modifications or additions
-to that Work or Derivative Works thereof, that is intentionally
-submitted to Licensor for inclusion in the Work by the copyright owner
-or by an individual or Legal Entity authorized to submit on behalf of
-the copyright owner. For the purposes of this definition, "submitted"
-means any form of electronic, verbal, or written communication sent
-to the Licensor or its representatives, including but not limited to
-communication on electronic mailing lists, source code control systems,
-and issue tracking systems that are managed by, or on behalf of, the
-Licensor for the purpose of discussing and improving the Work, but
-excluding communication that is conspicuously marked or otherwise
-designated in writing by the copyright owner as "Not a Contribution."
-
-"Contributor" shall mean Licensor and any individual or Legal Entity
-on behalf of whom a Contribution has been received by Licensor and
-subsequently incorporated within the Work.
-
-2. Grant of Copyright License. Subject to the terms and conditions of
-this License, each Contributor hereby grants to You a perpetual,
-worldwide, non-exclusive, no-charge, royalty-free, irrevocable
-copyright license to reproduce, prepare Derivative Works of,
-publicly display, publicly perform, sublicense, and distribute the
-Work and such Derivative Works in Source or Object form.
-
-3. Grant of Patent License. Subject to the terms and conditions of
-this License, each Contributor hereby grants to You a perpetual,
-worldwide, non-exclusive, no-charge, royalty-free, irrevocable
-(except as stated in this section) patent license to make, have made,
-use, offer to sell, sell, import, and otherwise transfer the Work,
-where such license applies only to those patent claims licensable
-by such Contributor that are necessarily infringed by their
-Contribution(s) alone or by combination of their Contribution(s)
-with the Work to which such Contribution(s) was submitted. If You
-institute patent litigation against any entity (including a
-cross-claim or counterclaim in a lawsuit) alleging that the Work
-or a Contribution incorporated within the Work constitutes direct
-or contributory patent infringement, then any patent licenses
-granted to You under this License for that Work shall terminate
-as of the date such litigation is filed.
-
-4. Redistribution. You may reproduce and distribute copies of the
-Work or Derivative Works thereof in any medium, with or without
-modifications, and in Source or Object form, provided that You
-meet the following conditions:
-
-(a) You must give any other recipients of the Work or
-Derivative Works a copy of this License; and
-
-(b) You must cause any modified files to carry prominent notices
-stating that You changed the files; and
-
-(c) You must retain, in the Source form of any Derivative Works
-that You distribute, all copyright, patent, trademark, and
-attribution notices from the Source form of the Work,
-excluding those notices that do not pertain to any part of
-the Derivative Works; and
-
-(d) If the Work includes a "NOTICE" text file as part of its
-distribution, then any Derivative Works that You distribute must
-include a readable copy of the attribution notices contained
-within such NOTICE file, excluding those notices that do not
-pertain to any part of the Derivative Works, in at least one
-of the following places: within a NOTICE text file distributed
-as part of the Derivative Works; within the Source form or
-documentation, if provided along with the Derivative Works; or,
-within a display generated by the Derivative Works, if and
-wherever such third-party notices normally appear. The contents
-of the NOTICE file are for informational purposes only and
-do not modify the License. You may add Your own attribution
-notices within Derivative Works that You distribute, alongside
-or as an addendum to the NOTICE text from the Work, provided
-that such additional attribution notices cannot be construed
-as modifying the License.
-
-You may add Your own copyright statement to Your modifications and
-may provide additional or different license terms and conditions
-for use, reproduction, or distribution of Your modifications, or
-for any such Derivative Works as a whole, provided Your use,
-reproduction, and distribution of the Work otherwise complies with
-the conditions stated in this License.
-
-5. Submission of Contributions. Unless You explicitly state otherwise,
-any Contribution intentionally submitted for inclusion in the Work
-by You to the Licensor shall be under the terms and conditions of
-this License, without any additional terms or conditions.
-Notwithstanding the above, nothing herein shall supersede or modify
-the terms of any separate license agreement you may have executed
-with Licensor regarding such Contributions.
-
-6. Trademarks. This License does not grant permission to use the trade
-names, trademarks, service marks, or product names of the Licensor,
-except as required for reasonable and customary use in describing the
-origin of the Work and reproducing the content of the NOTICE file.
-
-7. Disclaimer of Warranty. Unless required by applicable law or
-agreed to in writing, Licensor provides the Work (and each
-Contributor provides its Contributions) on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
-implied, including, without limitation, any warranties or conditions
-of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
-PARTICULAR PURPOSE. You are solely responsible for determining the
-appropriateness of using or redistributing the Work and assume any
-risks associated with Your exercise of permissions under this License.
-
-8. Limitation of Liability. In no event and under no legal theory,
-whether in tort (including negligence), contract, or otherwise,
-unless required by applicable law (such as deliberate and grossly
-negligent acts) or agreed to in writing, shall any Contributor be
-liable to You for damages, including any direct, indirect, special,
-incidental, or consequential damages of any character arising as a
-result of this License or out of the use or inability to use the
-Work (including but not limited to damages for loss of goodwill,
-work stoppage, computer failure or malfunction, or any and all
-other commercial damages or losses), even if such Contributor
-has been advised of the possibility of such damages.
-
-9. Accepting Warranty or Additional Liability. While redistributing
-the Work or Derivative Works thereof, You may choose to offer,
-and charge a fee for, acceptance of support, warranty, indemnity,
-or other liability obligations and/or rights consistent with this
-License. However, in accepting such obligations, You may act only
-on Your own behalf and on Your sole responsibility, not on behalf
-of any other Contributor, and only if You agree to indemnify,
-defend, and hold each Contributor harmless for any liability
-incurred by, or claims asserted against, such Contributor by reason
-of your accepting any such warranty or additional liability.
-
-END OF TERMS AND CONDITIONS
-
-APPENDIX: How to apply the Apache License to your work.
-
-Copyright 2021 Autodesk inc.
-
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-
-http://www.apache.org/licenses/LICENSE-2.0
-
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
diff --git a/installer/OSX-DMG/make-installer.sh b/installer/OSX-DMG/make-installer.sh
deleted file mode 100755
index e153bd8614..0000000000
--- a/installer/OSX-DMG/make-installer.sh
+++ /dev/null
@@ -1,22 +0,0 @@
-#!/bin/sh
-test -f Synthesis-Installer.dmg && rm Synthesis-Installer.dmg
-./create-dmg/create-dmg \
-  --volname "Synthesis Installer" \
-  --background "SynthesisMacInstallerBackground.png" \
-  --window-pos 200 120 \
-  --window-size 375 320 \
-  --text-size 12 \
-  --icon-size 60 \
-  --icon "Synthesis.app" 85 80 \
-  --add-file Instructions.pdf exporter-install-instructions.pdf 288 190 \
-  --add-file Exporter ../../exporter/SynthesisFusionAddin 85 190 \
-  --hide-extension "Synthesis.app" \
-  --app-drop-link 288 80 \
-  --eula "license.txt" \
-  --text-size 10 \
-  "Synthesis-Installer.dmg" \
-  "source_folder/"
-
-# --volicon "synthesis-icon.icns" \
-# --background "installer_background.png" \
-# --background "Synthesis-Background.png" \
diff --git a/installer/OSX/.gitignore b/installer/OSX/.gitignore
deleted file mode 100644
index 57068f9f27..0000000000
--- a/installer/OSX/.gitignore
+++ /dev/null
@@ -1,12 +0,0 @@
-target/
-application/*
-Autdoesk
-!application/.gitkeep
-!application/uninstall.sh
-!application/background.png
-!application/spec.json
-*.pkg
-dmg
-
-build
-build.zip
\ No newline at end of file
diff --git a/installer/OSX/App/payload/Contents/Info.plist b/installer/OSX/App/payload/Contents/Info.plist
deleted file mode 100755
index 734c2b7a8a..0000000000
--- a/installer/OSX/App/payload/Contents/Info.plist
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-  <dict>
-    <key>CFBundleDevelopmentRegion</key>
-    <string>English</string>
-    <key>CFBundleExecutable</key>
-    <string>Synthesis</string>
-    <key>CFBundleGetInfoString</key>
-    <string>Unity Player version 2019.4.0f1 (0af376155913). (c) 2020 Unity Technologies ApS. All rights reserved.</string>
-    <key>CFBundleIconFile</key>
-    <string>PlayerIcon.icns</string>
-    <key>CFBundleIdentifier</key>
-    <string>com.Autodesk.Synthesis</string>
-    <key>CFBundleInfoDictionaryVersion</key>
-    <string>6.0</string>
-    <key>CFBundleName</key>
-    <string>Synthesis</string>
-    <key>CFBundlePackageType</key>
-    <string>APPL</string>
-    <key>CFBundleShortVersionString</key>
-    <string>0.1</string>
-    <key>CFBundleSupportedPlatforms</key>
-    <array>
-      <string>MacOSX</string>
-    </array>
-    <key>CFBundleVersion</key>
-    <string>0</string>
-    <key>LSApplicationCategoryType</key>
-    <string>public.app-category.games</string>
-    <key>LSMinimumSystemVersion</key>
-    <string>10.9.0</string>
-    <key>NSAppTransportSecurity</key>
-    <dict>
-      <key>NSAllowsArbitraryLoads</key>
-      <true />
-    </dict>
-  </dict>
-</plist>
diff --git a/installer/OSX/App/payload/Contents/README.md b/installer/OSX/App/payload/Contents/README.md
deleted file mode 100644
index 3b82ea5db1..0000000000
--- a/installer/OSX/App/payload/Contents/README.md
+++ /dev/null
@@ -1 +0,0 @@
-## Synthesis.zip
diff --git a/installer/OSX/App/scripts/postinstall b/installer/OSX/App/scripts/postinstall
deleted file mode 100755
index 2c990d0d53..0000000000
--- a/installer/OSX/App/scripts/postinstall
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash
-mv $2/Contents/Synthesis.zip /Applications/
-rm -rf $2
-cd /Applications/
-unzip /Applications/Synthesis.zip
-rm -rf Synthesis.zip
-exit 0
diff --git a/installer/OSX/App/scripts/preinstall b/installer/OSX/App/scripts/preinstall
deleted file mode 100755
index 06bd986563..0000000000
--- a/installer/OSX/App/scripts/preinstall
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/bin/bash
-exit 0
diff --git a/installer/OSX/Assets/payload/Contents/Info.plist b/installer/OSX/Assets/payload/Contents/Info.plist
deleted file mode 100755
index 734c2b7a8a..0000000000
--- a/installer/OSX/Assets/payload/Contents/Info.plist
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-  <dict>
-    <key>CFBundleDevelopmentRegion</key>
-    <string>English</string>
-    <key>CFBundleExecutable</key>
-    <string>Synthesis</string>
-    <key>CFBundleGetInfoString</key>
-    <string>Unity Player version 2019.4.0f1 (0af376155913). (c) 2020 Unity Technologies ApS. All rights reserved.</string>
-    <key>CFBundleIconFile</key>
-    <string>PlayerIcon.icns</string>
-    <key>CFBundleIdentifier</key>
-    <string>com.Autodesk.Synthesis</string>
-    <key>CFBundleInfoDictionaryVersion</key>
-    <string>6.0</string>
-    <key>CFBundleName</key>
-    <string>Synthesis</string>
-    <key>CFBundlePackageType</key>
-    <string>APPL</string>
-    <key>CFBundleShortVersionString</key>
-    <string>0.1</string>
-    <key>CFBundleSupportedPlatforms</key>
-    <array>
-      <string>MacOSX</string>
-    </array>
-    <key>CFBundleVersion</key>
-    <string>0</string>
-    <key>LSApplicationCategoryType</key>
-    <string>public.app-category.games</string>
-    <key>LSMinimumSystemVersion</key>
-    <string>10.9.0</string>
-    <key>NSAppTransportSecurity</key>
-    <dict>
-      <key>NSAllowsArbitraryLoads</key>
-      <true />
-    </dict>
-  </dict>
-</plist>
diff --git a/installer/OSX/Assets/payload/Contents/Synthesis/README.md b/installer/OSX/Assets/payload/Contents/Synthesis/README.md
deleted file mode 100644
index 970708317f..0000000000
--- a/installer/OSX/Assets/payload/Contents/Synthesis/README.md
+++ /dev/null
@@ -1 +0,0 @@
-## Asset/Data Files
diff --git a/installer/OSX/Assets/scripts/postinstall b/installer/OSX/Assets/scripts/postinstall
deleted file mode 100755
index 421ba3de1c..0000000000
--- a/installer/OSX/Assets/scripts/postinstall
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-rm -rf ~/.config/Autodesk/Synthesis
-mv $2/Contents/Synthesis ~/.config/Autodesk/
-rm -rf $2
-exit 0
diff --git a/installer/OSX/Assets/scripts/preinstall b/installer/OSX/Assets/scripts/preinstall
deleted file mode 100755
index 06bd986563..0000000000
--- a/installer/OSX/Assets/scripts/preinstall
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/bin/bash
-exit 0
diff --git a/installer/OSX/Exporter/payload/Contents/Info.plist b/installer/OSX/Exporter/payload/Contents/Info.plist
deleted file mode 100755
index 734c2b7a8a..0000000000
--- a/installer/OSX/Exporter/payload/Contents/Info.plist
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-  <dict>
-    <key>CFBundleDevelopmentRegion</key>
-    <string>English</string>
-    <key>CFBundleExecutable</key>
-    <string>Synthesis</string>
-    <key>CFBundleGetInfoString</key>
-    <string>Unity Player version 2019.4.0f1 (0af376155913). (c) 2020 Unity Technologies ApS. All rights reserved.</string>
-    <key>CFBundleIconFile</key>
-    <string>PlayerIcon.icns</string>
-    <key>CFBundleIdentifier</key>
-    <string>com.Autodesk.Synthesis</string>
-    <key>CFBundleInfoDictionaryVersion</key>
-    <string>6.0</string>
-    <key>CFBundleName</key>
-    <string>Synthesis</string>
-    <key>CFBundlePackageType</key>
-    <string>APPL</string>
-    <key>CFBundleShortVersionString</key>
-    <string>0.1</string>
-    <key>CFBundleSupportedPlatforms</key>
-    <array>
-      <string>MacOSX</string>
-    </array>
-    <key>CFBundleVersion</key>
-    <string>0</string>
-    <key>LSApplicationCategoryType</key>
-    <string>public.app-category.games</string>
-    <key>LSMinimumSystemVersion</key>
-    <string>10.9.0</string>
-    <key>NSAppTransportSecurity</key>
-    <dict>
-      <key>NSAllowsArbitraryLoads</key>
-      <true />
-    </dict>
-  </dict>
-</plist>
diff --git a/installer/OSX/Exporter/payload/Contents/SynthesisInventorGltfExporter/README.md b/installer/OSX/Exporter/payload/Contents/SynthesisInventorGltfExporter/README.md
deleted file mode 100644
index 0ec8650013..0000000000
--- a/installer/OSX/Exporter/payload/Contents/SynthesisInventorGltfExporter/README.md
+++ /dev/null
@@ -1 +0,0 @@
-## Exporter Files
diff --git a/installer/OSX/Exporter/scripts/postinstall b/installer/OSX/Exporter/scripts/postinstall
deleted file mode 100755
index 4000f1e866..0000000000
--- a/installer/OSX/Exporter/scripts/postinstall
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash
-mv $2/Contents/SynthesisFusionAddin ~/Library/Application\ Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/
-rm -rf $2
-exit 0
diff --git a/installer/OSX/Exporter/scripts/preinstall b/installer/OSX/Exporter/scripts/preinstall
deleted file mode 100755
index 495e3edbba..0000000000
--- a/installer/OSX/Exporter/scripts/preinstall
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/bash
-mkdir -p ~/Library/Application Support/Autodesk/Autodesk Fusion 360/API/AddIns/
-exit 0
diff --git a/installer/OSX/Installer/Distribution.xml b/installer/OSX/Installer/Distribution.xml
deleted file mode 100755
index 4d54db2521..0000000000
--- a/installer/OSX/Installer/Distribution.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<installer-gui-script minSpecVersion="1">
-    <welcome file="welcome.html" mime-type="text/html" />
-    <license file="license.html" mime-type="text/html" />
-    <conclusion file="conclusion.html" mime-type="text/html" />
-    <pkg-ref id="org.autodesk.synthesis.app"/>
-    <pkg-ref id="org.autodesk.synthesis.assets"/>
-    <pkg-ref id="org.autodesk.synthesis.exporter"/>
-    <options customize="allow" require-scripts="false"/>
-    <choices-outline>
-        <line choice="org.autodesk.synthesis.app"/>
-        <line choice="org.autodesk.synthesis.assets"/>
-	<line choice="org.autodesk.synthesis.exporter"/>
-    </choices-outline>
-    <choice id="default"/>
-    <choice id="org.autodesk.synthesis.app" visible="true" title="Synthesis">
-        <pkg-ref id="org.autodesk.synthesis.app"/>
-    </choice>
-    <pkg-ref id="org.autodesk.synthesis.app" version="0" onConclusion="none">App.pkg</pkg-ref>
-    <choice id="org.autodesk.synthesis.assets" visible="true" title="Synthesis Assets">
-        <pkg-ref id="org.autodesk.synthesis.assets"/>
-    </choice>
-    <pkg-ref id="org.autodesk.synthesis.assets" version="0" onConclusion="none">Assets.pkg</pkg-ref>
-    <choice id="org.autodesk.synthesis.exporter" visible="true" title="Synthesis Exporter">
-	<pkg-ref id="org.autodesk.synthesis.exporter"/>
-    </choice>
-    <pkg-ref id="org.autodesk.synthesis.exporter" version="0" onConclusion="none">Exporter.pkg</pkg-ref>
-</installer-gui-script>
diff --git a/installer/OSX/Installer/Resources/conclusion.html b/installer/OSX/Installer/Resources/conclusion.html
deleted file mode 100755
index 9151c5f509..0000000000
--- a/installer/OSX/Installer/Resources/conclusion.html
+++ /dev/null
@@ -1,27 +0,0 @@
-
-<!DOCTYPE html>
-<html lang="en">
-    <head>
-        <meta charset="utf-8" />
-    </head>
-    <body>
-        <div style="font-family: Helvetica; padding-left: 10px;" align="left">
-            <h3>Synthesis: An Autodesk Technology | 5.0.0.0 ALPHA</h3>
-                <p style="color: #020202; font-size: 12px;">Thank you for installing Synthesis: An Autodesk Technology</p>
-        </div>
-        <div style="font-family: Helvetica; padding-left: 11px;" align="left">
-                <p style="color: #020202; font-size: 11px;">In order to improve this product and understand how it is used, we collect non-personal product usage information. This usage information may consist of custom events like Replay Mode, Driver Practice Mode, Tutorial Link Clicked, etc. This information is not used to identify or contact you. You can turn data collection off from the Control Panel within the simulator. By installing, you agree that you have read the terms of service agreement and data collection statement above.</p>
-        </div>
-        <div style="font-family: Helvetica; padding-left: 10px;" align="left">
-            <h4>Resources</h5>
-                <p style="color: #020202; font-size: 11px;">Go through the following link for additional information.</p>
-                <ul>
-                    <li><a href="http://synthesis.autodesk.com" style="font-size: 11px;">Website</a></li>
-                </ul>
-        </div>
-        <div style="font-family: Helvetica; padding-left: 10px;" align="left">
-            <br/>
-	    <p style="color: #abb0b0; font-size: 10px;">Copyright © 2021 Autodesk inc.</p>
-        </div>
-    </body>
-</html>
diff --git a/installer/OSX/Installer/Resources/license.html b/installer/OSX/Installer/Resources/license.html
deleted file mode 100755
index 6be72e4428..0000000000
--- a/installer/OSX/Installer/Resources/license.html
+++ /dev/null
@@ -1,206 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-    <head>
-        <meta charset="utf-8" />
-    </head>
-    <body>
-        <div style="font-family: Helvetica; padding-left: 10px;" align="left">
-            <p>
-            Apache License<br>
-            Version 2.0, January 2004<br>
-         http://www.apache.org/licenses/<br><br>
-
-TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION<br><br>
-
-1. Definitions.<br><br>
-
-"License" shall mean the terms and conditions for use, reproduction,
-and distribution as defined by Sections 1 through 9 of this document.
-<br><br><br>
-"Licensor" shall mean the copyright owner or entity authorized by
-the copyright owner that is granting the License.
-<br><br><br>
-"Legal Entity" shall mean the union of the acting entity and all
-other entities that control, are controlled by, or are under common
-control with that entity. For the purposes of this definition,
-"control" means (i) the power, direct or indirect, to cause the
-direction or management of such entity, whether by contract or
-otherwise, or (ii) ownership of fifty percent (50%) or more of the
-outstanding shares, or (iii) beneficial ownership of such entity.
-<br><br><br>
-"You" (or "Your") shall mean an individual or Legal Entity
-exercising permissions granted by this License.
-<br><br><br>
-"Source" form shall mean the preferred form for making modifications,
-including but not limited to software source code, documentation
-source, and configuration files.
-<br><br><br>
-"Object" form shall mean any form resulting from mechanical
-transformation or translation of a Source form, including but
-not limited to compiled object code, generated documentation,
-and conversions to other media types.
-<br><br><br>
-"Work" shall mean the work of authorship, whether in Source or
-Object form, made available under the License, as indicated by a
-copyright notice that is included in or attached to the work
-(an example is provided in the Appendix below).
-<br><br><br>
-"Derivative Works" shall mean any work, whether in Source or Object
-form, that is based on (or derived from) the Work and for which the
-editorial revisions, annotations, elaborations, or other modifications
-represent, as a whole, an original work of authorship. For the purposes
-of this License, Derivative Works shall not include works that remain
-separable from, or merely link (or bind by name) to the interfaces of,
-the Work and Derivative Works thereof.
-<br><br><br>
-"Contribution" shall mean any work of authorship, including
-the original version of the Work and any modifications or additions
-to that Work or Derivative Works thereof, that is intentionally
-submitted to Licensor for inclusion in the Work by the copyright owner
-or by an individual or Legal Entity authorized to submit on behalf of
-the copyright owner. For the purposes of this definition, "submitted"
-means any form of electronic, verbal, or written communication sent
-to the Licensor or its representatives, including but not limited to
-communication on electronic mailing lists, source code control systems,
-and issue tracking systems that are managed by, or on behalf of, the
-Licensor for the purpose of discussing and improving the Work, but
-excluding communication that is conspicuously marked or otherwise
-designated in writing by the copyright owner as "Not a Contribution."
-<br><br><br>
-"Contributor" shall mean Licensor and any individual or Legal Entity
-on behalf of whom a Contribution has been received by Licensor and
-subsequently incorporated within the Work.
-<br><br><br>
-2. Grant of Copyright License. Subject to the terms and conditions of
-this License, each Contributor hereby grants to You a perpetual,
-worldwide, non-exclusive, no-charge, royalty-free, irrevocable
-copyright license to reproduce, prepare Derivative Works of,
-publicly display, publicly perform, sublicense, and distribute the
-Work and such Derivative Works in Source or Object form.
-<br><br><br>
-3. Grant of Patent License. Subject to the terms and conditions of
-this License, each Contributor hereby grants to You a perpetual,
-worldwide, non-exclusive, no-charge, royalty-free, irrevocable
-(except as stated in this section) patent license to make, have made,
-use, offer to sell, sell, import, and otherwise transfer the Work,
-where such license applies only to those patent claims licensable
-by such Contributor that are necessarily infringed by their
-Contribution(s) alone or by combination of their Contribution(s)
-with the Work to which such Contribution(s) was submitted. If You
-institute patent litigation against any entity (including a
-cross-claim or counterclaim in a lawsuit) alleging that the Work
-or a Contribution incorporated within the Work constitutes direct
-or contributory patent infringement, then any patent licenses
-granted to You under this License for that Work shall terminate
-as of the date such litigation is filed.
-<br><br><br>
-4. Redistribution. You may reproduce and distribute copies of the
-Work or Derivative Works thereof in any medium, with or without
-modifications, and in Source or Object form, provided that You
-meet the following conditions:
-<br><br><br>
-(a) You must give any other recipients of the Work or
-Derivative Works a copy of this License; and
-<br><br><br>
-(b) You must cause any modified files to carry prominent notices
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-(d) If the Work includes a "NOTICE" text file as part of its
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-or as an addendum to the NOTICE text from the Work, provided
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-as modifying the License.
-<br><br><br>
-You may add Your own copyright statement to Your modifications and
-may provide additional or different license terms and conditions
-for use, reproduction, or distribution of Your modifications, or
-for any such Derivative Works as a whole, provided Your use,
-reproduction, and distribution of the Work otherwise complies with
-the conditions stated in this License.
-<br><br><br>
-5. Submission of Contributions. Unless You explicitly state otherwise,
-any Contribution intentionally submitted for inclusion in the Work
-by You to the Licensor shall be under the terms and conditions of
-this License, without any additional terms or conditions.
-Notwithstanding the above, nothing herein shall supersede or modify
-the terms of any separate license agreement you may have executed
-with Licensor regarding such Contributions.
-<br><br><br>
-6. Trademarks. This License does not grant permission to use the trade
-names, trademarks, service marks, or product names of the Licensor,
-except as required for reasonable and customary use in describing the
-origin of the Work and reproducing the content of the NOTICE file.
-<br><br><br>
-7. Disclaimer of Warranty. Unless required by applicable law or
-agreed to in writing, Licensor provides the Work (and each
-Contributor provides its Contributions) on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
-implied, including, without limitation, any warranties or conditions
-of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
-PARTICULAR PURPOSE. You are solely responsible for determining the
-appropriateness of using or redistributing the Work and assume any
-risks associated with Your exercise of permissions under this License.
-<br><br><br>
-8. Limitation of Liability. In no event and under no legal theory,
-whether in tort (including negligence), contract, or otherwise,
-unless required by applicable law (such as deliberate and grossly
-negligent acts) or agreed to in writing, shall any Contributor be
-liable to You for damages, including any direct, indirect, special,
-incidental, or consequential damages of any character arising as a
-result of this License or out of the use or inability to use the
-Work (including but not limited to damages for loss of goodwill,
-work stoppage, computer failure or malfunction, or any and all
-other commercial damages or losses), even if such Contributor
-has been advised of the possibility of such damages.
-<br><br><br>
-9. Accepting Warranty or Additional Liability. While redistributing
-the Work or Derivative Works thereof, You may choose to offer,
-and charge a fee for, acceptance of support, warranty, indemnity,
-or other liability obligations and/or rights consistent with this
-License. However, in accepting such obligations, You may act only
-on Your own behalf and on Your sole responsibility, not on behalf
-of any other Contributor, and only if You agree to indemnify,
-defend, and hold each Contributor harmless for any liability
-incurred by, or claims asserted against, such Contributor by reason
-of your accepting any such warranty or additional liability.
-<br><br><br>
-END OF TERMS AND CONDITIONS
-<br><br><br>
-APPENDIX: How to apply the Apache License to your work.
-<br><br><br>
-Copyright 2021 Autodesk inc.
-<br><br><br>
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-<br><br><br>
-http://www.apache.org/licenses/LICENSE-2.0
-<br><br><br>
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
-<br><br><br>
-            </p>
-            <p style="color: #abb0b0; font-size: 12px;">Click <span style="color: #626666">“Continue"</span> to continue the setup</p>
-        </div>
-    </body>
-</html>
diff --git a/installer/OSX/Installer/Resources/welcome.html b/installer/OSX/Installer/Resources/welcome.html
deleted file mode 100755
index dcea4723b3..0000000000
--- a/installer/OSX/Installer/Resources/welcome.html
+++ /dev/null
@@ -1,12 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-<head>
-    <meta charset="utf-8" />
-</head>
-<body>
-    <div align="left" style="font-family: Helvetica; padding-left: 10px;">
-        <p style="color: #020202; font-size: 12px;">This will install <span style="color: #FF7F00; font-size: 12px;">Synthesis: An Autodesk Application 5.0.0.0 ALPHA</span> on your computer. You will be guided through the steps necessary to install this software.</p>
-        <p style="color: #abb0b0; font-size: 12px;">Click <span style="color: #626666">“Continue"</span> to continue the setup</p>
-    </div>
-</body>
-</html>
diff --git a/installer/OSX/README.md b/installer/OSX/README.md
deleted file mode 100644
index 846f17c8b2..0000000000
--- a/installer/OSX/README.md
+++ /dev/null
@@ -1,36 +0,0 @@
-# OSX packager
-
-## Build Steps :
-
-1. Get signed Synthesis.app
-
-2. Zip Synthesis.app
-
-3. Copy Synthesis.zip to file system ` cp [Synthesis.zip] [synthesis/installer/OSX/App/payload/Contents] `
-
-    - Remove the Synthesis.zip placeholder ` rm [synthesis/installer/OSX/App/payload/Contents/README.md] `
-
-3. Add data files to ` synthesis/installer/OSX/Assets/payload/Contents/Synthesis `
-
-    - Remove the data file placeholder ` rm [synthesis/installer/OSX/Assets/payload/Contents/Synthesis/README.md] `	
-
-4. Add unzipped exporter files to ` synthesis/installer/OSX/Exporter/payload/Contents/SynthesisFusionGltfExporter `
-  
-    - Remove the exporter file placeholder ` rm [synthesis/installer/OSX/Exporter/payload/Contents/SynthesisFusionGltfExporter/README.md] `	
-
-5. Change directories to the OSX installer directory ` cd [synthesis/installer/OSX] `
-
-6. Run the pkginstall script ` ./pkginstall `
-
-### Optional Build Steps
-
-Update the license, welcome and conclusion installer menus located in ` [synthesis/installer/OSX/Installer/Resources] `
-
-## Package
-
-Publish the newly created Synthesis.pkg
-
-## Important Note
-
-**Do not** rename or move files
-
diff --git a/installer/OSX/pkginstall b/installer/OSX/pkginstall
deleted file mode 100644
index 359e862088..0000000000
--- a/installer/OSX/pkginstall
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash
-#Priviledges
-chmod -R 777 ./Assets/payload/Contents/Synthesis
-#Build app
-pkgbuild --install-location ~/.config/Autodesk/SynthesisAppInstall --root ./App/payload/ --scripts ./App/scripts/ --identifier org.autodesk.synthesis.app ./Installer/App.pkg
-#Build data files
-pkgbuild --install-location ~/.config/Autodesk/SynthesisAssetsInstall --root ./Assets/payload/ --scripts ./Assets/scripts/ --identifier org.autodesk.synthesis.assets ./Installer/Assets.pkg
-#Build exporter
-pkgbuild --install-location ~/.config/Autodesk/SynthesisExporterInstall --root ./Exporter/payload/ --scripts ./Exporter/scripts/ --identifier org.autodesk.synthesis.exporter ./Installer/Exporter.pkg
-#Build installer
-cd Installer
-productbuild --distribution Distribution.xml --resources Resources/ ../Synthesis.pkg
diff --git a/installer/README.md b/installer/README.md
new file mode 100644
index 0000000000..0b082ada39
--- /dev/null
+++ b/installer/README.md
@@ -0,0 +1,31 @@
+# Installing the Synthesis Fusion Exporter
+
+## Manual Install
+
+- Navigate to [`synthesis.autodesk.com/download`](https://synthesis.autodesk.com/download.html).
+- Find the Exporter source code zip download.
+  - Note that the source code is platform agnostic, it will work for **both** `Windows` and `Mac`.
+- Once the source code for the Exporter is installed unzip the folder.
+- Next, if not done already, install `Autodesk Fusion`.
+- Once Fusion is open navigate to the `Utilities Toolbar`.
+![image_caption](../tutorials/img/fusion/fusion-empty.png)
+- Click on `Scripts and Add-ins` from the toolbar.
+![image_caption](../tutorials/img/fusion/fusion-addins-highlight.png)
+- Navigate to `Add-ins` and select the green plus icon.
+![image_caption](../tutorials/img/fusion/fusion-addins-panel.png)
+- Now navigate to wherever you extracted the original `.zip` source code file you downloaded.
+  - Make sure to select the folder that contains the `Synthesis.py` file, this is the entry point to the Exporter.
+![image_caption](../tutorials/img/fusion/fusion-add-addin.png)
+- Once the extension is added you should be able to see it under `My Add-Ins`.
+- Select `Synthesis` from the `My Add-Ins` drop down and click `Run` in the bottom right.
+![image_caption](../tutorials/img/fusion/fusion-addin-synthesis.png)
+- The first time you run the extension it may prompt you to restart Fusion, this is totally normal.
+- Once you restart Fusion the extension will run on startup, you will be able to find it on the right side of the toolbar
+under the `Utilities` tab.
+![image_caption](../tutorials/img/fusion/fusion-utilities-with-synthesis.png)
+
+Thanks for installing the Synthesis Fusion Exporter! For any additional help visit our [Synthesis Community Discord Server](https://www.discord.gg/hHcF9AVgZA) where you can talk directly to our developers.
+
+## Using an Installer
+
+Our automatic installer is still in development, visit the [Synthesis Discord Server](https://www.discord.gg/hHcF9AVgZA) for updates and any manual installing help.
diff --git a/installer/Windows/.gitignore b/installer/Windows/.gitignore
deleted file mode 100644
index 65fac130c8..0000000000
--- a/installer/Windows/.gitignore
+++ /dev/null
@@ -1,11 +0,0 @@
-Robots/
-Fields/
-Exporter/
-Themes/
-MixAndMatch/
-Synthesis/
-
-Robots.zip
-Fields.zip
-Themes.zip
-MixAndMatch.zip
diff --git a/installer/Windows/MainInstaller.nsi b/installer/Windows/MainInstaller.nsi
deleted file mode 100644
index 7cf07b658e..0000000000
--- a/installer/Windows/MainInstaller.nsi
+++ /dev/null
@@ -1,332 +0,0 @@
-!include MUI2.nsh
-!include x64.nsh
-!define PRODUCT_VERSION "6.0.0"
-
-Name "Synthesis"
-
-;Icon "W16_SYN_launch.ico"
-Icon "synthesis-logo-64x64.ico"
-
-Caption "Synthesis ${PRODUCT_VERSION} Setup"
-
-OutFile "SynthesisWin${PRODUCT_VERSION}.exe"
-
-InstallDir $PROGRAMFILES64\Autodesk\Synthesis
-
-InstallDirRegKey HKLM "Software\Synthesis" "Install_Dir"
-
-RequestExecutionLevel admin
-
-  Section
-  ${If} ${RunningX64}
-	goto install_stuff
-  ${Else}
-	MessageBox MB_OK "ERROR: This install requires a 64 bit system."
-	Quit
-  ${EndIf}
-    install_stuff:
-  SectionEnd
-
-;--------------------------------
-
-;Interface Settings
-  !define MUI_WELCOMEFINISHPAGE_BITMAP "W21_SYN_sidebar.bmp"
-  !define MUI_UNWELCOMEFINISHPAGE_BITMAP "W21_SYN_sidebar.bmp"
-  !define MUI_ICON "synthesis-logo-64x64.ico"
-  !define MUI_UNICON "synthesis-logo-64x64.ico"
-  !define MUI_HEADERIMAGE
-  !define MUI_HEADERIMAGE_BITMAP "orange-r.bmp"
-  !define MUI_HEADERIMAGE_RIGHT
-  !define MUI_ABORTWARNING
-  !define MUI_FINISHPAGE_TEXT 'Synthesis has been successfully installed on your system. $\r$\n $\r$\nIn order to improve this product and understand how it is used, we collect non-personal product usage information. This usage information may consist of custom events like Replay Mode, Driver Practice Mode, etc. $\r$\nThis information is not used to identify or contact you. $\r$\nYou can turn data collection off from the Control Panel within the simulator. $\r$\n $\r$\nBy clicking Finish, you agree that you have read the terms of service agreement and data collection statement above.'
-  !define MUI_FINISHPAGE_LINK "Synthesis Discord"
-  !define MUI_FINISHPAGE_LINK_LOCATION "https://www.discord.gg/hHcF9AVgZA"
-  
-;--------------------------------
-
-  ; Installer GUI Pages
-  !insertmacro MUI_PAGE_WELCOME
-  !insertmacro MUI_PAGE_LICENSE "..\..\LICENSE.txt"
-  !insertmacro MUI_PAGE_COMPONENTS
-  !insertmacro MUI_PAGE_INSTFILES
-  !insertmacro MUI_PAGE_FINISH
-
-  ; Uninstaller GUI Pages
-  !insertmacro MUI_UNPAGE_WELCOME
-  !insertmacro MUI_UNPAGE_CONFIRM
-  !insertmacro MUI_UNPAGE_INSTFILES
-  !insertmacro MUI_UNPAGE_FINISH
-  
-;--------------------------------
-
-  ; Default Language
-  !insertmacro MUI_LANGUAGE "English"
-
-Section
-
-IfFileExists "$APPDATA\Autodesk\Synthesis" +1 +28
-    MessageBox MB_YESNO "You appear to have Synthesis installed; would you like to reinstall it?" IDYES true IDNO false
-      true:
-        DeleteRegKey HKLM SOFTWARE\Synthesis
-		
-		; Remove fusion plugins
-		RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\FusionRobotExporter"
-		RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis"
-		RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\FusionExporter"
-		RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\FusionRobotExporter.bundle"
-		RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\FusionSynth.bundle"
-
-	    ; Remove inventor plugins
-		Delete "$APPDATA\Autodesk\Inventor 2021\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-	    Delete "$APPDATA\Autodesk\Inventor 2020\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-	    Delete "$APPDATA\Autodesk\Inventor 2019\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-	    Delete "$APPDATA\Autodesk\Inventor 2018\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-	    Delete "$APPDATA\Autodesk\Inventor 2017\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-	    Delete "$APPDATA\Autodesk\ApplicationPlugins\Autodesk.InventorRobotExporter.Inventor.addin"
-		RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\InventorRobotExporter"
-  
-		; Remove deprecated bxd inventor plugins
-		Delete "$APPDATA\Autodesk\Inventor 2020\Addins\autodesk.BxDRobotExporter.inventor.addin"
-        Delete "$APPDATA\Autodesk\Inventor 2019\Addins\autodesk.BxDRobotExporter.inventor.addin"
-		Delete "$APPDATA\Autodesk\Inventor 2019\Addins\autodesk.BxDFieldExporter.inventor.addin"
-		Delete "$APPDATA\Autodesk\Inventor 2018\Addins\autodesk.BxDRobotExporter.inventor.addin"
-		Delete "$APPDATA\Autodesk\Inventor 2018\Addins\autodesk.BxDFieldExporter.inventor.addin"
-        Delete "$APPDATA\Autodesk\Inventor 2017\Addins\autodesk.BxDRobotExporter.inventor.addin"
-        Delete "$APPDATA\Autodesk\Inventor 2017\Addins\autodesk.BxDFieldExporter.inventor.addin"
-		Delete "$APPDATA\Autodesk\ApplicationPlugins\Autodesk.BxDRobotExporter.Inventor.addin"
-		RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\BxDRobotExporter"
-        RMDIR /r $APPDATA\RobotViewer
-
-        ; Remove excess shortcuts
-        Delete "$SMPROGRAMS\Synthesis.lnk"
-        Delete "$DESKTOP\Synthesis.lnk"
-		Delete "$SMPROGRAMS\BXD Synthesis.lnk"
-        Delete "$DESKTOP\BXD Synthesis.lnk"
-		Delete "$SMPROGRAMS\Autodesk Synthesis.lnk"
-        Delete "$DESKTOP\Autodesk Synthesis.lnk"
-		Delete "$DESKTOP\FieldExporter.lnk"
-        
-        ; Remove obsolete directories
-		RMDir /r $INSTDIR
-		RMDir /r $APPDATA\Synthesis
-		RMDir /r $APPDATA\BXD_Aardvark
-		RMDir /r $PROGRAMFILES\Autodesk\Synthesis
-
-        DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis"
-		DeleteRegKey HKCU "SOFTWARE\Autodesk\Synthesis"
-		;DeleteRegKey HKCU "SOFTWARE\Autodesk\BXD Synthesis"
-
-        Goto next
-
-      false:
-        Quit
-
-      next:
-	  
-# default section end
-SectionEnd
-
-Section "Synthesis (required)" Synthesis
-
-  SectionIn RO
-
-  ; Set output path to the installation directory.
-  SetOutPath $INSTDIR
-
-  File /r "Synthesis\*"
-  
-  CreateShortCut "$SMPROGRAMS\Synthesis.lnk" "$INSTDIR\Synthesis.exe"
-  CreateShortCut "$DESKTOP\Synthesis.lnk" "$INSTDIR\Synthesis.exe"
-
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                "DisplayName" "Autodesk Synthesis"
-
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                "DisplayIcon" "$INSTDIR\uninstall.exe"
-
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                "Publisher" "Autodesk"
-  
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                "URLInfoAbout" "synthesis.autodesk.com/tutorials"
-
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                 "DisplayVersion" "${PRODUCT_VERSION}"
-
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis" \
-                 "UninstallString" "$\"$INSTDIR\uninstall.exe$\""
-
-
-  WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Synthesis" "NoModify" 1
-  WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Synthesis" "NoRepair" 1
-  WriteUninstaller "uninstall.exe"
-
-SectionEnd
-
-/*
-Section "Inventor Exporter Plugin" iExporter
-
-  ; Set extraction path to Inventor plugin directory
-  SetOutPath $INSTDIR\Exporter
-  File /r "InventorExporter\*"
-  
-  SetOutPath $APPDATA\Autodesk\ApplicationPlugins
-  File /r "InventorExporter\Autodesk.InventorRobotExporter.Inventor.addin"
-
-SectionEnd
-*/
-
-Section "Fusion Exporter Plugin" fExporter
-
-  ; Set extraction path to Fusion plugin directories
-  SetOutPath "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis"
-  File /r "Exporter\*"
-  ; File /r "..\..\exporter\SynthesisFusionAddin\*"
-  
-  ; SetOutPath "$APPDATA\Autodesk\ApplicationPlugins\FusionRobotExporter.bundle\Contents\"
-  ; File /r "FusionExporter\FusionRobotExporter.dll"
-
-SectionEnd
-
-Section "Robots and Fields" RobotFiles
-
-  ; Set extraction path for preloaded robot files
-  SetOutPath $APPDATA\Autodesk\Synthesis\Mira
-  File /r "Robots\*"
-
-  SetOutPath $APPDATA\Autodesk\Synthesis\Mira\Fields
-  File /r "Fields\*"
-
-SectionEnd
-
-Section "PartBuilder Samples" PartBuilder
-
-  ; Set extraction path for preloaded robot files
-  SetOutPath $APPDATA\Autodesk\Synthesis\MixAndMatch
-  File /r "MixAndMatch\*"
-
-SectionEnd
-
-Section "Themes" Themes
-
-  ; Set extraction path for preloaded robot files
-  SetOutPath $APPDATA\Autodesk\Synthesis\Themes
-  File /r "Themes\*"
-
-SectionEnd
-
-/*
-Section "Code Emulator" Emulator
-
-	; INetC.dll must be installed to proper NSIS Plugins x86 directories
-	inetc::get "https://qemu.weilnetz.de/w64/2019/qemu-w64-setup-20190724.exe" "$PLUGINSDIR\qemu-w64-setup-20190724.exe"
-	Pop $R0 ;Get the return value
-	
-	${If} $R0 == "OK"  ;Return value should be "OK"
-	SetOutPath $APPDATA\Autodesk\Synthesis\Emulator
-	  File /r "Emulator\*"
-	  HideWindow
-	  ExecWait '"$PLUGINSDIR\qemu-w64-setup-20190724.exe" /SILENT'
-	  ShowWindow hwnd show_state
-	${Else}
-	  MessageBox MB_ICONSTOP "Error: $R0" ;Show cancel/error message
-	${EndIf}
-		
-SectionEnd
-*/
-
-;--------------------------------
-;Component Descriptions
-
-  LangString DESC_Synthesis ${LANG_ENGLISH} "The Simulator Engine is the real-time physics environment which simulates the robots and fields."
-  ; LangString DESC_iExporter ${LANG_ENGLISH} "The Inventor Exporter Plugin is an Inventor addin used to export Autodesk Inventor Assemblies directly into the simulator"
-  LangString DESC_fExporter ${LANG_ENGLISH} "The Fusion360 Exporter Plugin is a Fusion addin used to export Autodesk Fusion Assemblies directly into the simulator"
-  LangString DESC_RobotFiles ${LANG_ENGLISH} "A library of sample robots and fields pre-loaded into the simulator"
-  LangString DESC_PartBuilder ${LANG_ENGLISH} "A library of sample parts to use in Robot Builder"
-  LangString DESC_Themes ${LANG_ENGLISH} "Preinstalled themes"
-  ; LangString DESC_Emulator ${LANG_ENGLISH} "The Robot Code Emulator allows you to emulate your C++ & JAVA robot code in the simulator"
-
-  !insertmacro MUI_FUNCTION_DESCRIPTION_BEGIN
-  !insertmacro MUI_DESCRIPTION_TEXT ${Synthesis} $(DESC_Synthesis)
-  ; !insertmacro MUI_DESCRIPTION_TEXT ${iExporter} $(DESC_iExporter)
-  !insertmacro MUI_DESCRIPTION_TEXT ${fExporter} $(DESC_fExporter)
-  !insertmacro MUI_DESCRIPTION_TEXT ${RobotFiles} $(DESC_RobotFiles)
-  !insertmacro MUI_DESCRIPTION_TEXT ${PartBuilder} $(DESC_PartBuilder)
-  !insertmacro MUI_DESCRIPTION_TEXT ${Themes} $(DESC_Themes)
-  ; !insertmacro MUI_DESCRIPTION_TEXT ${Emulator} $(DESC_Emulator)
-  !insertmacro MUI_FUNCTION_DESCRIPTION_END
-  
-;--------------------------------
-  
-Section "Uninstall"
-
-  MessageBox MB_YESNO "Would you like to remove your robot files?" IDNO NawFam
-  RMDir /r /REBOOTOK $APPDATA\Synthesis
-  RMDir /r /REBOOTOK $APPDATA\Autodesk\Synthesis
-  
-  NawFam:
-  ; Remove registry keys
-  DeleteRegKey HKLM SOFTWARE\Synthesis
-  DeleteRegKey HKCU SOFTWARE\Autodesk\Synthesis
-  DeleteRegKey HKCU "SOFTWARE\Autodesk\BXD Synthesis"
-  DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Autodesk Synthesis"
-
-  ; Remove installation directories
-  RMDir /r /REBOOTOK $INSTDIR
-  RMDir /r /REBOOTOK $PROGRAMFILES\Autodesk\Synthesis
-  RMDir /r /REBOOTOK $APPDATA\BXD_Aardvark
-  RMDir /r /REBOOTOK $APPDATA\SynthesisTEMP
-  
-  ; Remove fusion plugins
-  RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\FusionRobotExporter"
-  RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis"
-  RMDir /r "$APPDATA\Autodesk\Autodesk Fusion 360\API\AddIns\FusionExporter"
-  RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\FusionRobotExporter.bundle"
-  RMDir /r "$APPDATA\Autodesk\ApplicationPlugins\FusionSynth.bundle"
-  
-  ; Remove inventor plugins
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2022\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2021\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2020\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2019\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2018\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2017\Addins\Autodesk.InventorRobotExporter.Inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\ApplicationPlugins\Autodesk.InventorRobotExporter.Inventor.addin"
-  
-  ; Remove deprecated bxd inventor plugins
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2020\Addins\autodesk.BxDRobotExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2019\Addins\autodesk.BxDRobotExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2019\Addins\autodesk.BxDFieldExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2018\Addins\autodesk.BxDRobotExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2018\Addins\autodesk.BxDFieldExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2017\Addins\autodesk.BxDRobotExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\Inventor 2017\Addins\autodesk.BxDFieldExporter.inventor.addin"
-  Delete /REBOOTOK "$APPDATA\Autodesk\ApplicationPlugins\Autodesk.BxDRobotExporter.Inventor.addin"
-  RMDir /REBOOTOK "$APPDATA\Autodesk\ApplicationPlugins\BxDRobotExporter"
-  
-  ; Remove excess shortcuts
-  Delete "$SMPROGRAMS\Synthesis.lnk"
-  Delete "$DESKTOP\Synthesis.lnk"
-  Delete "$SMPROGRAMS\BXD Synthesis.lnk"
-  Delete "$DESKTOP\BXD Synthesis.lnk"
-  Delete "$SMPROGRAMS\Autodesk Synthesis.lnk"
-  Delete "$DESKTOP\Autodesk Synthesis.lnk"
-  Delete "$DESKTOP\FieldExporter.lnk"
-  
-  /*
-  ; Execute QEMU uninstaller
-  IfFileExists "$PROGRAMFILES64\qemu" file_found uninstall_complete
-  
-	file_found:
-	MessageBox MB_YESNO "Would you like to uninstall QEMU as well?" IDNO uninstall_complete
-	Exec '"$PROGRAMFILES64\qemu\qemu-uninstall.exe"'
-	Quit
-	
-	uninstall_complete:
-  */
-
-SectionEnd
-
-Function .OnInstSuccess
-  Exec "$INSTDIR\Synthesis.exe"
-FunctionEnd
diff --git a/installer/Windows/README.md b/installer/Windows/README.md
deleted file mode 100644
index 21ea8340c9..0000000000
--- a/installer/Windows/README.md
+++ /dev/null
@@ -1,23 +0,0 @@
-# <img src="https://raw.githubusercontent.com/Autodesk/synthesis/prod/installer/Windows/orange-install-nsis.ico" alt="logo" width="50" height ="50" align="left"/>Nullsoft Scriptable Install System
-
-For installation on Windows Operating Systems, we use our own custom written NSIS installer in order to extract all the necessary files to their proper locations on the system.
-
-- [MainInstaller(x64)](https://github.com/Autodesk/synthesis/blob/prod/installer/Windows/MainInstaller.nsi) - (Used for the full installation of Synthesis, only compatible on 64 bit operating systems.)
-- [EngInstaller(x86)](https://github.com/Autodesk/synthesis/blob/prod/installer/Windows/EngInstaller(x86).nsi) - (Used only for installation on 32 bit operating systems and extracts just the Unity Engine.)
-
-### Compiling NSIS:
-In order to compile the NSIS configuration properly, you must compile all of the individual components of Synthesis pertaining to the particular script you are trying to compile. Then the compiled components must be stored in the same directory as the NSIS script, in order for them to be packaged during NSIS compilation. For details on this process, feel free to contact matthew.moradi@autodesk.com
-
-### NSIS FAQ:
-
-Q: Will I need admin privileges to run the installer?
-
-A: Yup.
-
-Q: If I download an updated Synthesis installer, will running it replace all of my custom robot export files?
-
-A: No, _reinstalling_ Synthesis will only replace all of the application components, but your custom robots will be saved.
-
-Q: Is it possible to accidently install multiple versions of Synthesis?
-
-A: It shouldn't be. The installer will always replace any existing Synthesis installations on your system.
diff --git a/installer/Windows/W21_SYN_sidebar.bmp b/installer/Windows/W21_SYN_sidebar.bmp
deleted file mode 100644
index 60c007ab76e40e022f2eb73aa36a4fdd86a7bbbd..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/installer/Windows/orange-r.bmp b/installer/Windows/orange-r.bmp
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diff --git a/installer/exporter/.gitignore b/installer/exporter/.gitignore
deleted file mode 100644
index 290dfd77ff..0000000000
--- a/installer/exporter/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-/Synthesis
-/*.zip
diff --git a/installer/exporter/README.md b/installer/exporter/README.md
deleted file mode 100644
index 631eb3527b..0000000000
--- a/installer/exporter/README.md
+++ /dev/null
@@ -1,14 +0,0 @@
-# Synthesis Exporter Installer
-
-## Creating the installer
-### Windows
-1. Run `setup.bat`. This will copy the Synthesis exporter into the current directory.
-2. Zip together the `install.bat` script and the `Synthesis` directory.
-
-### MacOS
-1. Run `create.sh`. This will copy the Synthesis exporter into the current directory and create a zip file with the necessary files.
-
-## Using the installer
-1. Download the zip file.
-2. Unzip it anywhere (likely your Downloads folder).
-3. Run the `install.bat` (`install.sh` for MacOS) script.
diff --git a/installer/exporter/create.sh b/installer/exporter/create.sh
deleted file mode 100755
index 22efb4ac4b..0000000000
--- a/installer/exporter/create.sh
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/bin/bash
-
-if test -d ./Synthesis; then
-	rm -rf ./Synthesis
-fi
-
-cp -r ../../exporter/SynthesisFusionAddin/ ./Synthesis
-echo "Copied over Synthesis exporter!"
-
-zip -r SynthesisExporter Synthesis/ install.sh
-echo "Created zip installer!"
diff --git a/installer/exporter/install.bat b/installer/exporter/install.bat
deleted file mode 100644
index 293bac431a..0000000000
--- a/installer/exporter/install.bat
+++ /dev/null
@@ -1,10 +0,0 @@
-@echo off
-
-if exist "%AppData%\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis\" (
-	echo "Removing existing Synthesis exporter..."
-	rmdir "%AppData%\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis\" /Q/S
-)
-
-echo "Copying to %AppData%\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis..."
-xcopy Synthesis "%AppData%\Autodesk\Autodesk Fusion 360\API\AddIns\Synthesis\" /E
-echo "Synthesis Exporter Successfully Installed!"
diff --git a/installer/exporter/install.sh b/installer/exporter/install.sh
deleted file mode 100755
index 4ab0801918..0000000000
--- a/installer/exporter/install.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/bin/bash
-
-if test -d ~/Library/Application\ Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/SynthesisFusionAddin; then
-	echo "Removing existing Synthesis exporter..."
-	rm -rf ~/Library/Application\ Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/SynthesisFusionAddin
-fi
-
-cp -r Synthesis/ ~/Library/Application\ Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/SynthesisFusionAddin
-
-echo "Synthesis successfully copied!"
diff --git a/installer/exporter/setup.bat b/installer/exporter/setup.bat
deleted file mode 100644
index a6ec90bb68..0000000000
--- a/installer/exporter/setup.bat
+++ /dev/null
@@ -1,9 +0,0 @@
-@echo off
-
-if exist Synthesis\ (
-	rmdir Synthesis /Q/S
-	echo Removed .\Synthesis
-)
-
-xcopy ..\..\exporter\SynthesisFusionAddin Synthesis\ /E
-echo Copied exporter into .\Synthesis
diff --git a/tutorials/FusionExporter.md b/tutorials/FusionExporter.md
index ed9d87e8ad..b2c1d3190e 100644
--- a/tutorials/FusionExporter.md
+++ b/tutorials/FusionExporter.md
@@ -15,11 +15,40 @@ The Synthesis Fusion 360 exporter is the tool used by both developers and users
 
 For information regarding the manual install process visit the [Synthesis Fusion 360 Exporter](https://github.com/Autodesk/synthesis/tree/prod/exporter) source code for more information.
 
-### Getting Started
-
-After installing Synthesis, the exporter addin should automatically start up when you open Fusion 360 (given that it was selected during the Synthesis install process). Navigate to the Utilities tab and you should see a Synthesis button.
-
-![image_caption](img/fusion/exporter-button.png)
+## Getting Started
+
+### Manual Install
+
+- Navigate to [`synthesis.autodesk.com/download`](https://synthesis.autodesk.com/download.html).
+- Find the Exporter source code zip download.
+  - Note that the source code is platform agnostic, it will work for **both** `Windows` and `Mac`.
+- Once the source code for the Exporter is installed unzip the folder.
+- Next, if not done already, install `Autodesk Fusion`.
+- Once Fusion is open navigate to the `Utilities Toolbar`.
+![image_caption](img/fusion/fusion-empty.png)
+- Click on `Scripts and Add-ins` from the toolbar.
+![image_caption](img/fusion/fusion-addins-highlight.png)
+- Navigate to `Add-ins` and select the green plus icon.
+![image_caption](img/fusion/fusion-addins-panel.png)
+- Now navigate to wherever you extracted the original `.zip` source code file you downloaded.
+  - Make sure to select the folder that contains the `Synthesis.py` file, this is the entry point to the Exporter.
+![image_caption](img/fusion/fusion-add-addin.png)
+- Once the extension is added you should be able to see it under `My Add-Ins`.
+- Select `Synthesis` from the `My Add-Ins` drop down and click `Run` in the bottom right.
+![image_caption](img/fusion/fusion-addin-synthesis.png)
+- The first time you run the extension it may prompt you to restart Fusion, this is totally normal.
+- Once you restart Fusion the extension will run on startup, you will be able to find it on the right side of the toolbar
+under the `Utilities` tab.
+![image_caption](img/fusion/fusion-utilities-with-synthesis.png)
+
+Thanks for installing the Synthesis Fusion Exporter! For any additional help visit our [Synthesis Community Discord Server](https://www.discord.gg/hHcF9AVgZA) where you can talk directly to our developers.
+
+### Using an Installer
+
+Our automatic installer is still in development, visit the [Synthesis Discord Server](https://www.discord.gg/hHcF9AVgZA) for updates and any manual installing help.
+
+
+### Launching the Exporter
 
 After clicking the button, a panel will open up. This is the exporter. In this panel, you can provide us with most of the extra data we need to properly simulate your robot or field in Synthesis.
 
diff --git a/tutorials/img/fusion/fusion-add-addin.png b/tutorials/img/fusion/fusion-add-addin.png
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literal 0
HcmV?d00001


From f87c205fea20defccd20bf0e7e4a91eee614e3ba Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Thu, 1 Aug 2024 13:18:48 -0700
Subject: [PATCH 116/344] Added bug fix for named control schemes not appearing

---
 fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
index 9b68010590..98188234ae 100644
--- a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
+++ b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
@@ -8,10 +8,12 @@ import MirabufCachingService, { MiraType } from "@/mirabuf/MirabufLoader"
 import Dropdown from "@/ui/components/Dropdown"
 import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
+import { usePanelControlContext } from "@/ui/PanelContext"
 
 const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     // update tooltip based on type of drivetrain, receive message from Synthesis
     const { showTooltip } = useTooltipControlContext()
+    const { openPanel } = usePanelControlContext()
 
     const fileUploadRef = useRef<HTMLInputElement>(null)
 
@@ -64,6 +66,8 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                 World.SceneRenderer.RegisterSceneObject(x)
                             }
                         })
+
+                    if (miraType == MiraType.ROBOT) openPanel("choose-scheme")
                 }
             }}
         >

From 547203deca5aa7d33db44214253f5ab24528cca6 Mon Sep 17 00:00:00 2001
From: Brandon Pacewic <pacewicbrandon@gmail.com>
Date: Thu, 1 Aug 2024 13:30:07 -0700
Subject: [PATCH 117/344] Update installer/README.md

Co-authored-by: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
---
 installer/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/installer/README.md b/installer/README.md
index 0b082ada39..cca8352afa 100644
--- a/installer/README.md
+++ b/installer/README.md
@@ -5,7 +5,7 @@
 - Navigate to [`synthesis.autodesk.com/download`](https://synthesis.autodesk.com/download.html).
 - Find the Exporter source code zip download.
   - Note that the source code is platform agnostic, it will work for **both** `Windows` and `Mac`.
-- Once the source code for the Exporter is installed unzip the folder.
+- Once the source code for the Exporter is downloaded, unzip the folder.
 - Next, if not done already, install `Autodesk Fusion`.
 - Once Fusion is open navigate to the `Utilities Toolbar`.
 ![image_caption](../tutorials/img/fusion/fusion-empty.png)

From 68879dd3d51bc82bd1d9a20345f0772c8204a8c5 Mon Sep 17 00:00:00 2001
From: Brandon Pacewic <pacewicbrandon@gmail.com>
Date: Thu, 1 Aug 2024 13:30:12 -0700
Subject: [PATCH 118/344] Update installer/README.md

Co-authored-by: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
---
 installer/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/installer/README.md b/installer/README.md
index cca8352afa..fca635d2f3 100644
--- a/installer/README.md
+++ b/installer/README.md
@@ -6,7 +6,7 @@
 - Find the Exporter source code zip download.
   - Note that the source code is platform agnostic, it will work for **both** `Windows` and `Mac`.
 - Once the source code for the Exporter is downloaded, unzip the folder.
-- Next, if not done already, install `Autodesk Fusion`.
+- Next, if you haven't already, install `Autodesk Fusion`.
 - Once Fusion is open navigate to the `Utilities Toolbar`.
 ![image_caption](../tutorials/img/fusion/fusion-empty.png)
 - Click on `Scripts and Add-ins` from the toolbar.

From aa6aa7c08372d1ae8ad202ae3907c3318b1d03fc Mon Sep 17 00:00:00 2001
From: Brandon Pacewic <pacewicbrandon@gmail.com>
Date: Thu, 1 Aug 2024 13:30:17 -0700
Subject: [PATCH 119/344] Update installer/README.md

Co-authored-by: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
---
 installer/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/installer/README.md b/installer/README.md
index fca635d2f3..7d60c6e0e2 100644
--- a/installer/README.md
+++ b/installer/README.md
@@ -7,7 +7,7 @@
   - Note that the source code is platform agnostic, it will work for **both** `Windows` and `Mac`.
 - Once the source code for the Exporter is downloaded, unzip the folder.
 - Next, if you haven't already, install `Autodesk Fusion`.
-- Once Fusion is open navigate to the `Utilities Toolbar`.
+- Once Fusion is open, navigate to the `Utilities Toolbar`.
 ![image_caption](../tutorials/img/fusion/fusion-empty.png)
 - Click on `Scripts and Add-ins` from the toolbar.
 ![image_caption](../tutorials/img/fusion/fusion-addins-highlight.png)

From 37490ddfdbea3725fc055fcc2e64c4ee7c57a3da Mon Sep 17 00:00:00 2001
From: Brandon Pacewic <pacewicbrandon@gmail.com>
Date: Thu, 1 Aug 2024 13:30:27 -0700
Subject: [PATCH 120/344] Update installer/README.md

Co-authored-by: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
---
 installer/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/installer/README.md b/installer/README.md
index 7d60c6e0e2..7234c7cec8 100644
--- a/installer/README.md
+++ b/installer/README.md
@@ -9,7 +9,7 @@
 - Next, if you haven't already, install `Autodesk Fusion`.
 - Once Fusion is open, navigate to the `Utilities Toolbar`.
 ![image_caption](../tutorials/img/fusion/fusion-empty.png)
-- Click on `Scripts and Add-ins` from the toolbar.
+- Click on `Scripts and Add-ins` in the toolbar.
 ![image_caption](../tutorials/img/fusion/fusion-addins-highlight.png)
 - Navigate to `Add-ins` and select the green plus icon.
 ![image_caption](../tutorials/img/fusion/fusion-addins-panel.png)

From d098150542691817e8b30a98fc2093838fff08d5 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 1 Aug 2024 13:32:49 -0700
Subject: [PATCH 121/344] Copied above grammar corrections

Co-authored-by: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
---
 tutorials/FusionExporter.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/tutorials/FusionExporter.md b/tutorials/FusionExporter.md
index b2c1d3190e..a4072b65b4 100644
--- a/tutorials/FusionExporter.md
+++ b/tutorials/FusionExporter.md
@@ -22,11 +22,11 @@ For information regarding the manual install process visit the [Synthesis Fusion
 - Navigate to [`synthesis.autodesk.com/download`](https://synthesis.autodesk.com/download.html).
 - Find the Exporter source code zip download.
   - Note that the source code is platform agnostic, it will work for **both** `Windows` and `Mac`.
-- Once the source code for the Exporter is installed unzip the folder.
-- Next, if not done already, install `Autodesk Fusion`.
-- Once Fusion is open navigate to the `Utilities Toolbar`.
+- Once the source code for the Exporter is downloaded unzip the folder.
+- Next, if you haven't already, install `Autodesk Fusion`.
+- Once Fusion is open, navigate to the `Utilities Toolbar`.
 ![image_caption](img/fusion/fusion-empty.png)
-- Click on `Scripts and Add-ins` from the toolbar.
+- Click on `Scripts and Add-ins` in the toolbar.
 ![image_caption](img/fusion/fusion-addins-highlight.png)
 - Navigate to `Add-ins` and select the green plus icon.
 ![image_caption](img/fusion/fusion-addins-panel.png)

From c9c23e7ed2bf2467883ac4e024f74187850798f7 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Thu, 1 Aug 2024 13:49:55 -0700
Subject: [PATCH 122/344] controller support and fixed wpilibbrain reset issue
 previously pwm output group config modal was non-discrimninately resetting
 the brain, now create device accept sets to WPILibBrain only if not already

---
 .../simulation/wpilib_brain/WPILibBrain.ts    |  6 +++---
 .../rio-config/RCConfigEncoderModal.tsx       | 14 +++-----------
 .../rio-config/RCConfigPWMGroupModal.tsx      |  4 +---
 .../rio-config/RCCreateDeviceModal.tsx        | 12 ++++++++++++
 fission/src/ui/panels/WSViewPanel.tsx         | 19 +++++++++++++++++++
 .../src/main/java/frc/robot/Robot.java        | 17 +++++++++++++----
 6 files changed, 51 insertions(+), 21 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 16d83cc6d9..cd24bb95b8 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -218,7 +218,7 @@ function UpdateSimMap(type: SimType, device: string, updateData: any) {
 class WPILibBrain extends Brain {
     private _simLayer: SimulationLayer
 
-    private _simDevices: SimOutputGroup[] = []
+    private _simOutputs: SimOutputGroup[] = []
     private _simInputs: SimInput[] = []
 
     constructor(mechanism: Mechanism) {
@@ -233,7 +233,7 @@ class WPILibBrain extends Brain {
     }
 
     public addSimOutputGroup(device: SimOutputGroup) {
-        this._simDevices.push(device)
+        this._simOutputs.push(device)
     }
 
     public addSimInput(input: SimInput) {
@@ -241,7 +241,7 @@ class WPILibBrain extends Brain {
     }
 
     public Update(deltaT: number): void {
-        this._simDevices.forEach(d => d.Update(deltaT))
+        this._simOutputs.forEach(d => d.Update(deltaT))
         this._simInputs.forEach(i => i.Update(deltaT))
     }
 
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
index a7117ec863..73bb76ebbc 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
@@ -14,7 +14,7 @@ import { SimEncoderInput } from "@/systems/simulation/wpilib_brain/SimInput"
 
 const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
-    const [name, setName] = useState<string>("")
+    const [_name, setName] = useState<string>("")
 
     let stimuli: EncoderStimulus[] = []
     let simLayer
@@ -62,16 +62,8 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         >
             <Label size={LabelSize.Small}>Name</Label>
             <Input placeholder="..." className="w-full" onInput={setName} />
-            <Dropdown
-                label="Encoders"
-                options={devices.map(n => n[0])}
-                onSelect={s => setSelectedDevice(s)}
-            />
-            <Dropdown
-                label="Stimuli"
-                options={Object.keys(stimMap)}
-                onSelect={s => setSelectedStimulus(stimMap[s])}
-            />
+            <Dropdown label="Encoders" options={devices.map(n => n[0])} onSelect={s => setSelectedDevice(s)} />
+            <Dropdown label="Stimuli" options={Object.keys(stimMap)} onSelect={s => setSelectedStimulus(stimMap[s])} />
             <NumberInput
                 placeholder="Conversion Factor"
                 defaultValue={conversionFactor}
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
index 875cc0c2c3..11a0cc961c 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
@@ -29,9 +29,7 @@ const RCConfigPWMGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism
         simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)
         drivers = simLayer?.drivers ?? []
-        // TODO: set brain elsewhere when sim mode is better
-        brain = new WPILibBrain(mechanism)
-        simLayer?.SetBrain(brain)
+        brain = simLayer?.brain as WPILibBrain
     }
 
     let devices: [string, unknown][] = []
diff --git a/fission/src/ui/modals/configuring/rio-config/RCCreateDeviceModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCCreateDeviceModal.tsx
index a78b5d4f66..a9e80ad798 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCCreateDeviceModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCCreateDeviceModal.tsx
@@ -3,6 +3,9 @@ import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { FaPlus } from "react-icons/fa6"
 import Dropdown from "@/components/Dropdown"
+import WPILibBrain from "@/systems/simulation/wpilib_brain/WPILibBrain"
+import World from "@/systems/World"
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 
 type DeviceType = "PWM" | "CAN" | "Encoder"
 
@@ -18,6 +21,15 @@ const RCCreateDeviceModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             acceptName="Next"
             onAccept={() => {
                 console.log(type)
+                const miraObjs = [...World.SceneRenderer.sceneObjects.entries()].filter(
+                    x => x[1] instanceof MirabufSceneObject
+                )
+                if (miraObjs.length > 0) {
+                    const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism
+                    const simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)
+                    console.log("simlayer", simLayer)
+                    if (!(simLayer?.brain instanceof WPILibBrain)) simLayer?.SetBrain(new WPILibBrain(mechanism))
+                }
                 switch (type) {
                     case "PWM":
                         openModal("config-pwm")
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index 2168b2f203..d373fa2aba 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -107,6 +107,25 @@ function generateTableBody() {
             ) : (
                 <></>
             )}
+            {simMap.has("Joystick") ? (
+                [...simMap.get("Joystick")!.entries()].map(x => {
+                    return (
+                        <TableRow key={x[0]}>
+                            <TableCell>
+                                <TypoStyled>Joystick</TypoStyled>
+                            </TableCell>
+                            <TableCell>
+                                <TypoStyled>{x[0]}</TypoStyled>
+                            </TableCell>
+                            <TableCell>
+                                <TypoStyled>{JSON.stringify(x[1])}</TypoStyled>
+                            </TableCell>
+                        </TableRow>
+                    )
+                })
+            ) : (
+                <></>
+            )}
         </TableBody>
     )
 }
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 8a9aa5024b..455b23fba6 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -10,11 +10,13 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import com.autodesk.synthesis.revrobotics.CANSparkMax;
+import com.autodesk.synthesis.Joystick;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -28,9 +30,11 @@ public class Robot extends TimedRobot {
   private String m_autoSelected;
   private final SendableChooser<String> m_chooser = new SendableChooser<>();
 
-  private Spark m_Spark = new Spark(0);
+  private Spark m_Spark1 = new Spark(0);
+  private Spark m_Spark2 = new Spark(1);
   private CANSparkMax m_SparkMax = new CANSparkMax(1, MotorType.kBrushless);
   private TalonFX m_Talon = new TalonFX(2);
+  private XboxController m_Controller = new XboxController(0);
 
   /**
    * This function is run when the robot is first started up and should be used for any
@@ -74,7 +78,8 @@ public void autonomousInit() {
   @Override
   public void autonomousPeriodic() {
 
-    m_Spark.set(0.5);
+    m_Spark1.set(0.5);
+    m_Spark2.set(-0.5);
     m_SparkMax.set(1.0);
     m_Talon.set(-1.0);
 
@@ -96,7 +101,10 @@ public void teleopInit() {}
   /** This function is called periodically during operator control. */
   @Override
   public void teleopPeriodic() {
-    m_Spark.set(0.25);
+    m_Spark1.set(m_Controller.getLeftY());
+    m_Spark2.set(-m_Controller.getRightY());
+    // m_Spark1.set(0.25);
+    // m_Spark2.set(0.25);
     m_SparkMax.set(0.75);
     m_Talon.set(-0.5);
   }
@@ -104,7 +112,8 @@ public void teleopPeriodic() {
   /** This function is called once when the robot is disabled. */
   @Override
   public void disabledInit() {
-    m_Spark.set(0.0);
+    m_Spark1.set(0.0);
+    m_Spark2.set(0.0);
     m_SparkMax.set(0.0);
     m_Talon.set(0.0);
   }

From bb0d30219cb84b564fdc1990bb69bf3d968dfa78 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Thu, 1 Aug 2024 13:52:33 -0700
Subject: [PATCH 123/344] add .gitignore to ignore simulation project config
 folders

---
 simulation/.gitignore | 3 +++
 1 file changed, 3 insertions(+)
 create mode 100644 simulation/.gitignore

diff --git a/simulation/.gitignore b/simulation/.gitignore
new file mode 100644
index 0000000000..581290531f
--- /dev/null
+++ b/simulation/.gitignore
@@ -0,0 +1,3 @@
+.classpath
+.settings
+.project

From 304f0136b35563f943fbdef78b62f59cc60254a0 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 1 Aug 2024 14:12:13 -0700
Subject: [PATCH 124/344] Working windows python data installer

---
 installer/Windows/.gitkeep     |  0
 installer/Windows/build.bat    | 31 ++++++++++++++++++
 installer/Windows/installer.py | 57 ++++++++++++++++++++++++++++++++++
 3 files changed, 88 insertions(+)
 delete mode 100644 installer/Windows/.gitkeep
 create mode 100644 installer/Windows/build.bat
 create mode 100644 installer/Windows/installer.py

diff --git a/installer/Windows/.gitkeep b/installer/Windows/.gitkeep
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/installer/Windows/build.bat b/installer/Windows/build.bat
new file mode 100644
index 0000000000..f3cff018da
--- /dev/null
+++ b/installer/Windows/build.bat
@@ -0,0 +1,31 @@
+@echo off
+setlocal enabledelayedexpansion
+setlocal
+
+set "FUSION_ADDIN_LOCATION=%USERPROFILE%\AppData\Local\Autodesk\Autodesk Fusion 360\API\AddIns\"
+set "EXPORTER_SOURCE_DIR=..\..\exporter\SynthesisFusionAddin\"
+
+mkdir tmp\
+xcopy /e /i "%EXPORTER_SOURCE_DIR%" tmp\
+@REM pushd tmp\
+tar -a -c -f resources.zip tmp\*
+@REM popd
+
+for /f "delims=" %%i in ('pip show pyinstaller') do (
+    echo %%i | findstr /b /c:"Location:" >nul
+    if not errorlevel 1 (
+        set "location_line=%%i"
+    )
+)
+
+set "executable=!location_line:Location: =!"
+for %%a in ("%executable%") do set "executable=%%~dpa"
+set "executable=%executable%Scripts\pyinstaller.exe "
+set executable=%executable:~0,-1%
+
+%executable% --onefile --add-data "resources.zip;." installer.py
+
+rmdir /s /q tmp
+del resources.zip
+
+endlocal
diff --git a/installer/Windows/installer.py b/installer/Windows/installer.py
new file mode 100644
index 0000000000..cf4c5194d8
--- /dev/null
+++ b/installer/Windows/installer.py
@@ -0,0 +1,57 @@
+import os
+import shutil
+import sys
+import zipfile
+import tempfile
+
+def resource_path(relative_path):
+    try:
+        base_path = sys._MEIPASS
+    except Exception:
+        base_path = os.path.dirname(__file__)
+    return os.path.join(base_path, relative_path)
+
+def extract_file(resource_name, dest_folder):
+    resource_full_path = resource_path(resource_name)
+    if not os.path.exists(resource_full_path):
+        raise FileNotFoundError(f"Resource '{resource_name}' not found.")
+    
+    shutil.copy(resource_full_path, os.path.join(dest_folder, resource_name))
+
+def move_folder(src_folder, dest_folder):
+    if not os.path.exists(src_folder):
+        print(f"Source folder '{src_folder}' does not exist.")
+        return
+    
+    if not os.path.exists(dest_folder):
+        print(f"Destination folder '{dest_folder}' does not exist. Creating it.")
+        os.makedirs(dest_folder)
+    
+    try:
+        shutil.move(src_folder, dest_folder)
+        print(f"Successfully moved '{src_folder}' to '{dest_folder}'.")
+    except Exception as e:
+        print(f"Error: {e}")
+
+def main():
+    if len(sys.argv) != 2:
+        print("Usage: installer.exe <destination_folder>")
+        sys.exit(1)
+    
+    destination_folder = sys.argv[1]
+
+    with tempfile.TemporaryDirectory() as temp_dir:
+        try:
+            extract_file('resources.zip', temp_dir)
+            
+            with zipfile.ZipFile(os.path.join(temp_dir, 'resources.zip'), 'r') as zip_ref:
+                zip_ref.extractall(temp_dir)
+            
+            src_folder = os.path.join(temp_dir, 'tmp')
+            move_folder(src_folder, destination_folder)
+        
+        except Exception as e:
+            print(f"Error: {e}")
+
+if __name__ == "__main__":
+    main()

From b7795a84fb6e4fc164e41555eebeabbbba3c9c05 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <pacewicbrandon@gmail.com>
Date: Thu, 1 Aug 2024 14:28:56 -0700
Subject: [PATCH 125/344] Formatting and dest updates for the windows installer

---
 .gitignore                     |  4 ++-
 installer/Windows/build.bat    | 10 +++----
 installer/Windows/installer.py | 48 +++++++++++++++-------------------
 3 files changed, 29 insertions(+), 33 deletions(-)

diff --git a/.gitignore b/.gitignore
index 5057e53d24..a57a98b5ac 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,8 @@
 .vs/
 .vscode/
-/build/
+build/
+dist/
 *.log
 .DS_Store
 *.pkg
+*.exe
diff --git a/installer/Windows/build.bat b/installer/Windows/build.bat
index f3cff018da..c09485cf51 100644
--- a/installer/Windows/build.bat
+++ b/installer/Windows/build.bat
@@ -7,10 +7,10 @@ set "EXPORTER_SOURCE_DIR=..\..\exporter\SynthesisFusionAddin\"
 
 mkdir tmp\
 xcopy /e /i "%EXPORTER_SOURCE_DIR%" tmp\
-@REM pushd tmp\
-tar -a -c -f resources.zip tmp\*
-@REM popd
+tar -a -c -f SynthesisExporter.zip tmp\*
 
+@REM Find and run pyinstaller, this is a workaround that allows you to call pip packages as scripts without
+@REM them being added to the system PATH.
 for /f "delims=" %%i in ('pip show pyinstaller') do (
     echo %%i | findstr /b /c:"Location:" >nul
     if not errorlevel 1 (
@@ -23,9 +23,9 @@ for %%a in ("%executable%") do set "executable=%%~dpa"
 set "executable=%executable%Scripts\pyinstaller.exe "
 set executable=%executable:~0,-1%
 
-%executable% --onefile --add-data "resources.zip;." installer.py
+%executable% --onefile --add-data "SynthesisExporter.zip;." installer.py
 
 rmdir /s /q tmp
-del resources.zip
+del SynthesisExporter.zip
 
 endlocal
diff --git a/installer/Windows/installer.py b/installer/Windows/installer.py
index cf4c5194d8..cce42320c0 100644
--- a/installer/Windows/installer.py
+++ b/installer/Windows/installer.py
@@ -1,57 +1,51 @@
 import os
 import shutil
 import sys
-import zipfile
 import tempfile
+import zipfile
+
 
 def resource_path(relative_path):
-    try:
+    if getattr(sys, "frozen", False) and hasattr(sys, "_MEIPASS"):
         base_path = sys._MEIPASS
-    except Exception:
+    else:
         base_path = os.path.dirname(__file__)
+
     return os.path.join(base_path, relative_path)
 
+
 def extract_file(resource_name, dest_folder):
     resource_full_path = resource_path(resource_name)
     if not os.path.exists(resource_full_path):
         raise FileNotFoundError(f"Resource '{resource_name}' not found.")
-    
+
     shutil.copy(resource_full_path, os.path.join(dest_folder, resource_name))
 
+
 def move_folder(src_folder, dest_folder):
     if not os.path.exists(src_folder):
         print(f"Source folder '{src_folder}' does not exist.")
         return
-    
+
     if not os.path.exists(dest_folder):
         print(f"Destination folder '{dest_folder}' does not exist. Creating it.")
         os.makedirs(dest_folder)
-    
-    try:
-        shutil.move(src_folder, dest_folder)
-        print(f"Successfully moved '{src_folder}' to '{dest_folder}'.")
-    except Exception as e:
-        print(f"Error: {e}")
+
+    shutil.move(src_folder, dest_folder)
+    print(f"Successfully moved '{src_folder}' to '{dest_folder}'.")
+
 
 def main():
-    if len(sys.argv) != 2:
-        print("Usage: installer.exe <destination_folder>")
-        sys.exit(1)
-    
-    destination_folder = sys.argv[1]
+    destination_folder = r"%appdata%\Autodesk\Autodesk Fusion\API\AddIns"
 
     with tempfile.TemporaryDirectory() as temp_dir:
-        try:
-            extract_file('resources.zip', temp_dir)
-            
-            with zipfile.ZipFile(os.path.join(temp_dir, 'resources.zip'), 'r') as zip_ref:
-                zip_ref.extractall(temp_dir)
-            
-            src_folder = os.path.join(temp_dir, 'tmp')
-            move_folder(src_folder, destination_folder)
-        
-        except Exception as e:
-            print(f"Error: {e}")
+        extract_file("resources.zip", temp_dir)
+        with zipfile.ZipFile(os.path.join(temp_dir, "resources.zip"), "r") as zip_ref:
+            zip_ref.extractall(temp_dir)
+
+        src_folder = os.path.join(temp_dir, "tmp")
+        move_folder(src_folder, destination_folder)
+
 
 if __name__ == "__main__":
     main()

From 4c8f71d97dc0afc8914a912d18ad90f708934262 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Thu, 1 Aug 2024 14:38:32 -0700
Subject: [PATCH 126/344] Drivetrain

---
 fission/src/systems/physics/PhysicsSystem.ts  |  17 ++-
 .../systems/preferences/PreferenceTypes.ts    |   4 +
 .../systems/simulation/SimulationSystem.ts    |   2 +-
 .../behavior/synthesis/ArcadeDriveBehavior.ts |   5 +-
 .../systems/simulation/driver/HingeDriver.ts  |   4 +-
 .../systems/simulation/driver/WheelDriver.ts  |  34 +++++-
 .../configuring/ConfigureJointsPanel.tsx      | 111 ++++++++++--------
 7 files changed, 119 insertions(+), 58 deletions(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 5f438fd913..8e2e4d806c 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -108,7 +108,7 @@ class PhysicsSystem extends WorldSystem {
         const ground = this.CreateBox(
             new THREE.Vector3(5.0, 0.5, 5.0),
             undefined,
-            new THREE.Vector3(0.0, -2.05, 0.0),
+            new THREE.Vector3(0.0, -2.0, 0.0),
             undefined
         )
         ground.SetFriction(FLOOR_FRICTION)
@@ -354,9 +354,10 @@ class PhysicsSystem extends WorldSystem {
             const constraints: [Jolt.Constraint, number][] = []
             let listener: Jolt.PhysicsStepListener | undefined = undefined
 
-            const motors = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").motors
+            // maxForce becomes maxForce for sliders, maxTorque for hinges, and maxAcceleration for wheels
             let maxVel = jointData.motorDefinitions![jDef.motorReference].simpleMotor?.maxVelocity
             let maxForce = jointData.motorDefinitions![jDef.motorReference].simpleMotor?.stallTorque
+            const motors = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").motors
             if (motors) {
                 const thisMotor = motors.filter(x => x.name == jInst.info?.name)
                 if (thisMotor[0]) {
@@ -368,10 +369,17 @@ class PhysicsSystem extends WorldSystem {
             switch (jDef.jointMotionType!) {
                 case mirabuf.joint.JointMotion.REVOLUTE:
                     if (this.IsWheel(jDef)) {
+                        const prefVel = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").driveVelocity
+                        if (prefVel > 0) maxVel = prefVel
+
+                        const prefAcc = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").driveAcceleration
+                        if (prefAcc > 0) maxForce = prefAcc
+
                         if (parser.directedGraph.GetAdjacencyList(rnA.id).length > 0) {
                             const res = this.CreateWheelConstraint(
                                 jInst,
                                 jDef,
+                                maxForce ?? 1.5,
                                 bodyA,
                                 bodyB,
                                 parser.assembly.info!.version!
@@ -383,6 +391,7 @@ class PhysicsSystem extends WorldSystem {
                             const res = this.CreateWheelConstraint(
                                 jInst,
                                 jDef,
+                                maxForce ?? 1.5,
                                 bodyB,
                                 bodyA,
                                 parser.assembly.info!.version!
@@ -492,6 +501,7 @@ class PhysicsSystem extends WorldSystem {
 
 
         const constraint = hingeConstraintSettings.Create(bodyA, bodyB)
+        this._constraints.push(constraint)
         this._joltPhysSystem.AddConstraint(constraint)
 
         return constraint
@@ -570,6 +580,7 @@ class PhysicsSystem extends WorldSystem {
     public CreateWheelConstraint(
         jointInstance: mirabuf.joint.JointInstance,
         jointDefinition: mirabuf.joint.Joint,
+        maxAcc: number,
         bodyMain: Jolt.Body,
         bodyWheel: Jolt.Body,
         versionNum: number
@@ -617,7 +628,7 @@ class PhysicsSystem extends WorldSystem {
         vehicleSettings.mWheels.push_back(wheelSettings)
 
         const controllerSettings = new JOLT.WheeledVehicleControllerSettings()
-        controllerSettings.mEngine.mMaxTorque = 1500.0
+        controllerSettings.mEngine.mMaxTorque = maxAcc
         controllerSettings.mTransmission.mClutchStrength = 10.0
         controllerSettings.mTransmission.mGearRatios.clear()
         controllerSettings.mTransmission.mGearRatios.push_back(2)
diff --git a/fission/src/systems/preferences/PreferenceTypes.ts b/fission/src/systems/preferences/PreferenceTypes.ts
index 27c1821ac6..d044a1ce22 100644
--- a/fission/src/systems/preferences/PreferenceTypes.ts
+++ b/fission/src/systems/preferences/PreferenceTypes.ts
@@ -48,6 +48,8 @@ export type RobotPreferences = {
     motors: MotorPreferences[]
     intake: IntakePreferences
     ejector: EjectorPreferences
+    driveVelocity: number
+    driveAcceleration: number
 }
 
 export type MotorPreferences = {
@@ -88,6 +90,8 @@ export function DefaultRobotPreferences(): RobotPreferences {
             ejectorVelocity: 1,
             parentNode: undefined,
         },
+        driveVelocity: 0,
+        driveAcceleration: 0
     }
 }
 
diff --git a/fission/src/systems/simulation/SimulationSystem.ts b/fission/src/systems/simulation/SimulationSystem.ts
index 93e585c369..e9bad980f6 100644
--- a/fission/src/systems/simulation/SimulationSystem.ts
+++ b/fission/src/systems/simulation/SimulationSystem.ts
@@ -91,7 +91,7 @@ class SimulationLayer {
                 this._stimuli.push(stim)
             } else if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Vehicle) {
                 const vehicle = JOLT.castObject(x.constraint, JOLT.VehicleConstraint)
-                const driver = new WheelDriver(vehicle, x.info)
+                const driver = new WheelDriver(vehicle, x.maxVelocity, x.info)
                 this._drivers.push(driver)
                 const stim = new WheelRotationStimulus(vehicle.GetWheel(0))
                 this._stimuli.push(stim)
diff --git a/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts b/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts
index 6851ad4305..035db861d0 100644
--- a/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts
+++ b/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts
@@ -8,9 +8,6 @@ class ArcadeDriveBehavior extends Behavior {
     private rightWheels: WheelDriver[]
     private _brainIndex: number
 
-    private _driveSpeed = 30
-    private _turnSpeed = 30
-
     constructor(
         leftWheels: WheelDriver[],
         rightWheels: WheelDriver[],
@@ -38,7 +35,7 @@ class ArcadeDriveBehavior extends Behavior {
         const driveInput = InputSystem.getInput("arcadeDrive", this._brainIndex)
         const turnInput = InputSystem.getInput("arcadeTurn", this._brainIndex)
 
-        this.DriveSpeeds(driveInput * this._driveSpeed, turnInput * this._turnSpeed)
+        this.DriveSpeeds(driveInput, turnInput)
     }
 }
 
diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
index aa9ef3aeb5..85babb888d 100644
--- a/fission/src/systems/simulation/driver/HingeDriver.ts
+++ b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -34,11 +34,11 @@ class HingeDriver extends Driver {
         this._targetAngle = Math.max(this._constraint.GetLimitsMin(), Math.min(this._constraint.GetLimitsMax(), rads))
     }
 
-    public get maxTorque() {
+    public get maxForce() {
         return this._constraint.GetMotorSettings().mMaxTorqueLimit
     }
 
-    public set maxTorque(nm: number) {
+    public set maxForce(nm: number) {
         const motorSettings = this._constraint.GetMotorSettings()
         motorSettings.mMaxTorqueLimit = nm
         motorSettings.mMinTorqueLimit = -nm
diff --git a/fission/src/systems/simulation/driver/WheelDriver.ts b/fission/src/systems/simulation/driver/WheelDriver.ts
index 426e893f83..90dab968cd 100644
--- a/fission/src/systems/simulation/driver/WheelDriver.ts
+++ b/fission/src/systems/simulation/driver/WheelDriver.ts
@@ -15,6 +15,9 @@ class WheelDriver extends Driver {
     private _reversed: boolean
 
     private _targetWheelSpeed: number = 0.0
+    private _prevVel: number = 0.0
+    private _maxVelocity = 30.0
+    private _maxAcceleration = 1.5
 
     public get targetWheelSpeed(): number {
         return this._targetWheelSpeed
@@ -23,12 +26,29 @@ class WheelDriver extends Driver {
         this._targetWheelSpeed = radsPerSec
     }
 
+    public get maxVelocity(): number {
+        return this._maxVelocity
+    }
+
+    public set maxVelocity(radsPerSec: number) {
+        this._maxVelocity = radsPerSec
+    }
+
+    public get maxForce(): number {
+        return this._maxAcceleration
+    }
+
+    public set maxForce(acc: number) {
+        this._maxAcceleration = acc
+    }
+
     public get constraint(): Jolt.VehicleConstraint {
         return this._constraint
     }
 
     public constructor(
         constraint: Jolt.VehicleConstraint,
+        maxVel: number,
         info?: mirabuf.IInfo,
         deviceType?: SimType,
         device?: string,
@@ -37,6 +57,9 @@ class WheelDriver extends Driver {
         super(info)
 
         this._constraint = constraint
+        this._maxVelocity = maxVel
+        const controller = JOLT.castObject(this._constraint.GetController(), JOLT.WheeledVehicleController)
+        this._maxAcceleration = controller.GetEngine().mMaxTorque
         this._reversed = reversed
         this.deviceType = deviceType
         this.device = device
@@ -46,7 +69,16 @@ class WheelDriver extends Driver {
     }
 
     public Update(_: number): void {
-        this._wheel.SetAngularVelocity(this._targetWheelSpeed * (this._reversed ? -1 : 1))
+        let vel = this._targetWheelSpeed * (this._reversed ? -1 : 1) * this._maxVelocity
+        // if (InputSystem.isKeyPressed("KeyW")) console.log(`vel 1: ${vel}`)
+
+        if (vel - this._prevVel < -this._maxAcceleration) vel = this._prevVel - this._maxAcceleration
+        if (vel - this._prevVel > this._maxAcceleration) vel = this._prevVel + this._maxAcceleration
+        // if (vel != 0) console.log(`prev: ${this._prevVel}  vel 3: ${vel}`)
+
+
+        this._wheel.SetAngularVelocity(vel)
+        this._prevVel = vel
     }
 
     public set reversed(val: boolean) {
diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
index f3545d308d..4a6159a118 100644
--- a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
@@ -4,6 +4,7 @@ import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import Driver from "@/systems/simulation/driver/Driver"
 import HingeDriver from "@/systems/simulation/driver/HingeDriver"
 import SliderDriver from "@/systems/simulation/driver/SliderDriver"
+import WheelDriver from "@/systems/simulation/driver/WheelDriver"
 import World from "@/systems/World"
 import Button from "@/ui/components/Button"
 import Label, { LabelSize } from "@/ui/components/Label"
@@ -21,63 +22,68 @@ type JointRowProps = {
 }
 
 const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
-    const [velocity, setVelocity] = useState<number>(() => {
-        switch (driver.constructor) {
-            case SliderDriver:
-                return (driver as SliderDriver).maxVelocity
-            case HingeDriver:
-                return (driver as HingeDriver).maxVelocity
-            default:
-                return 40
-        }
-    })
-    const [force, setForce] = useState<number>(() => {
+    const wheelDrivers = useMemo(() => {
+        return robot?.mechanism ?
+            World.SimulationSystem.GetSimulationLayer(robot.mechanism)?.drivers.filter(x => x instanceof WheelDriver) : undefined
+    }, [robot])
+
+    const driverSwitch = (driver: Driver, slider: unknown, hinge: unknown, drivetrain: unknown) => {
         switch (driver.constructor) {
             case SliderDriver:
-                return (driver as SliderDriver).maxForce
+                return slider
             case HingeDriver:
-                return (driver as HingeDriver).maxTorque
+                return hinge
+            case WheelDriver:
+                return drivetrain
             default:
-                return 40
+                return drivetrain
         }
-    })
+    }
+
+    const [velocity, setVelocity] = useState<number>(
+        (driver as SliderDriver || driver as HingeDriver || driver as WheelDriver).maxVelocity)
+    const [force, setForce] = useState<number>(
+        (driver as SliderDriver || driver as HingeDriver || driver as WheelDriver).maxForce)
 
     const onChange = (vel: number, force: number) => {
-        (driver as SliderDriver || driver as HingeDriver).maxVelocity = vel
-        switch (driver.constructor) {
-            case SliderDriver:
-                (driver as SliderDriver).maxForce = force
-                break
-            case HingeDriver:
-                (driver as HingeDriver).maxTorque = force
-                break
-            default:
-                return 40
+        if (driver instanceof WheelDriver) {
+            wheelDrivers?.forEach(x => {
+                x.maxVelocity = vel
+                x.maxForce = force
+            })
+
+            // Preferences
+            PreferencesSystem.getRobotPreferences(robot.assemblyName).driveVelocity = vel
+            PreferencesSystem.getRobotPreferences(robot.assemblyName).driveAcceleration = force
+        } else {
+            (driver as SliderDriver || driver as HingeDriver).maxVelocity = vel;                
+            (driver as SliderDriver || driver as HingeDriver).maxForce = force
+
+            // Preferences
+            if (driver.info && driver.info.name) {
+                const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors ? PreferencesSystem.getRobotPreferences(robot.assemblyName).motors.filter(x => {
+                    if (x.name)
+                        return x.name != driver.info?.name
+                    return false
+                }) : []
+
+                removedMotor.push({
+                    name: driver.info?.name ?? "",
+                    maxVelocity: vel,
+                    maxForce: force})
+                
+                PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
+            }
         }
 
-        // Preferences
-        if (driver.info && driver.info.name) {
-            const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors ? PreferencesSystem.getRobotPreferences(robot.assemblyName).motors.filter(x => {
-                if (x.name)
-                    return x.name != driver.info?.name
-                return false
-            }) : []
-
-            removedMotor.push({
-                name: driver.info?.name ?? "",
-                maxVelocity: vel,
-                maxForce: force})
-
-            PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
-            PreferencesSystem.savePreferences()
-        }
+        PreferencesSystem.savePreferences()
     }
 
 
     return (
         <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>
             <Stack direction={StackDirection.Vertical} spacing={8} justify="start">
-                <Label size={LabelSize.Medium}>{driver.info?.name ?? "UnnamedMotor"}</Label>
+                <Label size={LabelSize.Medium}>{ driver instanceof WheelDriver ? "Drive" : (driver.info?.name ?? "UnnamedMotor") }</Label>
                 <Slider
                     min={0.1}
                     max={80}
@@ -91,10 +97,10 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
                     step={0.01}
                 />
                 <Slider
-                    min={(() => {return driver instanceof HingeDriver ? 20 : 100})()}
-                    max={(() => {return driver instanceof HingeDriver ? 200 : 800})()}
+                    min={driverSwitch(driver, 100, 20, 0.1) as number}
+                    max={driverSwitch(driver, 800, 200, 50) as number}
                     value={force}
-                    label={(() => {return driver instanceof HingeDriver ? "Max Torque" : "Max Force"})()}
+                    label={driverSwitch(driver, "Max Force", "Max Torque", "Max Accel.") as string}
                     format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
                     onChange={(_, _force: number | number[]) => {
                         setForce(_force as number);
@@ -127,6 +133,8 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
             World.SimulationSystem.GetSimulationLayer(selectedRobot.mechanism)?.drivers : undefined
     }, [selectedRobot])
 
+    //origPref: RobotPreferences that just set back to everything.
+
 
     return (
         <Panel 
@@ -136,7 +144,7 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
             openLocation={openLocation}
             sidePadding={sidePadding}
             onAccept={() => { PreferencesSystem.savePreferences()}}       
-            onCancel={() => {/* Back to original */ }}
+            onCancel={() => {/* TODO: Back to original */ }}
             acceptEnabled={true}
         >
             {selectedRobot?.ejectorPreferences == undefined ? (
@@ -162,9 +170,18 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
 
                     {drivers ? (
                         <ScrollView className="flex flex-col gap-4">
+                            <JointRow
+                                key={0}
+                                robot={(() => {
+                                    return selectedRobot
+                                })()}
+                                driver={(() => {
+                                    return drivers.filter(x => x instanceof WheelDriver)[0]
+                                })()}
+                            />
                             {drivers.filter(x => x instanceof SliderDriver || x instanceof HingeDriver).map((driver: Driver, i: number) => (
                                 <JointRow
-                                    key={i}
+                                    key={i + 1}
                                     robot={(() => {
                                         return selectedRobot
                                     })()}

From e71ac282f7d87ce578e4946e5d631308e9191c64 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 1 Aug 2024 14:44:44 -0700
Subject: [PATCH 127/344] added spark encoder wrapper class

---
 simulation/SyntheSimJava/.classpath           | 12 +++++++
 simulation/SyntheSimJava/.gitignore           |  5 ++-
 simulation/SyntheSimJava/.project             | 34 +++++++++++++++++++
 .../org.eclipse.buildship.core.prefs          | 13 +++++++
 .../.settings/org.eclipse.jdt.core.prefs      |  4 +++
 .../com/autodesk/synthesis/ctre/TalonFX.java  |  2 +-
 .../synthesis/ctre/TalonFXConfigurator.java   | 26 ++++++++++++++
 .../synthesis/revrobotics/CANSparkMax.java    | 22 +++++++++---
 .../revrobotics/SparkAbsoluteEncoder.java     | 21 ++++++++++++
 simulation/samples/CppSample/.project         | 28 +++++++++++++++
 .../org.eclipse.buildship.core.prefs          | 13 +++++++
 simulation/samples/JavaSample/.classpath      | 12 +++++++
 simulation/samples/JavaSample/.project        | 34 +++++++++++++++++++
 .../org.eclipse.buildship.core.prefs          | 13 +++++++
 .../.settings/org.eclipse.jdt.core.prefs      |  4 +++
 .../src/main/java/frc/robot/Robot.java        |  2 +-
 16 files changed, 237 insertions(+), 8 deletions(-)
 create mode 100644 simulation/SyntheSimJava/.classpath
 create mode 100644 simulation/SyntheSimJava/.project
 create mode 100644 simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
 create mode 100644 simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
 create mode 100644 simulation/samples/CppSample/.project
 create mode 100644 simulation/samples/CppSample/.settings/org.eclipse.buildship.core.prefs
 create mode 100644 simulation/samples/JavaSample/.classpath
 create mode 100644 simulation/samples/JavaSample/.project
 create mode 100644 simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs
 create mode 100644 simulation/samples/JavaSample/.settings/org.eclipse.jdt.core.prefs

diff --git a/simulation/SyntheSimJava/.classpath b/simulation/SyntheSimJava/.classpath
new file mode 100644
index 0000000000..ea7f567adf
--- /dev/null
+++ b/simulation/SyntheSimJava/.classpath
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" output="bin/main" path="src/main/java">
+		<attributes>
+			<attribute name="gradle_scope" value="main"/>
+			<attribute name="gradle_used_by_scope" value="main,test"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-17/"/>
+	<classpathentry kind="con" path="org.eclipse.buildship.core.gradleclasspathcontainer"/>
+	<classpathentry kind="output" path="bin/default"/>
+</classpath>
diff --git a/simulation/SyntheSimJava/.gitignore b/simulation/SyntheSimJava/.gitignore
index 3b2f6ee393..2e559f72b7 100644
--- a/simulation/SyntheSimJava/.gitignore
+++ b/simulation/SyntheSimJava/.gitignore
@@ -1,6 +1,9 @@
+*.json
 # Ignore Gradle project-specific cache directory
 .gradle
 .vscode
 
 # Ignore Gradle build output directory
-build
+build/
+ctre-sil/
+bin/
diff --git a/simulation/SyntheSimJava/.project b/simulation/SyntheSimJava/.project
new file mode 100644
index 0000000000..5bb13d53d2
--- /dev/null
+++ b/simulation/SyntheSimJava/.project
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>SyntheSimJava</name>
+	<comment>Project SyntheSimJava created by Buildship.</comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.buildship.core.gradleprojectbuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>org.eclipse.buildship.core.gradleprojectnature</nature>
+	</natures>
+	<filteredResources>
+		<filter>
+			<id>1721749622820</id>
+			<name></name>
+			<type>30</type>
+			<matcher>
+				<id>org.eclipse.core.resources.regexFilterMatcher</id>
+				<arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
+			</matcher>
+		</filter>
+	</filteredResources>
+</projectDescription>
diff --git a/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs b/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
new file mode 100644
index 0000000000..bc1ff1181e
--- /dev/null
+++ b/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
@@ -0,0 +1,13 @@
+arguments=--init-script /Users/colbura/cache/jdtls/config/org.eclipse.osgi/55/0/.cp/gradle/init/init.gradle
+auto.sync=false
+build.scans.enabled=false
+connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
+connection.project.dir=
+eclipse.preferences.version=1
+gradle.user.home=
+java.home=/opt/homebrew/Cellar/openjdk/22.0.2/libexec/openjdk.jdk/Contents/Home
+jvm.arguments=
+offline.mode=false
+override.workspace.settings=true
+show.console.view=true
+show.executions.view=true
diff --git a/simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs b/simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs
new file mode 100644
index 0000000000..626e0e1d5c
--- /dev/null
+++ b/simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs
@@ -0,0 +1,4 @@
+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=17
+org.eclipse.jdt.core.compiler.compliance=17
+org.eclipse.jdt.core.compiler.source=17
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
index 90da0a8e5e..4a242a97e3 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
@@ -11,7 +11,7 @@ public class TalonFX extends com.ctre.phoenix6.hardware.TalonFX {
     /**
      * Creates a new TalonFX, wrapped with simulation support.
      * 
-     * @param deviceId CAN Devic ID.
+     * @param deviceNumber CAN Device ID.
      */
     public TalonFX(int deviceNumber) {
         super(deviceNumber);
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
new file mode 100644
index 0000000000..e934719df8
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
@@ -0,0 +1,26 @@
+package com.autodesk.synthesis.ctre;
+
+import com.ctre.phoenix6.hardware.DeviceIdentifier;
+import com.ctre.phoenix6.configs.TorqueCurrentConfigs;
+import com.ctre.phoenix6.StatusCode;
+
+//import com.ctre.phoenix6.configs.TalonFXConfigurator
+
+public class TalonFXConfigurator extends com.ctre.phoenix6.configs.TalonFXConfigurator {
+    private TalonFX devicePtr;
+
+    public TalonFXConfigurator(DeviceIdentifier id, TalonFX device) {
+        super(id);
+        // awful, jank solution, please help
+        // if you know how to get a device from an id, let me know
+        this.devicePtr = device;
+    }
+
+    @Override
+    public StatusCode apply(TorqueCurrentConfigs newTorqueCurrent) {
+        StatusCode code = super.apply(newTorqueCurrent);
+        double newDeadband = newTorqueCurrent.TorqueNeutralDeadband;
+        this.devicePtr.setNeutralDeadband(newDeadband);
+        return code;
+    }
+}
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 5575836744..3f9e2a9fbc 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -2,6 +2,7 @@
 
 import com.autodesk.synthesis.CANEncoder;
 import com.autodesk.synthesis.CANMotor;
+import com.autodesk.synthesis.revrobotics.SparkAbsoluteEncoder;
 import com.revrobotics.CANSparkBase;
 import com.revrobotics.REVLibError;
 
@@ -47,10 +48,21 @@ public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) {
     }
 
     @Override
-    public REVLibError follow(CANSparkBase leader) {
-        REVLibError err = super.follow(leader);
-        // figure out how to have primitives follow
-        this.m_motor.m_percentOuput = leader.x;
-        return err;
+    public SparkAbsoluteEncoder getAbsoluteEncoder() {
+        return new SparkAbsoluteEncoder(this.m_encoder, this, com.revrobotics.SparkAbsoluteEncoder.Type.kDutyCycle);
     }
+
+    @Override
+    public SparkAbsoluteEncoder getAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder.Type type) {
+        return new SparkAbsoluteEncoder(this.m_encoder, this, type);
+    }    
+
+    // TODO: Finish following
+    // @Override
+    // public REVLibError follow(CANSparkBase leader) {
+    //     REVLibError err = super.follow(leader);
+    //     // figure out how to have primitives follow
+    //     this.m_motor.m_percentOuput = leader.x;
+    //     return err;
+    // }
 }
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
new file mode 100644
index 0000000000..32187d00ef
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
@@ -0,0 +1,21 @@
+package com.autodesk.synthesis.revrobotics;
+import com.autodesk.synthesis.CANEncoder;
+import com.revrobotics.CANSparkBase;
+
+public class SparkAbsoluteEncoder extends com.revrobotics.SparkAbsoluteEncoder {
+    private CANEncoder encoder;
+
+    public SparkAbsoluteEncoder(CANEncoder encoder, CANSparkBase base, com.revrobotics.SparkAbsoluteEncoder.Type type) {
+        this.encoder = encoder;
+    }
+
+    @Override
+    public double getPosition() {
+        return encoder.getPosition();
+    }
+
+    @Override
+    public double getVelocity() {
+        return encoder.getVelocity();
+    }
+}
diff --git a/simulation/samples/CppSample/.project b/simulation/samples/CppSample/.project
new file mode 100644
index 0000000000..1a9dd595bf
--- /dev/null
+++ b/simulation/samples/CppSample/.project
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>CppSample</name>
+	<comment>Project CppSample created by Buildship.</comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.buildship.core.gradleprojectbuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.buildship.core.gradleprojectnature</nature>
+	</natures>
+	<filteredResources>
+		<filter>
+			<id>1721749622817</id>
+			<name></name>
+			<type>30</type>
+			<matcher>
+				<id>org.eclipse.core.resources.regexFilterMatcher</id>
+				<arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
+			</matcher>
+		</filter>
+	</filteredResources>
+</projectDescription>
diff --git a/simulation/samples/CppSample/.settings/org.eclipse.buildship.core.prefs b/simulation/samples/CppSample/.settings/org.eclipse.buildship.core.prefs
new file mode 100644
index 0000000000..bc1ff1181e
--- /dev/null
+++ b/simulation/samples/CppSample/.settings/org.eclipse.buildship.core.prefs
@@ -0,0 +1,13 @@
+arguments=--init-script /Users/colbura/cache/jdtls/config/org.eclipse.osgi/55/0/.cp/gradle/init/init.gradle
+auto.sync=false
+build.scans.enabled=false
+connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
+connection.project.dir=
+eclipse.preferences.version=1
+gradle.user.home=
+java.home=/opt/homebrew/Cellar/openjdk/22.0.2/libexec/openjdk.jdk/Contents/Home
+jvm.arguments=
+offline.mode=false
+override.workspace.settings=true
+show.console.view=true
+show.executions.view=true
diff --git a/simulation/samples/JavaSample/.classpath b/simulation/samples/JavaSample/.classpath
new file mode 100644
index 0000000000..ea7f567adf
--- /dev/null
+++ b/simulation/samples/JavaSample/.classpath
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" output="bin/main" path="src/main/java">
+		<attributes>
+			<attribute name="gradle_scope" value="main"/>
+			<attribute name="gradle_used_by_scope" value="main,test"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-17/"/>
+	<classpathentry kind="con" path="org.eclipse.buildship.core.gradleclasspathcontainer"/>
+	<classpathentry kind="output" path="bin/default"/>
+</classpath>
diff --git a/simulation/samples/JavaSample/.project b/simulation/samples/JavaSample/.project
new file mode 100644
index 0000000000..1ed23b11c9
--- /dev/null
+++ b/simulation/samples/JavaSample/.project
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>JavaSample</name>
+	<comment>Project JavaSample created by Buildship.</comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.buildship.core.gradleprojectbuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>org.eclipse.buildship.core.gradleprojectnature</nature>
+	</natures>
+	<filteredResources>
+		<filter>
+			<id>1721749622819</id>
+			<name></name>
+			<type>30</type>
+			<matcher>
+				<id>org.eclipse.core.resources.regexFilterMatcher</id>
+				<arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
+			</matcher>
+		</filter>
+	</filteredResources>
+</projectDescription>
diff --git a/simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs b/simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs
new file mode 100644
index 0000000000..bc1ff1181e
--- /dev/null
+++ b/simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs
@@ -0,0 +1,13 @@
+arguments=--init-script /Users/colbura/cache/jdtls/config/org.eclipse.osgi/55/0/.cp/gradle/init/init.gradle
+auto.sync=false
+build.scans.enabled=false
+connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
+connection.project.dir=
+eclipse.preferences.version=1
+gradle.user.home=
+java.home=/opt/homebrew/Cellar/openjdk/22.0.2/libexec/openjdk.jdk/Contents/Home
+jvm.arguments=
+offline.mode=false
+override.workspace.settings=true
+show.console.view=true
+show.executions.view=true
diff --git a/simulation/samples/JavaSample/.settings/org.eclipse.jdt.core.prefs b/simulation/samples/JavaSample/.settings/org.eclipse.jdt.core.prefs
new file mode 100644
index 0000000000..626e0e1d5c
--- /dev/null
+++ b/simulation/samples/JavaSample/.settings/org.eclipse.jdt.core.prefs
@@ -0,0 +1,4 @@
+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=17
+org.eclipse.jdt.core.compiler.compliance=17
+org.eclipse.jdt.core.compiler.source=17
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 9b15b83188..c9150e5025 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -92,7 +92,7 @@ public void autonomousPeriodic() {
         //m_SparkMax.setNeutralDeadband(0.01); // FIXME: for some reason I can't set
         // the deadband even after defining the function in the child
         m_Talon.set(-1.0);
-        m_Talon.configureNeutralDeadband(0.2);
+        //m_Talon.configureNeutralDeadband(0.2);
 
         switch (m_autoSelected) {
             case kCustomAuto:

From 454edbf156be4f2c46a2d20c3a8f84ac8faa6fc8 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 1 Aug 2024 15:36:52 -0700
Subject: [PATCH 128/344] Working input configuration through the combined
 config menu

---
 fission/src/Synthesis.tsx                     |   4 +-
 .../synthesis_brain/SynthesisBrain.ts         |   4 +
 fission/src/ui/components/MainHUD.tsx         |   4 +-
 fission/src/ui/components/SelectMenu.tsx      |  30 +-
 ...AssembliesPanel.tsx => ConfigurePanel.tsx} | 104 +++--
 .../ConfigureGamepiecePickupInterface.tsx     |   2 +-
 .../ConfigureShotTrajectoryInterface.tsx      |   2 +-
 .../inputs/ConfigureInputsInterface.tsx       | 110 +++++
 .../interfaces/inputs/EditInputInterface.tsx  | 376 ++++++++++++++++++
 .../scoring/ManageZonesInterface.tsx          |   4 +-
 .../scoring/ZoneConfigInterface.tsx           |  45 ++-
 11 files changed, 603 insertions(+), 82 deletions(-)
 rename fission/src/ui/panels/configuring/assembly-config/{ConfigureAssembliesPanel.tsx => ConfigurePanel.tsx} (62%)
 create mode 100644 fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
 create mode 100644 fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 23d648807e..8801a95c0e 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -60,7 +60,7 @@ import NewInputSchemeModal from "./ui/modals/configuring/theme-editor/NewInputSc
 import AssignNewSchemeModal from "./ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx"
 import AnalyticsConsent from "./ui/components/AnalyticsConsent.tsx"
 import PreferencesSystem from "./systems/preferences/PreferencesSystem.ts"
-import ConfigureAssembliesPanel from "./ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx"
+import ConfigurePanel from "./ui/panels/configuring/assembly-config/ConfigurePanel.tsx"
 import ResetAllInputsModal from "./ui/modals/configuring/inputs/ResetAllInputsModal.tsx"
 
 const worker = new Lazy<Worker>(() => new WPILibWSWorker())
@@ -234,7 +234,7 @@ const initialPanels: ReactElement[] = [
     <ChooseInputSchemePanel key="choose-scheme" panelId="choose-scheme" />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
-    <ConfigureAssembliesPanel key="configure-assemblies" panelId="configure-assemblies" />,
+    <ConfigurePanel key="configure" panelId="configure" />,
 ]
 
 export default Synthesis
diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index bdbd902102..107dc85355 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -28,6 +28,10 @@ class SynthesisBrain extends Brain {
     // Tracks how many joins have been made with unique controls
     private _currentJointIndex = 1
 
+    public get assemblyName(): string {
+        return this._assemblyName
+    }
+
     public get inputSchemeName(): string {
         const scheme = InputSystem.brainIndexSchemeMap.get(this._brainIndex)
         if (scheme == undefined) return "Not Configured"
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index f13ebe3c92..2bf38ffa64 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -113,9 +113,9 @@ const MainHUD: React.FC = () => {
                 </div>
                 <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
                     <MainHUDButton
-                        value={"Configure Assemblies"}
+                        value={"Configure"}
                         icon={SynthesisIcons.Gear}
-                        onClick={() => openPanel("configure-assemblies")}
+                        onClick={() => openPanel("configure")}
                     />
                     <MainHUDButton
                         value={"Debug Tools"}
diff --git a/fission/src/ui/components/SelectMenu.tsx b/fission/src/ui/components/SelectMenu.tsx
index 245bd70686..ca079458ab 100644
--- a/fission/src/ui/components/SelectMenu.tsx
+++ b/fission/src/ui/components/SelectMenu.tsx
@@ -43,10 +43,11 @@ export class SelectMenuOption {
 
 interface OptionCardProps {
     value: SelectMenuOption
+    index: number
     onSelected: (val: SelectMenuOption) => void
 }
 
-const OptionCard: React.FC<OptionCardProps> = ({ value, onSelected }) => {
+const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected }) => {
     return (
         /* Box containing the entire card */
         <Box display="flex" textAlign={"center"} key={value.name} minHeight={"30px"}>
@@ -56,7 +57,7 @@ const OptionCard: React.FC<OptionCardProps> = ({ value, onSelected }) => {
                 <Box width="8px" />
                 {/* Label for joint index and type (grey if child) */}
                 <LabelStyled
-                    key={`arm-nodes-notation ${value}`}
+                    key={value.name + index}
                     size={LabelSize.Small}
                     className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
                 >
@@ -79,29 +80,27 @@ const OptionCard: React.FC<OptionCardProps> = ({ value, onSelected }) => {
 interface SelectMenuProps {
     options: SelectMenuOption[]
     onOptionSelected: (val: SelectMenuOption | undefined) => void
-    headerText: string
+    defaultHeaderText: string
     indentation?: number
 }
 
-const SelectMenu: React.FC<SelectMenuProps> = ({ options, onOptionSelected, headerText, indentation }) => {
+const SelectMenu: React.FC<SelectMenuProps> = ({
+    options,
+    onOptionSelected,
+    defaultHeaderText: headerText,
+    indentation,
+}) => {
     const [selectedOption, setSelectedOption] = useState<SelectMenuOption | undefined>(undefined)
 
     useEffect(() => {
         if (selectedOption == undefined) return
 
         if (!options.some(o => o.name == selectedOption.name)) setSelectedOption(undefined)
-    }, [options])
+    }, [options, selectedOption])
 
     return (
         <>
-            <Box
-                display="flex"
-                textAlign={"center"}
-                minHeight={"30px"}
-                // border="solid"
-                // borderColor={"white"}
-                key="selected-item"
-            >
+            <Box display="flex" textAlign={"center"} minHeight={"30px"} key="selected-item">
                 <Box width={`${20 * (indentation ?? 0)}px`} />
                 {selectedOption != undefined ? (
                     <Button
@@ -124,15 +123,16 @@ const SelectMenu: React.FC<SelectMenuProps> = ({ options, onOptionSelected, head
             <DividerStyled />
             {selectedOption == undefined ? (
                 <>
-                    {options.map(option => {
+                    {options.map((option, i) => {
                         return (
                             <OptionCard
                                 value={option}
+                                index={i}
                                 onSelected={val => {
                                     setSelectedOption(val)
                                     onOptionSelected(val)
                                 }}
-                                key={option.name}
+                                key={option.name + i}
                             />
                         )
                     })}
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
similarity index 62%
rename from fission/src/ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx
rename to fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index 9f2dc8a200..d1873f70cc 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigureAssembliesPanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -10,6 +10,9 @@ import { AiOutlinePlus } from "react-icons/ai"
 import ConfigureGamepiecePickupInterface from "./interfaces/ConfigureGamepiecePickupInterface"
 import ConfigureShotTrajectoryInterface from "./interfaces/ConfigureShotTrajectoryInterface"
 import ConfigureScoringZonesInterface from "./interfaces/scoring/ConfigureScoringZonesInterface"
+import ChangeInputsInterface from "./interfaces/inputs/ConfigureInputsInterface"
+import InputSystem from "@/systems/input/InputSystem"
+import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 
 const AddIcon = <AiOutlinePlus size={"1.25rem"} />
 
@@ -22,12 +25,12 @@ class AssemblySelectionOption extends SelectMenuOption {
     }
 }
 
-interface AssemblySelectionProps {
-    assemblyType: MiraType
+interface ConfigurationSelectionProps {
+    configurationType: ConfigurationType
     onAssemblySelected: (assembly: MirabufSceneObject | undefined) => void
 }
 
-const AssemblySelection: React.FC<AssemblySelectionProps> = ({ assemblyType, onAssemblySelected }) => {
+const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configurationType, onAssemblySelected }) => {
     const robots = useMemo(() => {
         const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
             if (x instanceof MirabufSceneObject) {
@@ -53,13 +56,16 @@ const AssemblySelection: React.FC<AssemblySelectionProps> = ({ assemblyType, onA
     return (
         <SelectMenu
             // TODO: Add control scheme name if it's a robot
-            options={(assemblyType == MiraType.ROBOT ? robots : fields).map(assembly => {
-                return new AssemblySelectionOption(`${assembly.assemblyName} (${assembly.id})`, assembly)
+            options={(configurationType == ConfigurationType.ROBOT ? robots : fields).map(assembly => {
+                return new AssemblySelectionOption(
+                    `${configurationType == ConfigurationType.ROBOT ? `[${InputSystem.brainIndexSchemeMap.get((assembly.brain as SynthesisBrain).brainIndex)?.schemeName ?? "-"}]` : ""} ${assembly.assemblyName}`,
+                    assembly
+                )
             })}
             onOptionSelected={val => {
                 onAssemblySelected((val as AssemblySelectionOption)?.assemblyObject)
             }}
-            headerText={`Select a ${assemblyType == MiraType.ROBOT ? "Robot" : "Field"}`}
+            defaultHeaderText={`Select a ${configurationType == ConfigurationType.ROBOT ? "Robot" : "Field"}`}
         />
     )
 }
@@ -90,18 +96,18 @@ const robotModes = [
 const fieldModes = [new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES)]
 
 interface ConfigModeSelectionProps {
-    assemblyType: MiraType
+    configurationType: ConfigurationType
     onModeSelected: (mode: ConfigMode | undefined) => void
 }
 
-const ConfigModeSelection: React.FC<ConfigModeSelectionProps> = ({ assemblyType, onModeSelected }) => {
+const ConfigModeSelection: React.FC<ConfigModeSelectionProps> = ({ configurationType, onModeSelected }) => {
     return (
         <SelectMenu
-            options={assemblyType == MiraType.ROBOT ? robotModes : fieldModes}
+            options={configurationType == ConfigurationType.ROBOT ? robotModes : fieldModes}
             onOptionSelected={val => {
                 onModeSelected((val as ConfigModeSelectionOption)?.configMode)
             }}
-            headerText="Select a Configuration Mode"
+            defaultHeaderText="Select a Configuration Mode"
             indentation={1}
         />
     )
@@ -122,13 +128,14 @@ const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly
             return <Label>interface not set up</Label>
         case ConfigMode.CONTROLS:
             return <Label>interface not set up</Label>
-        case ConfigMode.SCORING_ZONES:
+        case ConfigMode.SCORING_ZONES: {
             const zones = assembly.fieldPreferences?.scoringZones
             if (zones == undefined) {
                 console.error("Field does not contain scoring zone preferences!")
                 return <Label>ERROR: Field does not contain scoring zone configuration!</Label>
             }
             return <ConfigureScoringZonesInterface selectedField={assembly} initialZones={zones} />
+        }
         default:
             throw new Error(`Config mode ${configMode} has no associated interface`)
     }
@@ -150,8 +157,14 @@ export class ConfigurationSavedEvent extends Event {
     }
 }
 
-const ConfigureAssembliesPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
-    const [assemblyType, setAssemblyType] = useState<MiraType>(MiraType.ROBOT)
+enum ConfigurationType {
+    ROBOT,
+    FIELD,
+    INPUTS,
+}
+
+const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
+    const [configurationType, setConfigurationType] = useState<ConfigurationType>(ConfigurationType.ROBOT)
     const [selectedAssembly, setSelectedAssembly] = useState<MirabufSceneObject | undefined>(undefined)
     const [selectedConfigMode, setSelectedConfigMode] = useState<ConfigMode | undefined>(undefined)
 
@@ -169,48 +182,53 @@ const ConfigureAssembliesPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
         >
             <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2">
                 <ToggleButtonGroup
-                    value={assemblyType}
+                    value={configurationType}
                     exclusive
                     onChange={(_, v) => {
-                        v != null && setAssemblyType(v)
+                        v != null && setConfigurationType(v)
                         setSelectedAssembly(undefined)
-                        if (selectedConfigMode != undefined) {
-                            new ConfigurationSavedEvent()
-                            setSelectedConfigMode(undefined)
-                        }
+                        new ConfigurationSavedEvent()
+                        setSelectedConfigMode(undefined)
                     }}
                     sx={{
                         alignSelf: "center",
                     }}
                 >
-                    <ToggleButton value={MiraType.ROBOT}>Robots</ToggleButton>
-                    <ToggleButton value={MiraType.FIELD}>Fields</ToggleButton>
+                    <ToggleButton value={ConfigurationType.ROBOT}>Robots</ToggleButton>
+                    <ToggleButton value={ConfigurationType.FIELD}>Fields</ToggleButton>
+                    <ToggleButton value={ConfigurationType.INPUTS}>Inputs</ToggleButton>
                 </ToggleButtonGroup>
-                <AssemblySelection
-                    assemblyType={assemblyType}
-                    onAssemblySelected={a => {
-                        if (selectedConfigMode != undefined) {
-                            new ConfigurationSavedEvent()
-                            setSelectedConfigMode(undefined)
-                        }
-                        setSelectedAssembly(a)
-                    }}
-                />
-                {selectedAssembly != undefined && (
-                    <ConfigModeSelection
-                        assemblyType={assemblyType}
-                        onModeSelected={mode => {
-                            if (selectedConfigMode != undefined) new ConfigurationSavedEvent()
-                            setSelectedConfigMode(mode)
-                        }}
-                    />
-                )}
-                {selectedConfigMode != undefined && selectedAssembly != undefined && (
-                    <ConfigInterface configMode={selectedConfigMode} assembly={selectedAssembly} />
+                {configurationType == ConfigurationType.INPUTS ? (
+                    <ChangeInputsInterface />
+                ) : (
+                    <>
+                        <AssemblySelection
+                            configurationType={configurationType}
+                            onAssemblySelected={a => {
+                                if (selectedConfigMode != undefined) {
+                                    new ConfigurationSavedEvent()
+                                    setSelectedConfigMode(undefined)
+                                }
+                                setSelectedAssembly(a)
+                            }}
+                        />
+                        {selectedAssembly != undefined && (
+                            <ConfigModeSelection
+                                configurationType={configurationType}
+                                onModeSelected={mode => {
+                                    if (selectedConfigMode != undefined) new ConfigurationSavedEvent()
+                                    setSelectedConfigMode(mode)
+                                }}
+                            />
+                        )}
+                        {selectedConfigMode != undefined && selectedAssembly != undefined && (
+                            <ConfigInterface configMode={selectedConfigMode} assembly={selectedAssembly} />
+                        )}
+                    </>
                 )}
             </div>
         </Panel>
     )
 }
 
-export default ConfigureAssembliesPanel
+export default ConfigurePanel
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
index 2c41afff73..87e21db648 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
@@ -16,7 +16,7 @@ import {
 } from "@/util/TypeConversions"
 import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
 import { useTheme } from "@/ui/ThemeContext"
-import { ConfigurationSavedEvent } from "../ConfigureAssembliesPanel"
+import { ConfigurationSavedEvent } from "../ConfigurePanel"
 
 // slider constants
 const MIN_ZONE_SIZE = 0.1
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
index 99ebb95ac8..fc8735374f 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
@@ -16,7 +16,7 @@ import {
 import { useTheme } from "@/ui/ThemeContext"
 import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
-import { ConfigurationSavedEvent } from "../ConfigureAssembliesPanel"
+import { ConfigurationSavedEvent } from "../ConfigurePanel"
 
 // slider constants
 const MIN_VELOCITY = 0.0
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
new file mode 100644
index 0000000000..46c1f5db95
--- /dev/null
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
@@ -0,0 +1,110 @@
+import React, { useCallback, useEffect, useState } from "react"
+import { ConfigurationSavedEvent } from "../../ConfigurePanel"
+import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
+import InputSystem, { Input } from "@/systems/input/InputSystem"
+import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
+import EditInputInterface from "./EditInputInterface"
+import Checkbox from "@/ui/components/Checkbox"
+import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
+
+// Converts camelCase to Title Case for the inputs modal
+const toTitleCase = (camelCase: string) => {
+    const result = camelCase.replace(/([A-Z])/g, " $1")
+    const finalResult = result.charAt(0).toUpperCase() + result.slice(1)
+    return finalResult
+}
+
+const findSchemeRobotName = (scheme: InputScheme): string | undefined => {
+    for (const [key, value] of InputSystem.brainIndexSchemeMap.entries()) {
+        if (value == scheme) return SynthesisBrain.brainIndexMap.get(key)?.assemblyName
+    }
+
+    return undefined
+}
+
+class SchemeSelectionOption extends SelectMenuOption {
+    scheme: InputScheme
+
+    constructor(scheme: InputScheme) {
+        const robotName = findSchemeRobotName(scheme)
+        super(
+            `${scheme.schemeName} | ${scheme.customized ? "Custom" : scheme.descriptiveName}` +
+                (robotName ? ` [${robotName}]` : "")
+        )
+        this.scheme = scheme
+    }
+}
+
+class InputSelectionOption extends SelectMenuOption {
+    input: Input
+
+    constructor(input: Input) {
+        super(toTitleCase(input.inputName))
+
+        this.input = input
+    }
+}
+
+interface ChangeInputsProps {}
+
+const ConfigureInputsInterface: React.FC<ChangeInputsProps> = () => {
+    const [selectedScheme, setSelectedScheme] = useState<InputScheme | undefined>(undefined)
+    const [selectedInput, setSelectedInput] = useState<Input | undefined>(undefined)
+    const [useGamepad, setUseGamepad] = useState<boolean>(false)
+
+    const saveEvent = useCallback(() => {
+        console.log("save")
+        InputSchemeManager.saveSchemes()
+    }, [])
+
+    useEffect(() => {
+        ConfigurationSavedEvent.Listen(saveEvent)
+
+        return () => {
+            ConfigurationSavedEvent.RemoveListener(saveEvent)
+        }
+    }, [saveEvent])
+
+    return (
+        <>
+            <SelectMenu
+                options={InputSchemeManager.allInputSchemes.map(s => new SchemeSelectionOption(s))}
+                onOptionSelected={val => {
+                    setSelectedScheme((val as SchemeSelectionOption)?.scheme)
+                    if (val == undefined) {
+                        new ConfigurationSavedEvent()
+                        setSelectedInput(undefined)
+                    }
+                }}
+                defaultHeaderText={"Select an Input Scheme"}
+            />
+            {selectedScheme != undefined && (
+                <>
+                    <Checkbox
+                        label="Use Controller"
+                        defaultState={selectedScheme.usesGamepad}
+                        onClick={val => {
+                            setUseGamepad(val)
+                            selectedScheme.usesGamepad = val
+                        }}
+                    />
+                    <SelectMenu
+                        options={selectedScheme.inputs.map(i => new InputSelectionOption(i))}
+                        onOptionSelected={val => setSelectedInput((val as InputSelectionOption)?.input)}
+                        defaultHeaderText={"Select an Input"}
+                        indentation={1}
+                    />
+                </>
+            )}
+            {selectedScheme != undefined && selectedInput != undefined && (
+                <EditInputInterface
+                    input={selectedInput}
+                    useGamepad={useGamepad}
+                    onInputChanged={() => (selectedScheme.customized = true)}
+                />
+            )}
+        </>
+    )
+}
+
+export default ConfigureInputsInterface
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx
new file mode 100644
index 0000000000..b7c40bc4e9
--- /dev/null
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx
@@ -0,0 +1,376 @@
+import React, { useCallback, useEffect, useState } from "react"
+import { ConfigurationSavedEvent } from "../../ConfigurePanel"
+import InputSystem, {
+    AxisInput,
+    ButtonInput,
+    EmptyModifierState,
+    Input,
+    ModifierState,
+} from "@/systems/input/InputSystem"
+import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
+import Stack, { StackDirection } from "@/ui/components/Stack"
+import Dropdown from "@/ui/components/Dropdown"
+import Checkbox from "@/ui/components/Checkbox"
+import Button from "@/ui/components/Button"
+
+// Special characters only
+const codeToCharacterMap: { [code: string]: string } = {
+    Slash: "/",
+    Comma: ",",
+    Period: ".",
+    BracketLeft: "{",
+    BracketRight: "}",
+    BackQuote: "`",
+    Minus: "-",
+    Equal: "=",
+    Backslash: "\\",
+    Semicolon: ";",
+    Quote: '"',
+}
+
+const gamepadButtons: string[] = [
+    "A",
+    "B",
+    "X",
+    "Y",
+    "Left Bumper",
+    "Right Bumper",
+    "Back",
+    "Start",
+    "Left Stick",
+    "Right Stick",
+    "UNKNOWN",
+    "UNKNOWN2",
+    "Dpad Up",
+    "Dpad Down",
+    "Dpad Left",
+    "Dpad Right",
+]
+
+const gamepadAxes: string[] = ["N/A", "Left X", "Left Y", "Right X", "Right Y"]
+
+// Converts a key code to displayable character (ex: KeyA -> "A")
+const keyCodeToCharacter = (code: string) => {
+    if (code.startsWith("Key")) return code.charAt(3)
+
+    if (code.startsWith("Digit")) return code.charAt(5)
+
+    if (code in codeToCharacterMap) return codeToCharacterMap[code]
+
+    if (code.startsWith("Gamepad")) return gamepadButtons[parseInt(code.substring(8))]
+
+    return code
+}
+
+const transformKeyName = (keyCode: string, keyModifiers: ModifierState) => {
+    let prefix = ""
+    if (keyModifiers) {
+        if (keyModifiers.meta) prefix += "Meta + "
+        if (keyModifiers.shift) prefix += "Shift + "
+        if (keyModifiers.ctrl) prefix += "Ctrl + "
+        if (keyModifiers.alt) prefix += "Alt + "
+    }
+
+    const displayName = prefix + keyCodeToCharacter(keyCode)
+    if (displayName == "") return "N/A"
+
+    return displayName
+}
+
+interface EditInputProps {
+    input: Input
+    useGamepad: boolean
+    onInputChanged: () => void
+}
+
+const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInputChanged }) => {
+    const saveEvent = useCallback(() => {}, [])
+    const [selectedInput, setSelectedInput] = useState<string>("")
+    const [chosenGamepadAxis, setChosenGamepadAxis] = useState<number>(-1)
+    const [chosenKey, setChosenKey] = useState<string>("")
+    const [modifierState, setModifierState] = useState<ModifierState>(EmptyModifierState)
+    const [chosenButton, setChosenButton] = useState<number>(-1)
+
+    useEffect(() => {
+        ConfigurationSavedEvent.Listen(saveEvent)
+
+        return () => {
+            ConfigurationSavedEvent.RemoveListener(saveEvent)
+        }
+    }, [saveEvent])
+
+    const KeyboardButtonSelection = () => {
+        if (!(input instanceof ButtonInput)) throw new Error("Input not button type")
+
+        return (
+            <Button
+                key={input.inputName}
+                value={
+                    input.inputName == selectedInput
+                        ? "Press anything"
+                        : transformKeyName(input.keyCode, input.keyModifiers)
+                }
+                onClick={() => {
+                    setSelectedInput(input.inputName)
+                }}
+            />
+        )
+    }
+
+    const KeyboardAxisSelection = () => {
+        if (!(input instanceof AxisInput)) throw new Error("Input not axis type")
+
+        return (
+            <div key={input.inputName}>
+                <Stack direction={StackDirection.Vertical} spacing={3}>
+                    {/* Positive key */}
+                    <LabeledButton
+                        key={"pos" + input.inputName}
+                        label={"(+)"}
+                        placement={LabelPlacement.Left}
+                        value={
+                            "pos" + input.inputName == selectedInput
+                                ? "Press anything"
+                                : transformKeyName(input.posKeyCode, input.posKeyModifiers)
+                        }
+                        onClick={() => {
+                            setSelectedInput("pos" + input.inputName)
+                        }}
+                    />
+                    {/* Negative key */}
+                    <LabeledButton
+                        key={"neg" + input.inputName}
+                        label={"(-)"}
+                        placement={LabelPlacement.Left}
+                        value={
+                            "neg" + input.inputName == selectedInput
+                                ? "Press anything"
+                                : transformKeyName(input.negKeyCode, input.negKeyModifiers)
+                        }
+                        onClick={() => {
+                            setSelectedInput("neg" + input.inputName)
+                        }}
+                    />
+                </Stack>
+            </div>
+        )
+    }
+
+    const JoystickButtonSelection = () => {
+        if (!(input instanceof ButtonInput)) throw new Error("Input not button type")
+        return (
+            <Button
+                key={input.inputName}
+                value={
+                    input.inputName == selectedInput
+                        ? "Press anything"
+                        : input.gamepadButton == -1
+                          ? "N/A"
+                          : gamepadButtons[input.gamepadButton]
+                }
+                onClick={() => {
+                    setSelectedInput(input.inputName)
+                }}
+            />
+        )
+    }
+
+    const JoystickAxisSelection = () => {
+        if (!(input instanceof AxisInput)) throw new Error("Input not axis type")
+
+        return (
+            <Dropdown
+                key={input.inputName}
+                defaultValue={gamepadAxes[input.gamepadAxisNumber + 1]}
+                options={gamepadAxes}
+                onSelect={value => {
+                    setSelectedInput(input.inputName)
+                    setChosenGamepadAxis(gamepadAxes.indexOf(value))
+                }}
+            />
+        )
+    }
+
+    const GamepadButtonAxisSelection = () => {
+        if (!(input instanceof AxisInput)) throw new Error("Input not axis type")
+
+        return (
+            <div>
+                <Stack direction={StackDirection.Vertical} spacing={3}>
+                    {/* // Positive gamepad button */}
+                    <LabeledButton
+                        key={"pos" + input.inputName}
+                        label={"(+)"}
+                        placement={LabelPlacement.Left}
+                        value={
+                            "pos" + input.inputName == selectedInput
+                                ? "Press anything"
+                                : input.posGamepadButton == -1
+                                  ? "N/A"
+                                  : gamepadButtons[input.posGamepadButton]
+                        }
+                        onClick={() => {
+                            setSelectedInput("pos" + input.inputName)
+                        }}
+                    />
+                    {/* // Negative gamepad button */}
+                    <LabeledButton
+                        key={"neg" + input.inputName}
+                        label={"(-)"}
+                        placement={LabelPlacement.Left}
+                        value={
+                            "neg" + input.inputName == selectedInput
+                                ? "Press anything"
+                                : input.negGamepadButton == -1
+                                  ? "N/A"
+                                  : gamepadButtons[input.negGamepadButton]
+                        }
+                        onClick={() => {
+                            setSelectedInput("neg" + input.inputName)
+                        }}
+                    />
+                </Stack>
+            </div>
+        )
+    }
+
+    const inputConfig = () => {
+        if (!useGamepad) {
+            // Keyboard button
+            if (input instanceof ButtonInput) {
+                return KeyboardButtonSelection()
+            }
+            // Keyboard Axis
+            else if (input instanceof AxisInput) {
+                return KeyboardAxisSelection()
+            }
+        } else {
+            // Joystick Button
+            if (input instanceof ButtonInput) {
+                return JoystickButtonSelection()
+            }
+
+            // Gamepad axis
+            else if (input instanceof AxisInput) {
+                return (
+                    <div key={input.inputName}>
+                        {input.useGamepadButtons
+                            ? GamepadButtonAxisSelection()
+                            : // Gamepad joystick axis
+                              JoystickAxisSelection()}
+
+                        {/* // Button to switch between two buttons and a joystick axis */}
+                        <Checkbox
+                            label="Use Buttons"
+                            defaultState={input.useGamepadButtons}
+                            onClick={val => {
+                                input.useGamepadButtons = val
+                            }}
+                        />
+                        {/* // Button to invert the joystick axis */}
+                        <Checkbox
+                            label="Joystick Inverted"
+                            defaultState={input.joystickInverted}
+                            onClick={val => {
+                                input.joystickInverted = val
+                            }}
+                        />
+                    </div>
+                )
+            }
+        }
+    }
+
+    useEffect(() => {
+        const checkGamepadState = () => {
+            if (InputSystem.gamepad !== null) {
+                const pressedButtons = InputSystem.gamepad.buttons
+                    .map((button, index) => (button.pressed ? index : null))
+                    .filter(index => index !== null)
+                    .map(index => index!)
+
+                if (pressedButtons.length > 0) setChosenButton(pressedButtons[0])
+                else if (chosenButton != -1) setChosenButton(-1)
+            }
+            requestAnimationFrame(checkGamepadState)
+        }
+
+        checkGamepadState()
+    })
+
+    useEffect(() => {
+        // // Assign keyboard inputs when a key is pressed
+        if (!useGamepad && selectedInput && chosenKey) {
+            if (selectedInput.startsWith("pos")) {
+                if (!(input instanceof AxisInput)) return
+                input.posKeyCode = chosenKey
+                input.posKeyModifiers = modifierState
+            } else if (selectedInput.startsWith("neg")) {
+                if (!(input instanceof AxisInput)) return
+
+                input.negKeyCode = chosenKey
+                input.negKeyModifiers = modifierState
+            } else {
+                if (!(input instanceof ButtonInput)) return
+
+                input.keyCode = chosenKey
+                input.keyModifiers = modifierState
+            }
+
+            setChosenKey("")
+            setSelectedInput("")
+            setModifierState(EmptyModifierState)
+            onInputChanged()
+        }
+        // Assign gamepad button inputs when a button is pressed
+        else if (useGamepad && selectedInput && chosenButton != -1) {
+            if (selectedInput.startsWith("pos")) {
+                if (!(input instanceof AxisInput)) return
+
+                input.posGamepadButton = chosenButton
+            } else if (selectedInput.startsWith("neg")) {
+                if (!(input instanceof AxisInput)) return
+
+                input.negGamepadButton = chosenButton
+            } else {
+                if (!(input instanceof ButtonInput)) return
+
+                input.gamepadButton = chosenButton
+            }
+
+            onInputChanged()
+
+            setChosenButton(-1)
+            setSelectedInput("")
+        }
+
+        // Assign gamepad axis inputs when a gamepad axis is selected
+        if (useGamepad && selectedInput && chosenGamepadAxis != -1) {
+            if (!(input instanceof AxisInput)) return
+
+            input.gamepadAxisNumber = chosenGamepadAxis - 1
+
+            onInputChanged()
+            setChosenGamepadAxis(-1)
+            setSelectedInput("")
+        }
+    }, [chosenKey, chosenButton, chosenGamepadAxis, input, modifierState, onInputChanged, selectedInput, useGamepad])
+
+    return (
+        <div
+            onKeyUp={e => {
+                if (selectedInput != "") setChosenKey(selectedInput ? e.code : "")
+                setModifierState({
+                    ctrl: e.ctrlKey,
+                    alt: e.altKey,
+                    shift: e.shiftKey,
+                    meta: e.metaKey,
+                })
+            }}
+        >
+            {inputConfig()}
+        </div>
+    )
+}
+
+export default EditInputInterface
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx
index 8879b78ead..a051cc1120 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx
@@ -7,7 +7,7 @@ import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import { Box } from "@mui/material"
-import { ConfigurationSavedEvent } from "../../ConfigureAssembliesPanel"
+import { ConfigurationSavedEvent } from "../../ConfigurePanel"
 import { AddButtonInteractiveColor, DeleteButton, EditButton } from "@/ui/components/StyledComponents"
 
 const saveZones = (zones: ScoringZonePreferences[] | undefined, field: MirabufSceneObject | undefined) => {
@@ -89,7 +89,7 @@ const ManageZonesInterface: React.FC<ScoringZonesProps> = ({ selectedField, init
         return () => {
             World.PhysicsSystem.ReleasePause()
         }
-    }, [])
+    }, [selectedField, zones])
 
     return (
         <>
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ZoneConfigInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ZoneConfigInterface.tsx
index 2e34f0b5ee..409daeece8 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ZoneConfigInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ZoneConfigInterface.tsx
@@ -16,7 +16,7 @@ import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGro
 import { Alliance, ScoringZonePreferences } from "@/systems/preferences/PreferenceTypes"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
 import { DeltaFieldTransforms_PhysicalProp as DeltaFieldTransforms_VisualProperties } from "@/util/threejs/MeshCreation"
-import { ConfigurationSavedEvent } from "../../ConfigureAssembliesPanel"
+import { ConfigurationSavedEvent } from "../../ConfigurePanel"
 
 /**
  * Saves ejector configuration to selected field.
@@ -132,7 +132,18 @@ const ZoneConfigInterface: React.FC<ZoneConfigProps> = ({ selectedField, selecte
             save(selectedField, selectedZone, name, alliance, points, destroy, persistent, transformGizmo, selectedNode)
             saveAllZones()
         }
-    }, [selectedField, selectedZone, name, alliance, points, destroy, persistent, transformGizmo, selectedNode])
+    }, [
+        selectedField,
+        selectedZone,
+        name,
+        alliance,
+        points,
+        destroy,
+        persistent,
+        transformGizmo,
+        selectedNode,
+        saveAllZones,
+    ])
 
     useEffect(() => {
         ConfigurationSavedEvent.Listen(saveEvent)
@@ -148,7 +159,6 @@ const ZoneConfigInterface: React.FC<ZoneConfigProps> = ({ selectedField, selecte
         return () => {
             World.PhysicsSystem.ReleasePause()
         }
-        // eslint-disable-next-line react-hooks/exhaustive-deps
     }, [])
 
     useEffect(() => {
@@ -194,19 +204,22 @@ const ZoneConfigInterface: React.FC<ZoneConfigProps> = ({ selectedField, selecte
     }, [theme])
 
     /** Sets the selected node if it is a part of the currently loaded field */
-    const trySetSelectedNode = useCallback((body: Jolt.BodyID) => {
-        if (!selectedField) {
-            return false
-        }
-
-        const assoc = World.PhysicsSystem.GetBodyAssociation(body) as RigidNodeAssociate
-        if (!assoc || assoc?.sceneObject != selectedField) {
-            return false
-        }
-
-        setSelectedNode(assoc.rigidNodeId)
-        return true
-    }, [])
+    const trySetSelectedNode = useCallback(
+        (body: Jolt.BodyID) => {
+            if (!selectedField) {
+                return false
+            }
+
+            const assoc = World.PhysicsSystem.GetBodyAssociation(body) as RigidNodeAssociate
+            if (!assoc || assoc?.sceneObject != selectedField) {
+                return false
+            }
+
+            setSelectedNode(assoc.rigidNodeId)
+            return true
+        },
+        [selectedField]
+    )
 
     return (
         <div className="flex flex-col gap-2 bg-background-secondary rounded-md p-2">

From d0751a7c7812afc8235374d0692336d5e8e0a387 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Thu, 1 Aug 2024 15:43:55 -0700
Subject: [PATCH 129/344] Cancel

---
 .../systems/preferences/PreferencesSystem.ts  | 22 +++++---
 .../configuring/ConfigureJointsPanel.tsx      | 56 ++++++++++++++++++-
 2 files changed, 68 insertions(+), 10 deletions(-)

diff --git a/fission/src/systems/preferences/PreferencesSystem.ts b/fission/src/systems/preferences/PreferencesSystem.ts
index 8933a44bd6..09b8c3961e 100644
--- a/fission/src/systems/preferences/PreferencesSystem.ts
+++ b/fission/src/systems/preferences/PreferencesSystem.ts
@@ -29,14 +29,6 @@ class PreferencesSystem {
         window.addEventListener("preferenceChanged", callback as EventListener)
     }
 
-    /** Sets a global preference to be a value of a specific type */
-    public static setGlobalPreference<T>(key: GlobalPreference, value: T) {
-        if (this._preferences == undefined) this.loadPreferences()
-
-        window.dispatchEvent(new PreferenceEvent(key, value))
-        this._preferences[key] = value
-    }
-
     /** Gets any preference from the preferences map */
     private static getPreference<T>(key: string): T | undefined {
         if (this._preferences == undefined) this.loadPreferences()
@@ -55,6 +47,14 @@ class PreferencesSystem {
         throw new Error("Preference '" + key + "' is not assigned a default!")
     }
 
+    /** Sets a global preference to be a value of a specific type */
+    public static setGlobalPreference<T>(key: GlobalPreference, value: T) {
+        if (this._preferences == undefined) this.loadPreferences()
+
+        window.dispatchEvent(new PreferenceEvent(key, value))
+        this._preferences[key] = value
+    }
+
     /** Gets a RobotPreferences object for a robot of a specific mira name */
     public static getRobotPreferences(miraName: string): RobotPreferences {
         const allRoboPrefs = this.getAllRobotPreferences()
@@ -68,6 +68,12 @@ class PreferencesSystem {
         return allRoboPrefs[miraName]
     }
 
+    /** Sets the RobotPreferences object for the robot of a specific mira name */
+    public static setRobotPreferences(miraName: string, value: RobotPreferences) {
+        const allRoboPrefs = this.getAllRobotPreferences()
+        allRoboPrefs[miraName] = value
+    }
+
     /** Gets preferences for every robot in local storage */
     public static getAllRobotPreferences(): { [key: string]: RobotPreferences } {
         let allRoboPrefs = this.getPreference<{ [key: string]: RobotPreferences }>(RobotPreferencesKey)
diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
index 4a6159a118..1268dbc229 100644
--- a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
@@ -1,6 +1,7 @@
 import { MiraType } from "@/mirabuf/MirabufLoader"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import { RobotPreferences } from "@/systems/preferences/PreferenceTypes"
 import Driver from "@/systems/simulation/driver/Driver"
 import HingeDriver from "@/systems/simulation/driver/HingeDriver"
 import SliderDriver from "@/systems/simulation/driver/SliderDriver"
@@ -117,6 +118,7 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
 const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding}) => {
 
     const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
+    const [origPref, setOrigPref] = useState<RobotPreferences | undefined>(undefined)
 
     const robots = useMemo(() => {
         const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
@@ -133,7 +135,56 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
             World.SimulationSystem.GetSimulationLayer(selectedRobot.mechanism)?.drivers : undefined
     }, [selectedRobot])
 
-    //origPref: RobotPreferences that just set back to everything.
+    function saveOrigMotors(robot: MirabufSceneObject) {
+        drivers?.forEach(driver => {
+            if (driver.info && driver.info.name) {
+                if (!(driver instanceof WheelDriver)) {
+                    const motors = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
+                    const removedMotor = motors.filter(x => {
+                        if (x.name)
+                            return x.name != driver.info?.name
+                        return false
+                    })
+
+                    if (removedMotor.length == drivers.length) {
+                        removedMotor.push({
+                            name: driver.info?.name ?? "",
+                            maxVelocity: (driver as SliderDriver || driver as HingeDriver).maxVelocity,
+                            maxForce: (driver as SliderDriver || driver as HingeDriver).maxForce
+                        })
+                        PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
+                    }
+                }
+            }
+        })
+        PreferencesSystem.savePreferences()
+        setOrigPref({ ... PreferencesSystem.getRobotPreferences(robot.assemblyName)}) // clone
+    }
+
+    function Cancel() {
+        if (selectedRobot && origPref) {
+            drivers?.forEach(driver => {
+                if (driver instanceof WheelDriver) {
+                    driver.maxVelocity = origPref.driveVelocity
+                    driver.maxForce = origPref.driveAcceleration
+                } else {
+                    if (driver.info && driver.info.name) {
+                        const motor = origPref.motors.filter(x => {
+                            if (x.name)
+                                return x.name == driver.info?.name
+                            return false
+                        })[0];
+                        if (motor) {
+                            (driver as SliderDriver || driver as HingeDriver).maxVelocity = motor.maxVelocity;
+                            (driver as SliderDriver || driver as HingeDriver).maxForce = motor.maxForce
+                        }
+                    }
+                }
+            })
+            PreferencesSystem.setRobotPreferences(selectedRobot.assemblyName, origPref)
+        }
+        PreferencesSystem.savePreferences()
+    }
 
 
     return (
@@ -144,7 +195,7 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
             openLocation={openLocation}
             sidePadding={sidePadding}
             onAccept={() => { PreferencesSystem.savePreferences()}}       
-            onCancel={() => {/* TODO: Back to original */ }}
+            onCancel={Cancel}
             acceptEnabled={true}
         >
             {selectedRobot?.ejectorPreferences == undefined ? (
@@ -158,6 +209,7 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
                                     value={mirabufSceneObject.assemblyName}
                                     onClick={() => {
                                         setSelectedRobot(mirabufSceneObject)
+                                        saveOrigMotors(mirabufSceneObject)
                                     }}
                                     key={mirabufSceneObject.id}
                                 ></Button>

From 78a0aafb535b72772323bc85e19258206048f2b2 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Thu, 1 Aug 2024 16:31:57 -0700
Subject: [PATCH 130/344] Refactor

---
 fission/src/systems/physics/Mechanism.ts      |  2 +-
 fission/src/systems/physics/PhysicsSystem.ts  | 21 +++++-------
 .../behavior/synthesis/ArcadeDriveBehavior.ts | 15 ++++-----
 .../behavior/synthesis/GenericArmBehavior.ts  |  6 ++--
 .../synthesis/GenericElevatorBehavior.ts      |  7 ++--
 .../systems/simulation/driver/HingeDriver.ts  | 33 +++++++++----------
 .../systems/simulation/driver/SliderDriver.ts | 31 ++++++++---------
 .../systems/simulation/driver/WheelDriver.ts  | 31 ++++++++---------
 .../simulation/wpilib_brain/WPILibBrain.ts    |  4 +--
 9 files changed, 69 insertions(+), 81 deletions(-)

diff --git a/fission/src/systems/physics/Mechanism.ts b/fission/src/systems/physics/Mechanism.ts
index 4a240576ed..ae5e0722d3 100644
--- a/fission/src/systems/physics/Mechanism.ts
+++ b/fission/src/systems/physics/Mechanism.ts
@@ -7,8 +7,8 @@ export interface MechanismConstraint {
     parentBody: Jolt.BodyID
     childBody: Jolt.BodyID
     constraint: Jolt.Constraint
-    info?: mirabuf.IInfo
     maxVelocity: number
+    info?: mirabuf.IInfo
 }
 
 class Mechanism {
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 8e2e4d806c..7e8e592d30 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -351,7 +351,7 @@ class PhysicsSystem extends WorldSystem {
             const bodyA = this.GetBody(bodyIdA)
             const bodyB = this.GetBody(bodyIdB)
 
-            const constraints: [Jolt.Constraint, number][] = []
+            const constraints: Jolt.Constraint[] = []
             let listener: Jolt.PhysicsStepListener | undefined = undefined
 
             // maxForce becomes maxForce for sliders, maxTorque for hinges, and maxAcceleration for wheels
@@ -384,8 +384,8 @@ class PhysicsSystem extends WorldSystem {
                                 bodyB,
                                 parser.assembly.info!.version!
                             )
-                            constraints.push([res[0], maxVel ?? 40])
-                            constraints.push([res[1], maxVel ?? 40])
+                            constraints.push(res[0])
+                            constraints.push(res[1])
                             listener = res[2]
                         } else {
                             const res = this.CreateWheelConstraint(
@@ -396,19 +396,17 @@ class PhysicsSystem extends WorldSystem {
                                 bodyA,
                                 parser.assembly.info!.version!
                             )
-                            constraints.push([res[0], maxVel ?? 40])
-                            constraints.push([res[1], maxVel ?? 40])
+                            constraints.push(res[0])
+                            constraints.push(res[1])
                             listener = res[2]
                         }
                     } else {
-                        constraints.push(
-                            [this.CreateHingeConstraint(jInst, jDef, maxForce ?? 200, bodyA, bodyB, parser.assembly.info!.version!), maxVel ? maxVel : 40]
-                        )
+                        constraints.push(this.CreateHingeConstraint(jInst, jDef, maxForce ?? 200, bodyA, bodyB, parser.assembly.info!.version!))
                     }
                     break
                 case mirabuf.joint.JointMotion.SLIDER:
                     
-                    constraints.push([this.CreateSliderConstraint(jInst, jDef, maxForce ?? 200, bodyA, bodyB), maxVel ? maxVel : 40])
+                    constraints.push(this.CreateSliderConstraint(jInst, jDef, maxForce ?? 200, bodyA, bodyB))
                     break
                 default:
                     console.debug("Unsupported joint detected. Skipping...")
@@ -420,10 +418,9 @@ class PhysicsSystem extends WorldSystem {
                     mechanism.AddConstraint({
                         parentBody: bodyIdA,
                         childBody: bodyIdB,
-                        constraint: x[0],
-                        maxVelocity: x[1],
+                        constraint: x,
+                        maxVelocity: maxVel ?? 30,
                         info: jInst.info ?? undefined, // remove possibility for null
-
                     })
                 )
             }
diff --git a/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts b/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts
index 035db861d0..2146f64a72 100644
--- a/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts
+++ b/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts
@@ -23,19 +23,16 @@ class ArcadeDriveBehavior extends Behavior {
     }
 
     // Sets the drivetrains target linear and rotational velocity
-    private DriveSpeeds(linearVelocity: number, rotationVelocity: number) {
-        const leftSpeed = linearVelocity + rotationVelocity
-        const rightSpeed = linearVelocity - rotationVelocity
+    private DriveSpeeds(driveInput: number, turnInput: number) {
+        const leftDirection = driveInput + turnInput
+        const rightDirection = driveInput - turnInput
 
-        this.leftWheels.forEach(wheel => (wheel.targetWheelSpeed = leftSpeed))
-        this.rightWheels.forEach(wheel => (wheel.targetWheelSpeed = rightSpeed))
+        this.leftWheels.forEach(wheel => (wheel.accelerationDirection = leftDirection))
+        this.rightWheels.forEach(wheel => (wheel.accelerationDirection = rightDirection))
     }
 
     public Update(_: number): void {
-        const driveInput = InputSystem.getInput("arcadeDrive", this._brainIndex)
-        const turnInput = InputSystem.getInput("arcadeTurn", this._brainIndex)
-
-        this.DriveSpeeds(driveInput, turnInput)
+        this.DriveSpeeds(InputSystem.getInput("arcadeDrive", this._brainIndex), InputSystem.getInput("arcadeTurn", this._brainIndex))
     }
 }
 
diff --git a/fission/src/systems/simulation/behavior/synthesis/GenericArmBehavior.ts b/fission/src/systems/simulation/behavior/synthesis/GenericArmBehavior.ts
index 1d55bfd9e6..8a15a51c2a 100644
--- a/fission/src/systems/simulation/behavior/synthesis/GenericArmBehavior.ts
+++ b/fission/src/systems/simulation/behavior/synthesis/GenericArmBehavior.ts
@@ -16,9 +16,9 @@ class GenericArmBehavior extends Behavior {
         this._brainIndex = brainIndex
     }
 
-    // Sets the arms target rotational velocity
-    rotateArm(rotationalVelocity: number) {
-        this._hingeDriver.targetVelocity = rotationalVelocity
+    // Sets the arm's acceleration direction
+    rotateArm(input: number) {
+        this._hingeDriver.accelerationDirection = input
     }
 
     public Update(_: number): void {
diff --git a/fission/src/systems/simulation/behavior/synthesis/GenericElevatorBehavior.ts b/fission/src/systems/simulation/behavior/synthesis/GenericElevatorBehavior.ts
index cc5dfda7ee..198ae96fd5 100644
--- a/fission/src/systems/simulation/behavior/synthesis/GenericElevatorBehavior.ts
+++ b/fission/src/systems/simulation/behavior/synthesis/GenericElevatorBehavior.ts
@@ -16,10 +16,9 @@ class GenericElevatorBehavior extends Behavior {
         this._brainIndex = brainIndex
     }
 
-    // Changes the elevators target position
-    moveElevator(linearVelocity: number) {
-        // Multiplied by velocity in driver
-        this._sliderDriver.targetVelocity = linearVelocity
+    // Changes the elevator's acceleration direction
+    moveElevator(input: number) {
+        this._sliderDriver.accelerationDirection = input
     }
 
     public Update(_: number): void {
diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
index 85babb888d..31f752a6f9 100644
--- a/fission/src/systems/simulation/driver/HingeDriver.ts
+++ b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -8,23 +8,15 @@ class HingeDriver extends Driver {
     private _constraint: Jolt.HingeConstraint
 
     private _controlMode: DriverControlMode = DriverControlMode.Velocity
-    private _targetVelocity: number = 0.0
+    private _accelerationDirection: number = 0.0
     private _targetAngle: number
     private _maxVelocity: number
 
-    public get maxVelocity(): number {
-        return this._maxVelocity
+    public get accelerationDirection(): number {
+        return this._accelerationDirection
     }
-
-    public set maxVelocity(radsPerSec: number) {
-        this._maxVelocity = radsPerSec
-    }
-
-    public get targetVelocity(): number {
-        return this._targetVelocity
-    }
-    public set targetVelocity(radsPerSec: number) {
-        this._targetVelocity = radsPerSec
+    public set accelerationDirection(radsPerSec: number) {
+        this._accelerationDirection = radsPerSec
     }
 
     public get targetAngle(): number {
@@ -34,6 +26,13 @@ class HingeDriver extends Driver {
         this._targetAngle = Math.max(this._constraint.GetLimitsMin(), Math.min(this._constraint.GetLimitsMax(), rads))
     }
 
+    public get maxVelocity(): number {
+        return this._maxVelocity
+    }
+    public set maxVelocity(radsPerSec: number) {
+        this._maxVelocity = radsPerSec
+    }
+
     public get maxForce() {
         return this._constraint.GetMotorSettings().mMaxTorqueLimit
     }
@@ -67,6 +66,8 @@ class HingeDriver extends Driver {
         super(info)
 
         this._constraint = constraint
+        this._maxVelocity = maxVelocity
+        this._targetAngle = this._constraint.GetCurrentAngle()
 
         const motorSettings = this._constraint.GetMotorSettings()
         const springSettings = motorSettings.mSpringSettings
@@ -74,18 +75,14 @@ class HingeDriver extends Driver {
         // These values were selected based on the suggestions of the documentation for stiff control.
         springSettings.mFrequency = 20 * (1.0 / GetLastDeltaT())
         springSettings.mDamping = 0.995
-
         motorSettings.mSpringSettings = springSettings
 
-        this._targetAngle = this._constraint.GetCurrentAngle()
-        this._maxVelocity = maxVelocity
-
         this.controlMode = DriverControlMode.Velocity
     }
 
     public Update(_: number): void {
         if (this._controlMode == DriverControlMode.Velocity) {
-            this._constraint.SetTargetAngularVelocity(this._targetVelocity * this._maxVelocity)
+            this._constraint.SetTargetAngularVelocity(this._accelerationDirection * this._maxVelocity)
         } else if (this._controlMode == DriverControlMode.Position) {
             //TODO add maxVel to diff
             this._constraint.SetTargetAngle(this._targetAngle)
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index f00249f521..192ac99400 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -8,23 +8,15 @@ class SliderDriver extends Driver {
     private _constraint: Jolt.SliderConstraint
 
     private _controlMode: DriverControlMode = DriverControlMode.Velocity
-    private _targetVelocity: number = 0.0
+    private _accelerationDirection: number = 0.0
     private _targetPosition: number = 0.0
     private _maxVelocity: number = 1.0
 
-    public get maxVelocity(): number {
-        return this._maxVelocity
-    }
-
-    public set maxVelocity(radsPerSec: number) {
-        this._maxVelocity = radsPerSec
-    }
-
-    public get targetVelocity(): number {
-        return this._targetVelocity
+    public get accelerationDirection(): number {
+        return this._accelerationDirection
     }
-    public set targetVelocity(radsPerSec: number) {
-        this._targetVelocity = radsPerSec
+    public set accelerationDirection(radsPerSec: number) {
+        this._accelerationDirection = radsPerSec
     }
 
     public get targetPosition(): number {
@@ -37,6 +29,13 @@ class SliderDriver extends Driver {
         )
     }
 
+    public get maxVelocity(): number {
+        return this._maxVelocity
+    }
+    public set maxVelocity(radsPerSec: number) {
+        this._maxVelocity = radsPerSec
+    }
+
     public get maxForce(): number {
         return this._constraint.GetMotorSettings().mMaxForceLimit
     }
@@ -69,23 +68,21 @@ class SliderDriver extends Driver {
         super(info)
 
         this._constraint = constraint
+        this._maxVelocity = maxVelocity
 
         const motorSettings = this._constraint.GetMotorSettings()
         const springSettings = motorSettings.mSpringSettings
         springSettings.mFrequency = 20 * (1.0 / GetLastDeltaT())
         springSettings.mDamping = 0.999
-
         motorSettings.mSpringSettings = springSettings
 
-        this._maxVelocity = maxVelocity
-
         this._constraint.SetMotorState(JOLT.EMotorState_Velocity)
         this.controlMode = DriverControlMode.Velocity
     }
 
     public Update(_: number): void {
         if (this._controlMode == DriverControlMode.Velocity) {
-            this._constraint.SetTargetVelocity(this._targetVelocity * this._maxVelocity)
+            this._constraint.SetTargetVelocity(this._accelerationDirection * this._maxVelocity)
         } else if (this._controlMode == DriverControlMode.Position) {
             //TODO: MaxVel checks diff
             this._constraint.SetTargetPosition(this._targetPosition)
diff --git a/fission/src/systems/simulation/driver/WheelDriver.ts b/fission/src/systems/simulation/driver/WheelDriver.ts
index 90dab968cd..35aa702494 100644
--- a/fission/src/systems/simulation/driver/WheelDriver.ts
+++ b/fission/src/systems/simulation/driver/WheelDriver.ts
@@ -14,22 +14,30 @@ class WheelDriver extends Driver {
     public device?: string
     private _reversed: boolean
 
-    private _targetWheelSpeed: number = 0.0
+    private _accelerationDirection: number = 0.0
     private _prevVel: number = 0.0
     private _maxVelocity = 30.0
     private _maxAcceleration = 1.5
 
-    public get targetWheelSpeed(): number {
-        return this._targetWheelSpeed
+    private _targetVelocity = () => {
+        let vel = this._accelerationDirection * (this._reversed ? -1 : 1) * this._maxVelocity
+
+        if (vel - this._prevVel < -this._maxAcceleration) vel = this._prevVel - this._maxAcceleration
+        if (vel - this._prevVel > this._maxAcceleration) vel = this._prevVel + this._maxAcceleration
+
+        return vel
     }
-    public set targetWheelSpeed(radsPerSec: number) {
-        this._targetWheelSpeed = radsPerSec
+
+    public get accelerationDirection(): number {
+        return this._accelerationDirection
+    }
+    public set accelerationDirection(radsPerSec: number) {
+        this._accelerationDirection = radsPerSec
     }
 
     public get maxVelocity(): number {
         return this._maxVelocity
     }
-
     public set maxVelocity(radsPerSec: number) {
         this._maxVelocity = radsPerSec
     }
@@ -37,7 +45,6 @@ class WheelDriver extends Driver {
     public get maxForce(): number {
         return this._maxAcceleration
     }
-
     public set maxForce(acc: number) {
         this._maxAcceleration = acc
     }
@@ -60,6 +67,7 @@ class WheelDriver extends Driver {
         this._maxVelocity = maxVel
         const controller = JOLT.castObject(this._constraint.GetController(), JOLT.WheeledVehicleController)
         this._maxAcceleration = controller.GetEngine().mMaxTorque
+
         this._reversed = reversed
         this.deviceType = deviceType
         this.device = device
@@ -69,14 +77,7 @@ class WheelDriver extends Driver {
     }
 
     public Update(_: number): void {
-        let vel = this._targetWheelSpeed * (this._reversed ? -1 : 1) * this._maxVelocity
-        // if (InputSystem.isKeyPressed("KeyW")) console.log(`vel 1: ${vel}`)
-
-        if (vel - this._prevVel < -this._maxAcceleration) vel = this._prevVel - this._maxAcceleration
-        if (vel - this._prevVel > this._maxAcceleration) vel = this._prevVel + this._maxAcceleration
-        // if (vel != 0) console.log(`prev: ${this._prevVel}  vel 3: ${vel}`)
-
-
+        const vel = this._targetVelocity()
         this._wheel.SetAngularVelocity(vel)
         this._prevVel = vel
     }
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 57ca1a40bd..63bbba188d 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -298,9 +298,9 @@ export class PWMGroup extends SimOutputGroup {
 
         this.drivers.forEach(d => {
             if (d instanceof WheelDriver) {
-                d.targetWheelSpeed = average * 40
+                d.accelerationDirection = average * 40
             } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
-                d.targetVelocity = average * 40
+                d.accelerationDirection = average * 40
             }
             d.Update(_deltaT)
         })

From 064636d1d4e3fc9b968a1adc02d2bddc91eedd4e Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 1 Aug 2024 16:34:15 -0700
Subject: [PATCH 131/344] !tried using reflection to fix private constructor
 issue, failed

---
 .../.settings/org.eclipse.buildship.core.prefs       |  4 ++--
 .../autodesk/synthesis/revrobotics/CANSparkMax.java  |  8 ++++----
 .../synthesis/revrobotics/SparkAbsoluteEncoder.java  | 12 ++++++++++--
 3 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs b/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
index bc1ff1181e..40e6f3c167 100644
--- a/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
+++ b/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
@@ -1,11 +1,11 @@
-arguments=--init-script /Users/colbura/cache/jdtls/config/org.eclipse.osgi/55/0/.cp/gradle/init/init.gradle
+arguments=--init-script /Users/colbura/wpilib/2024/vscode/code-portable-data/user-data/User/globalStorage/redhat.java/1.26.2023121408/config_mac/org.eclipse.osgi/53/0/.cp/gradle/init/init.gradle --init-script /Users/colbura/wpilib/2024/vscode/code-portable-data/user-data/User/globalStorage/redhat.java/1.26.2023121408/config_mac/org.eclipse.osgi/53/0/.cp/gradle/protobuf/init.gradle
 auto.sync=false
 build.scans.enabled=false
 connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
 connection.project.dir=
 eclipse.preferences.version=1
 gradle.user.home=
-java.home=/opt/homebrew/Cellar/openjdk/22.0.2/libexec/openjdk.jdk/Contents/Home
+java.home=/Users/colbura/wpilib/2024/jdk
 jvm.arguments=
 offline.mode=false
 override.workspace.settings=true
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 3f9e2a9fbc..d83fd5367b 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -12,7 +12,7 @@
 public class CANSparkMax extends com.revrobotics.CANSparkMax {
 
     private CANMotor m_motor;
-    private CANEncoder m_encoder;
+    public CANEncoder m_encoder;
 
     /**
      * Creates a new CANSparkMax, wrapped with simulation support.
@@ -49,13 +49,13 @@ public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) {
 
     @Override
     public SparkAbsoluteEncoder getAbsoluteEncoder() {
-        return new SparkAbsoluteEncoder(this.m_encoder, this, com.revrobotics.SparkAbsoluteEncoder.Type.kDutyCycle);
+        return new SparkAbsoluteEncoder(this.m_encoder, com.revrobotics.SparkAbsoluteEncoder.Type.kDutyCycle);
     }
 
     @Override
     public SparkAbsoluteEncoder getAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder.Type type) {
-        return new SparkAbsoluteEncoder(this.m_encoder, this, type);
-    }    
+        return new SparkAbsoluteEncoder(this.m_encoder, type);
+    }
 
     // TODO: Finish following
     // @Override
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
index 32187d00ef..4762a490a4 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
@@ -1,11 +1,19 @@
 package com.autodesk.synthesis.revrobotics;
+import java.lang.reflect.Constructor;
+
 import com.autodesk.synthesis.CANEncoder;
 import com.revrobotics.CANSparkBase;
 
-public class SparkAbsoluteEncoder extends com.revrobotics.SparkAbsoluteEncoder {
+public class SparkAbsoluteEncoder extends com.revrobotics.SparkAbsoluteEncoder{
     private CANEncoder encoder;
 
-    public SparkAbsoluteEncoder(CANEncoder encoder, CANSparkBase base, com.revrobotics.SparkAbsoluteEncoder.Type type) {
+    public SparkAbsoluteEncoder(CANEncoder encoder, com.revrobotics.SparkAbsoluteEncoder.Type type) throws Exception {
+        try {
+            Constructor<com.revrobotics.SparkAbsoluteEncoder> constructor = com.revrobotics.SparkAbsoluteEncoder.class.getConstructor(com.revrobotics.CANSparkBase.class, com.revrobotics.SparkAbsoluteEncoder.Type.class);
+        } catch (NoSuchMethodException | SecurityException e) {
+            e.printStackTrace();
+        }
+
         this.encoder = encoder;
     }
 

From 9a3bd5011c47f4bd3aa01604ec95d97a70686231 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 1 Aug 2024 16:40:02 -0700
Subject: [PATCH 132/344] lol I forgot to save, idk how to use vscode since my
 jdtls broke

---
 .../synthesis/revrobotics/CANSparkMax.java    | 18 ++++++++++++----
 .../revrobotics/SparkAbsoluteEncoder.java     | 21 +++++++++++--------
 2 files changed, 26 insertions(+), 13 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index d83fd5367b..b53a87ee58 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -48,13 +48,23 @@ public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) {
     }
 
     @Override
-    public SparkAbsoluteEncoder getAbsoluteEncoder() {
-        return new SparkAbsoluteEncoder(this.m_encoder, com.revrobotics.SparkAbsoluteEncoder.Type.kDutyCycle);
+    public SparkAbsoluteEncoder getAbsoluteEncoder() throws Exception{
+        try {
+            return new SparkAbsoluteEncoder(this.m_encoder, com.revrobotics.SparkAbsoluteEncoder.Type.kDutyCycle);
+        } catch (Exception e) {
+            // TODO Auto-generated catch block
+            e.printStackTrace();
+        }
     }
 
     @Override
-    public SparkAbsoluteEncoder getAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder.Type type) {
-        return new SparkAbsoluteEncoder(this.m_encoder, type);
+    public SparkAbsoluteEncoder getAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder.Type type) throws Exception {
+        try {
+            return new SparkAbsoluteEncoder(this.m_encoder, type);
+        } catch (Exception e) {
+            // TODO Auto-generated catch block
+            e.printStackTrace();
+        }
     }
 
     // TODO: Finish following
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
index 4762a490a4..4c15778e3c 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
@@ -4,26 +4,29 @@
 import com.autodesk.synthesis.CANEncoder;
 import com.revrobotics.CANSparkBase;
 
-public class SparkAbsoluteEncoder extends com.revrobotics.SparkAbsoluteEncoder{
-    private CANEncoder encoder;
+public class SparkAbsoluteEncoder extends com.revrobotics.SparkAbsoluteEncoder {
+    private CANSparkBase base;
 
-    public SparkAbsoluteEncoder(CANEncoder encoder, com.revrobotics.SparkAbsoluteEncoder.Type type) throws Exception {
+    // We're prettys sure that it's impossible to make a child class of this parent class with a constructor, because the parent's constructor is private
+    // Reflection didn't work since a child constructor __needs__ a super() call at the top of the body
+    // Passing in the constuctor wouldn't work either, since it's just a function pointer and the child constructor would have no idea that it points to its super
+    public SparkAbsoluteEncoder(CANSparkBase base, com.revrobotics.SparkAbsoluteEncoder.Type type) throws Exception {
         try {
-            Constructor<com.revrobotics.SparkAbsoluteEncoder> constructor = com.revrobotics.SparkAbsoluteEncoder.class.getConstructor(com.revrobotics.CANSparkBase.class, com.revrobotics.SparkAbsoluteEncoder.Type.class);
-        } catch (NoSuchMethodException | SecurityException e) {
+            Constructor<com.revrobotics.SparkAbsoluteEncoder> constructor = com.revrobotics.SparkAbsoluteEncoder.class.getDeclaredConstructor(com.revrobotics.CANSparkBase.class, com.revrobotics.SparkAbsoluteEncoder.Type.class);
+            constructor.setAccessible(true);
+            com.revrobotics.SparkAbsoluteEncoder parent = constructor.newInstance(base, type);
+        } catch (Exception e) {
             e.printStackTrace();
         }
-
-        this.encoder = encoder;
     }
 
     @Override
     public double getPosition() {
-        return encoder.getPosition();
+        return this.base.m_encoder.getPosition();
     }
 
     @Override
     public double getVelocity() {
-        return encoder.getVelocity();
+        return this.base.m_encoder.getVelocity();
     }
 }

From 6944946a0e1c373c50d4e4a81d96d7cf01d1ff64 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Thu, 1 Aug 2024 16:44:09 -0700
Subject: [PATCH 133/344] Max velocity on position setting

---
 fission/src/systems/simulation/driver/HingeDriver.ts  |  7 ++++++-
 fission/src/systems/simulation/driver/SliderDriver.ts | 10 ++++++++--
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
index 31f752a6f9..8a24e4e43f 100644
--- a/fission/src/systems/simulation/driver/HingeDriver.ts
+++ b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -12,6 +12,8 @@ class HingeDriver extends Driver {
     private _targetAngle: number
     private _maxVelocity: number
 
+    private _prevAng: number = 0.0
+
     public get accelerationDirection(): number {
         return this._accelerationDirection
     }
@@ -84,7 +86,10 @@ class HingeDriver extends Driver {
         if (this._controlMode == DriverControlMode.Velocity) {
             this._constraint.SetTargetAngularVelocity(this._accelerationDirection * this._maxVelocity)
         } else if (this._controlMode == DriverControlMode.Position) {
-            //TODO add maxVel to diff
+            let ang = this._targetAngle
+            
+            if (ang - this._prevAng < -this.maxVelocity) ang = this._prevAng - this._maxVelocity
+            if (ang - this._prevAng > this.maxVelocity) ang = this._prevAng + this._maxVelocity
             this._constraint.SetTargetAngle(this._targetAngle)
         }
     }
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index 192ac99400..2c23c89304 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -12,6 +12,8 @@ class SliderDriver extends Driver {
     private _targetPosition: number = 0.0
     private _maxVelocity: number = 1.0
 
+    private _prevPos: number = 0.0
+
     public get accelerationDirection(): number {
         return this._accelerationDirection
     }
@@ -84,8 +86,12 @@ class SliderDriver extends Driver {
         if (this._controlMode == DriverControlMode.Velocity) {
             this._constraint.SetTargetVelocity(this._accelerationDirection * this._maxVelocity)
         } else if (this._controlMode == DriverControlMode.Position) {
-            //TODO: MaxVel checks diff
-            this._constraint.SetTargetPosition(this._targetPosition)
+            let pos = this._targetPosition
+            
+            if (pos - this._prevPos < -this.maxVelocity) pos = this._prevPos - this._maxVelocity
+            if (pos - this._prevPos > this.maxVelocity) pos = this._prevPos + this._maxVelocity
+            
+            this._constraint.SetTargetPosition(pos)
         }
     }
 }

From f8d6edf253c8ab023b16630cfe6be25982088e8a Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Thu, 1 Aug 2024 17:08:17 -0700
Subject: [PATCH 134/344] Field bug and range adjustments

---
 fission/src/systems/physics/PhysicsSystem.ts   | 18 ++++++++++++++----
 .../configuring/ConfigureJointsPanel.tsx       |  2 +-
 2 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 7e8e592d30..1d325c1059 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -62,6 +62,10 @@ const FLOOR_FRICTION = 0.7
 const SUSPENSION_MIN_FACTOR = 0.1
 const SUSPENSION_MAX_FACTOR = 0.3
 
+// Motor constants
+const VELOCITY_DEFAULT = 30
+const ACCELERATION_DEFAULT = 150
+
 /**
  * The PhysicsSystem handles all Jolt Physics interactions within Synthesis.
  * This system can create physical representations of objects such as Robots,
@@ -355,8 +359,14 @@ class PhysicsSystem extends WorldSystem {
             let listener: Jolt.PhysicsStepListener | undefined = undefined
 
             // maxForce becomes maxForce for sliders, maxTorque for hinges, and maxAcceleration for wheels
-            let maxVel = jointData.motorDefinitions![jDef.motorReference].simpleMotor?.maxVelocity
-            let maxForce = jointData.motorDefinitions![jDef.motorReference].simpleMotor?.stallTorque
+            let maxVel = VELOCITY_DEFAULT
+            let maxForce;
+            const motor = jointData.motorDefinitions![jDef.motorReference]
+            if (motor && motor.simpleMotor) {
+                maxVel = motor.simpleMotor.maxVelocity ?? VELOCITY_DEFAULT
+                maxForce = motor.simpleMotor.stallTorque ?? ACCELERATION_DEFAULT
+            }
+
             const motors = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").motors
             if (motors) {
                 const thisMotor = motors.filter(x => x.name == jInst.info?.name)
@@ -401,7 +411,7 @@ class PhysicsSystem extends WorldSystem {
                             listener = res[2]
                         }
                     } else {
-                        constraints.push(this.CreateHingeConstraint(jInst, jDef, maxForce ?? 200, bodyA, bodyB, parser.assembly.info!.version!))
+                        constraints.push(this.CreateHingeConstraint(jInst, jDef, maxForce ?? 50, bodyA, bodyB, parser.assembly.info!.version!))
                     }
                     break
                 case mirabuf.joint.JointMotion.SLIDER:
@@ -419,7 +429,7 @@ class PhysicsSystem extends WorldSystem {
                         parentBody: bodyIdA,
                         childBody: bodyIdB,
                         constraint: x,
-                        maxVelocity: maxVel ?? 30,
+                        maxVelocity: maxVel ?? VELOCITY_DEFAULT,
                         info: jInst.info ?? undefined, // remove possibility for null
                     })
                 )
diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
index 1268dbc229..890d4132b5 100644
--- a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
@@ -99,7 +99,7 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
                 />
                 <Slider
                     min={driverSwitch(driver, 100, 20, 0.1) as number}
-                    max={driverSwitch(driver, 800, 200, 50) as number}
+                    max={driverSwitch(driver, 800, 150, 15) as number}
                     value={force}
                     label={driverSwitch(driver, "Max Force", "Max Torque", "Max Accel.") as string}
                     format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}

From 74239f96aef804e95e34509a6842ace09902fa74 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Thu, 1 Aug 2024 17:36:08 -0700
Subject: [PATCH 135/344] Refactor and doc

---
 fission/src/systems/physics/PhysicsSystem.ts  | 31 ++++++---------
 fission/src/ui/components/MainHUD.tsx         |  1 -
 .../configuring/ConfigureJointsPanel.tsx      | 38 +++++++++----------
 3 files changed, 30 insertions(+), 40 deletions(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 1d325c1059..8d91986ced 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -62,9 +62,8 @@ const FLOOR_FRICTION = 0.7
 const SUSPENSION_MIN_FACTOR = 0.1
 const SUSPENSION_MAX_FACTOR = 0.3
 
-// Motor constants
+// Motor constant
 const VELOCITY_DEFAULT = 30
-const ACCELERATION_DEFAULT = 150
 
 /**
  * The PhysicsSystem handles all Jolt Physics interactions within Synthesis.
@@ -358,23 +357,14 @@ class PhysicsSystem extends WorldSystem {
             const constraints: Jolt.Constraint[] = []
             let listener: Jolt.PhysicsStepListener | undefined = undefined
 
-            // maxForce becomes maxForce for sliders, maxTorque for hinges, and maxAcceleration for wheels
-            let maxVel = VELOCITY_DEFAULT
-            let maxForce;
-            const motor = jointData.motorDefinitions![jDef.motorReference]
-            if (motor && motor.simpleMotor) {
-                maxVel = motor.simpleMotor.maxVelocity ?? VELOCITY_DEFAULT
-                maxForce = motor.simpleMotor.stallTorque ?? ACCELERATION_DEFAULT
-            }
+            // Motor preferences and mirabuf
+            const prefMotors = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").motors
+            const prefMotor = prefMotors ? prefMotors.filter(x => x.name == jInst.info?.name) : undefined
+            const miraMotor = jointData.motorDefinitions![jDef.motorReference]
 
-            const motors = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").motors
-            if (motors) {
-                const thisMotor = motors.filter(x => x.name == jInst.info?.name)
-                if (thisMotor[0]) {
-                    maxVel = thisMotor[0].maxVelocity
-                    maxForce = thisMotor[0].maxForce
-                }
-            }
+            // If preference motor exists, sets vel/acc to prefMotor. Then, if mirabuf motor exists, sets vel/acc to miraMotor. Then default
+            let maxVel = (prefMotor && prefMotor[0]) ? prefMotor[0].maxVelocity : ((miraMotor && miraMotor.simpleMotor) ? miraMotor.simpleMotor.maxVelocity ?? VELOCITY_DEFAULT : VELOCITY_DEFAULT)
+            let maxForce = (prefMotor && prefMotor[0]) ? prefMotor[0].maxForce : ((miraMotor && miraMotor.simpleMotor) ? miraMotor.simpleMotor.stallTorque : undefined)
 
             switch (jDef.jointMotionType!) {
                 case mirabuf.joint.JointMotion.REVOLUTE:
@@ -574,7 +564,7 @@ class PhysicsSystem extends WorldSystem {
         }
 
         sliderConstraintSettings.mMotorSettings.mMaxForceLimit = maxForce
-        sliderConstraintSettings.mMotorSettings.mMinForceLimit = -sliderConstraintSettings.mMotorSettings.mMaxForceLimit
+        sliderConstraintSettings.mMotorSettings.mMinForceLimit = -maxForce
 
         const constraint = sliderConstraintSettings.Create(bodyA, bodyB)
 
@@ -634,6 +624,9 @@ class PhysicsSystem extends WorldSystem {
         vehicleSettings.mWheels.clear()
         vehicleSettings.mWheels.push_back(wheelSettings)
 
+        // Other than maxTorque, these controller settings are not being used as of now
+        // because ArcadeDriveBehavior goes directly to the WheelDrivers.
+        // MaxTorque is only used as communication for WheelDriver to get maxAcceleration
         const controllerSettings = new JOLT.WheeledVehicleControllerSettings()
         controllerSettings.mEngine.mMaxTorque = maxAcc
         controllerSettings.mTransmission.mClutchStrength = 10.0
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index af43cd3521..723b392ab9 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -10,7 +10,6 @@ import APS, { APS_USER_INFO_UPDATE_EVENT } from "@/aps/APS"
 import { UserIcon } from "./UserIcon"
 import { Button } from "@mui/base/Button"
 import { ButtonIcon, SynthesisIcons } from "./StyledComponents"
-import Synthesis from "@/Synthesis"
 
 type ButtonProps = {
     value: string
diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
index 890d4132b5..51fc4a3251 100644
--- a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
@@ -23,10 +23,6 @@ type JointRowProps = {
 }
 
 const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
-    const wheelDrivers = useMemo(() => {
-        return robot?.mechanism ?
-            World.SimulationSystem.GetSimulationLayer(robot.mechanism)?.drivers.filter(x => x instanceof WheelDriver) : undefined
-    }, [robot])
 
     const driverSwitch = (driver: Driver, slider: unknown, hinge: unknown, drivetrain: unknown) => {
         switch (driver.constructor) {
@@ -48,6 +44,8 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
 
     const onChange = (vel: number, force: number) => {
         if (driver instanceof WheelDriver) {
+            const wheelDrivers = robot?.mechanism ?
+                World.SimulationSystem.GetSimulationLayer(robot.mechanism)?.drivers.filter(x => x instanceof WheelDriver) : undefined
             wheelDrivers?.forEach(x => {
                 x.maxVelocity = vel
                 x.maxForce = force
@@ -135,25 +133,24 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
             World.SimulationSystem.GetSimulationLayer(selectedRobot.mechanism)?.drivers : undefined
     }, [selectedRobot])
 
+    // Gets motors in preferences for ease of saving into origPrefs which can be used to revert on Cancel()
     function saveOrigMotors(robot: MirabufSceneObject) {
         drivers?.forEach(driver => {
-            if (driver.info && driver.info.name) {
-                if (!(driver instanceof WheelDriver)) {
-                    const motors = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
-                    const removedMotor = motors.filter(x => {
-                        if (x.name)
-                            return x.name != driver.info?.name
-                        return false
-                    })
+            if (driver.info && driver.info.name && !(driver instanceof WheelDriver)) {
+                const motors = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
+                const removedMotor = motors.filter(x => {
+                    if (x.name)
+                        return x.name != driver.info?.name
+                    return false
+                })
 
-                    if (removedMotor.length == drivers.length) {
-                        removedMotor.push({
-                            name: driver.info?.name ?? "",
-                            maxVelocity: (driver as SliderDriver || driver as HingeDriver).maxVelocity,
-                            maxForce: (driver as SliderDriver || driver as HingeDriver).maxForce
-                        })
-                        PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
-                    }
+                if (removedMotor.length == drivers.length) {
+                    removedMotor.push({
+                        name: driver.info?.name ?? "",
+                        maxVelocity: (driver as SliderDriver || driver as HingeDriver).maxVelocity,
+                        maxForce: (driver as SliderDriver || driver as HingeDriver).maxForce
+                    })
+                    PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
                 }
             }
         })
@@ -222,6 +219,7 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
 
                     {drivers ? (
                         <ScrollView className="flex flex-col gap-4">
+                            {/** Drivetrain row. Then other SliderDrivers and HingeDrivers */}
                             <JointRow
                                 key={0}
                                 robot={(() => {

From f63d45c58a74778a1ecde4cdabb6cd42c30ca2c9 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Thu, 1 Aug 2024 17:44:06 -0700
Subject: [PATCH 136/344] Refactor and formatting

---
 fission/src/Synthesis.tsx                     |   2 +-
 fission/src/systems/physics/PhysicsSystem.ts  |  37 ++++--
 .../systems/preferences/PreferenceTypes.ts    |   2 +-
 .../behavior/synthesis/ArcadeDriveBehavior.ts |   5 +-
 .../systems/simulation/driver/HingeDriver.ts  |   2 +-
 .../systems/simulation/driver/SliderDriver.ts |   4 +-
 fission/src/ui/components/MainHUD.tsx         |   6 +-
 .../configuring/ConfigureJointsPanel.tsx      | 108 +++++++++---------
 8 files changed, 96 insertions(+), 70 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index c41ec83b31..f33227e360 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -254,7 +254,7 @@ const initialPanels: ReactElement[] = [
     <ChooseInputSchemePanel key="choose-scheme" panelId="choose-scheme" />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
-    <ConfigureJointsPanel key="joint-config" panelId="joint-config" openLocation="right" sidePadding={8} />
+    <ConfigureJointsPanel key="joint-config" panelId="joint-config" openLocation="right" sidePadding={8} />,
 ]
 
 export default Synthesis
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 8d91986ced..eaeb5f3dcc 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -327,7 +327,7 @@ class PhysicsSystem extends WorldSystem {
         const jointData = parser.assembly.data!.joints!
         for (const [jGuid, jInst] of Object.entries(jointData.jointInstances!) as [
             string,
-            mirabuf.joint.JointInstance
+            mirabuf.joint.JointInstance,
         ][]) {
             if (jGuid == GROUNDED_JOINT_ID) continue
 
@@ -357,22 +357,32 @@ class PhysicsSystem extends WorldSystem {
             const constraints: Jolt.Constraint[] = []
             let listener: Jolt.PhysicsStepListener | undefined = undefined
 
-            // Motor preferences and mirabuf
+            // Motor velocity and acceleration. Prioritizes preferences then mirabuf.
             const prefMotors = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").motors
             const prefMotor = prefMotors ? prefMotors.filter(x => x.name == jInst.info?.name) : undefined
             const miraMotor = jointData.motorDefinitions![jDef.motorReference]
 
-            // If preference motor exists, sets vel/acc to prefMotor. Then, if mirabuf motor exists, sets vel/acc to miraMotor. Then default
-            let maxVel = (prefMotor && prefMotor[0]) ? prefMotor[0].maxVelocity : ((miraMotor && miraMotor.simpleMotor) ? miraMotor.simpleMotor.maxVelocity ?? VELOCITY_DEFAULT : VELOCITY_DEFAULT)
-            let maxForce = (prefMotor && prefMotor[0]) ? prefMotor[0].maxForce : ((miraMotor && miraMotor.simpleMotor) ? miraMotor.simpleMotor.stallTorque : undefined)
+            let maxVel = VELOCITY_DEFAULT
+            let maxForce
+            if (prefMotor && prefMotor[0]) {
+                maxVel = prefMotor[0].maxVelocity
+                maxForce = prefMotor[0].maxForce
+            } else if (miraMotor && miraMotor.simpleMotor) {
+                maxVel = miraMotor.simpleMotor.maxVelocity ?? VELOCITY_DEFAULT
+                maxForce = miraMotor.simpleMotor.stallTorque
+            }
 
             switch (jDef.jointMotionType!) {
                 case mirabuf.joint.JointMotion.REVOLUTE:
                     if (this.IsWheel(jDef)) {
-                        const prefVel = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").driveVelocity
+                        const prefVel = PreferencesSystem.getRobotPreferences(
+                            parser.assembly.info?.name ?? ""
+                        ).driveVelocity
                         if (prefVel > 0) maxVel = prefVel
 
-                        const prefAcc = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").driveAcceleration
+                        const prefAcc = PreferencesSystem.getRobotPreferences(
+                            parser.assembly.info?.name ?? ""
+                        ).driveAcceleration
                         if (prefAcc > 0) maxForce = prefAcc
 
                         if (parser.directedGraph.GetAdjacencyList(rnA.id).length > 0) {
@@ -401,11 +411,19 @@ class PhysicsSystem extends WorldSystem {
                             listener = res[2]
                         }
                     } else {
-                        constraints.push(this.CreateHingeConstraint(jInst, jDef, maxForce ?? 50, bodyA, bodyB, parser.assembly.info!.version!))
+                        constraints.push(
+                            this.CreateHingeConstraint(
+                                jInst,
+                                jDef,
+                                maxForce ?? 50,
+                                bodyA,
+                                bodyB,
+                                parser.assembly.info!.version!
+                            )
+                        )
                     }
                     break
                 case mirabuf.joint.JointMotion.SLIDER:
-                    
                     constraints.push(this.CreateSliderConstraint(jInst, jDef, maxForce ?? 200, bodyA, bodyB))
                     break
                 default:
@@ -496,7 +514,6 @@ class PhysicsSystem extends WorldSystem {
         hingeConstraintSettings.mMotorSettings.mMaxTorqueLimit = torque
         hingeConstraintSettings.mMotorSettings.mMinTorqueLimit = -torque
 
-
         const constraint = hingeConstraintSettings.Create(bodyA, bodyB)
         this._constraints.push(constraint)
         this._joltPhysSystem.AddConstraint(constraint)
diff --git a/fission/src/systems/preferences/PreferenceTypes.ts b/fission/src/systems/preferences/PreferenceTypes.ts
index d044a1ce22..2402ead0c5 100644
--- a/fission/src/systems/preferences/PreferenceTypes.ts
+++ b/fission/src/systems/preferences/PreferenceTypes.ts
@@ -91,7 +91,7 @@ export function DefaultRobotPreferences(): RobotPreferences {
             parentNode: undefined,
         },
         driveVelocity: 0,
-        driveAcceleration: 0
+        driveAcceleration: 0,
     }
 }
 
diff --git a/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts b/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts
index 2146f64a72..72de9b4da3 100644
--- a/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts
+++ b/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts
@@ -32,7 +32,10 @@ class ArcadeDriveBehavior extends Behavior {
     }
 
     public Update(_: number): void {
-        this.DriveSpeeds(InputSystem.getInput("arcadeDrive", this._brainIndex), InputSystem.getInput("arcadeTurn", this._brainIndex))
+        this.DriveSpeeds(
+            InputSystem.getInput("arcadeDrive", this._brainIndex),
+            InputSystem.getInput("arcadeTurn", this._brainIndex)
+        )
     }
 }
 
diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
index 8a24e4e43f..243c0c4441 100644
--- a/fission/src/systems/simulation/driver/HingeDriver.ts
+++ b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -87,7 +87,7 @@ class HingeDriver extends Driver {
             this._constraint.SetTargetAngularVelocity(this._accelerationDirection * this._maxVelocity)
         } else if (this._controlMode == DriverControlMode.Position) {
             let ang = this._targetAngle
-            
+
             if (ang - this._prevAng < -this.maxVelocity) ang = this._prevAng - this._maxVelocity
             if (ang - this._prevAng > this.maxVelocity) ang = this._prevAng + this._maxVelocity
             this._constraint.SetTargetAngle(this._targetAngle)
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index 2c23c89304..0cfbb2dc8d 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -87,10 +87,10 @@ class SliderDriver extends Driver {
             this._constraint.SetTargetVelocity(this._accelerationDirection * this._maxVelocity)
         } else if (this._controlMode == DriverControlMode.Position) {
             let pos = this._targetPosition
-            
+
             if (pos - this._prevPos < -this.maxVelocity) pos = this._prevPos - this._maxVelocity
             if (pos - this._prevPos > this.maxVelocity) pos = this._prevPos + this._maxVelocity
-            
+
             this._constraint.SetTargetPosition(pos)
         }
     }
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 723b392ab9..e4ed7d8211 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -119,7 +119,11 @@ const MainHUD: React.FC = () => {
                             openPanel("scoring-zones")
                         }}
                     />
-                    <MainHUDButton value={"Joints"} icon={SynthesisIcons.Gear} onClick={() => openPanel("joint-config")} />
+                    <MainHUDButton
+                        value={"Joints"}
+                        icon={SynthesisIcons.Gear}
+                        onClick={() => openPanel("joint-config")}
+                    />
                     <MainHUDButton
                         value={"Configure"}
                         icon={SynthesisIcons.Gear}
diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
index 51fc4a3251..9af0ed7548 100644
--- a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
@@ -23,7 +23,6 @@ type JointRowProps = {
 }
 
 const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
-
     const driverSwitch = (driver: Driver, slider: unknown, hinge: unknown, drivetrain: unknown) => {
         switch (driver.constructor) {
             case SliderDriver:
@@ -38,14 +37,19 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
     }
 
     const [velocity, setVelocity] = useState<number>(
-        (driver as SliderDriver || driver as HingeDriver || driver as WheelDriver).maxVelocity)
+        ((driver as SliderDriver) || (driver as HingeDriver) || (driver as WheelDriver)).maxVelocity
+    )
     const [force, setForce] = useState<number>(
-        (driver as SliderDriver || driver as HingeDriver || driver as WheelDriver).maxForce)
+        ((driver as SliderDriver) || (driver as HingeDriver) || (driver as WheelDriver)).maxForce
+    )
 
     const onChange = (vel: number, force: number) => {
         if (driver instanceof WheelDriver) {
-            const wheelDrivers = robot?.mechanism ?
-                World.SimulationSystem.GetSimulationLayer(robot.mechanism)?.drivers.filter(x => x instanceof WheelDriver) : undefined
+            const wheelDrivers = robot?.mechanism
+                ? World.SimulationSystem.GetSimulationLayer(robot.mechanism)?.drivers.filter(
+                      x => x instanceof WheelDriver
+                  )
+                : undefined
             wheelDrivers?.forEach(x => {
                 x.maxVelocity = vel
                 x.maxForce = force
@@ -55,22 +59,24 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
             PreferencesSystem.getRobotPreferences(robot.assemblyName).driveVelocity = vel
             PreferencesSystem.getRobotPreferences(robot.assemblyName).driveAcceleration = force
         } else {
-            (driver as SliderDriver || driver as HingeDriver).maxVelocity = vel;                
-            (driver as SliderDriver || driver as HingeDriver).maxForce = force
+            ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
+            ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
 
             // Preferences
             if (driver.info && driver.info.name) {
-                const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors ? PreferencesSystem.getRobotPreferences(robot.assemblyName).motors.filter(x => {
-                    if (x.name)
-                        return x.name != driver.info?.name
-                    return false
-                }) : []
+                const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
+                    ? PreferencesSystem.getRobotPreferences(robot.assemblyName).motors.filter(x => {
+                          if (x.name) return x.name != driver.info?.name
+                          return false
+                      })
+                    : []
 
                 removedMotor.push({
                     name: driver.info?.name ?? "",
                     maxVelocity: vel,
-                    maxForce: force})
-                
+                    maxForce: force,
+                })
+
                 PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
             }
         }
@@ -78,11 +84,12 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
         PreferencesSystem.savePreferences()
     }
 
-
     return (
         <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>
             <Stack direction={StackDirection.Vertical} spacing={8} justify="start">
-                <Label size={LabelSize.Medium}>{ driver instanceof WheelDriver ? "Drive" : (driver.info?.name ?? "UnnamedMotor") }</Label>
+                <Label size={LabelSize.Medium}>
+                    {driver instanceof WheelDriver ? "Drive" : driver.info?.name ?? "UnnamedMotor"}
+                </Label>
                 <Slider
                     min={0.1}
                     max={80}
@@ -90,7 +97,7 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
                     label="Max Velocity"
                     format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
                     onChange={(_, _velocity: number | number[]) => {
-                        setVelocity(_velocity as number);
+                        setVelocity(_velocity as number)
                         onChange(_velocity as number, force)
                     }}
                     step={0.01}
@@ -102,7 +109,7 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
                     label={driverSwitch(driver, "Max Force", "Max Torque", "Max Accel.") as string}
                     format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
                     onChange={(_, _force: number | number[]) => {
-                        setForce(_force as number);
+                        setForce(_force as number)
                         onChange(velocity, _force as number)
                     }}
                     step={0.01}
@@ -112,9 +119,7 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
     )
 }
 
-
-const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding}) => {
-
+const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
     const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
     const [origPref, setOrigPref] = useState<RobotPreferences | undefined>(undefined)
 
@@ -129,8 +134,9 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
     }, [])
 
     const drivers = useMemo(() => {
-        return selectedRobot?.mechanism ?
-            World.SimulationSystem.GetSimulationLayer(selectedRobot.mechanism)?.drivers : undefined
+        return selectedRobot?.mechanism
+            ? World.SimulationSystem.GetSimulationLayer(selectedRobot.mechanism)?.drivers
+            : undefined
     }, [selectedRobot])
 
     // Gets motors in preferences for ease of saving into origPrefs which can be used to revert on Cancel()
@@ -139,23 +145,22 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
             if (driver.info && driver.info.name && !(driver instanceof WheelDriver)) {
                 const motors = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
                 const removedMotor = motors.filter(x => {
-                    if (x.name)
-                        return x.name != driver.info?.name
+                    if (x.name) return x.name != driver.info?.name
                     return false
                 })
 
                 if (removedMotor.length == drivers.length) {
                     removedMotor.push({
                         name: driver.info?.name ?? "",
-                        maxVelocity: (driver as SliderDriver || driver as HingeDriver).maxVelocity,
-                        maxForce: (driver as SliderDriver || driver as HingeDriver).maxForce
+                        maxVelocity: ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity,
+                        maxForce: ((driver as SliderDriver) || (driver as HingeDriver)).maxForce,
                     })
                     PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
                 }
             }
         })
         PreferencesSystem.savePreferences()
-        setOrigPref({ ... PreferencesSystem.getRobotPreferences(robot.assemblyName)}) // clone
+        setOrigPref({ ...PreferencesSystem.getRobotPreferences(robot.assemblyName) }) // clone
     }
 
     function Cancel() {
@@ -167,13 +172,12 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
                 } else {
                     if (driver.info && driver.info.name) {
                         const motor = origPref.motors.filter(x => {
-                            if (x.name)
-                                return x.name == driver.info?.name
+                            if (x.name) return x.name == driver.info?.name
                             return false
-                        })[0];
+                        })[0]
                         if (motor) {
-                            (driver as SliderDriver || driver as HingeDriver).maxVelocity = motor.maxVelocity;
-                            (driver as SliderDriver || driver as HingeDriver).maxForce = motor.maxForce
+                            ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = motor.maxVelocity
+                            ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = motor.maxForce
                         }
                     }
                 }
@@ -183,15 +187,16 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
         PreferencesSystem.savePreferences()
     }
 
-
     return (
-        <Panel 
+        <Panel
             name="Configure Joints"
             icon={<FaGear />}
             panelId={panelId}
             openLocation={openLocation}
             sidePadding={sidePadding}
-            onAccept={() => { PreferencesSystem.savePreferences()}}       
+            onAccept={() => {
+                PreferencesSystem.savePreferences()
+            }}
             onCancel={Cancel}
             acceptEnabled={true}
         >
@@ -216,7 +221,6 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
                 </>
             ) : (
                 <>
-
                     {drivers ? (
                         <ScrollView className="flex flex-col gap-4">
                             {/** Drivetrain row. Then other SliderDrivers and HingeDrivers */}
@@ -229,29 +233,27 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
                                     return drivers.filter(x => x instanceof WheelDriver)[0]
                                 })()}
                             />
-                            {drivers.filter(x => x instanceof SliderDriver || x instanceof HingeDriver).map((driver: Driver, i: number) => (
-                                <JointRow
-                                    key={i + 1}
-                                    robot={(() => {
-                                        return selectedRobot
-                                    })()}
-                                    driver={(() => {
-                                        return driver
-                                    })()}
-                                />
-                            
-                            ))}
+                            {drivers
+                                .filter(x => x instanceof SliderDriver || x instanceof HingeDriver)
+                                .map((driver: Driver, i: number) => (
+                                    <JointRow
+                                        key={i + 1}
+                                        robot={(() => {
+                                            return selectedRobot
+                                        })()}
+                                        driver={(() => {
+                                            return driver
+                                        })()}
+                                    />
+                                ))}
                         </ScrollView>
                     ) : (
                         <Label>No Joints</Label>
                     )}
                 </>
             )}
-
-
         </Panel>
-
     )
 }
 
-export default ConfigureJointsPanel
\ No newline at end of file
+export default ConfigureJointsPanel

From 12ca571ac727d6e019845b97523e62997719fbc1 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Thu, 1 Aug 2024 18:28:02 -0700
Subject: [PATCH 137/344] Acceleration string

---
 fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
index 9af0ed7548..d183021153 100644
--- a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
@@ -106,7 +106,7 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
                     min={driverSwitch(driver, 100, 20, 0.1) as number}
                     max={driverSwitch(driver, 800, 150, 15) as number}
                     value={force}
-                    label={driverSwitch(driver, "Max Force", "Max Torque", "Max Accel.") as string}
+                    label={driverSwitch(driver, "Max Force", "Max Torque", "Max Acceleration") as string}
                     format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
                     onChange={(_, _force: number | number[]) => {
                         setForce(_force as number)

From 03bed7bc3664e58229558058ee7ab889e8ad565b Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Thu, 1 Aug 2024 21:19:46 -0700
Subject: [PATCH 138/344] started on gyro support

---
 .../simulation/wpilib_brain/SimInput.ts       | 52 ++++++++++++++++++-
 .../simulation/wpilib_brain/WPILibBrain.ts    | 23 +++++++-
 fission/src/ui/panels/WSViewPanel.tsx         |  8 +--
 .../src/main/java/frc/robot/Robot.java        |  9 ++++
 4 files changed, 85 insertions(+), 7 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 0962bd8bb6..6061d9a47e 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -1,5 +1,9 @@
+import World from "@/systems/World"
 import EncoderStimulus from "../stimulus/EncoderStimulus"
-import { SimCANEncoder } from "./WPILibBrain"
+import { SimCANEncoder, SimGyro } from "./WPILibBrain"
+import Mechanism from "@/systems/physics/Mechanism"
+import Jolt from "@barclah/jolt-physics"
+import JOLT from "@/util/loading/JoltSyncLoader"
 
 export interface SimInput {
     Update: (deltaT: number) => void
@@ -20,3 +24,49 @@ export class SimEncoderInput implements SimInput {
         SimCANEncoder.SetRawInputPosition(`${this._device}`, this._stimulus.positionValue * this._conversionFactor)
     }
 }
+
+export class SimGyroInput implements SimInput {
+    private _device: string
+    private _robot: Mechanism
+    private _joltID?: Jolt.BodyID
+    private _joltBody?: Jolt.Body
+
+    private static AXIS_X: Jolt.Vec3 = new JOLT.Vec3(1, 0, 0)
+    private static AXIS_Y: Jolt.Vec3 = new JOLT.Vec3(0, 1, 0)
+    private static AXIS_Z: Jolt.Vec3 = new JOLT.Vec3(0, 0, 1)
+
+    constructor(device: string, robot: Mechanism) {
+        this._device = device
+        this._robot = robot
+        this._joltID = this._robot.nodeToBody.get(this._robot.rootBody)
+
+        if (this._joltID)
+            this._joltBody = World.PhysicsSystem.GetBody(this._joltID)
+    }
+
+    private GetAxis(axis: Jolt.Vec3): number {
+        return (this._joltBody?.GetRotation().GetRotationAngle(axis) ?? 0) * 180 / Math.PI
+    }
+
+    private GetX(): number {
+        return this.GetAxis(SimGyroInput.AXIS_X)
+    }
+
+    private GetY(): number {
+        return this.GetAxis(SimGyroInput.AXIS_Y)
+    }
+
+    private GetZ(): number {
+        return this.GetAxis(SimGyroInput.AXIS_Z)
+    }
+
+    public Update(_deltaT: number) {
+        const x = this.GetX()
+        const y = this.GetY()
+        const z = this.GetZ()
+        // console.log(`${this._device}\n${x}\n${y}\n${z}`)
+        SimGyro.SetAngleX(this._device, x);
+        SimGyro.SetAngleY(this._device, y);
+        SimGyro.SetAngleZ(this._device, z);
+    }
+}
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index cd24bb95b8..1e83bc686e 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -7,7 +7,7 @@ import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 
 import { SimOutputGroup } from "./SimOutput"
-import { SimInput } from "./SimInput"
+import { SimGyroInput, SimInput } from "./SimInput"
 
 const worker = new WPILibWSWorker()
 
@@ -17,7 +17,7 @@ const CANMOTOR_DUTY_CYCLE = "<dutyCycle"
 const CANMOTOR_SUPPLY_VOLTAGE = ">supplyVoltage"
 const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput"
 
-export type SimType = "PWM" | "CANMotor" | "Solenoid" | "SimDevice" | "CANEncoder"
+export type SimType = "PWM" | "CANMotor" | "Solenoid" | "SimDevice" | "CANEncoder" | "Gyro"
 
 enum FieldType {
     Read = 0,
@@ -157,6 +157,22 @@ export class SimCANEncoder {
     }
 }
 
+export class SimGyro {
+    private constructor() {}
+
+    public static SetAngleX(device: string, angle: number): boolean {
+        return SimGeneric.Set("Gyro", device, ">angle_x", angle);
+    }
+
+    public static SetAngleY(device: string, angle: number): boolean {
+        return SimGeneric.Set("Gyro", device, ">angle_y", angle);
+    }
+
+    public static SetAngleZ(device: string, angle: number): boolean {
+        return SimGeneric.Set("Gyro", device, ">angle_z", angle);
+    }
+}
+
 worker.addEventListener("message", (eventData: MessageEvent) => {
     let data: any | undefined
     try {
@@ -230,6 +246,8 @@ class WPILibBrain extends Brain {
             console.warn("SimulationLayer is undefined")
             return
         }
+
+        this.addSimInput(new SimGyroInput("Gyro:ADXRS450[0]", mechanism));
     }
 
     public addSimOutputGroup(device: SimOutputGroup) {
@@ -243,6 +261,7 @@ class WPILibBrain extends Brain {
     public Update(deltaT: number): void {
         this._simOutputs.forEach(d => d.Update(deltaT))
         this._simInputs.forEach(i => i.Update(deltaT))
+        console.log(simMap)
     }
 
     public Enable(): void {
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index 1781572229..f7b47eff28 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -107,12 +107,12 @@ function generateTableBody() {
             ) : (
                 <></>
             )}
-            {simMap.has("Joystick") ? (
-                [...simMap.get("Joystick")!.entries()].map(x => {
+            {simMap.has("Gyro") ? (
+                [...simMap.get("Gyro")!.entries()].map(x => {
                     return (
                         <TableRow key={x[0]}>
                             <TableCell>
-                                <TypoStyled>Joystick</TypoStyled>
+                                <TypoStyled>Gyro</TypoStyled>
                             </TableCell>
                             <TableCell>
                                 <TypoStyled>{x[0]}</TypoStyled>
@@ -213,7 +213,7 @@ const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             </TableContainer>
             <Stack>
                 <Dropdown
-                    options={["PWM", "SimDevice", "CANMotor", "CANEncoder"]}
+                    options={["PWM", "SimDevice", "CANMotor", "CANEncoder", "Gyro"]}
                     onSelect={v => setSelectedType(v as unknown as SimType)}
                 />
                 {deviceSelect}
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 455b23fba6..3dc569c051 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -9,9 +9,12 @@
 // import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.ADXRS450_Gyro;
+import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj.simulation.ADXRS450_GyroSim;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -35,6 +38,8 @@ public class Robot extends TimedRobot {
   private CANSparkMax m_SparkMax = new CANSparkMax(1, MotorType.kBrushless);
   private TalonFX m_Talon = new TalonFX(2);
   private XboxController m_Controller = new XboxController(0);
+  private ADXRS450_Gyro m_Gyro;
+    private ADXRS450_GyroSim m_GyroSim;
 
   /**
    * This function is run when the robot is first started up and should be used for any
@@ -45,6 +50,9 @@ public void robotInit() {
     m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
     m_chooser.addOption("My Auto", kCustomAuto);
     SmartDashboard.putData("Auto choices", m_chooser);
+    m_Gyro = new ADXRS450_Gyro();
+    m_GyroSim = new ADXRS450_GyroSim(m_Gyro);
+    m_Gyro.calibrate();
   }
 
   /**
@@ -103,6 +111,7 @@ public void teleopInit() {}
   public void teleopPeriodic() {
     m_Spark1.set(m_Controller.getLeftY());
     m_Spark2.set(-m_Controller.getRightY());
+    System.out.println(m_Gyro.getAngle());
     // m_Spark1.set(0.25);
     // m_Spark2.set(0.25);
     m_SparkMax.set(0.75);

From 2cc33316b2751eaf08746200704ac9b6c3bab2e8 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Fri, 2 Aug 2024 12:15:19 -0700
Subject: [PATCH 139/344] Combined config panel support for sequential joints

---
 fission/src/Synthesis.tsx                     |   2 -
 .../assembly-config/ConfigurePanel.tsx        |   9 +-
 .../SequentialBehaviorsInterface.tsx}         | 190 +++++++-----------
 3 files changed, 77 insertions(+), 124 deletions(-)
 rename fission/src/ui/panels/{SequentialBehaviorsPanel.tsx => configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx} (53%)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 9acadc2acb..e9b1a92efd 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -54,7 +54,6 @@ import SceneOverlay from "./ui/components/SceneOverlay.tsx"
 import WPILibWSWorker from "@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker"
 import WSViewPanel from "./ui/panels/WSViewPanel.tsx"
 import Lazy from "./util/Lazy.ts"
-import SequentialBehaviorsPanel from "./ui/panels/SequentialBehaviorsPanel.tsx"
 
 import RCConfigPWMGroupModal from "@/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx"
 import RCConfigCANGroupModal from "@/modals/configuring/rio-config/RCConfigCANGroupModal.tsx"
@@ -240,7 +239,6 @@ const initialPanels: ReactElement[] = [
         openLocation="right"
         sidePadding={8}
     />,
-    <SequentialBehaviorsPanel key="sequential-joints" panelId="sequential-joints" />,
     <ChooseInputSchemePanel key="choose-scheme" panelId="choose-scheme" />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index d1873f70cc..7aa17571c8 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -10,6 +10,7 @@ import { AiOutlinePlus } from "react-icons/ai"
 import ConfigureGamepiecePickupInterface from "./interfaces/ConfigureGamepiecePickupInterface"
 import ConfigureShotTrajectoryInterface from "./interfaces/ConfigureShotTrajectoryInterface"
 import ConfigureScoringZonesInterface from "./interfaces/scoring/ConfigureScoringZonesInterface"
+import SequentialBehaviorsInterface from "./interfaces/SequentialBehaviorsInterface"
 import ChangeInputsInterface from "./interfaces/inputs/ConfigureInputsInterface"
 import InputSystem from "@/systems/input/InputSystem"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
@@ -73,7 +74,7 @@ const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configuratio
 enum ConfigMode {
     INTAKE,
     EJECTOR,
-    JOINTS,
+    MOTORS,
     CONTROLS,
     SCORING_ZONES,
 }
@@ -90,7 +91,7 @@ class ConfigModeSelectionOption extends SelectMenuOption {
 const robotModes = [
     new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
     new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
-    new ConfigModeSelectionOption("Joints", ConfigMode.JOINTS),
+    new ConfigModeSelectionOption("Motors", ConfigMode.MOTORS),
     new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
 ]
 const fieldModes = [new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES)]
@@ -124,8 +125,8 @@ const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly
             return <ConfigureGamepiecePickupInterface selectedRobot={assembly} />
         case ConfigMode.EJECTOR:
             return <ConfigureShotTrajectoryInterface selectedRobot={assembly} />
-        case ConfigMode.JOINTS:
-            return <Label>interface not set up</Label>
+        case ConfigMode.MOTORS:
+            return <SequentialBehaviorsInterface selectedRobot={assembly} />
         case ConfigMode.CONTROLS:
             return <Label>interface not set up</Label>
         case ConfigMode.SCORING_ZONES: {
diff --git a/fission/src/ui/panels/SequentialBehaviorsPanel.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
similarity index 53%
rename from fission/src/ui/panels/SequentialBehaviorsPanel.tsx
rename to fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
index d1302fe69a..0f30cc6cea 100644
--- a/fission/src/ui/panels/SequentialBehaviorsPanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
@@ -1,18 +1,16 @@
-import React, { useMemo, useReducer, useState } from "react"
-import Panel, { PanelPropsImpl } from "../components/Panel"
+import React, { useCallback, useEffect, useReducer, useState } from "react"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
-import Label, { LabelSize } from "../components/Label"
-import World from "@/systems/World"
-import { MiraType } from "@/mirabuf/MirabufLoader"
-import { FaArrowRightArrowLeft, FaGear, FaXmark } from "react-icons/fa6"
+import Label, { LabelSize } from "@/ui/components/Label"
+import { FaArrowRightArrowLeft, FaXmark } from "react-icons/fa6"
 import { Box, Button as MUIButton, Divider, styled, alpha, Icon } from "@mui/material"
-import Button, { ButtonSize } from "../components/Button"
+import Button, { ButtonSize } from "@/ui/components/Button"
 import { DefaultSequentialConfig, SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import SequenceableBehavior from "@/systems/simulation/behavior/synthesis/SequenceableBehavior"
-import Checkbox from "../components/Checkbox"
+import Checkbox from "@/ui/components/Checkbox"
 import GenericArmBehavior from "@/systems/simulation/behavior/synthesis/GenericArmBehavior"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
+import { ConfigurationSavedEvent } from "../ConfigurePanel"
 
 const UnselectParentIcon = <FaXmark size={"1.25rem"} />
 const InvertIcon = <FaArrowRightArrowLeft size={"1.25rem"} style={{ transform: "rotate(90deg)" }} />
@@ -117,8 +115,8 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
                 sx={{
                     borderColor:
                         lookingForParent == undefined ||
-                        lookingForParent == behavior ||
-                        behavior.parentJointIndex != undefined
+                            lookingForParent == behavior ||
+                            behavior.parentJointIndex != undefined
                             ? "transparent"
                             : "#888888",
                 }}
@@ -174,11 +172,7 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
  * Joint 4
  * * Joint 2 (child of 4)
  */
-function sortBehaviors(
-    behaviors: SequentialBehaviorPreferences[] | undefined
-): SequentialBehaviorPreferences[] | undefined {
-    if (behaviors == undefined) return undefined
-
+function sortBehaviors(behaviors: SequentialBehaviorPreferences[]): SequentialBehaviorPreferences[] {
     // Sort the behaviors in order of joint index
     behaviors.sort((a, b) => {
         return a.jointIndex - b.jointIndex
@@ -209,118 +203,78 @@ function sortBehaviors(
     return sortedBehaviors
 }
 
-const SequentialBehaviorsPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
-    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
-    const [behaviors, setBehaviors] = useState<SequentialBehaviorPreferences[] | undefined>(undefined)
-    const [lookingForParent, setLookingForParent] = useState<SequentialBehaviorPreferences | undefined>(undefined)
+interface SequentialBehaviorProps {
+    selectedRobot: MirabufSceneObject
+}
 
-    const robots = useMemo(() => {
-        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
-            if (x instanceof MirabufSceneObject) {
-                return x.miraType === MiraType.ROBOT
-            }
-            return false
-        }) as MirabufSceneObject[]
-        return assemblies
-    }, [])
+const SequentialBehaviorsInterface: React.FC<SequentialBehaviorProps> = ({ selectedRobot }) => {
+    const [behaviors, setBehaviors] = useState<SequentialBehaviorPreferences[]>(
+        PreferencesSystem.getRobotPreferences(selectedRobot.assemblyName)?.sequentialConfig ??
+        (selectedRobot.brain as SynthesisBrain).behaviors
+            .filter(b => b instanceof SequenceableBehavior)
+            .map(b => DefaultSequentialConfig(b.jointIndex, b instanceof GenericArmBehavior ? "Arm" : "Elevator")))
+    const [lookingForParent, setLookingForParent] = useState<SequentialBehaviorPreferences | undefined>(undefined)
 
     const [_, update] = useReducer(x => {
         setBehaviors(sortBehaviors(behaviors))
         return !x
     }, false)
 
-    return (
-        <Panel
-            openLocation="right"
-            name={"Sequential Joints"}
-            icon={<FaGear />}
-            panelId={panelId}
-            cancelEnabled={false}
-            onAccept={() => {
-                if (selectedRobot == undefined || behaviors == undefined) return
-                PreferencesSystem.getRobotPreferences(selectedRobot.assemblyName).sequentialConfig = behaviors
-                PreferencesSystem.savePreferences()
-            }}
-        >
-            {selectedRobot == undefined || behaviors == undefined ? (
-                <>
-                    <Label>Select a robot</Label>
-                    {/** Scroll view for selecting a robot to configure */}
-                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
-                        {robots.map(mirabufSceneObject => {
-                            return (
-                                <Button
-                                    value={mirabufSceneObject.assemblyName}
-                                    onClick={() => {
-                                        setSelectedRobot(mirabufSceneObject)
+    const saveEvent = useCallback(() => {
+        if (selectedRobot == undefined || behaviors == undefined) return
+        PreferencesSystem.getRobotPreferences(selectedRobot.assemblyName).sequentialConfig = behaviors
+        PreferencesSystem.savePreferences()
+    }, [])
 
-                                        const prefs = PreferencesSystem.getRobotPreferences(
-                                            mirabufSceneObject.assemblyName
-                                        )
-                                        if (prefs.sequentialConfig) setBehaviors(prefs.sequentialConfig)
-                                        else {
-                                            setBehaviors(
-                                                (mirabufSceneObject.brain as SynthesisBrain).behaviors
-                                                    .filter(b => b instanceof SequenceableBehavior)
-                                                    .map(b => {
-                                                        return DefaultSequentialConfig(
-                                                            b.jointIndex,
-                                                            b instanceof GenericArmBehavior ? "Arm" : "Elevator"
-                                                        )
-                                                    })
-                                            )
-                                        }
+    useEffect(() => {
+        ConfigurationSavedEvent.Listen(saveEvent)
 
-                                        update()
-                                    }}
-                                    key={mirabufSceneObject.id}
-                                ></Button>
-                            )
-                        })}
-                    </div>
-                </>
-            ) : (
-                <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
-                    <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                        Set Parent Behaviors
-                    </LabelStyled>
-                    <DividerStyled />
-                    {behaviors.map(behavior => {
-                        const jointIndex = behavior.jointIndex
-                        return (
-                            <BehaviorCard
-                                elementKey={jointIndex}
-                                name={
-                                    behavior.type == "Arm"
-                                        ? `Joint ${jointIndex} (Arm)`
-                                        : `Joint ${jointIndex} (Elevator)`
-                                }
-                                behavior={behavior}
-                                key={jointIndex}
-                                update={update}
-                                onSetPressed={() => {
-                                    if (behavior.parentJointIndex != undefined) {
-                                        behavior.parentJointIndex = undefined
-                                        update()
-                                    } else {
-                                        setLookingForParent(lookingForParent == behavior ? undefined : behavior)
-                                    }
-                                    update()
-                                }}
-                                lookingForParent={lookingForParent}
-                                onBehaviorSelected={() => {
-                                    if (lookingForParent) lookingForParent.parentJointIndex = behavior.jointIndex
-                                    setLookingForParent(undefined)
-                                    update()
-                                }}
-                                hasChild={behaviors.some(b => b.parentJointIndex == behavior.jointIndex)}
-                            />
-                        )
-                    })}
-                </div>
-            )}
-        </Panel>
+        return () => {
+            ConfigurationSavedEvent.RemoveListener(saveEvent)
+        }
+    }, [saveEvent])
+
+
+    return (
+        <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
+            <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                Set Parent Behaviors
+            </LabelStyled>
+            <DividerStyled />
+            {behaviors.map(behavior => {
+                const jointIndex = behavior.jointIndex
+                return (
+                    <BehaviorCard
+                        elementKey={jointIndex}
+                        name={
+                            behavior.type == "Arm"
+                                ? `Joint ${jointIndex} (Arm)`
+                                : `Joint ${jointIndex} (Elevator)`
+                        }
+                        behavior={behavior}
+                        key={jointIndex}
+                        update={update}
+                        onSetPressed={() => {
+                            if (behavior.parentJointIndex != undefined) {
+                                behavior.parentJointIndex = undefined
+                                update()
+                            } else {
+                                setLookingForParent(lookingForParent == behavior ? undefined : behavior)
+                            }
+                            update()
+                        }}
+                        lookingForParent={lookingForParent}
+                        onBehaviorSelected={() => {
+                            if (lookingForParent) lookingForParent.parentJointIndex = behavior.jointIndex
+                            setLookingForParent(undefined)
+                            update()
+                        }}
+                        hasChild={behaviors.some(b => b.parentJointIndex == behavior.jointIndex)}
+                    />
+                )
+            })}
+        </div>
     )
 }
 
-export default SequentialBehaviorsPanel
+export default SequentialBehaviorsInterface

From 6f1fe3d7d011f4fce3c5f75af9fe6d06983fc519 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Fri, 2 Aug 2024 13:27:54 -0700
Subject: [PATCH 140/344] Requested changes

---
 .../systems/simulation/driver/HingeDriver.ts  | 28 +++++--------------
 .../systems/simulation/driver/SliderDriver.ts | 26 ++++-------------
 .../systems/simulation/driver/WheelDriver.ts  | 22 +++------------
 .../configuring/ConfigureJointsPanel.tsx      |  6 ++--
 4 files changed, 20 insertions(+), 62 deletions(-)

diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
index 243c0c4441..a356aa8062 100644
--- a/fission/src/systems/simulation/driver/HingeDriver.ts
+++ b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -8,19 +8,12 @@ class HingeDriver extends Driver {
     private _constraint: Jolt.HingeConstraint
 
     private _controlMode: DriverControlMode = DriverControlMode.Velocity
-    private _accelerationDirection: number = 0.0
     private _targetAngle: number
-    private _maxVelocity: number
+    public accelerationDirection: number = 0.0
+    public maxVelocity: number
 
     private _prevAng: number = 0.0
 
-    public get accelerationDirection(): number {
-        return this._accelerationDirection
-    }
-    public set accelerationDirection(radsPerSec: number) {
-        this._accelerationDirection = radsPerSec
-    }
-
     public get targetAngle(): number {
         return this._targetAngle
     }
@@ -28,13 +21,6 @@ class HingeDriver extends Driver {
         this._targetAngle = Math.max(this._constraint.GetLimitsMin(), Math.min(this._constraint.GetLimitsMax(), rads))
     }
 
-    public get maxVelocity(): number {
-        return this._maxVelocity
-    }
-    public set maxVelocity(radsPerSec: number) {
-        this._maxVelocity = radsPerSec
-    }
-
     public get maxForce() {
         return this._constraint.GetMotorSettings().mMaxTorqueLimit
     }
@@ -68,7 +54,7 @@ class HingeDriver extends Driver {
         super(info)
 
         this._constraint = constraint
-        this._maxVelocity = maxVelocity
+        this.maxVelocity = maxVelocity
         this._targetAngle = this._constraint.GetCurrentAngle()
 
         const motorSettings = this._constraint.GetMotorSettings()
@@ -84,13 +70,13 @@ class HingeDriver extends Driver {
 
     public Update(_: number): void {
         if (this._controlMode == DriverControlMode.Velocity) {
-            this._constraint.SetTargetAngularVelocity(this._accelerationDirection * this._maxVelocity)
+            this._constraint.SetTargetAngularVelocity(this.accelerationDirection * this.maxVelocity)
         } else if (this._controlMode == DriverControlMode.Position) {
             let ang = this._targetAngle
 
-            if (ang - this._prevAng < -this.maxVelocity) ang = this._prevAng - this._maxVelocity
-            if (ang - this._prevAng > this.maxVelocity) ang = this._prevAng + this._maxVelocity
-            this._constraint.SetTargetAngle(this._targetAngle)
+            if (ang - this._prevAng < -this.maxVelocity) ang = this._prevAng - this.maxVelocity
+            if (ang - this._prevAng > this.maxVelocity) ang = this._prevAng + this.maxVelocity
+            this._constraint.SetTargetAngle(ang)
         }
     }
 }
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index 0cfbb2dc8d..d80a3fa681 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -8,19 +8,12 @@ class SliderDriver extends Driver {
     private _constraint: Jolt.SliderConstraint
 
     private _controlMode: DriverControlMode = DriverControlMode.Velocity
-    private _accelerationDirection: number = 0.0
     private _targetPosition: number = 0.0
-    private _maxVelocity: number = 1.0
+    public accelerationDirection: number = 0.0
+    public maxVelocity: number = 1.0
 
     private _prevPos: number = 0.0
 
-    public get accelerationDirection(): number {
-        return this._accelerationDirection
-    }
-    public set accelerationDirection(radsPerSec: number) {
-        this._accelerationDirection = radsPerSec
-    }
-
     public get targetPosition(): number {
         return this._targetPosition
     }
@@ -31,13 +24,6 @@ class SliderDriver extends Driver {
         )
     }
 
-    public get maxVelocity(): number {
-        return this._maxVelocity
-    }
-    public set maxVelocity(radsPerSec: number) {
-        this._maxVelocity = radsPerSec
-    }
-
     public get maxForce(): number {
         return this._constraint.GetMotorSettings().mMaxForceLimit
     }
@@ -70,7 +56,7 @@ class SliderDriver extends Driver {
         super(info)
 
         this._constraint = constraint
-        this._maxVelocity = maxVelocity
+        this.maxVelocity = maxVelocity
 
         const motorSettings = this._constraint.GetMotorSettings()
         const springSettings = motorSettings.mSpringSettings
@@ -84,12 +70,12 @@ class SliderDriver extends Driver {
 
     public Update(_: number): void {
         if (this._controlMode == DriverControlMode.Velocity) {
-            this._constraint.SetTargetVelocity(this._accelerationDirection * this._maxVelocity)
+            this._constraint.SetTargetVelocity(this.accelerationDirection * this.maxVelocity)
         } else if (this._controlMode == DriverControlMode.Position) {
             let pos = this._targetPosition
 
-            if (pos - this._prevPos < -this.maxVelocity) pos = this._prevPos - this._maxVelocity
-            if (pos - this._prevPos > this.maxVelocity) pos = this._prevPos + this._maxVelocity
+            if (pos - this._prevPos < -this.maxVelocity) pos = this._prevPos - this.maxVelocity
+            if (pos - this._prevPos > this.maxVelocity) pos = this._prevPos + this.maxVelocity
 
             this._constraint.SetTargetPosition(pos)
         }
diff --git a/fission/src/systems/simulation/driver/WheelDriver.ts b/fission/src/systems/simulation/driver/WheelDriver.ts
index 35aa702494..916a6c6a28 100644
--- a/fission/src/systems/simulation/driver/WheelDriver.ts
+++ b/fission/src/systems/simulation/driver/WheelDriver.ts
@@ -14,13 +14,13 @@ class WheelDriver extends Driver {
     public device?: string
     private _reversed: boolean
 
-    private _accelerationDirection: number = 0.0
+    public accelerationDirection: number = 0.0
     private _prevVel: number = 0.0
-    private _maxVelocity = 30.0
+    public maxVelocity = 30.0
     private _maxAcceleration = 1.5
 
     private _targetVelocity = () => {
-        let vel = this._accelerationDirection * (this._reversed ? -1 : 1) * this._maxVelocity
+        let vel = this.accelerationDirection * (this._reversed ? -1 : 1) * this.maxVelocity
 
         if (vel - this._prevVel < -this._maxAcceleration) vel = this._prevVel - this._maxAcceleration
         if (vel - this._prevVel > this._maxAcceleration) vel = this._prevVel + this._maxAcceleration
@@ -28,20 +28,6 @@ class WheelDriver extends Driver {
         return vel
     }
 
-    public get accelerationDirection(): number {
-        return this._accelerationDirection
-    }
-    public set accelerationDirection(radsPerSec: number) {
-        this._accelerationDirection = radsPerSec
-    }
-
-    public get maxVelocity(): number {
-        return this._maxVelocity
-    }
-    public set maxVelocity(radsPerSec: number) {
-        this._maxVelocity = radsPerSec
-    }
-
     public get maxForce(): number {
         return this._maxAcceleration
     }
@@ -64,7 +50,7 @@ class WheelDriver extends Driver {
         super(info)
 
         this._constraint = constraint
-        this._maxVelocity = maxVel
+        this.maxVelocity = maxVel
         const controller = JOLT.castObject(this._constraint.GetController(), JOLT.WheeledVehicleController)
         this._maxAcceleration = controller.GetEngine().mMaxTorque
 
diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
index d183021153..a290037354 100644
--- a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
@@ -14,7 +14,7 @@ import ScrollView from "@/ui/components/ScrollView"
 import Slider from "@/ui/components/Slider"
 import Stack, { StackDirection } from "@/ui/components/Stack"
 import { Box } from "@mui/material"
-import { useMemo, useState } from "react"
+import { useCallback, useMemo, useState } from "react"
 import { FaGear } from "react-icons/fa6"
 
 type JointRowProps = {
@@ -43,7 +43,7 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
         ((driver as SliderDriver) || (driver as HingeDriver) || (driver as WheelDriver)).maxForce
     )
 
-    const onChange = (vel: number, force: number) => {
+    const onChange = useCallback((vel: number, force: number) => {
         if (driver instanceof WheelDriver) {
             const wheelDrivers = robot?.mechanism
                 ? World.SimulationSystem.GetSimulationLayer(robot.mechanism)?.drivers.filter(
@@ -82,7 +82,7 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
         }
 
         PreferencesSystem.savePreferences()
-    }
+    }, [driver, velocity, force])
 
     return (
         <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>

From 8d9f4301471f9617afc7db942c6cbeaa1bb8f5a0 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Fri, 2 Aug 2024 16:51:36 -0700
Subject: [PATCH 141/344] added init to can motor and encoder

---
 .../main/java/com/autodesk/synthesis/CANEncoder.java |  2 ++
 .../main/java/com/autodesk/synthesis/CANMotor.java   |  4 ++++
 .../JavaSample/src/main/java/frc/robot/Robot.java    | 12 ++++++------
 3 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
index fa74dbbe0f..69fe35dd0b 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
@@ -14,6 +14,7 @@ public class CANEncoder {
 
     private SimDevice m_device;
 
+    private SimDouble m_init;
     private SimDouble m_position;
     private SimDouble m_velocity;
 
@@ -26,6 +27,7 @@ public class CANEncoder {
     public CANEncoder(String name, int deviceId) {
         m_device = SimDevice.create(name, deviceId);
 
+        m_device = SimDevice.create(name, deviceId);
         m_position = m_device.createDouble("position", Direction.kInput, 0.0);
         m_velocity = m_device.createDouble("velocity", Direction.kInput, 0.0);
     }
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
index 7dd36e8e93..341f37c053 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
@@ -17,6 +17,8 @@ public class CANMotor {
 
     private SimDevice m_device;
 
+    private SimBoolean m_init;
+
     private SimDouble m_percentOutput;
     private SimBoolean m_brakeMode;
     private SimDouble m_neutralDeadband;
@@ -43,6 +45,8 @@ public CANMotor(String name, int deviceId, double defaultPercentOutput, boolean
             double defaultNeutralDeadband) {
         m_device = SimDevice.create(name, deviceId);
 
+        m_init = m_device.createBoolean("init", Direction.kOutput, true);
+
         m_percentOutput = m_device.createDouble("percentOutput", Direction.kOutput, 0.0);
         m_brakeMode = m_device.createBoolean("brakeMode", Direction.kOutput, false);
         m_neutralDeadband = m_device.createDouble("neutralDeadband", Direction.kOutput, 0.5);
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index c9150e5025..134222b08b 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -7,7 +7,7 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.TimedRobot;
-//import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -29,7 +29,7 @@ public class Robot extends TimedRobot {
     private String m_autoSelected;
     private final SendableChooser<String> m_chooser = new SendableChooser<>();
 
-    // private Spark m_Spark = new Spark(0);
+    private Spark m_Spark = new Spark(0);
     private CANSparkMax m_SparkMax = new CANSparkMax(1, MotorType.kBrushless);
     private com.autodesk.synthesis.ctre.TalonFX m_Talon = new com.autodesk.synthesis.ctre.TalonFX(2);
 
@@ -79,7 +79,7 @@ public void robotPeriodic() {
     @Override
     public void autonomousInit() {
         m_autoSelected = m_chooser.getSelected();
-        // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
+        //m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
         System.out.println("Auto selected: " + m_autoSelected);
     }
 
@@ -87,7 +87,7 @@ public void autonomousInit() {
     @Override
     public void autonomousPeriodic() {
 
-        // m_Spark.set(0.5);
+        m_Spark.set(0.5);
         m_SparkMax.set(1.0);
         //m_SparkMax.setNeutralDeadband(0.01); // FIXME: for some reason I can't set
         // the deadband even after defining the function in the child
@@ -113,7 +113,7 @@ public void teleopInit() {
     /** This function is called periodically during operator control. */
     @Override
     public void teleopPeriodic() {
-        // m_Spark.set(0.25);
+        m_Spark.set(0.25);
         m_SparkMax.set(0.75);
         m_Talon.set(-0.5);
     }
@@ -121,7 +121,7 @@ public void teleopPeriodic() {
     /** This function is called once when the robot is disabled. */
     @Override
     public void disabledInit() {
-        // m_Spark.set(0.0);
+        m_Spark.set(0.0);
         m_SparkMax.set(0.0);
         m_Talon.set(0.0);
     }

From 05d9acf185883c9a4d2d8a5a8e8c508485cd2b1e Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Fri, 2 Aug 2024 17:47:44 -0700
Subject: [PATCH 142/344] workaround for sim types

---
 fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts  | 6 +++++-
 .../src/main/java/com/autodesk/synthesis/CANEncoder.java    | 5 +++--
 .../src/main/java/com/autodesk/synthesis/ctre/TalonFX.java  | 2 +-
 .../com/autodesk/synthesis/revrobotics/CANSparkMax.java     | 4 ++--
 4 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 75eeda0328..32bee5b14a 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -220,6 +220,10 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
         return
     }
 
+    if (data.type == "SimDevice") {
+        ;[data.type, data.device] = data.device.split("/")
+    }
+
     if (!Object.values(SimType).includes(data.type)) {
         console.log("Unknown data type, bailing out")
         return
@@ -241,7 +245,7 @@ function UpdateSimMap(type: SimType, device: string, updateData: any) {
         typeMap.set(device, currentData)
     }
 
-    Object.entries(updateData).forEach(([key, value]) => currentData[key] = value)
+    Object.entries(updateData).forEach(([key, value]) => (currentData[key] = value))
 
     window.dispatchEvent(new SimMapUpdateEvent(false))
 }
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
index 69fe35dd0b..e45c228f2e 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
@@ -2,6 +2,7 @@
 
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.hal.SimBoolean;
 import edu.wpi.first.hal.SimDevice.Direction;
 
 /**
@@ -14,7 +15,7 @@ public class CANEncoder {
 
     private SimDevice m_device;
 
-    private SimDouble m_init;
+    private SimBoolean m_init;
     private SimDouble m_position;
     private SimDouble m_velocity;
 
@@ -27,7 +28,7 @@ public class CANEncoder {
     public CANEncoder(String name, int deviceId) {
         m_device = SimDevice.create(name, deviceId);
 
-        m_device = SimDevice.create(name, deviceId);
+        m_init = m_device.createBoolean("init", Direction.kOutput, true);
         m_position = m_device.createDouble("position", Direction.kInput, 0.0);
         m_velocity = m_device.createDouble("velocity", Direction.kInput, 0.0);
     }
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
index 4a242a97e3..3ac0d32a66 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
@@ -16,7 +16,7 @@ public class TalonFX extends com.ctre.phoenix6.hardware.TalonFX {
     public TalonFX(int deviceNumber) {
         super(deviceNumber);
 
-        this.m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3);
+        this.m_motor = new CANMotor("CANMotor/SYN TalonFX", deviceNumber, 0.0, false, 0.3);
     }
 
     @Override
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 71bdcea853..1f8ef11f6f 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -24,8 +24,8 @@ public class CANSparkMax extends com.revrobotics.CANSparkMax {
     public CANSparkMax(int deviceId, MotorType motorType) {
         super(deviceId, motorType);
 
-        this.m_motor = new CANMotor("SYN CANSparkMax", deviceId, 0.0, false, 0.3);
-        this.m_encoder = new CANEncoder("SYN CANSparkMax/Encoder", deviceId);
+        this.m_motor = new CANMotor("CANMotor/SYN CANSparkMax", deviceId, 0.0, false, 0.3);
+        this.m_encoder = new CANEncoder("CANEncoder/SYN CANSparkMax", deviceId);
     }
 
     @Override

From 781cbc08e109d0cde6c364654bc12df2f0f933ea Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Fri, 2 Aug 2024 18:04:20 -0700
Subject: [PATCH 143/344] added filter for non-Synthesim CAN devices

---
 fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 32bee5b14a..f76b0112e7 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -224,6 +224,12 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
         ;[data.type, data.device] = data.device.split("/")
     }
 
+    if ((data.type == "CANMotor" || data.type == "CANEncoder") && data.device.split(" ")[0] != "SYN") {
+        console.log("Non-Synthesim CANMotor discarded")
+        return
+    }
+
+
     if (!Object.values(SimType).includes(data.type)) {
         console.log("Unknown data type, bailing out")
         return

From 289095a4c3d436fd2cdfe21cf0ba19ba3b0eb67f Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Fri, 2 Aug 2024 22:15:17 -0600
Subject: [PATCH 144/344] Fixed SimDevice type recognition

---
 simulation/SyntheSimJava/.gitignore                           | 4 ++++
 .../src/main/java/com/autodesk/synthesis/CANEncoder.java      | 2 +-
 .../src/main/java/com/autodesk/synthesis/CANMotor.java        | 2 +-
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/simulation/SyntheSimJava/.gitignore b/simulation/SyntheSimJava/.gitignore
index 2e559f72b7..b7691f9c47 100644
--- a/simulation/SyntheSimJava/.gitignore
+++ b/simulation/SyntheSimJava/.gitignore
@@ -7,3 +7,7 @@
 build/
 ctre-sil/
 bin/
+
+.settings/
+.classpath
+
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
index e45c228f2e..d00e5439b8 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
@@ -26,7 +26,7 @@ public class CANEncoder {
      * @param deviceId CAN Device ID.
      */
     public CANEncoder(String name, int deviceId) {
-        m_device = SimDevice.create(name, deviceId);
+        m_device = SimDevice.create(String.format("%s:%s", "CANEncoder", name), deviceId);
 
         m_init = m_device.createBoolean("init", Direction.kOutput, true);
         m_position = m_device.createDouble("position", Direction.kInput, 0.0);
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
index 341f37c053..cd5e1d55d2 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
@@ -43,7 +43,7 @@ public class CANMotor {
      */
     public CANMotor(String name, int deviceId, double defaultPercentOutput, boolean defaultBrakeMode,
             double defaultNeutralDeadband) {
-        m_device = SimDevice.create(name, deviceId);
+        m_device = SimDevice.create(String.format("%s:%s", "CANMotor", name), deviceId);
 
         m_init = m_device.createBoolean("init", Direction.kOutput, true);
 

From 33f72b08303cfd683c8988ada6e7bdbc65101038 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Mon, 5 Aug 2024 10:53:35 -0700
Subject: [PATCH 145/344] Subsystem

---
 fission/src/Synthesis.tsx                      |  4 ++--
 fission/src/ui/components/MainHUD.tsx          |  4 ++--
 ...sPanel.tsx => ConfigureSubsystemsPanel.tsx} | 18 +++++++++---------
 3 files changed, 13 insertions(+), 13 deletions(-)
 rename fission/src/ui/panels/configuring/{ConfigureJointsPanel.tsx => ConfigureSubsystemsPanel.tsx} (95%)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index f33227e360..62b1a0e76f 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -40,7 +40,7 @@ import SpawnLocationsPanel from "@/panels/SpawnLocationPanel"
 import ConfigureGamepiecePickupPanel from "@/panels/configuring/ConfigureGamepiecePickupPanel"
 import ConfigureShotTrajectoryPanel from "@/panels/configuring/ConfigureShotTrajectoryPanel"
 import ScoringZonesPanel from "@/panels/configuring/scoring/ScoringZonesPanel"
-import ConfigureJointsPanel from "@/panels/configuring/ConfigureJointsPanel"
+import ConfigureSubsystemsPanel from "@/ui/panels/configuring/ConfigureSubsystemsPanel.tsx"
 import ScoreboardPanel from "@/panels/information/ScoreboardPanel"
 import DriverStationPanel from "@/panels/simulation/DriverStationPanel"
 import PokerPanel from "@/panels/PokerPanel.tsx"
@@ -254,7 +254,7 @@ const initialPanels: ReactElement[] = [
     <ChooseInputSchemePanel key="choose-scheme" panelId="choose-scheme" />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
-    <ConfigureJointsPanel key="joint-config" panelId="joint-config" openLocation="right" sidePadding={8} />,
+    <ConfigureSubsystemsPanel key="subsystem-config" panelId="subsystem-config" openLocation="right" sidePadding={8} />,
 ]
 
 export default Synthesis
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index e4ed7d8211..52d1493c80 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -120,9 +120,9 @@ const MainHUD: React.FC = () => {
                         }}
                     />
                     <MainHUDButton
-                        value={"Joints"}
+                        value={"Subsystems"}
                         icon={SynthesisIcons.Gear}
-                        onClick={() => openPanel("joint-config")}
+                        onClick={() => openPanel("subsystem-config")}
                     />
                     <MainHUDButton
                         value={"Configure"}
diff --git a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
similarity index 95%
rename from fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
rename to fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index a290037354..348d49aac2 100644
--- a/fission/src/ui/panels/configuring/ConfigureJointsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -17,12 +17,12 @@ import { Box } from "@mui/material"
 import { useCallback, useMemo, useState } from "react"
 import { FaGear } from "react-icons/fa6"
 
-type JointRowProps = {
+type SubsystemRowProps = {
     robot: MirabufSceneObject
     driver: Driver
 }
 
-const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
+const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
     const driverSwitch = (driver: Driver, slider: unknown, hinge: unknown, drivetrain: unknown) => {
         switch (driver.constructor) {
             case SliderDriver:
@@ -82,7 +82,7 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
         }
 
         PreferencesSystem.savePreferences()
-    }, [driver, velocity, force])
+    }, [driver, robot.mechanism, robot.assemblyName])
 
     return (
         <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>
@@ -119,7 +119,7 @@ const JointRow: React.FC<JointRowProps> = ({ robot, driver }) => {
     )
 }
 
-const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
+const ConfigureSubsystemsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
     const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
     const [origPref, setOrigPref] = useState<RobotPreferences | undefined>(undefined)
 
@@ -189,7 +189,7 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
 
     return (
         <Panel
-            name="Configure Joints"
+            name="Configure Subsystems"
             icon={<FaGear />}
             panelId={panelId}
             openLocation={openLocation}
@@ -224,7 +224,7 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
                     {drivers ? (
                         <ScrollView className="flex flex-col gap-4">
                             {/** Drivetrain row. Then other SliderDrivers and HingeDrivers */}
-                            <JointRow
+                            <SubsystemRow
                                 key={0}
                                 robot={(() => {
                                     return selectedRobot
@@ -236,7 +236,7 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
                             {drivers
                                 .filter(x => x instanceof SliderDriver || x instanceof HingeDriver)
                                 .map((driver: Driver, i: number) => (
-                                    <JointRow
+                                    <SubsystemRow
                                         key={i + 1}
                                         robot={(() => {
                                             return selectedRobot
@@ -248,7 +248,7 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
                                 ))}
                         </ScrollView>
                     ) : (
-                        <Label>No Joints</Label>
+                        <Label>No Subsystems</Label>
                     )}
                 </>
             )}
@@ -256,4 +256,4 @@ const ConfigureJointsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation,
     )
 }
 
-export default ConfigureJointsPanel
+export default ConfigureSubsystemsPanel

From e20c8341b5d2004455cfbd4d03bb00387b59f0ce Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Mon, 5 Aug 2024 10:59:58 -0700
Subject: [PATCH 146/344] changed cansparkmax names to conform to new type
 format

---
 .../simulation/wpilib_brain/WPILibBrain.ts    | 71 ++++---------------
 .../synthesis/revrobotics/CANSparkMax.java    |  4 +-
 2 files changed, 16 insertions(+), 59 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index f76b0112e7..2e723be4c0 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -30,7 +30,6 @@ export enum SimType {
     PWM,
     CANMotor,
     Solenoid,
-    SimDevice,
     CANEncoder,
 }
 
@@ -138,7 +137,7 @@ export class SimCAN {
     public static GetDeviceWithID(id: number, type: SimType): any {
         const id_exp = /.*\[(\d+)\]/g
         const entries = [...simMap.entries()].filter(
-            ([simType, _data]) => simType == type || simType == SimType.SimDevice
+            ([simType, _data]) => simType == type 
         )
         for (const [_simType, data] of entries) {
             for (const key of data.keys()) {
@@ -198,7 +197,7 @@ export class SimCANEncoder {
 
     public static SetPosition(device: string, position: number): boolean {
         return SimGeneric.Set(SimType.CANEncoder, device, CANENCODER_POSITION, position)
-    }
+    
 }
 
 worker.addEventListener("message", (eventData: MessageEvent) => {
@@ -215,25 +214,7 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
         }
     }
 
-    if (!data?.type) {
-        console.log("No data, bailing out")
-        return
-    }
-
-    if (data.type == "SimDevice") {
-        ;[data.type, data.device] = data.device.split("/")
-    }
-
-    if ((data.type == "CANMotor" || data.type == "CANEncoder") && data.device.split(" ")[0] != "SYN") {
-        console.log("Non-Synthesim CANMotor discarded")
-        return
-    }
-
-
-    if (!Object.values(SimType).includes(data.type)) {
-        console.log("Unknown data type, bailing out")
-        return
-    }
+    if (!data?.type || data.split(" ")[0] != "SYN" || !Object.values(SimType).includes(data.type)) return
 
     UpdateSimMap(data.type, data.device, data.data)
 })
@@ -320,17 +301,8 @@ abstract class SimOutputGroup {
         this.type = type
     }
 
-    public abstract Update(deltaT: number): void
-}
-
-// Averaging is probably not the right solution
-
-export class PWMGroup extends SimOutputGroup {
-    public constructor(name: string, ports: number[], drivers: Driver[]) {
-        super(name, ports, drivers, SimType.PWM)
-    }
-
-    public Update(_deltaT: number) {
+    // Averaging is probably not the right solution
+    public Update(deltaT: number): void {
         const average =
             this.ports.reduce((sum, port) => {
                 const speed = SimPWM.GetSpeed(`${port}`) ?? 0
@@ -344,36 +316,21 @@ export class PWMGroup extends SimOutputGroup {
             } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
                 d.targetVelocity = average * 40
             }
-            d.Update(_deltaT)
+            d.Update(deltaT)
         })
+
     }
 }
 
-export class CANGroup extends SimOutputGroup {
+
+export class PWMGroup extends SimOutputGroup {
     public constructor(name: string, ports: number[], drivers: Driver[]) {
-        super(name, ports, drivers, SimType.CANMotor)
+        super(name, ports, drivers, SimType.PWM)
     }
+}
 
-    public Update(_deltaT: number) {
-        for (const port of this.ports) {
-            const device = SimCAN.GetDeviceWithID(port, this.type)
-            console.log(port, device)
-        }
-
-        const average =
-            this.ports.reduce((sum, port) => {
-                const speed = SimPWM.GetSpeed(`${port}`) ?? 0
-                console.debug(port, speed)
-                return sum + speed
-            }, 0) / this.ports.length
-
-        this.drivers.forEach(d => {
-            if (d instanceof WheelDriver) {
-                d.targetWheelSpeed = average * 40
-            } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
-                d.targetVelocity = average * 40
-            }
-            d.Update(_deltaT)
-        })
+export class CANGroup extends SimOutputGroup {
+    public constructor(name: string, ports: number[], drivers: Driver[]) {
+        super(name, ports, drivers, SimType.CANMotor)
     }
 }
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 1f8ef11f6f..5bfb81350f 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -24,8 +24,8 @@ public class CANSparkMax extends com.revrobotics.CANSparkMax {
     public CANSparkMax(int deviceId, MotorType motorType) {
         super(deviceId, motorType);
 
-        this.m_motor = new CANMotor("CANMotor/SYN CANSparkMax", deviceId, 0.0, false, 0.3);
-        this.m_encoder = new CANEncoder("CANEncoder/SYN CANSparkMax", deviceId);
+        this.m_motor = new CANMotor("SYN CANSparkMax", deviceId, 0.0, false, 0.3);
+        this.m_encoder = new CANEncoder("SYN CANSparkMax", deviceId);
     }
 
     @Override

From dcca428e55c4b1a6477acfb8a87b8be5ef31151b Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Mon, 5 Aug 2024 20:45:41 -0700
Subject: [PATCH 147/344] Formatting

---
 fission/src/systems/scene/SceneRenderer.ts | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index 25effaebdf..c610259076 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -192,7 +192,8 @@ class SceneRenderer extends WorldSystem {
             this._light.shadow.bias = 0.0
             this._light.shadow.normalBias = 0.01
             this._scene.add(this._light)
-        } else if (quality === "High") { // setting light to cascading shadows
+        } else if (quality === "High") {
+            // setting light to cascading shadows
             this._light = new CSM({
                 parent: this._scene,
                 camera: this._mainCamera,

From 2733f083f8af4adc428d6f3c2d1f88c08b8ed0bb Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 6 Aug 2024 09:18:55 -0700
Subject: [PATCH 148/344] Move logging

---
 exporter/SynthesisFusionAddin/src/logging.py | 105 -------------------
 1 file changed, 105 deletions(-)
 delete mode 100644 exporter/SynthesisFusionAddin/src/logging.py

diff --git a/exporter/SynthesisFusionAddin/src/logging.py b/exporter/SynthesisFusionAddin/src/logging.py
deleted file mode 100644
index 2bf9ce191b..0000000000
--- a/exporter/SynthesisFusionAddin/src/logging.py
+++ /dev/null
@@ -1,105 +0,0 @@
-import functools
-import inspect
-import logging.handlers
-import os
-import pathlib
-import sys
-import time
-import traceback
-from datetime import date, datetime
-from typing import cast
-
-import adsk.core
-
-from .strings import INTERNAL_ID
-from .UI.OsHelper import getOSPath
-
-MAX_LOG_FILES_TO_KEEP = 10
-TIMING_LEVEL = 25
-
-
-class SynthesisLogger(logging.Logger):
-    def timing(self, msg: str, *args: any, **kwargs: any) -> None:
-        return self.log(TIMING_LEVEL, msg, *args, **kwargs)
-
-    def cleanupHandlers(self) -> None:
-        for handler in self.handlers:
-            handler.close()
-
-
-def setupLogger() -> None:
-    now = datetime.now().strftime("%H-%M-%S")
-    today = date.today()
-    logFileFolder = getOSPath(f"{pathlib.Path(__file__).parent.parent}", "logs")
-    logFiles = [os.path.join(logFileFolder, file) for file in os.listdir(logFileFolder) if file.endswith(".log")]
-    logFiles.sort()
-    if len(logFiles) >= MAX_LOG_FILES_TO_KEEP:
-        for file in logFiles[: len(logFiles) - MAX_LOG_FILES_TO_KEEP]:
-            os.remove(file)
-
-    logFileName = f"{logFileFolder}{getOSPath(f'{INTERNAL_ID}-{today}-{now}.log')}"
-    logHandler = logging.handlers.WatchedFileHandler(logFileName, mode="w")
-    logHandler.setFormatter(logging.Formatter("%(name)s - %(levelname)s - %(message)s"))
-
-    logging.setLoggerClass(SynthesisLogger)
-    logging.addLevelName(TIMING_LEVEL, "TIMING")
-    logger = getLogger(INTERNAL_ID)
-    logger.setLevel(10)  # Debug
-    logger.addHandler(logHandler)
-
-
-def getLogger(name: str | None = None) -> SynthesisLogger:
-    if not name:
-        # Inspect the caller stack to automatically get the module from which the function is being called from.
-        name = f"{INTERNAL_ID}.{'.'.join(inspect.getmodule(inspect.stack()[1][0]).__name__.split('.')[1:])}"
-
-    return cast(SynthesisLogger, logging.getLogger(name))
-
-
-# Log function failure decorator.
-def logFailure(func: callable = None, /, *, messageBox: bool = False) -> callable:
-    def wrap(func: callable) -> callable:
-        @functools.wraps(func)
-        def wrapper(*args: any, **kwargs: any) -> any:
-            try:
-                return func(*args, **kwargs)
-            except BaseException:
-                excType, excValue, excTrace = sys.exc_info()
-                tb = traceback.TracebackException(excType, excValue, excTrace)
-                formattedTb = "".join(list(tb.format())[2:])  # Remove the wrapper func from the traceback.
-                clsName = ""
-                if args and hasattr(args[0], "__class__"):
-                    clsName = args[0].__class__.__name__ + "."
-
-                getLogger(f"{INTERNAL_ID}.{clsName}{func.__name__}").error(f"Failed:\n{formattedTb}")
-                if messageBox:
-                    ui = adsk.core.Application.get().userInterface
-                    ui.messageBox(f"Internal Failure: {formattedTb}", "Synthesis: Error")
-
-        return wrapper
-
-    if func is None:
-        # Called with parens.
-        return wrap
-
-    # Called without parens.
-    return wrap(func)
-
-
-# Time function decorator.
-def timed(func: callable) -> callable:
-    def wrapper(*args: any, **kwargs: any) -> any:
-        startTime = time.perf_counter()
-        result = func(*args, **kwargs)
-        endTime = time.perf_counter()
-        runTime = f"{endTime - startTime:5f}s"
-
-        clsName = ""
-        if args and hasattr(args[0], "__class__"):
-            clsName = args[0].__class__.__name__ + "."
-
-        logger = getLogger(f"{INTERNAL_ID}.{clsName}{func.__name__}")
-        logger.timing(f"Runtime of '{func.__name__}' took '{runTime}'.")
-        return result
-
-    return wrapper

From 358064946283edafc6a96d984122c6db84da99fa Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 6 Aug 2024 10:01:11 -0700
Subject: [PATCH 149/344] Revert back to previous state + remove
 `general_imports.py`

---
 exporter/SynthesisFusionAddin/Synthesis.py    |  6 +--
 exporter/SynthesisFusionAddin/src/APS/APS.py  |  6 +--
 .../SynthesisFusionAddin/src/Dependencies.py  |  2 +-
 .../SynthesisFusionAddin/src/GlobalManager.py |  5 ---
 exporter/SynthesisFusionAddin/src/Logging.py  |  4 +-
 .../src/Parser/ExporterOptions.py             |  6 +--
 .../src/Parser/SynthesisParser/Components.py  | 12 +++---
 .../Parser/SynthesisParser/JointHierarchy.py  | 10 ++---
 .../src/Parser/SynthesisParser/Joints.py      | 11 +++--
 .../src/Parser/SynthesisParser/Materials.py   | 15 ++-----
 .../src/Parser/SynthesisParser/Parser.py      | 16 +++----
 .../SynthesisParser/PhysicalProperties.py     |  6 +--
 .../src/Parser/SynthesisParser/RigidGroup.py  |  2 +-
 .../SynthesisFusionAddin/src/UI/Camera.py     | 11 +++--
 .../src/UI/ConfigCommand.py                   | 28 ++++++-------
 .../src/UI/Configuration/SerialCommand.py     |  2 +-
 .../src/UI/CreateCommandInputsHelper.py       |  2 +-
 .../src/UI/CustomGraphics.py                  |  4 +-
 .../SynthesisFusionAddin/src/UI/Events.py     |  7 +++-
 .../src/UI/FileDialogConfig.py                |  6 +--
 .../src/UI/GamepieceConfigTab.py              | 10 ++---
 .../src/UI/GeneralConfigTab.py                | 14 +++----
 exporter/SynthesisFusionAddin/src/UI/HUI.py   |  8 ++--
 .../SynthesisFusionAddin/src/UI/Helper.py     |  6 ++-
 .../src/UI/JointConfigTab.py                  |  9 ++--
 .../src/UI/MarkingMenu.py                     |  5 +--
 .../src/UI/ShowAPSAuthCommand.py              |  2 +-
 .../src/UI/ShowWebsiteCommand.py              |  3 +-
 .../SynthesisFusionAddin/src/UI/Toolbar.py    |  5 +--
 exporter/SynthesisFusionAddin/src/__init__.py |  7 ++--
 .../src/general_imports.py                    | 42 -------------------
 exporter/SynthesisFusionAddin/src/strings.py  |  4 --
 32 files changed, 105 insertions(+), 171 deletions(-)
 delete mode 100644 exporter/SynthesisFusionAddin/src/general_imports.py
 delete mode 100644 exporter/SynthesisFusionAddin/src/strings.py

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 20f3fb35d6..7f8ffd34e2 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -15,8 +15,8 @@
 setupLogger()
 
 try:
-    from .src.general_imports import APP_NAME, DESCRIPTION, INTERNAL_ID, gm
-    from .src.UI import (
+    from src import APP_NAME, DESCRIPTION, INTERNAL_ID, gm
+    from src.UI import (
         HUI,
         Camera,
         ConfigCommand,
@@ -24,7 +24,7 @@
         ShowAPSAuthCommand,
         ShowWebsiteCommand,
     )
-    from .src.UI.Toolbar import Toolbar
+    from src.UI.Toolbar import Toolbar
 except (ImportError, ModuleNotFoundError) as error:
     getLogger().warn(f"Running resolve dependencies with error of:\n{error}")
     result = resolveDependencies()
diff --git a/exporter/SynthesisFusionAddin/src/APS/APS.py b/exporter/SynthesisFusionAddin/src/APS/APS.py
index a65728ec23..9f73eb9e0b 100644
--- a/exporter/SynthesisFusionAddin/src/APS/APS.py
+++ b/exporter/SynthesisFusionAddin/src/APS/APS.py
@@ -10,13 +10,13 @@
 
 import requests
 
-from ..general_imports import INTERNAL_ID, gm, my_addin_path
-from ..Logging import getLogger
+from src import gm, ADDIN_PATH
+from src.Logging import getLogger
 
 logger = getLogger()
 
 CLIENT_ID = "GCxaewcLjsYlK8ud7Ka9AKf9dPwMR3e4GlybyfhAK2zvl3tU"
-auth_path = os.path.abspath(os.path.join(my_addin_path, "..", ".aps_auth"))
+auth_path = os.path.abspath(os.path.join(ADDIN_PATH, "..", ".aps_auth"))
 
 APS_AUTH = None
 APS_USER_INFO = None
diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
index b9ad31f7be..a61119c1d6 100644
--- a/exporter/SynthesisFusionAddin/src/Dependencies.py
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -9,7 +9,7 @@
 import adsk.core
 import adsk.fusion
 
-from .Logging import getLogger, logFailure
+from src.Logging import getLogger, logFailure
 
 logger = getLogger()
 system = platform.system()
diff --git a/exporter/SynthesisFusionAddin/src/GlobalManager.py b/exporter/SynthesisFusionAddin/src/GlobalManager.py
index a31688d119..fb95bda33b 100644
--- a/exporter/SynthesisFusionAddin/src/GlobalManager.py
+++ b/exporter/SynthesisFusionAddin/src/GlobalManager.py
@@ -1,13 +1,8 @@
 """ Initializes the global variables that are set in the run method to reduce hanging commands. """
 
-import logging
-
 import adsk.core
 import adsk.fusion
 
-from .general_imports import *
-from .strings import *
-
 
 class GlobalManager(object):
     """Global Manager instance"""
diff --git a/exporter/SynthesisFusionAddin/src/Logging.py b/exporter/SynthesisFusionAddin/src/Logging.py
index 2bf9ce191b..dcfa863c67 100644
--- a/exporter/SynthesisFusionAddin/src/Logging.py
+++ b/exporter/SynthesisFusionAddin/src/Logging.py
@@ -11,8 +11,8 @@
 
 import adsk.core
 
-from .strings import INTERNAL_ID
-from .UI.OsHelper import getOSPath
+from src import INTERNAL_ID
+from src.UI.OsHelper import getOSPath
 
 MAX_LOG_FILES_TO_KEEP = 10
 TIMING_LEVEL = 25
diff --git a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
index 9151a7115d..69e9bbef5d 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
@@ -11,9 +11,9 @@
 import adsk.core
 from adsk.fusion import CalculationAccuracy, TriangleMeshQualityOptions
 
-from ..Logging import logFailure, timed
-from ..strings import INTERNAL_ID
-from ..Types import (
+from src import INTERNAL_ID
+from src.Logging import logFailure, timed
+from src.Types import (
     KG,
     ExportLocation,
     ExportMode,
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index aa77cac500..0a034ca33e 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -9,12 +9,12 @@
 
 from proto.proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
 
-from ...Logging import logFailure, timed
-from ...Types import ExportMode
-from ..ExporterOptions import ExporterOptions
-from . import PhysicalProperties
-from .PDMessage import PDMessage
-from .Utilities import *
+from src.Logging import logFailure
+from src.Types import ExportMode
+from src.Parser.ExporterOptions import ExporterOptions
+from src.Parser.SynthesisParser import PhysicalProperties
+from src.Parser.SynthesisParser.PDMessage import PDMessage
+from src.Parser.SynthesisParser.Utilities import *
 
 # TODO: Impelement Material overrides
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index 53dd3d10fa..313b6d9fa2 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -8,11 +8,11 @@
 
 from proto.proto_out import joint_pb2, types_pb2
 
-from ...general_imports import *
-from ...Logging import getLogger, logFailure
-from ..ExporterOptions import ExporterOptions
-from .PDMessage import PDMessage
-from .Utilities import guid_component, guid_occurrence
+from src import gm
+from src.Logging import getLogger, logFailure
+from src.Parser.ExporterOptions import ExporterOptions
+from src.Parser.SynthesisParser.PDMessage import PDMessage
+from src.Parser.SynthesisParser.Utilities import guid_component, guid_occurrence
 
 logger = getLogger()
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index c79a0240d0..75066533a1 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -31,12 +31,11 @@
 
 from proto.proto_out import assembly_pb2, joint_pb2, motor_pb2, signal_pb2, types_pb2
 
-from ...general_imports import *
-from ...Logging import getLogger
-from ...Types import JointParentType, SignalType
-from ..ExporterOptions import ExporterOptions
-from .PDMessage import PDMessage
-from .Utilities import construct_info, fill_info, guid_occurrence
+from src.Logging import getLogger
+from src.Types import JointParentType, SignalType
+from src.Parser.ExporterOptions import ExporterOptions
+from src.Parser.SynthesisParser.PDMessage import PDMessage
+from src.Parser.SynthesisParser.Utilities import construct_info, fill_info, guid_occurrence
 
 logger = getLogger()
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index 97d8d47f57..5cf7e17356 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -1,18 +1,11 @@
-# Should contain Physical and Apperance materials ?
-import json
-import logging
-import math
-import traceback
-
 import adsk
 
 from proto.proto_out import material_pb2
 
-from ...general_imports import *
-from ...Logging import logFailure, timed
-from ..ExporterOptions import ExporterOptions
-from .PDMessage import PDMessage
-from .Utilities import *
+from src.Logging import logFailure
+from src.Parser.ExporterOptions import ExporterOptions
+from src.Parser.SynthesisParser.PDMessage import PDMessage
+from src.Parser.SynthesisParser.Utilities import *
 
 OPACITY_RAMPING_CONSTANT = 14.0
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index fe034d20b4..533c0a9381 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -7,14 +7,14 @@
 
 from proto.proto_out import assembly_pb2, types_pb2
 
-from ...APS.APS import getAuth, upload_mirabuf
-from ...general_imports import *
-from ...Logging import getLogger, logFailure, timed
-from ...Types import ExportLocation, ExportMode
-from ...UI.Camera import captureThumbnail, clearIconCache
-from ..ExporterOptions import ExporterOptions
-from . import Components, JointHierarchy, Joints, Materials, PDMessage
-from .Utilities import *
+from src import gm
+from src.APS.APS import getAuth, upload_mirabuf
+from src.Logging import getLogger, logFailure, timed
+from src.Types import ExportLocation, ExportMode
+from src.UI.Camera import captureThumbnail, clearIconCache
+from src.Parser.ExporterOptions import ExporterOptions
+from src.Parser.SynthesisParser import Components, JointHierarchy, Joints, Materials, PDMessage
+from src.Parser.SynthesisParser.Utilities import *
 
 logger = getLogger()
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index db488c115a..923d9c836a 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -15,17 +15,13 @@
         - Z
 
 """
-
-import logging
-import traceback
 from typing import Union
 
 import adsk
 
 from proto.proto_out import types_pb2
 
-from ...general_imports import INTERNAL_ID
-from ...Logging import logFailure
+from src.Logging import logFailure
 
 
 @logFailure
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
index 362a2a6e72..4cef6fea38 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
@@ -19,7 +19,7 @@
 
 from proto.proto_out import assembly_pb2
 
-from ...Logging import logFailure
+from src.Logging import logFailure
 
 
 @logFailure
diff --git a/exporter/SynthesisFusionAddin/src/UI/Camera.py b/exporter/SynthesisFusionAddin/src/UI/Camera.py
index 538968034d..85fa188ff8 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Camera.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Camera.py
@@ -1,11 +1,10 @@
 import os
 
-from adsk.core import SaveImageFileOptions
+import adsk.core
 
-from ..general_imports import *
-from ..Logging import logFailure, timed
-from ..Types import OString
-from . import Helper
+from src.Logging import logFailure
+from src.Types import OString
+from src.UI import Helper
 
 
 @logFailure
@@ -25,7 +24,7 @@ def captureThumbnail(size=250):
 
     path = OString.ThumbnailPath(name)
 
-    saveOptions = SaveImageFileOptions.create(str(path.getPath()))
+    saveOptions = adsk.core.SaveImageFileOptions.create(str(path.getPath()))
     saveOptions.height = size
     saveOptions.width = size
     saveOptions.isAntiAliased = True
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index d7fd6ec6bb..3a1f2e6c76 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -9,22 +9,18 @@
 import adsk.core
 import adsk.fusion
 
-from ..APS.APS import getAuth, getUserInfo, refreshAuthToken
-from ..general_imports import *
-from ..Logging import getLogger, logFailure
-from ..Parser.ExporterOptions import ExporterOptions
-from ..Parser.SynthesisParser.Parser import Parser
-from ..Parser.SynthesisParser.Utilities import guid_occurrence
-from ..Types import ExportLocation, ExportMode
-from . import CustomGraphics, FileDialogConfig, Helper, IconPaths
-from .Configuration.SerialCommand import SerialCommand
-from .GamepieceConfigTab import GamepieceConfigTab
-from .GeneralConfigTab import GeneralConfigTab
-
-# Transition: AARD-1685
-# In the future all components should be handled in this way.
-# This import broke everything when attempting to use absolute imports??? Investigate?
-from .JointConfigTab import JointConfigTab
+from src import gm
+from src.APS.APS import getAuth, getUserInfo, refreshAuthToken
+from src.Logging import getLogger, logFailure
+from src.Parser.ExporterOptions import ExporterOptions
+from src.Parser.SynthesisParser.Parser import Parser
+from src.Parser.SynthesisParser.Utilities import guid_occurrence
+from src.Types import ExportLocation, ExportMode
+from src.UI import CustomGraphics, FileDialogConfig, Helper, IconPaths
+from src.UI.Configuration.SerialCommand import SerialCommand
+from src.UI.GamepieceConfigTab import GamepieceConfigTab
+from src.UI.GeneralConfigTab import GeneralConfigTab
+from src.UI.JointConfigTab import JointConfigTab
 
 # ====================================== CONFIG COMMAND ======================================
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py b/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
index 16084148c5..663afe9337 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
@@ -7,7 +7,7 @@
 
 import json
 
-from ...Types import OString
+from src.Types import OString
 
 
 def generateFilePath() -> str:
diff --git a/exporter/SynthesisFusionAddin/src/UI/CreateCommandInputsHelper.py b/exporter/SynthesisFusionAddin/src/UI/CreateCommandInputsHelper.py
index 536b93b57d..1f78b469bd 100644
--- a/exporter/SynthesisFusionAddin/src/UI/CreateCommandInputsHelper.py
+++ b/exporter/SynthesisFusionAddin/src/UI/CreateCommandInputsHelper.py
@@ -1,6 +1,6 @@
 import adsk.core
 
-from ..Logging import logFailure
+from src.Logging import logFailure
 
 
 @logFailure
diff --git a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
index 52a49fa5d4..d92c26f823 100644
--- a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
+++ b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
@@ -4,8 +4,8 @@
 import adsk.core
 import adsk.fusion
 
-from ..general_imports import *
-from ..Logging import logFailure
+from src import gm
+from src.Logging import logFailure
 
 
 @logFailure
diff --git a/exporter/SynthesisFusionAddin/src/UI/Events.py b/exporter/SynthesisFusionAddin/src/UI/Events.py
index 281ebf3f0e..0c4cf37798 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Events.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Events.py
@@ -1,7 +1,10 @@
+import json
 from typing import Sequence, Tuple
 
-from ..general_imports import *
-from ..Logging import getLogger
+import adsk.core
+
+from src import gm
+from src.Logging import getLogger
 
 """ # This file is Special
     It links all function names to command requests that palletes can make automatically
diff --git a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
index 6f6f764cd9..8b8b3a2f4c 100644
--- a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
+++ b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
@@ -3,10 +3,8 @@
 import adsk.core
 import adsk.fusion
 
-from ..general_imports import *
-
-# from ..proto_out import Configuration_pb2
-from ..Types import OString
+from src import gm
+from src.Types import OString
 
 
 def saveFileDialog(defaultPath: str | None = None, defaultName: str | None = None) -> str | bool:
diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index f0d2f7d4bd..8eb4f80044 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -1,11 +1,11 @@
 import adsk.core
 import adsk.fusion
 
-from ..Logging import logFailure
-from ..Parser.ExporterOptions import ExporterOptions
-from ..Types import Gamepiece, PreferredUnits, toKg, toLbs
-from . import IconPaths
-from .CreateCommandInputsHelper import (
+from src.Logging import logFailure
+from src.Parser.ExporterOptions import ExporterOptions
+from src.Types import Gamepiece, PreferredUnits, toKg, toLbs
+from src.UI import IconPaths
+from src.UI.CreateCommandInputsHelper import (
     createBooleanInput,
     createTableInput,
     createTextBoxInput,
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index 116b8ca7d7..40a602a406 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -1,18 +1,18 @@
 import adsk.core
 import adsk.fusion
 
-from ..Logging import logFailure
-from ..Parser.ExporterOptions import (
+from src.Logging import logFailure
+from src.Parser.ExporterOptions import (
     ExporterOptions,
     ExportLocation,
     ExportMode,
     PreferredUnits,
 )
-from ..Types import KG, toKg, toLbs
-from . import IconPaths
-from .CreateCommandInputsHelper import createBooleanInput, createTableInput
-from .GamepieceConfigTab import GamepieceConfigTab
-from .JointConfigTab import JointConfigTab
+from src.Types import KG, toKg, toLbs
+from src.UI import IconPaths
+from src.UI.CreateCommandInputsHelper import createBooleanInput, createTableInput
+from src.UI.GamepieceConfigTab import GamepieceConfigTab
+from src.UI.JointConfigTab import JointConfigTab
 
 
 class GeneralConfigTab:
diff --git a/exporter/SynthesisFusionAddin/src/UI/HUI.py b/exporter/SynthesisFusionAddin/src/UI/HUI.py
index 3b52de9999..d1a968d642 100644
--- a/exporter/SynthesisFusionAddin/src/UI/HUI.py
+++ b/exporter/SynthesisFusionAddin/src/UI/HUI.py
@@ -1,6 +1,8 @@
-from ..general_imports import *
-from ..Logging import logFailure
-from . import Handlers, OsHelper
+import adsk.core
+
+from src import INTERNAL_ID, gm
+from src.Logging import logFailure
+from src.UI import Handlers, OsHelper
 
 
 # no longer used
diff --git a/exporter/SynthesisFusionAddin/src/UI/Helper.py b/exporter/SynthesisFusionAddin/src/UI/Helper.py
index 7c8e3a5930..2f9eeaa12c 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Helper.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Helper.py
@@ -1,8 +1,10 @@
 from inspect import getmembers, isfunction
 from typing import Union
 
-from ..general_imports import *
-from . import HUI, Events
+import adsk.core
+
+from src import gm, APP_NAME, APP_TITLE, INTERNAL_ID
+from src.UI import HUI, Events
 
 
 def getDocName() -> str or None:
diff --git a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
index 7e34757783..000080eb79 100644
--- a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
@@ -4,11 +4,10 @@
 import adsk.core
 import adsk.fusion
 
-from ..general_imports import INTERNAL_ID
-from ..Logging import logFailure
-from ..Types import Joint, JointParentType, SignalType, Wheel, WheelType
-from . import IconPaths
-from .CreateCommandInputsHelper import (
+from src.Logging import logFailure
+from src.Types import Joint, JointParentType, SignalType, Wheel, WheelType
+from src.UI import IconPaths
+from src.UI.CreateCommandInputsHelper import (
     createBooleanInput,
     createTableInput,
     createTextBoxInput,
diff --git a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
index 30c9f078e6..d6509b16d4 100644
--- a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
+++ b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
@@ -1,10 +1,7 @@
-import logging.handlers
-import traceback
-
 import adsk.core
 import adsk.fusion
 
-from ..Logging import logFailure
+from src.Logging import logFailure
 
 # Ripped all the boiler plate from the example code: https://help.autodesk.com/view/fusion360/ENU/?guid=GUID-c90ce6a2-c282-11e6-a365-3417ebc87622
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
index bd45cfc062..13e3cec65d 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
@@ -8,8 +8,8 @@
 
 import adsk.core
 
+from src import gm
 from src.APS.APS import CLIENT_ID, auth_path, convertAuthToken, getCodeChallenge
-from src.general_imports import APP_NAME, DESCRIPTION, INTERNAL_ID, gm, my_addin_path
 from src.Logging import getLogger
 
 logger = getLogger()
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
index d7e1539e5e..cc99cffb07 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
@@ -1,8 +1,9 @@
+import traceback
 import webbrowser
 
 import adsk.core
 
-from ..general_imports import *
+from src import gm
 
 
 class ShowWebsiteCommandExecuteHandler(adsk.core.CommandEventHandler):
diff --git a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
index bfcc34189a..4a0c581f3d 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
@@ -1,6 +1,5 @@
-from ..general_imports import *
-from ..Logging import logFailure
-from ..strings import INTERNAL_ID
+from src.Logging import logFailure
+from src import INTERNAL_ID, gm
 
 
 class Toolbar:
diff --git a/exporter/SynthesisFusionAddin/src/__init__.py b/exporter/SynthesisFusionAddin/src/__init__.py
index f041f71631..c7d951b784 100644
--- a/exporter/SynthesisFusionAddin/src/__init__.py
+++ b/exporter/SynthesisFusionAddin/src/__init__.py
@@ -6,16 +6,17 @@
 APP_NAME = "Synthesis"
 APP_TITLE = "Synthesis Robot Exporter"
 DESCRIPTION = "Exports files from Fusion into the Synthesis Format"
-INTERNAL_ID = "synthesis"
+INTERNAL_ID = "Synthesis"
+ADDIN_PATH = os.path.dirname(os.path.realpath(__file__))
 
 A_EP = None  # TODO: Will be removed by GH-1010
 DEBUG = True  # TODO: Will be removed by GH-1010
 
 gm = GlobalManager()
 
-__all__ = ["APP_NAME", "APP_TITLE", "DESCRIPTION", "INTERNAL_ID", "gm"]
+__all__ = ["APP_NAME", "APP_TITLE", "DESCRIPTION", "INTERNAL_ID", "ADDIN_PATH", "gm"]
 
 # Transition: AARD-1737
 # This method of running the resolve dependencies module will be revisited in AARD-1734
 sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out")))
-from proto import deps
+# from proto import deps
diff --git a/exporter/SynthesisFusionAddin/src/general_imports.py b/exporter/SynthesisFusionAddin/src/general_imports.py
deleted file mode 100644
index aabdae5cac..0000000000
--- a/exporter/SynthesisFusionAddin/src/general_imports.py
+++ /dev/null
@@ -1,42 +0,0 @@
-import json
-import os
-import pathlib
-import sys
-import traceback
-import uuid
-from datetime import datetime
-from time import time
-from types import FunctionType
-
-import adsk.core
-import adsk.fusion
-
-from .GlobalManager import *
-from .Logging import getLogger
-from .strings import *
-
-logger = getLogger()
-
-# hard coded to bypass errors for now
-PROTOBUF = True
-DEBUG = True
-
-try:
-    path = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
-
-    path_proto_files = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out"))
-
-    if not path in sys.path:
-        sys.path.insert(1, path)
-
-    if not path_proto_files in sys.path:
-        sys.path.insert(2, path_proto_files)
-except:
-    logger.error("Failed:\n{}".format(traceback.format_exc()))
-
-try:
-    # Setup the global state
-    gm: GlobalManager = GlobalManager()
-    my_addin_path = os.path.dirname(os.path.realpath(__file__))
-except:
-    logger.error("Failed:\n{}".format(traceback.format_exc()))
diff --git a/exporter/SynthesisFusionAddin/src/strings.py b/exporter/SynthesisFusionAddin/src/strings.py
deleted file mode 100644
index b5d79c055c..0000000000
--- a/exporter/SynthesisFusionAddin/src/strings.py
+++ /dev/null
@@ -1,4 +0,0 @@
-APP_NAME = "Synthesis"
-APP_TITLE = "Synthesis Robot Exporter"
-DESCRIPTION = "Exports files from Fusion into the Synthesis Format"
-INTERNAL_ID = "Synthesis"

From ca0b17576fa411c45f94085bc7738b3e62fe0306 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 6 Aug 2024 10:01:32 -0700
Subject: [PATCH 150/344] Sort imports

---
 exporter/SynthesisFusionAddin/src/APS/APS.py        |  2 +-
 .../src/Parser/SynthesisParser/Components.py        |  3 +--
 .../src/Parser/SynthesisParser/JointHierarchy.py    |  1 -
 .../src/Parser/SynthesisParser/Joints.py            |  9 ++++++---
 .../src/Parser/SynthesisParser/Materials.py         |  1 -
 .../src/Parser/SynthesisParser/Parser.py            | 13 +++++++++----
 .../Parser/SynthesisParser/PhysicalProperties.py    |  2 +-
 .../src/Parser/SynthesisParser/RigidGroup.py        |  1 -
 exporter/SynthesisFusionAddin/src/UI/Helper.py      |  2 +-
 exporter/SynthesisFusionAddin/src/UI/Toolbar.py     |  2 +-
 10 files changed, 20 insertions(+), 16 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/APS/APS.py b/exporter/SynthesisFusionAddin/src/APS/APS.py
index 9f73eb9e0b..a6f4f34a5b 100644
--- a/exporter/SynthesisFusionAddin/src/APS/APS.py
+++ b/exporter/SynthesisFusionAddin/src/APS/APS.py
@@ -10,7 +10,7 @@
 
 import requests
 
-from src import gm, ADDIN_PATH
+from src import ADDIN_PATH, gm
 from src.Logging import getLogger
 
 logger = getLogger()
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index 0a034ca33e..0ac0078d1c 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -8,13 +8,12 @@
 import adsk.fusion
 
 from proto.proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
-
 from src.Logging import logFailure
-from src.Types import ExportMode
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser import PhysicalProperties
 from src.Parser.SynthesisParser.PDMessage import PDMessage
 from src.Parser.SynthesisParser.Utilities import *
+from src.Types import ExportMode
 
 # TODO: Impelement Material overrides
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index 313b6d9fa2..5c106d0188 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -7,7 +7,6 @@
 import adsk.fusion
 
 from proto.proto_out import joint_pb2, types_pb2
-
 from src import gm
 from src.Logging import getLogger, logFailure
 from src.Parser.ExporterOptions import ExporterOptions
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index 75066533a1..c5458cbae3 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -30,12 +30,15 @@
 import adsk.fusion
 
 from proto.proto_out import assembly_pb2, joint_pb2, motor_pb2, signal_pb2, types_pb2
-
 from src.Logging import getLogger
-from src.Types import JointParentType, SignalType
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.PDMessage import PDMessage
-from src.Parser.SynthesisParser.Utilities import construct_info, fill_info, guid_occurrence
+from src.Parser.SynthesisParser.Utilities import (
+    construct_info,
+    fill_info,
+    guid_occurrence,
+)
+from src.Types import JointParentType, SignalType
 
 logger = getLogger()
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index 5cf7e17356..ca7fb5480c 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -1,7 +1,6 @@
 import adsk
 
 from proto.proto_out import material_pb2
-
 from src.Logging import logFailure
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.PDMessage import PDMessage
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index 533c0a9381..95b124bbe3 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -6,15 +6,20 @@
 from google.protobuf.json_format import MessageToJson
 
 from proto.proto_out import assembly_pb2, types_pb2
-
 from src import gm
 from src.APS.APS import getAuth, upload_mirabuf
 from src.Logging import getLogger, logFailure, timed
-from src.Types import ExportLocation, ExportMode
-from src.UI.Camera import captureThumbnail, clearIconCache
 from src.Parser.ExporterOptions import ExporterOptions
-from src.Parser.SynthesisParser import Components, JointHierarchy, Joints, Materials, PDMessage
+from src.Parser.SynthesisParser import (
+    Components,
+    JointHierarchy,
+    Joints,
+    Materials,
+    PDMessage,
+)
 from src.Parser.SynthesisParser.Utilities import *
+from src.Types import ExportLocation, ExportMode
+from src.UI.Camera import captureThumbnail, clearIconCache
 
 logger = getLogger()
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index 923d9c836a..15e025f4c7 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -15,12 +15,12 @@
         - Z
 
 """
+
 from typing import Union
 
 import adsk
 
 from proto.proto_out import types_pb2
-
 from src.Logging import logFailure
 
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
index 4cef6fea38..d6cbc47c77 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
@@ -18,7 +18,6 @@
 import adsk.fusion
 
 from proto.proto_out import assembly_pb2
-
 from src.Logging import logFailure
 
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Helper.py b/exporter/SynthesisFusionAddin/src/UI/Helper.py
index 2f9eeaa12c..b6942afb4d 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Helper.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Helper.py
@@ -3,7 +3,7 @@
 
 import adsk.core
 
-from src import gm, APP_NAME, APP_TITLE, INTERNAL_ID
+from src import APP_NAME, APP_TITLE, INTERNAL_ID, gm
 from src.UI import HUI, Events
 
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
index 4a0c581f3d..f9d150cc3c 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
@@ -1,5 +1,5 @@
-from src.Logging import logFailure
 from src import INTERNAL_ID, gm
+from src.Logging import logFailure
 
 
 class Toolbar:

From ff45ebcf5e1c4c7e64d8abe6b535147a9e83a7c7 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Tue, 6 Aug 2024 10:05:03 -0700
Subject: [PATCH 151/344] Hopeful fix (Works when OPFS on PC, but need Mac to
 test on)

---
 fission/src/mirabuf/MirabufLoader.ts | 146 ++++++++++++++++++++-------
 1 file changed, 110 insertions(+), 36 deletions(-)

diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index 00c0068733..505d684e1f 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -21,14 +21,39 @@ export interface MirabufRemoteInfo {
     src: string
 }
 
-type MiraCache = { [id: string]: MirabufCacheInfo }
+type MapCache = { [id: string]: MirabufCacheInfo }
+type BackUpBufferCache = { [id: string]: ArrayBuffer }
 
+// Local Storage
+const robotMapDirName = "RobotMap"
+const fieldMapDirName = "FieldMap"
+const backUpRobotsDirName = "BackUpRobots"
+const backUpFieldsDirName = "BackUpFields"
+
+// OPFS
 const robotsDirName = "Robots"
 const fieldsDirName = "Fields"
 const root = await navigator.storage.getDirectory()
 const robotFolderHandle = await root.getDirectoryHandle(robotsDirName, { create: true })
 const fieldFolderHandle = await root.getDirectoryHandle(fieldsDirName, { create: true })
 
+const canOPFS = await (async() => {
+    try {
+        console.log(`trying OPFS`)
+        const fileHandle = await robotFolderHandle.getFileHandle(
+            "0",
+            { create: true }
+        )
+        const writable = await fileHandle.createWritable()
+        await writable.close()
+        console.log(`yes OPFS`)
+        return true
+    } catch (e) {
+        console.log(`no OPFS`)
+        return false
+    }
+})()
+
 export function UnzipMira(buff: Uint8Array): Uint8Array {
     // Check if file is gzipped via magic gzip numbers 31 139
     if (buff[0] == 31 && buff[1] == 139) {
@@ -42,21 +67,47 @@ class MirabufCachingService {
     /**
      * Get the map of mirabuf keys and paired MirabufCacheInfo from local storage
      *
-     * @param {MiraType} miraType Type of Mirabuf Assembly.
+     * @param {MiraType} miraType Type of Mirabuf Assembly
      *
-     * @returns {MiraCache} Map of cached keys and paired MirabufCacheInfo
+     * @returns {MapCache} Map of cached keys and paired MirabufCacheInfo
+     */
+    public static GetCacheMap(miraType: MiraType): MapCache {
+        if (
+            (window.localStorage.getItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY) ?? "") == MIRABUF_LOCALSTORAGE_GENERATION
+        ) {
+            window.localStorage.setItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY, MIRABUF_LOCALSTORAGE_GENERATION)
+            window.localStorage.setItem(robotMapDirName, "{}")
+            window.localStorage.setItem(fieldMapDirName, "{}")
+            return {}
+        }
+
+        const key = miraType == MiraType.ROBOT ? robotMapDirName : fieldMapDirName
+        const map = window.localStorage.getItem(key)
+
+        if (map) {
+            return JSON.parse(map)
+        } else {
+            window.localStorage.setItem(key, "{}")
+            return {}
+        }
+    }
+
+    /**
+     * Get back up cache from local storage. Used if no access to OPFS (Safari and iOS)
+     * @param miraType Type of Mirabuf Assembly
+     * @returns IDs and buffers
      */
-    public static GetCacheMap(miraType: MiraType): MiraCache {
+    public static GetBackUpCache(miraType: MiraType): BackUpBufferCache {
         if (
             (window.localStorage.getItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY) ?? "") == MIRABUF_LOCALSTORAGE_GENERATION
         ) {
             window.localStorage.setItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY, MIRABUF_LOCALSTORAGE_GENERATION)
-            window.localStorage.setItem(robotsDirName, "{}")
-            window.localStorage.setItem(fieldsDirName, "{}")
+            window.localStorage.setItem(robotMapDirName, "{}")
+            window.localStorage.setItem(fieldMapDirName, "{}")
             return {}
         }
 
-        const key = miraType == MiraType.ROBOT ? robotsDirName : fieldsDirName
+        const key = miraType == MiraType.ROBOT ? backUpRobotsDirName : backUpFieldsDirName
         const map = window.localStorage.getItem(key)
 
         if (map) {
@@ -67,6 +118,7 @@ class MirabufCachingService {
         }
     }
 
+
     /**
      * Cache remote Mirabuf file
      *
@@ -159,19 +211,19 @@ class MirabufCachingService {
         thumbnailStorageID?: string
     ): Promise<boolean> {
         try {
-            const map: MiraCache = this.GetCacheMap(miraType)
+            const map: MapCache = this.GetCacheMap(miraType)
             const id = map[key].id
             const _name = map[key].name
             const _thumbnailStorageID = map[key].thumbnailStorageID
-            const hi: MirabufCacheInfo = {
+            const info: MirabufCacheInfo = {
                 id: id,
                 cacheKey: key,
                 miraType: miraType,
                 name: name ?? _name,
                 thumbnailStorageID: thumbnailStorageID ?? _thumbnailStorageID,
             }
-            map[key] = hi
-            window.localStorage.setItem(miraType == MiraType.ROBOT ? robotsDirName : fieldsDirName, JSON.stringify(map))
+            map[key] = info
+            window.localStorage.setItem(miraType == MiraType.ROBOT ? robotMapDirName : fieldMapDirName, JSON.stringify(map))
             return true
         } catch (e) {
             console.error(`Failed to cache info\n${e}`)
@@ -213,16 +265,18 @@ class MirabufCachingService {
      */
     public static async Get(id: MirabufCacheID, miraType: MiraType): Promise<mirabuf.Assembly | undefined> {
         try {
-            const fileHandle = await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(
+            // If we have access to OPFS, get file handle from OPFS
+            const fileHandle = canOPFS ? await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(
                 id,
                 {
                     create: false,
                 }
-            )
+            ) : undefined
+
+            // If we have OPFS file, get buffer from OPFS, otherwise get from local storage
+            const buff = fileHandle ? await fileHandle.getFile().then(x => x.arrayBuffer()) : this.GetBackUpCache(miraType)[id]
 
-            // Get assembly from file
-            if (fileHandle) {
-                const buff = await fileHandle.getFile().then(x => x.arrayBuffer())
+            if (buff) {
                 const assembly = this.AssemblyFromBuffer(buff)
                 World.AnalyticsSystem?.Event("Cache Get", {
                     key: id,
@@ -232,11 +286,10 @@ class MirabufCachingService {
                 })
                 return assembly
             } else {
-                console.error(`Failed to get file handle for ID: ${id}`)
-                return undefined
+                console.error(`Failed to find file for id: ${id}`)
             }
         } catch (e) {
-            console.error(`Failed to find file from OPFS\n${e}`)
+            console.error(`Failed to find file\n${e}`)
             return undefined
         }
     }
@@ -256,13 +309,24 @@ class MirabufCachingService {
             if (map) {
                 delete map[key]
                 window.localStorage.setItem(
-                    miraType == MiraType.ROBOT ? robotsDirName : fieldsDirName,
+                    miraType == MiraType.ROBOT ? robotMapDirName : fieldMapDirName,
                     JSON.stringify(map)
                 )
             }
 
-            const dir = miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle
-            await dir.removeEntry(id)
+            if (canOPFS) {
+                const dir = miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle
+                await dir.removeEntry(id)
+            } else {
+                const backUpCache = this.GetBackUpCache(miraType)
+                if (backUpCache) {
+                    delete backUpCache[key]
+                    window.localStorage.setItem(
+                        miraType == MiraType.ROBOT ? backUpRobotsDirName : backUpFieldsDirName,
+                        JSON.stringify(backUpCache)
+                    )
+                }
+            }
 
             World.AnalyticsSystem?.Event("Cache Remove", {
                 key: key,
@@ -287,8 +351,10 @@ class MirabufCachingService {
             fieldFolderHandle.removeEntry(key)
         }
 
-        window.localStorage.removeItem(robotsDirName)
-        window.localStorage.removeItem(fieldsDirName)
+        window.localStorage.removeItem(robotMapDirName)
+        window.localStorage.removeItem(fieldMapDirName)
+        window.localStorage.removeItem(backUpRobotsDirName)
+        window.localStorage.removeItem(backUpFieldsDirName)
     }
 
     // Optional name for when assembly is being decoded anyway like in CacheAndGetLocal()
@@ -298,7 +364,6 @@ class MirabufCachingService {
         miraType?: MiraType,
         name?: string
     ): Promise<MirabufCacheInfo | undefined> {
-        // Store in OPFS
         const backupID = Date.now().toString()
         try {
             if (!miraType) {
@@ -306,16 +371,8 @@ class MirabufCachingService {
                 miraType = this.AssemblyFromBuffer(miraBuff).dynamic ? MiraType.ROBOT : MiraType.FIELD
             }
 
-            const fileHandle = await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(
-                backupID,
-                { create: true }
-            )
-            const writable = await fileHandle.createWritable()
-            await writable.write(miraBuff)
-            await writable.close()
-
             // Local cache map
-            const map: MiraCache = this.GetCacheMap(miraType)
+            const map: MapCache = this.GetCacheMap(miraType)
             const info: MirabufCacheInfo = {
                 id: backupID,
                 cacheKey: key,
@@ -323,7 +380,7 @@ class MirabufCachingService {
                 name: name,
             }
             map[key] = info
-            window.localStorage.setItem(miraType == MiraType.ROBOT ? robotsDirName : fieldsDirName, JSON.stringify(map))
+            window.localStorage.setItem(miraType == MiraType.ROBOT ? robotMapDirName : fieldMapDirName, JSON.stringify(map))
 
             World.AnalyticsSystem?.Event("Cache Store", {
                 name: name ?? "-",
@@ -331,6 +388,23 @@ class MirabufCachingService {
                 type: miraType == MiraType.ROBOT ? "robot" : "field",
                 fileSize: miraBuff.byteLength,
             })
+
+            if (canOPFS) {
+                // Store in OPFS
+                const fileHandle = await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(
+                    backupID,
+                    { create: true }
+                )
+                const writable = await fileHandle.createWritable()
+                await writable.write(miraBuff)
+                await writable.close()
+            } else {
+                // Store in localStorage
+                const cache: BackUpBufferCache = this.GetBackUpCache(miraType)
+                cache[key] = miraBuff
+                window.localStorage.setItem(miraType == MiraType.ROBOT ? backUpRobotsDirName : backUpFieldsDirName, JSON.stringify(cache))
+            }
+
             return info
         } catch (e) {
             console.error("Failed to cache mira " + e)
@@ -353,7 +427,7 @@ class MirabufCachingService {
 
 export enum MiraType {
     ROBOT = 1,
-    FIELD = 2,
+    FIELD,
 }
 
 export default MirabufCachingService

From fa668d31a5057495218769a8e7535d6423e7a89d Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Tue, 6 Aug 2024 10:16:01 -0700
Subject: [PATCH 152/344] More checks

---
 fission/src/mirabuf/MirabufLoader.ts | 29 ++++++++++++++++++++--------
 1 file changed, 21 insertions(+), 8 deletions(-)

diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index 505d684e1f..4ce17696b4 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -40,14 +40,27 @@ const fieldFolderHandle = await root.getDirectoryHandle(fieldsDirName, { create:
 const canOPFS = await (async() => {
     try {
         console.log(`trying OPFS`)
-        const fileHandle = await robotFolderHandle.getFileHandle(
-            "0",
-            { create: true }
-        )
-        const writable = await fileHandle.createWritable()
-        await writable.close()
-        console.log(`yes OPFS`)
-        return true
+
+        if (robotFolderHandle.name == robotsDirName) {
+            robotFolderHandle.entries
+            robotFolderHandle.keys
+
+            const fileHandle = await robotFolderHandle.getFileHandle(
+                "0",
+                { create: true }
+            )
+            const writable = await fileHandle.createWritable() 
+            await writable.close()
+            await fileHandle.getFile()
+
+            robotFolderHandle.removeEntry(fileHandle.name)
+
+            console.log(`yes OPFS`)
+            return true
+        } else {
+            console.log(`no OPFS`)
+            return false
+        }
     } catch (e) {
         console.log(`no OPFS`)
         return false

From 0048d22abaaff277bb5f0a1cd73af3c254d5d934 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 6 Aug 2024 10:25:47 -0700
Subject: [PATCH 153/344] Improved state managing

---
 exporter/SynthesisFusionAddin/Synthesis.py    | 20 +------------------
 .../SynthesisFusionAddin/src/GlobalManager.py |  5 +++++
 .../src/UI/MarkingMenu.py                     |  7 +++++--
 3 files changed, 11 insertions(+), 21 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 7f8ffd34e2..8775c80833 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -71,25 +71,7 @@ def stop(_):
     logger = getLogger(INTERNAL_ID)
     logger.cleanupHandlers()
 
-    for file in gm.files:
-        try:
-            os.remove(file)
-        except OSError:
-            pass
-
-    # removes path so that proto files don't get confused
-
-    import sys
-
-    path = os.path.abspath(os.path.dirname(__file__))
-
-    path_proto_files = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out"))
-
-    if path in sys.path:
-        sys.path.remove(path)
-
-    if path_proto_files in sys.path:
-        sys.path.remove(path_proto_files)
+    gm.clear()
 
 
 @logFailure
diff --git a/exporter/SynthesisFusionAddin/src/GlobalManager.py b/exporter/SynthesisFusionAddin/src/GlobalManager.py
index fb95bda33b..6841a58750 100644
--- a/exporter/SynthesisFusionAddin/src/GlobalManager.py
+++ b/exporter/SynthesisFusionAddin/src/GlobalManager.py
@@ -42,6 +42,11 @@ def __init__(self):
         def __str__(self):
             return "GlobalManager"
 
+        def clear(self):
+            for attr, value in self.__dict__.items():
+                if isinstance(value, list):
+                    setattr(self, attr, [])
+
     instance = None
 
     def __new__(cls):
diff --git a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
index d6509b16d4..5b90c1b671 100644
--- a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
+++ b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
@@ -1,7 +1,7 @@
 import adsk.core
 import adsk.fusion
 
-from src.Logging import logFailure
+from src.Logging import getLogger, logFailure
 
 # Ripped all the boiler plate from the example code: https://help.autodesk.com/view/fusion360/ENU/?guid=GUID-c90ce6a2-c282-11e6-a365-3417ebc87622
 
@@ -12,6 +12,8 @@
 entities = []
 occurrencesOfComponents = {}
 
+logger = getLogger()
+
 
 @logFailure(messageBox=True)
 def setupMarkingMenu(ui: adsk.core.UserInterface):
@@ -204,6 +206,7 @@ def stopMarkingMenu(ui: adsk.core.UserInterface):
         if obj.isValid:
             obj.deleteMe()
         else:
-            ui.messageBox(str(obj) + " is not a valid object")
+            logger.warn(f"{str(obj)} is not a valid object")
 
+    cmdDefs.clear()
     handlers.clear()

From 9f2af7126778804d62f6d6a6ee8fbfdae51ebfdf Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 6 Aug 2024 10:42:18 -0700
Subject: [PATCH 154/344] Handle dependencies + update setup logger

---
 exporter/SynthesisFusionAddin/Synthesis.py   | 40 ++++++++++----------
 exporter/SynthesisFusionAddin/src/Logging.py |  3 +-
 2 files changed, 22 insertions(+), 21 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 8775c80833..31dd3559bd 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -3,35 +3,37 @@
 
 import adsk.core
 
-# Currently required for `resolveDependencies()`, will be required for absolute imports.
+# Required for absolute imports.
 sys.path.append(os.path.dirname(os.path.abspath(__file__)))
 
-from .src.Dependencies import resolveDependencies  # isort:skip
+from src.Dependencies import resolveDependencies
+from src.Logging import logFailure, setupLogger
 
-# Transition: AARD-1741
-# Import order should be removed in AARD-1737 and `setupLogger()` moved to `__init__.py`
-from .src.Logging import getLogger, logFailure, setupLogger  # isort:skip
-
-setupLogger()
+logger = setupLogger()
 
 try:
-    from src import APP_NAME, DESCRIPTION, INTERNAL_ID, gm
-    from src.UI import (
-        HUI,
-        Camera,
-        ConfigCommand,
-        MarkingMenu,
-        ShowAPSAuthCommand,
-        ShowWebsiteCommand,
-    )
-    from src.UI.Toolbar import Toolbar
+    # Attempt to import required pip dependencies to verify their installation.
+    import google.protobuf
+    import requests
 except (ImportError, ModuleNotFoundError) as error:
-    getLogger().warn(f"Running resolve dependencies with error of:\n{error}")
+    logger.warn(f"Running resolve dependencies with error of:\n{error}")
     result = resolveDependencies()
     if result:
         adsk.core.Application.get().userInterface.messageBox("Installed required dependencies.\nPlease restart Fusion.")
 
 
+from src import APP_NAME, DESCRIPTION, INTERNAL_ID, gm
+from src.UI import (
+    HUI,
+    Camera,
+    ConfigCommand,
+    MarkingMenu,
+    ShowAPSAuthCommand,
+    ShowWebsiteCommand,
+)
+from src.UI.Toolbar import Toolbar
+
+
 @logFailure
 def run(_):
     """## Entry point to application from Fusion.
@@ -68,9 +70,7 @@ def stop(_):
 
     # nm.deleteMe()
 
-    logger = getLogger(INTERNAL_ID)
     logger.cleanupHandlers()
-
     gm.clear()
 
 
diff --git a/exporter/SynthesisFusionAddin/src/Logging.py b/exporter/SynthesisFusionAddin/src/Logging.py
index dcfa863c67..e5f352f480 100644
--- a/exporter/SynthesisFusionAddin/src/Logging.py
+++ b/exporter/SynthesisFusionAddin/src/Logging.py
@@ -27,7 +27,7 @@ def cleanupHandlers(self) -> None:
             handler.close()
 
 
-def setupLogger() -> None:
+def setupLogger() -> SynthesisLogger:
     now = datetime.now().strftime("%H-%M-%S")
     today = date.today()
     logFileFolder = getOSPath(f"{pathlib.Path(__file__).parent.parent}", "logs")
@@ -46,6 +46,7 @@ def setupLogger() -> None:
     logger = getLogger(INTERNAL_ID)
     logger.setLevel(10)  # Debug
     logger.addHandler(logHandler)
+    return cast(SynthesisLogger, logger)
 
 
 def getLogger(name: str | None = None) -> SynthesisLogger:

From b65ff0a8f9ebf7e98a4437eacaeae9319cc28e69 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 6 Aug 2024 10:55:29 -0700
Subject: [PATCH 155/344] fix port NaN bug

---
 .../simulation/wpilib_brain/WPILibBrain.ts    | 70 ++++++++++++-------
 .../rio-config/RCConfigCANGroupModal.tsx      |  5 +-
 .../com/autodesk/synthesis/ctre/TalonFX.java  |  2 +-
 .../src/main/java/frc/robot/Robot.java        | 40 +++++++----
 4 files changed, 75 insertions(+), 42 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 2e723be4c0..1be9474bc9 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -22,15 +22,14 @@ const CANMOTOR_SUPPLY_CURRENT = ">supplyCurrent"
 const CANMOTOR_MOTOR_CURRENT = ">motorCurrent"
 const CANMOTOR_BUS_VOLTAGE = ">busVoltage"
 
-// const CANMOTOR_DUTY_CYCLE = "<dutyCycle"
-// const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput"
 const CANENCODER_POSITION = ">position"
 const CANENCODER_VELOCITY = ">velocity"
+
 export enum SimType {
-    PWM,
-    CANMotor,
-    Solenoid,
-    CANEncoder,
+    PWM = "PWM",
+    CANMotor = "CANMotor",
+    Solenoid = "Solenoid",
+    CANEncoder = "CANEncoder",
 }
 
 enum FieldType {
@@ -135,17 +134,20 @@ export class SimCAN {
     private constructor() {}
 
     public static GetDeviceWithID(id: number, type: SimType): any {
-        const id_exp = /.*\[(\d+)\]/g
-        const entries = [...simMap.entries()].filter(
-            ([simType, _data]) => simType == type 
-        )
+        //const id_exp = /.*\[(\d+)\]/g
+        const entries = [...simMap.entries()].filter(([simType, _data]) => simType == type)
         for (const [_simType, data] of entries) {
             for (const key of data.keys()) {
-                const result = [...key.matchAll(id_exp)]
-                if (result?.length <= 0 || result[0].length <= 1) continue
-                const parsed_id = parseInt(result[0][1])
-                if (parsed_id != id) continue
-
+                // const result = [...key.matchAll(id_exp)]
+                // if (result?.length <= 0 || result[0].length <= 1) continue
+                // const parsed_id = parseInt(result[0][1])
+                // if (parsed_id != id) continue
+                const res = key.split("[")[1].split("]")[0]
+                // console.log("id: " + res)
+                // console.log(id)
+                if (!res) continue
+                const parsed_id = parseInt(res)
+                if (id != parsed_id) continue
                 return data.get(key)
             }
         }
@@ -197,7 +199,7 @@ export class SimCANEncoder {
 
     public static SetPosition(device: string, position: number): boolean {
         return SimGeneric.Set(SimType.CANEncoder, device, CANENCODER_POSITION, position)
-    
+    }
 }
 
 worker.addEventListener("message", (eventData: MessageEvent) => {
@@ -214,7 +216,7 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
         }
     }
 
-    if (!data?.type || data.split(" ")[0] != "SYN" || !Object.values(SimType).includes(data.type)) return
+    if (!data?.type || !Object.values(SimType).includes(data.type) || data.device.split(" ")[0] != "SYN") return
 
     UpdateSimMap(data.type, data.device, data.data)
 })
@@ -301,6 +303,14 @@ abstract class SimOutputGroup {
         this.type = type
     }
 
+    public abstract Update(deltaT: number): void
+}
+
+export class PWMGroup extends SimOutputGroup {
+    public constructor(name: string, ports: number[], drivers: Driver[]) {
+        super(name, ports, drivers, SimType.PWM)
+    }
+
     // Averaging is probably not the right solution
     public Update(deltaT: number): void {
         const average =
@@ -318,19 +328,31 @@ abstract class SimOutputGroup {
             }
             d.Update(deltaT)
         })
-
     }
-}
-
 
-export class PWMGroup extends SimOutputGroup {
-    public constructor(name: string, ports: number[], drivers: Driver[]) {
-        super(name, ports, drivers, SimType.PWM)
-    }
 }
 
 export class CANGroup extends SimOutputGroup {
     public constructor(name: string, ports: number[], drivers: Driver[]) {
         super(name, ports, drivers, SimType.CANMotor)
     }
+    
+    // Averaging is probably not the right solution
+    public Update(deltaT: number): void {
+        const average =
+            this.ports.reduce((sum, port) => {
+                const device = SimCAN.GetDeviceWithID(port, SimType.CANMotor)
+                return sum + device["<percentOutput"]
+            }, 0) / this.ports.length
+
+        this.drivers.forEach(d => {
+            if (d instanceof WheelDriver) {
+                d.targetWheelSpeed = average * 40
+            } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
+                d.targetVelocity = average * 40
+            }
+            d.Update(deltaT)
+        })
+    }
+
 }
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index d3904dfffd..a454b97fed 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -34,7 +34,7 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     }
 
     const cans = simMap.get(SimType.CANMotor) ?? new Map<string, any>
-    const devices: [string, any][] = [...cans.entries()].filter(([_, data]) => data["<init"])
+    const devices: [string, any][] = [...cans.entries()].filter(([_, data]) => data["<init"]).reverse()
 
     return (
         <Modal
@@ -71,7 +71,8 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                 label={p.toString()}
                                 defaultState={false}
                                 onClick={checked => {
-                                    const port = parseInt(p)
+                                    const port = parseInt(p.split("[")[1].split("]")[0])
+                                        console.log(port)
                                     if (checked && !checkedPorts.includes(port)) {
                                         setCheckedPorts([...checkedPorts, port])
                                     } else if (!checked && checkedPorts.includes(port)) {
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
index 3ac0d32a66..4a242a97e3 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
@@ -16,7 +16,7 @@ public class TalonFX extends com.ctre.phoenix6.hardware.TalonFX {
     public TalonFX(int deviceNumber) {
         super(deviceNumber);
 
-        this.m_motor = new CANMotor("CANMotor/SYN TalonFX", deviceNumber, 0.0, false, 0.3);
+        this.m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3);
     }
 
     @Override
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 134222b08b..92936dbd24 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -29,9 +29,13 @@ public class Robot extends TimedRobot {
     private String m_autoSelected;
     private final SendableChooser<String> m_chooser = new SendableChooser<>();
 
-    private Spark m_Spark = new Spark(0);
-    private CANSparkMax m_SparkMax = new CANSparkMax(1, MotorType.kBrushless);
-    private com.autodesk.synthesis.ctre.TalonFX m_Talon = new com.autodesk.synthesis.ctre.TalonFX(2);
+    private CANSparkMax m_SparkMax1 = new CANSparkMax(1, MotorType.kBrushless);
+    private CANSparkMax m_SparkMax2 = new CANSparkMax(2, MotorType.kBrushless);
+    private CANSparkMax m_SparkMax3 = new CANSparkMax(3, MotorType.kBrushless);
+    private CANSparkMax m_SparkMax4 = new CANSparkMax(4, MotorType.kBrushless);
+    private CANSparkMax m_SparkMax5 = new CANSparkMax(5, MotorType.kBrushless);
+    private CANSparkMax m_SparkMax6 = new CANSparkMax(6, MotorType.kBrushless);
+    //private com.autodesk.synthesis.ctre.TalonFX m_Talon = new com.autodesk.synthesis.ctre.TalonFX(2);
 
     /**
      * This function is run when the robot is first started up and should be used
@@ -87,12 +91,12 @@ public void autonomousInit() {
     @Override
     public void autonomousPeriodic() {
 
-        m_Spark.set(0.5);
-        m_SparkMax.set(1.0);
-        //m_SparkMax.setNeutralDeadband(0.01); // FIXME: for some reason I can't set
-        // the deadband even after defining the function in the child
-        m_Talon.set(-1.0);
-        //m_Talon.configureNeutralDeadband(0.2);
+        m_SparkMax1.set(1.0);
+        m_SparkMax2.set(1.0);
+        m_SparkMax3.set(1.0);
+        m_SparkMax4.set(1.0);
+        m_SparkMax5.set(1.0);
+        m_SparkMax6.set(1.0);
 
         switch (m_autoSelected) {
             case kCustomAuto:
@@ -113,17 +117,23 @@ public void teleopInit() {
     /** This function is called periodically during operator control. */
     @Override
     public void teleopPeriodic() {
-        m_Spark.set(0.25);
-        m_SparkMax.set(0.75);
-        m_Talon.set(-0.5);
+        m_SparkMax1.set(-0.75);
+        m_SparkMax2.set(-0.75);
+        m_SparkMax3.set(-0.75);
+        m_SparkMax4.set(-0.75);
+        m_SparkMax5.set(-0.75);
+        m_SparkMax6.set(-0.75);
     }
 
     /** This function is called once when the robot is disabled. */
     @Override
     public void disabledInit() {
-        m_Spark.set(0.0);
-        m_SparkMax.set(0.0);
-        m_Talon.set(0.0);
+        m_SparkMax1.set(0.0);
+        m_SparkMax2.set(0.0);
+        m_SparkMax3.set(0.0);
+        m_SparkMax4.set(0.0);
+        m_SparkMax5.set(0.0);
+        m_SparkMax6.set(0.0);
     }
 
     /** This function is called periodically when disabled. */

From 2ff084593eb34b6dd82ccc6abd526a296770e23f Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 6 Aug 2024 10:56:59 -0700
Subject: [PATCH 156/344] Final cleanups and handle transition tags

---
 exporter/SynthesisFusionAddin/Synthesis.py        |  1 +
 exporter/SynthesisFusionAddin/src/Dependencies.py | 15 ++++++---------
 .../src/Parser/SynthesisParser/Components.py      | 11 +++++------
 .../src/Parser/SynthesisParser/JointHierarchy.py  |  4 +---
 .../src/Parser/SynthesisParser/Joints.py          |  2 +-
 .../src/Parser/SynthesisParser/Materials.py       |  2 +-
 .../src/Parser/SynthesisParser/Parser.py          |  2 +-
 .../src/Parser/SynthesisParser/RigidGroup.py      |  2 +-
 exporter/SynthesisFusionAddin/src/UI/Camera.py    |  1 -
 .../SynthesisFusionAddin/src/UI/ConfigCommand.py  |  5 ++---
 .../SynthesisFusionAddin/src/UI/CustomGraphics.py |  3 ---
 exporter/SynthesisFusionAddin/src/UI/Events.py    |  2 +-
 .../src/UI/FileDialogConfig.py                    |  2 --
 exporter/SynthesisFusionAddin/src/UI/Helper.py    |  1 -
 .../SynthesisFusionAddin/src/UI/JointConfigTab.py |  3 ---
 .../src/UI/ShowAPSAuthCommand.py                  |  2 --
 exporter/SynthesisFusionAddin/src/__init__.py     | 13 ++++---------
 17 files changed, 24 insertions(+), 47 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 31dd3559bd..06ead88431 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -5,6 +5,7 @@
 
 # Required for absolute imports.
 sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "proto", "proto_out")))
 
 from src.Dependencies import resolveDependencies
 from src.Logging import logFailure, setupLogger
diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
index a61119c1d6..c6c1b26b4c 100644
--- a/exporter/SynthesisFusionAddin/src/Dependencies.py
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -1,7 +1,6 @@
 import importlib.machinery
 import importlib.util
 import os
-import platform
 import subprocess
 import sys
 from pathlib import Path
@@ -9,10 +8,10 @@
 import adsk.core
 import adsk.fusion
 
+from src import SYSTEM
 from src.Logging import getLogger, logFailure
 
 logger = getLogger()
-system = platform.system()
 
 # Since the Fusion python runtime is separate from the system python runtime we need to do some funky things
 # in order to download and install python packages separate from the standard library.
@@ -29,13 +28,11 @@ def getInternalFusionPythonInstillationFolder() -> str:
     pythonStandardLibraryModulePath = importlib.machinery.PathFinder.find_spec("os", sys.path).origin
 
     # Depending on platform, adjust to folder to where the python executable binaries are stored.
-    if system == "Windows":
+    if SYSTEM == "Windows":
         folder = f"{Path(pythonStandardLibraryModulePath).parents[1]}"
-    elif system == "Darwin":
-        folder = f"{Path(pythonStandardLibraryModulePath).parents[2]}/bin"
     else:
-        # TODO: System string should be moved to __init__ after GH-1013
-        raise RuntimeError("Unsupported platform.")
+        assert SYSTEM == "Darwin"
+        folder = f"{Path(pythonStandardLibraryModulePath).parents[2]}/bin"
 
     return folder
 
@@ -100,7 +97,7 @@ def resolveDependencies() -> bool | None:
     adsk.doEvents()
 
     pythonFolder = getInternalFusionPythonInstillationFolder()
-    pythonExecutableFile = "python.exe" if system == "Windows" else "python"  # Confirming 110% everything is fine.
+    pythonExecutableFile = "python.exe" if SYSTEM == "Windows" else "python"  # Confirming 110% everything is fine.
     pythonExecutablePath = os.path.join(pythonFolder, pythonExecutableFile)
 
     progressBar = ui.createProgressDialog()
@@ -109,7 +106,7 @@ def resolveDependencies() -> bool | None:
     progressBar.show("Synthesis", f"Installing dependencies...", 0, len(PIP_DEPENDENCY_VERSION_MAP) * 2 + 2, 0)
 
     # Install pip manually on macos as it is not included by default? Really?
-    if system == "Darwin" and not os.path.exists(os.path.join(pythonFolder, "pip")):
+    if SYSTEM == "Darwin" and not os.path.exists(os.path.join(pythonFolder, "pip")):
         pipInstallScriptPath = os.path.join(pythonFolder, "get-pip.py")
         if not os.path.exists(pipInstallScriptPath):
             executeCommand("curl", "https://bootstrap.pypa.io/get-pip.py", "-o", pipInstallScriptPath)
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index 0ac0078d1c..fbdba1d891 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -1,9 +1,4 @@
 # Contains all of the logic for mapping the Components / Occurrences
-import logging
-import traceback
-import uuid
-from typing import *
-
 import adsk.core
 import adsk.fusion
 
@@ -12,7 +7,11 @@
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser import PhysicalProperties
 from src.Parser.SynthesisParser.PDMessage import PDMessage
-from src.Parser.SynthesisParser.Utilities import *
+from src.Parser.SynthesisParser.Utilities import (
+    fill_info,
+    guid_component,
+    guid_occurrence,
+)
 from src.Types import ExportMode
 
 # TODO: Impelement Material overrides
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index 5c106d0188..2bd563b489 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -1,7 +1,5 @@
 import enum
-import logging
-import traceback
-from typing import *
+from typing import Union
 
 import adsk.core
 import adsk.fusion
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index c5458cbae3..0d0cdea910 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -29,7 +29,7 @@
 import adsk.core
 import adsk.fusion
 
-from proto.proto_out import assembly_pb2, joint_pb2, motor_pb2, signal_pb2, types_pb2
+from proto.proto_out import assembly_pb2, joint_pb2, signal_pb2, types_pb2
 from src.Logging import getLogger
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.PDMessage import PDMessage
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index ca7fb5480c..d8538b5d9b 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -4,7 +4,7 @@
 from src.Logging import logFailure
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.PDMessage import PDMessage
-from src.Parser.SynthesisParser.Utilities import *
+from src.Parser.SynthesisParser.Utilities import construct_info, fill_info
 
 OPACITY_RAMPING_CONSTANT = 14.0
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index 95b124bbe3..37148fb622 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -17,7 +17,7 @@
     Materials,
     PDMessage,
 )
-from src.Parser.SynthesisParser.Utilities import *
+from src.Parser.SynthesisParser.Utilities import fill_info
 from src.Types import ExportLocation, ExportMode
 from src.UI.Camera import captureThumbnail, clearIconCache
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
index d6cbc47c77..b90a2167fe 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
@@ -12,7 +12,7 @@
     - Success
 """
 
-from typing import *
+from typing import Union
 
 import adsk.core
 import adsk.fusion
diff --git a/exporter/SynthesisFusionAddin/src/UI/Camera.py b/exporter/SynthesisFusionAddin/src/UI/Camera.py
index 85fa188ff8..02de04083a 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Camera.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Camera.py
@@ -4,7 +4,6 @@
 
 from src.Logging import logFailure
 from src.Types import OString
-from src.UI import Helper
 
 
 @logFailure
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 3a1f2e6c76..c50c7feed2 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -10,13 +10,12 @@
 import adsk.fusion
 
 from src import gm
-from src.APS.APS import getAuth, getUserInfo, refreshAuthToken
+from src.APS.APS import getAuth, getUserInfo
 from src.Logging import getLogger, logFailure
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.Parser import Parser
-from src.Parser.SynthesisParser.Utilities import guid_occurrence
 from src.Types import ExportLocation, ExportMode
-from src.UI import CustomGraphics, FileDialogConfig, Helper, IconPaths
+from src.UI import FileDialogConfig
 from src.UI.Configuration.SerialCommand import SerialCommand
 from src.UI.GamepieceConfigTab import GamepieceConfigTab
 from src.UI.GeneralConfigTab import GeneralConfigTab
diff --git a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
index d92c26f823..3b6bd8e2c2 100644
--- a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
+++ b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
@@ -1,6 +1,3 @@
-import logging
-import traceback
-
 import adsk.core
 import adsk.fusion
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Events.py b/exporter/SynthesisFusionAddin/src/UI/Events.py
index 0c4cf37798..64d0f1ea29 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Events.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Events.py
@@ -1,5 +1,5 @@
 import json
-from typing import Sequence, Tuple
+from typing import Sequence
 
 import adsk.core
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
index 8b8b3a2f4c..d2465ae29b 100644
--- a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
+++ b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
@@ -1,5 +1,3 @@
-from typing import Union
-
 import adsk.core
 import adsk.fusion
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Helper.py b/exporter/SynthesisFusionAddin/src/UI/Helper.py
index b6942afb4d..ba8bf9b0e9 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Helper.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Helper.py
@@ -1,5 +1,4 @@
 from inspect import getmembers, isfunction
-from typing import Union
 
 import adsk.core
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
index 000080eb79..b06ae6f2af 100644
--- a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
@@ -1,6 +1,3 @@
-import logging
-import traceback
-
 import adsk.core
 import adsk.fusion
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
index 13e3cec65d..999abd1176 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
@@ -1,10 +1,8 @@
 import json
-import os
 import time
 import traceback
 import urllib.parse
 import urllib.request
-import webbrowser
 
 import adsk.core
 
diff --git a/exporter/SynthesisFusionAddin/src/__init__.py b/exporter/SynthesisFusionAddin/src/__init__.py
index c7d951b784..1e426279bb 100644
--- a/exporter/SynthesisFusionAddin/src/__init__.py
+++ b/exporter/SynthesisFusionAddin/src/__init__.py
@@ -1,5 +1,5 @@
 import os
-import sys
+import platform
 
 from src.GlobalManager import GlobalManager
 
@@ -9,14 +9,9 @@
 INTERNAL_ID = "Synthesis"
 ADDIN_PATH = os.path.dirname(os.path.realpath(__file__))
 
-A_EP = None  # TODO: Will be removed by GH-1010
-DEBUG = True  # TODO: Will be removed by GH-1010
+SYSTEM = platform.system()
+assert SYSTEM != "Linux"
 
 gm = GlobalManager()
 
-__all__ = ["APP_NAME", "APP_TITLE", "DESCRIPTION", "INTERNAL_ID", "ADDIN_PATH", "gm"]
-
-# Transition: AARD-1737
-# This method of running the resolve dependencies module will be revisited in AARD-1734
-sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "proto", "proto_out")))
-# from proto import deps
+__all__ = ["APP_NAME", "APP_TITLE", "DESCRIPTION", "INTERNAL_ID", "ADDIN_PATH", "SYSTEM", "gm"]

From dd3597b22c39e6d6807b29ece9a6543b4f426a4d Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 6 Aug 2024 11:06:08 -0700
Subject: [PATCH 157/344] Completely functional panel

---
 fission/src/Synthesis.tsx                     |   2 -
 fission/src/ui/components/MainHUD.tsx         |   5 -
 fission/src/ui/components/SelectButton.tsx    |   2 +-
 fission/src/ui/components/SelectMenu.tsx      |  61 +-
 .../src/ui/components/StyledComponents.tsx    |   4 +-
 .../configuring/inputs/ChangeInputsModal.tsx  | 932 +++++++++---------
 .../configuring/ChooseInputSchemePanel.tsx    |   2 +-
 .../assembly-config/ConfigurePanel.tsx        |  50 +-
 .../ConfigureGamepiecePickupInterface.tsx     |  10 +-
 .../SequentialBehaviorsInterface.tsx          |  24 +-
 .../inputs/ConfigureInputsInterface.tsx       |  58 +-
 .../inputs/ConfigureSchemeInterface.tsx       |  72 ++
 12 files changed, 655 insertions(+), 567 deletions(-)
 create mode 100644 fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index e9b1a92efd..42945e5e6a 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -20,7 +20,6 @@ import UpdateAvailableModal from "@/modals/UpdateAvailableModal"
 import ViewModal from "@/modals/ViewModal"
 import ConnectToMultiplayerModal from "@/modals/aether/ConnectToMultiplayerModal"
 import ServerHostingModal from "@/modals/aether/ServerHostingModal"
-import ChangeInputsModal from "@/ui/modals/configuring/inputs/ChangeInputsModal.tsx"
 import ChooseMultiplayerModeModal from "@/modals/configuring/ChooseMultiplayerModeModal"
 import ChooseSingleplayerModeModal from "@/modals/configuring/ChooseSingleplayerModeModal"
 import ConfigMotorModal from "@/modals/configuring/ConfigMotorModal"
@@ -206,7 +205,6 @@ const initialModals = [
     <UpdateAvailableModal key="update-available" modalId="update-available" />,
     <ConnectToMultiplayerModal key="connect-to-multiplayer" modalId="connect-to-multiplayer" />,
     <ServerHostingModal key="server-hosting" modalId="server-hosting" />,
-    <ChangeInputsModal key="change-inputs" modalId="change-inputs" />,
     <ChooseMultiplayerModeModal key="multiplayer-mode" modalId="multiplayer-mode" />,
     <ChooseSingleplayerModeModal key="singleplayer-mode" modalId="singleplayer-mode" />,
     <PracticeSettingsModal key="practice-settings" modalId="practice-settings" />,
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 2bf38ffa64..17c036db3f 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -100,11 +100,6 @@ const MainHUD: React.FC = () => {
                         icon={SynthesisIcons.MagnifyingGlass}
                         onClick={() => openModal("view")}
                     /> */}
-                    <MainHUDButton
-                        value={"Controls"}
-                        icon={SynthesisIcons.Gamepad}
-                        onClick={() => openModal("change-inputs")}
-                    />
                     <MainHUDButton
                         value={"Import Local Mira"}
                         icon={SynthesisIcons.Import}
diff --git a/fission/src/ui/components/SelectButton.tsx b/fission/src/ui/components/SelectButton.tsx
index d7c04f9943..81c1914cca 100644
--- a/fission/src/ui/components/SelectButton.tsx
+++ b/fission/src/ui/components/SelectButton.tsx
@@ -70,7 +70,7 @@ const SelectButton: React.FC<SelectButtonProps> = ({ colorClass, size, value, pl
 
     return (
         <Stack direction={StackDirection.Vertical}>
-            <Label size={LabelSize.Small}>{"Click to select"}</Label>
+            <Label size={LabelSize.Small}>{"Select Follow Node"}</Label>
             <Button
                 value={selecting ? "..." : value || placeholder || "Click to select"}
                 colorOverrideClass={selecting ? "bg-background-secondary" : colorClass}
diff --git a/fission/src/ui/components/SelectMenu.tsx b/fission/src/ui/components/SelectMenu.tsx
index ca079458ab..be6ddd8581 100644
--- a/fission/src/ui/components/SelectMenu.tsx
+++ b/fission/src/ui/components/SelectMenu.tsx
@@ -4,23 +4,36 @@ import { Box, Button as MUIButton, styled, alpha, Divider } from "@mui/material"
 import Label, { LabelSize } from "./Label"
 import { FaArrowLeft } from "react-icons/fa6"
 import Button from "./Button"
+import { AddButtonInteractiveColor, DeleteButton, Spacer } from "./StyledComponents"
 
 const LeftArrow = <FaArrowLeft size={"1.25rem"} />
 
 const CustomButton = styled(MUIButton)({
-    "borderStyle": "solid",
+    "borderStyle": "none",
     "borderWidth": "1px",
     "transition": "border-color 0.3s ease",
+    "outline": "none",
     "&:hover": {
-        borderColor: "white",
-        backgroundColor: alpha("#33333333", 0.3),
+        borderStyle: "solid",
+        borderColor: "grey",
+        backgroundColor: "transparent",
     },
     "position": "relative",
     "overflow": "hidden",
     "& .MuiTouchRipple-root span": {
-        backgroundColor: alpha("#ffffff", 0.3),
+        backgroundColor: alpha("#ffffff", 0.07),
         animationDuration: "300ms",
     },
+    "&:focus": {
+        borderColor: "grey",
+        backgroundColor: "transparent",
+        outline: "none",
+    },
+    "&:selected": {
+        outline: "none",
+        backgroundColor: "transparent",
+        borderColor: "grey",
+    },
 })
 
 const LabelStyled = styled(Label)({
@@ -45,12 +58,19 @@ interface OptionCardProps {
     value: SelectMenuOption
     index: number
     onSelected: (val: SelectMenuOption) => void
+    onDelete?: () => void
 }
 
-const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected }) => {
+const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected, onDelete }) => {
     return (
-        /* Box containing the entire card */
-        <Box display="flex" textAlign={"center"} key={value.name} minHeight={"30px"}>
+        <Box
+            display="flex"
+            textAlign={"center"}
+            key={value.name}
+            minHeight={"30px"}
+            overflow="hidden"
+            position={"relative"}
+        >
             {/* Box containing the label */}
             <Box position="absolute" alignSelf={"center"} display="flex">
                 {/* Indentation before the name */}
@@ -73,6 +93,12 @@ const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected }) =>
                 }}
                 sx={{ borderColor: "#888888" }}
             />
+            {onDelete && (
+                <>
+                    {Spacer(0, 10)}
+                    {DeleteButton(onDelete != undefined ? onDelete : () => {})}
+                </>
+            )}
         </Box>
     )
 }
@@ -82,6 +108,8 @@ interface SelectMenuProps {
     onOptionSelected: (val: SelectMenuOption | undefined) => void
     defaultHeaderText: string
     indentation?: number
+    onDelete?: (val: SelectMenuOption) => void | undefined
+    onAddClicked?: () => void
 }
 
 const SelectMenu: React.FC<SelectMenuProps> = ({
@@ -89,14 +117,23 @@ const SelectMenu: React.FC<SelectMenuProps> = ({
     onOptionSelected,
     defaultHeaderText: headerText,
     indentation,
+    onDelete,
+    onAddClicked,
 }) => {
     const [selectedOption, setSelectedOption] = useState<SelectMenuOption | undefined>(undefined)
+    // useEffect(() => {
+    //     if (selectedOption == undefined)
+    //         return
+    //
+    //     if (!options.some(o => o.name == selectedOption.name)) setSelectedOption(undefined)
+    // }, [options, selectedOption])
 
     useEffect(() => {
-        if (selectedOption == undefined) return
-
-        if (!options.some(o => o.name == selectedOption.name)) setSelectedOption(undefined)
-    }, [options, selectedOption])
+        if (!options.some(o => o.name === selectedOption?.name)) {
+            setSelectedOption(undefined)
+            onOptionSelected(undefined) // Notify parent if needed
+        }
+    }, [options])
 
     return (
         <>
@@ -133,9 +170,11 @@ const SelectMenu: React.FC<SelectMenuProps> = ({
                                     onOptionSelected(val)
                                 }}
                                 key={option.name + i}
+                                onDelete={onDelete ? () => onDelete(option) : undefined}
                             />
                         )
                     })}
+                    {onAddClicked && AddButtonInteractiveColor(onAddClicked)}
                 </>
             ) : null}
         </>
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index b91922abc6..e9e521299b 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -65,8 +65,8 @@ export const SectionLabel = styled(Label)({
     margin: "0pt",
 })
 
-export const Spacer = (widthPx: number) => {
-    return <Box minHeight={`${widthPx}px`} />
+export const Spacer = (heightPx?: number, widthPx?: number) => {
+    return <Box minHeight={`${heightPx}px`} minWidth={`${widthPx}px`} />
 }
 
 export const PositiveButton: React.FC<ButtonProps> = ({ value, onClick }) => {
diff --git a/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
index 3955fd6c01..62f8f257f0 100644
--- a/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
@@ -1,466 +1,466 @@
-import React, { useEffect, useState } from "react"
-import Modal, { ModalPropsImpl } from "@/components/Modal"
-import Stack, { StackDirection } from "@/ui/components/Stack"
-import Label, { LabelSize } from "@/ui/components/Label"
-import LabeledButton, { LabelPlacement } from "../../../components/LabeledButton"
-import InputSystem, { AxisInput, ButtonInput, ModifierState, EmptyModifierState } from "@/systems/input/InputSystem"
-import Dropdown from "@/ui/components/Dropdown"
-import Checkbox from "@/ui/components/Checkbox"
-import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
-import Button from "@/ui/components/Button"
-import { useModalControlContext } from "@/ui/ModalContext"
-import { Box } from "@mui/material"
-import { AddButtonInteractiveColor, SectionDivider, SynthesisIcons } from "@/ui/components/StyledComponents"
-
-// capitalize first letter
-const transformKeyName = (keyCode: string, keyModifiers: ModifierState) => {
-    let prefix = ""
-    if (keyModifiers) {
-        if (keyModifiers.meta) prefix += "Meta + "
-        if (keyModifiers.shift) prefix += "Shift + "
-        if (keyModifiers.ctrl) prefix += "Ctrl + "
-        if (keyModifiers.alt) prefix += "Alt + "
-    }
-
-    const displayName = prefix + keyCodeToCharacter(keyCode)
-    if (displayName == "") return "N/A"
-
-    return displayName
-}
-
-// Converts camelCase to Title Case for the inputs modal
-const toTitleCase = (camelCase: string) => {
-    const result = camelCase.replace(/([A-Z])/g, " $1")
-    const finalResult = result.charAt(0).toUpperCase() + result.slice(1)
-    return finalResult
-}
-
-// Special characters only
-const codeToCharacterMap: { [code: string]: string } = {
-    Slash: "/",
-    Comma: ",",
-    Period: ".",
-    BracketLeft: "{",
-    BracketRight: "}",
-    BackQuote: "`",
-    Minus: "-",
-    Equal: "=",
-    Backslash: "\\",
-    Semicolon: ";",
-    Quote: '"',
-}
-
-const gamepadButtons: string[] = [
-    "A",
-    "B",
-    "X",
-    "Y",
-    "Left Bumper",
-    "Right Bumper",
-    "Back",
-    "Start",
-    "Left Stick",
-    "Right Stick",
-    "UNKNOWN",
-    "UNKNOWN2",
-    "Dpad Up",
-    "Dpad Down",
-    "Dpad Left",
-    "Dpad Right",
-]
-const gamepadAxes: string[] = ["N/A", "Left X", "Left Y", "Right X", "Right Y"]
-
-// Converts a key code to displayable character (ex: KeyA -> "A")
-const keyCodeToCharacter = (code: string) => {
-    if (code.startsWith("Key")) return code.charAt(3)
-
-    if (code.startsWith("Digit")) return code.charAt(5)
-
-    if (code in codeToCharacterMap) return codeToCharacterMap[code]
-
-    if (code.startsWith("Gamepad")) return gamepadButtons[parseInt(code.substring(8))]
-
-    return code
-}
-
-const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { openModal } = useModalControlContext()
-
-    const [selectedScheme, setSelectedScheme] = useState<InputScheme | undefined>(undefined)
-    const [useGamepad, setUseGamepad] = useState<boolean>(false)
-
-    const [selectedInput, setSelectedInput] = useState<string>("")
-
-    const [chosenKey, setChosenKey] = useState<string>("")
-    const [chosenButton, setChosenButton] = useState<number>(-1)
-    const [modifierState, setModifierState] = useState<ModifierState>(EmptyModifierState)
-
-    const [chosenGamepadAxis, setChosenGamepadAxis] = useState<number>(-1)
-    const [useButtons, setUseButtons] = useState<UseButtonsState>({})
-
-    // If there is a robot spawned, set it as the selected robot
-    if (selectedScheme == null && InputSchemeManager.allInputSchemes.length > 0) {
-        setTimeout(() => {
-            if (!InputSystem.selectedScheme) {
-                InputSystem.selectedScheme = InputSchemeManager.allInputSchemes[0]
-            }
-
-            setUseButtons({})
-            setSelectedScheme(InputSystem.selectedScheme)
-            setUseGamepad(InputSystem.selectedScheme?.usesGamepad ?? false)
-        }, 1)
-    }
-
-    const axisInputs = selectedScheme?.inputs.filter((input): input is AxisInput => input instanceof AxisInput)
-
-    // Stores the states for using buttons or a joystick axis for gamepad axis inputs
-    type UseButtonsState = {
-        [key: string]: boolean
-    }
-
-    if (axisInputs && Object.keys(useButtons).length == 0) {
-        axisInputs.forEach(input => {
-            useButtons[input.inputName] = input.useGamepadButtons
-        })
-    }
-
-    // Assign keyboard inputs when a key is pressed
-    if (!useGamepad && selectedInput && chosenKey && selectedScheme) {
-        if (selectedInput.startsWith("pos")) {
-            const input = selectedScheme?.inputs.find(
-                input => input.inputName == selectedInput.substring(3)
-            ) as AxisInput
-            input.posKeyCode = chosenKey
-            input.posKeyModifiers = modifierState
-        } else if (selectedInput.startsWith("neg")) {
-            const input = selectedScheme?.inputs.find(
-                input => input.inputName == selectedInput.substring(3)
-            ) as AxisInput
-            input.negKeyCode = chosenKey
-            input.negKeyModifiers = modifierState
-        } else {
-            const input = selectedScheme?.inputs.find(input => input.inputName == selectedInput) as ButtonInput
-            input.keyCode = chosenKey
-            input.keyModifiers = modifierState
-        }
-
-        selectedScheme.customized = true
-
-        setChosenKey("")
-        setSelectedInput("")
-        setModifierState(EmptyModifierState)
-    }
-    // Assign gamepad button inputs when a button is pressed
-    else if (selectedScheme && useGamepad && selectedInput && chosenButton != -1) {
-        if (selectedInput.startsWith("pos")) {
-            const input = selectedScheme?.inputs.find(
-                input => input.inputName == selectedInput.substring(3)
-            ) as AxisInput
-            input.posGamepadButton = chosenButton
-        } else if (selectedInput.startsWith("neg")) {
-            const input = selectedScheme?.inputs.find(
-                input => input.inputName == selectedInput.substring(3)
-            ) as AxisInput
-            input.negGamepadButton = chosenButton
-        } else {
-            const input = selectedScheme?.inputs.find(input => input.inputName == selectedInput) as ButtonInput
-
-            input.gamepadButton = chosenButton
-        }
-
-        selectedScheme.customized = true
-
-        setChosenButton(-1)
-        setSelectedInput("")
-    }
-
-    // Assign gamepad axis inputs when a gamepad axis is selected
-    if (useGamepad && selectedInput && chosenGamepadAxis != -1 && selectedScheme) {
-        const selected = selectedScheme?.inputs.find(input => input.inputName == selectedInput) as AxisInput
-        selected.gamepadAxisNumber = chosenGamepadAxis - 1
-
-        selectedScheme.customized = true
-
-        setChosenGamepadAxis(-1)
-        setSelectedInput("")
-    }
-
-    useEffect(() => {
-        const checkGamepadState = () => {
-            if (InputSystem.gamepad !== null) {
-                const pressedButtons = InputSystem.gamepad.buttons
-                    .map((button, index) => (button.pressed ? index : null))
-                    .filter(index => index !== null)
-                    .map(index => index!)
-
-                if (pressedButtons.length > 0) setChosenButton(pressedButtons[0])
-                else setChosenButton(-1)
-            }
-            requestAnimationFrame(checkGamepadState)
-        }
-
-        checkGamepadState()
-    })
-
-    const KeyboardButtonSelection = (c: ButtonInput) => {
-        return (
-            <LabeledButton
-                key={c.inputName}
-                label={toTitleCase(c.inputName)}
-                placement={LabelPlacement.Left}
-                value={c.inputName == selectedInput ? "Press anything" : transformKeyName(c.keyCode, c.keyModifiers)}
-                onClick={() => {
-                    setSelectedInput(c.inputName)
-                }}
-            />
-        )
-    }
-
-    const KeyboardAxisSelection = (c: AxisInput) => {
-        return (
-            <div key={c.inputName}>
-                <Stack direction={StackDirection.Vertical} spacing={3}>
-                    {/* Positive key */}
-                    <Label size={LabelSize.Medium}>{toTitleCase(c.inputName)}</Label>
-                    <LabeledButton
-                        key={"pos" + c.inputName}
-                        label={"(+)"}
-                        placement={LabelPlacement.Left}
-                        value={
-                            "pos" + c.inputName == selectedInput
-                                ? "Press anything"
-                                : transformKeyName(c.posKeyCode, c.posKeyModifiers)
-                        }
-                        onClick={() => {
-                            setSelectedInput("pos" + c.inputName)
-                        }}
-                    />
-                    {/* Negative key */}
-                    <LabeledButton
-                        key={"neg" + c.inputName}
-                        label={"(-)"}
-                        placement={LabelPlacement.Left}
-                        value={
-                            "neg" + c.inputName == selectedInput
-                                ? "Press anything"
-                                : transformKeyName(c.negKeyCode, c.negKeyModifiers)
-                        }
-                        onClick={() => {
-                            setSelectedInput("neg" + c.inputName)
-                        }}
-                    />
-                </Stack>
-            </div>
-        )
-    }
-
-    const JoystickButtonSelection = (c: ButtonInput) => {
-        return (
-            <LabeledButton
-                key={c.inputName}
-                label={toTitleCase(c.inputName)}
-                placement={LabelPlacement.Left}
-                value={
-                    c.inputName == selectedInput
-                        ? "Press anything"
-                        : c.gamepadButton == -1
-                          ? "N/A"
-                          : gamepadButtons[c.gamepadButton]
-                }
-                onClick={() => {
-                    setSelectedInput(c.inputName)
-                }}
-            />
-        )
-    }
-
-    const JoystickAxisSelection = (c: AxisInput) => {
-        return (
-            <Dropdown
-                key={c.inputName}
-                label={toTitleCase(c.inputName)}
-                defaultValue={gamepadAxes[c.gamepadAxisNumber + 1]}
-                options={gamepadAxes}
-                onSelect={value => {
-                    setSelectedInput(c.inputName)
-                    setChosenGamepadAxis(gamepadAxes.indexOf(value))
-                }}
-            />
-        )
-    }
-
-    const GamepadButtonAxisSelection = (c: AxisInput) => {
-        return (
-            <div>
-                <Stack direction={StackDirection.Vertical} spacing={3}>
-                    <Label size={LabelSize.Medium}>{toTitleCase(c.inputName)}</Label>
-                    {/* // Positive gamepad button */}
-                    <LabeledButton
-                        key={"pos" + c.inputName}
-                        label={"(+)"}
-                        placement={LabelPlacement.Left}
-                        value={
-                            "pos" + c.inputName == selectedInput
-                                ? "Press anything"
-                                : c.posGamepadButton == -1
-                                  ? "N/A"
-                                  : gamepadButtons[c.posGamepadButton]
-                        }
-                        onClick={() => {
-                            setSelectedInput("pos" + c.inputName)
-                        }}
-                    />
-                    {/* // Negative gamepad button */}
-                    <LabeledButton
-                        key={"neg" + c.inputName}
-                        label={"(-)"}
-                        placement={LabelPlacement.Left}
-                        value={
-                            "neg" + c.inputName == selectedInput
-                                ? "Press anything"
-                                : c.negGamepadButton == -1
-                                  ? "N/A"
-                                  : gamepadButtons[c.negGamepadButton]
-                        }
-                        onClick={() => {
-                            setSelectedInput("neg" + c.inputName)
-                        }}
-                    />
-                </Stack>
-            </div>
-        )
-    }
-
-    return (
-        <Modal
-            name="Keybinds"
-            icon={SynthesisIcons.Gamepad}
-            modalId={modalId}
-            onAccept={() => {
-                InputSchemeManager.saveSchemes()
-                InputSystem.selectedScheme = undefined
-            }}
-        >
-            <>
-                <Stack direction={StackDirection.Horizontal} spacing={25}>
-                    <Box display="flex" flexDirection={"column"} gap={"10px"}>
-                        <Dropdown
-                            label={"Select a Control Scheme"}
-                            defaultValue={InputSystem?.selectedScheme?.schemeName}
-                            options={InputSchemeManager.allInputSchemes.map(s => s.schemeName)}
-                            onSelect={value => {
-                                const schemeData = InputSchemeManager.allInputSchemes.find(s => s.schemeName == value)
-                                if (!schemeData || schemeData == selectedScheme) return
-
-                                setSelectedScheme(undefined)
-                                InputSystem.selectedScheme = schemeData
-                            }}
-                        />
-                        {AddButtonInteractiveColor(() => {
-                            openModal("new-scheme")
-                        })}
-                        {selectedScheme ? (
-                            <>
-                                <Checkbox
-                                    label="Use Controller"
-                                    defaultState={selectedScheme?.usesGamepad ?? false}
-                                    onClick={val => {
-                                        setUseGamepad(val)
-                                        if (selectedScheme) selectedScheme.usesGamepad = val
-                                    }}
-                                />
-                                <Box height={10} />
-                                <SectionDivider />
-                                <Box height={15}></Box>
-
-                                <Box display="flex" justifyContent="center" alignItems="center">
-                                    <Button
-                                        value={"Reset all to Defaults"}
-                                        onClick={() => {
-                                            openModal("reset-inputs")
-                                        }}
-                                    />
-                                </Box>
-                            </>
-                        ) : (
-                            <Label>No robot selected.</Label>
-                        )}
-                    </Box>
-                    <div
-                        className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[60vh] bg-background-secondary rounded-md p-2"
-                        onKeyUp={e => {
-                            setChosenKey(selectedInput ? e.code : "")
-                            setModifierState({
-                                ctrl: e.ctrlKey,
-                                alt: e.altKey,
-                                shift: e.shiftKey,
-                                meta: e.metaKey,
-                            })
-                        }}
-                    >
-                        {selectedScheme ? (
-                            <>
-                                <Stack direction={StackDirection.Vertical} spacing={20}>
-                                    {selectedScheme.inputs.map(c => {
-                                        if (!useGamepad) {
-                                            // Keyboard button
-                                            if (c instanceof ButtonInput) {
-                                                return KeyboardButtonSelection(c)
-                                            }
-                                            // Keyboard Axis
-                                            else if (c instanceof AxisInput) {
-                                                return KeyboardAxisSelection(c)
-                                            }
-                                        } else {
-                                            // Joystick Button
-                                            if (c instanceof ButtonInput) {
-                                                return JoystickButtonSelection(c)
-                                            }
-
-                                            // Gamepad axis
-                                            else if (c instanceof AxisInput) {
-                                                return (
-                                                    <div key={c.inputName}>
-                                                        {useButtons[c.inputName]
-                                                            ? GamepadButtonAxisSelection(c)
-                                                            : // Gamepad joystick axis
-                                                              JoystickAxisSelection(c)}
-
-                                                        {/* // Button to switch between two buttons and a joystick axis */}
-                                                        <Checkbox
-                                                            label="Use Buttons"
-                                                            defaultState={c.useGamepadButtons}
-                                                            onClick={val => {
-                                                                setUseButtons(prevState => ({
-                                                                    ...prevState,
-                                                                    [c.inputName]: val,
-                                                                }))
-                                                                c.useGamepadButtons = val
-                                                            }}
-                                                        />
-                                                        {/* // Button to invert the joystick axis */}
-                                                        <Checkbox
-                                                            label="Joystick Inverted"
-                                                            defaultState={c.joystickInverted}
-                                                            onClick={val => {
-                                                                c.joystickInverted = val
-                                                            }}
-                                                        />
-                                                    </div>
-                                                )
-                                            }
-                                        }
-                                    })}
-                                </Stack>
-                            </>
-                        ) : (
-                            <Label>No robot selected.</Label>
-                        )}
-                    </div>
-                </Stack>
-            </>
-        </Modal>
-    )
-}
-
-export default ChangeInputsModal
+// import React, { useEffect, useState } from "react"
+// import Modal, { ModalPropsImpl } from "@/components/Modal"
+// import Stack, { StackDirection } from "@/ui/components/Stack"
+// import Label, { LabelSize } from "@/ui/components/Label"
+// import LabeledButton, { LabelPlacement } from "../../../components/LabeledButton"
+// import InputSystem, { AxisInput, ButtonInput, ModifierState, EmptyModifierState } from "@/systems/input/InputSystem"
+// import Dropdown from "@/ui/components/Dropdown"
+// import Checkbox from "@/ui/components/Checkbox"
+// import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
+// import Button from "@/ui/components/Button"
+// import { useModalControlContext } from "@/ui/ModalContext"
+// import { Box } from "@mui/material"
+// import { AddButtonInteractiveColor, SectionDivider, SynthesisIcons } from "@/ui/components/StyledComponents"
+
+// // capitalize first letter
+// const transformKeyName = (keyCode: string, keyModifiers: ModifierState) => {
+//     let prefix = ""
+//     if (keyModifiers) {
+//         if (keyModifiers.meta) prefix += "Meta + "
+//         if (keyModifiers.shift) prefix += "Shift + "
+//         if (keyModifiers.ctrl) prefix += "Ctrl + "
+//         if (keyModifiers.alt) prefix += "Alt + "
+//     }
+
+//     const displayName = prefix + keyCodeToCharacter(keyCode)
+//     if (displayName == "") return "N/A"
+
+//     return displayName
+// }
+
+// // Converts camelCase to Title Case for the inputs modal
+// const toTitleCase = (camelCase: string) => {
+//     const result = camelCase.replace(/([A-Z])/g, " $1")
+//     const finalResult = result.charAt(0).toUpperCase() + result.slice(1)
+//     return finalResult
+// }
+
+// // Special characters only
+// const codeToCharacterMap: { [code: string]: string } = {
+//     Slash: "/",
+//     Comma: ",",
+//     Period: ".",
+//     BracketLeft: "{",
+//     BracketRight: "}",
+//     BackQuote: "`",
+//     Minus: "-",
+//     Equal: "=",
+//     Backslash: "\\",
+//     Semicolon: ";",
+//     Quote: '"',
+// }
+
+// const gamepadButtons: string[] = [
+//     "A",
+//     "B",
+//     "X",
+//     "Y",
+//     "Left Bumper",
+//     "Right Bumper",
+//     "Back",
+//     "Start",
+//     "Left Stick",
+//     "Right Stick",
+//     "UNKNOWN",
+//     "UNKNOWN2",
+//     "Dpad Up",
+//     "Dpad Down",
+//     "Dpad Left",
+//     "Dpad Right",
+// ]
+// const gamepadAxes: string[] = ["N/A", "Left X", "Left Y", "Right X", "Right Y"]
+
+// // Converts a key code to displayable character (ex: KeyA -> "A")
+// const keyCodeToCharacter = (code: string) => {
+//     if (code.startsWith("Key")) return code.charAt(3)
+
+//     if (code.startsWith("Digit")) return code.charAt(5)
+
+//     if (code in codeToCharacterMap) return codeToCharacterMap[code]
+
+//     if (code.startsWith("Gamepad")) return gamepadButtons[parseInt(code.substring(8))]
+
+//     return code
+// }
+
+// const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
+//     const { openModal } = useModalControlContext()
+
+//     const [selectedScheme, setSelectedScheme] = useState<InputScheme | undefined>(undefined)
+//     const [useGamepad, setUseGamepad] = useState<boolean>(false)
+
+//     const [selectedInput, setSelectedInput] = useState<string>("")
+
+//     const [chosenKey, setChosenKey] = useState<string>("")
+//     const [chosenButton, setChosenButton] = useState<number>(-1)
+//     const [modifierState, setModifierState] = useState<ModifierState>(EmptyModifierState)
+
+//     const [chosenGamepadAxis, setChosenGamepadAxis] = useState<number>(-1)
+//     const [useButtons, setUseButtons] = useState<UseButtonsState>({})
+
+//     // If there is a robot spawned, set it as the selected robot
+//     if (selectedScheme == null && InputSchemeManager.allInputSchemes.length > 0) {
+//         setTimeout(() => {
+//             if (!InputSystem.selectedScheme) {
+//                 InputSystem.selectedScheme = InputSchemeManager.allInputSchemes[0]
+//             }
+
+//             setUseButtons({})
+//             setSelectedScheme(InputSystem.selectedScheme)
+//             setUseGamepad(InputSystem.selectedScheme?.usesGamepad ?? false)
+//         }, 1)
+//     }
+
+//     const axisInputs = selectedScheme?.inputs.filter((input): input is AxisInput => input instanceof AxisInput)
+
+//     // Stores the states for using buttons or a joystick axis for gamepad axis inputs
+//     type UseButtonsState = {
+//         [key: string]: boolean
+//     }
+
+//     if (axisInputs && Object.keys(useButtons).length == 0) {
+//         axisInputs.forEach(input => {
+//             useButtons[input.inputName] = input.useGamepadButtons
+//         })
+//     }
+
+//     // Assign keyboard inputs when a key is pressed
+//     if (!useGamepad && selectedInput && chosenKey && selectedScheme) {
+//         if (selectedInput.startsWith("pos")) {
+//             const input = selectedScheme?.inputs.find(
+//                 input => input.inputName == selectedInput.substring(3)
+//             ) as AxisInput
+//             input.posKeyCode = chosenKey
+//             input.posKeyModifiers = modifierState
+//         } else if (selectedInput.startsWith("neg")) {
+//             const input = selectedScheme?.inputs.find(
+//                 input => input.inputName == selectedInput.substring(3)
+//             ) as AxisInput
+//             input.negKeyCode = chosenKey
+//             input.negKeyModifiers = modifierState
+//         } else {
+//             const input = selectedScheme?.inputs.find(input => input.inputName == selectedInput) as ButtonInput
+//             input.keyCode = chosenKey
+//             input.keyModifiers = modifierState
+//         }
+
+//         selectedScheme.customized = true
+
+//         setChosenKey("")
+//         setSelectedInput("")
+//         setModifierState(EmptyModifierState)
+//     }
+//     // Assign gamepad button inputs when a button is pressed
+//     else if (selectedScheme && useGamepad && selectedInput && chosenButton != -1) {
+//         if (selectedInput.startsWith("pos")) {
+//             const input = selectedScheme?.inputs.find(
+//                 input => input.inputName == selectedInput.substring(3)
+//             ) as AxisInput
+//             input.posGamepadButton = chosenButton
+//         } else if (selectedInput.startsWith("neg")) {
+//             const input = selectedScheme?.inputs.find(
+//                 input => input.inputName == selectedInput.substring(3)
+//             ) as AxisInput
+//             input.negGamepadButton = chosenButton
+//         } else {
+//             const input = selectedScheme?.inputs.find(input => input.inputName == selectedInput) as ButtonInput
+
+//             input.gamepadButton = chosenButton
+//         }
+
+//         selectedScheme.customized = true
+
+//         setChosenButton(-1)
+//         setSelectedInput("")
+//     }
+
+//     // Assign gamepad axis inputs when a gamepad axis is selected
+//     if (useGamepad && selectedInput && chosenGamepadAxis != -1 && selectedScheme) {
+//         const selected = selectedScheme?.inputs.find(input => input.inputName == selectedInput) as AxisInput
+//         selected.gamepadAxisNumber = chosenGamepadAxis - 1
+
+//         selectedScheme.customized = true
+
+//         setChosenGamepadAxis(-1)
+//         setSelectedInput("")
+//     }
+
+//     useEffect(() => {
+//         const checkGamepadState = () => {
+//             if (InputSystem.gamepad !== null) {
+//                 const pressedButtons = InputSystem.gamepad.buttons
+//                     .map((button, index) => (button.pressed ? index : null))
+//                     .filter(index => index !== null)
+//                     .map(index => index!)
+
+//                 if (pressedButtons.length > 0) setChosenButton(pressedButtons[0])
+//                 else setChosenButton(-1)
+//             }
+//             requestAnimationFrame(checkGamepadState)
+//         }
+
+//         checkGamepadState()
+//     })
+
+//     const KeyboardButtonSelection = (c: ButtonInput) => {
+//         return (
+//             <LabeledButton
+//                 key={c.inputName}
+//                 label={toTitleCase(c.inputName)}
+//                 placement={LabelPlacement.Left}
+//                 value={c.inputName == selectedInput ? "Press anything" : transformKeyName(c.keyCode, c.keyModifiers)}
+//                 onClick={() => {
+//                     setSelectedInput(c.inputName)
+//                 }}
+//             />
+//         )
+//     }
+
+//     const KeyboardAxisSelection = (c: AxisInput) => {
+//         return (
+//             <div key={c.inputName}>
+//                 <Stack direction={StackDirection.Vertical} spacing={3}>
+//                     {/* Positive key */}
+//                     <Label size={LabelSize.Medium}>{toTitleCase(c.inputName)}</Label>
+//                     <LabeledButton
+//                         key={"pos" + c.inputName}
+//                         label={"(+)"}
+//                         placement={LabelPlacement.Left}
+//                         value={
+//                             "pos" + c.inputName == selectedInput
+//                                 ? "Press anything"
+//                                 : transformKeyName(c.posKeyCode, c.posKeyModifiers)
+//                         }
+//                         onClick={() => {
+//                             setSelectedInput("pos" + c.inputName)
+//                         }}
+//                     />
+//                     {/* Negative key */}
+//                     <LabeledButton
+//                         key={"neg" + c.inputName}
+//                         label={"(-)"}
+//                         placement={LabelPlacement.Left}
+//                         value={
+//                             "neg" + c.inputName == selectedInput
+//                                 ? "Press anything"
+//                                 : transformKeyName(c.negKeyCode, c.negKeyModifiers)
+//                         }
+//                         onClick={() => {
+//                             setSelectedInput("neg" + c.inputName)
+//                         }}
+//                     />
+//                 </Stack>
+//             </div>
+//         )
+//     }
+
+//     const JoystickButtonSelection = (c: ButtonInput) => {
+//         return (
+//             <LabeledButton
+//                 key={c.inputName}
+//                 label={toTitleCase(c.inputName)}
+//                 placement={LabelPlacement.Left}
+//                 value={
+//                     c.inputName == selectedInput
+//                         ? "Press anything"
+//                         : c.gamepadButton == -1
+//                           ? "N/A"
+//                           : gamepadButtons[c.gamepadButton]
+//                 }
+//                 onClick={() => {
+//                     setSelectedInput(c.inputName)
+//                 }}
+//             />
+//         )
+//     }
+
+//     const JoystickAxisSelection = (c: AxisInput) => {
+//         return (
+//             <Dropdown
+//                 key={c.inputName}
+//                 label={toTitleCase(c.inputName)}
+//                 defaultValue={gamepadAxes[c.gamepadAxisNumber + 1]}
+//                 options={gamepadAxes}
+//                 onSelect={value => {
+//                     setSelectedInput(c.inputName)
+//                     setChosenGamepadAxis(gamepadAxes.indexOf(value))
+//                 }}
+//             />
+//         )
+//     }
+
+//     const GamepadButtonAxisSelection = (c: AxisInput) => {
+//         return (
+//             <div>
+//                 <Stack direction={StackDirection.Vertical} spacing={3}>
+//                     <Label size={LabelSize.Medium}>{toTitleCase(c.inputName)}</Label>
+//                     {/* // Positive gamepad button */}
+//                     <LabeledButton
+//                         key={"pos" + c.inputName}
+//                         label={"(+)"}
+//                         placement={LabelPlacement.Left}
+//                         value={
+//                             "pos" + c.inputName == selectedInput
+//                                 ? "Press anything"
+//                                 : c.posGamepadButton == -1
+//                                   ? "N/A"
+//                                   : gamepadButtons[c.posGamepadButton]
+//                         }
+//                         onClick={() => {
+//                             setSelectedInput("pos" + c.inputName)
+//                         }}
+//                     />
+//                     {/* // Negative gamepad button */}
+//                     <LabeledButton
+//                         key={"neg" + c.inputName}
+//                         label={"(-)"}
+//                         placement={LabelPlacement.Left}
+//                         value={
+//                             "neg" + c.inputName == selectedInput
+//                                 ? "Press anything"
+//                                 : c.negGamepadButton == -1
+//                                   ? "N/A"
+//                                   : gamepadButtons[c.negGamepadButton]
+//                         }
+//                         onClick={() => {
+//                             setSelectedInput("neg" + c.inputName)
+//                         }}
+//                     />
+//                 </Stack>
+//             </div>
+//         )
+//     }
+
+//     return (
+//         <Modal
+//             name="Keybinds"
+//             icon={SynthesisIcons.Gamepad}
+//             modalId={modalId}
+//             onAccept={() => {
+//                 InputSchemeManager.saveSchemes()
+//                 InputSystem.selectedScheme = undefined
+//             }}
+//         >
+//             <>
+//                 <Stack direction={StackDirection.Horizontal} spacing={25}>
+//                     <Box display="flex" flexDirection={"column"} gap={"10px"}>
+//                         <Dropdown
+//                             label={"Select a Control Scheme"}
+//                             defaultValue={InputSystem?.selectedScheme?.schemeName}
+//                             options={InputSchemeManager.allInputSchemes.map(s => s.schemeName)}
+//                             onSelect={value => {
+//                                 const schemeData = InputSchemeManager.allInputSchemes.find(s => s.schemeName == value)
+//                                 if (!schemeData || schemeData == selectedScheme) return
+
+//                                 setSelectedScheme(undefined)
+//                                 InputSystem.selectedScheme = schemeData
+//                             }}
+//                         />
+//                         {AddButtonInteractiveColor(() => {
+//                             openModal("new-scheme")
+//                         })}
+//                         {selectedScheme ? (
+//                             <>
+//                                 <Checkbox
+//                                     label="Use Controller"
+//                                     defaultState={selectedScheme?.usesGamepad ?? false}
+//                                     onClick={val => {
+//                                         setUseGamepad(val)
+//                                         if (selectedScheme) selectedScheme.usesGamepad = val
+//                                     }}
+//                                 />
+//                                 <Box height={10} />
+//                                 <SectionDivider />
+//                                 <Box height={15}></Box>
+
+//                                 <Box display="flex" justifyContent="center" alignItems="center">
+//                                     <Button
+//                                         value={"Reset all to Defaults"}
+//                                         onClick={() => {
+//                                             openModal("reset-inputs")
+//                                         }}
+//                                     />
+//                                 </Box>
+//                             </>
+//                         ) : (
+//                             <Label>No robot selected.</Label>
+//                         )}
+//                     </Box>
+//                     <div
+//                         className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[60vh] bg-background-secondary rounded-md p-2"
+//                         onKeyUp={e => {
+//                             setChosenKey(selectedInput ? e.code : "")
+//                             setModifierState({
+//                                 ctrl: e.ctrlKey,
+//                                 alt: e.altKey,
+//                                 shift: e.shiftKey,
+//                                 meta: e.metaKey,
+//                             })
+//                         }}
+//                     >
+//                         {selectedScheme ? (
+//                             <>
+//                                 <Stack direction={StackDirection.Vertical} spacing={20}>
+//                                     {selectedScheme.inputs.map(c => {
+//                                         if (!useGamepad) {
+//                                             // Keyboard button
+//                                             if (c instanceof ButtonInput) {
+//                                                 return KeyboardButtonSelection(c)
+//                                             }
+//                                             // Keyboard Axis
+//                                             else if (c instanceof AxisInput) {
+//                                                 return KeyboardAxisSelection(c)
+//                                             }
+//                                         } else {
+//                                             // Joystick Button
+//                                             if (c instanceof ButtonInput) {
+//                                                 return JoystickButtonSelection(c)
+//                                             }
+
+//                                             // Gamepad axis
+//                                             else if (c instanceof AxisInput) {
+//                                                 return (
+//                                                     <div key={c.inputName}>
+//                                                         {useButtons[c.inputName]
+//                                                             ? GamepadButtonAxisSelection(c)
+//                                                             : // Gamepad joystick axis
+//                                                               JoystickAxisSelection(c)}
+
+//                                                         {/* // Button to switch between two buttons and a joystick axis */}
+//                                                         <Checkbox
+//                                                             label="Use Buttons"
+//                                                             defaultState={c.useGamepadButtons}
+//                                                             onClick={val => {
+//                                                                 setUseButtons(prevState => ({
+//                                                                     ...prevState,
+//                                                                     [c.inputName]: val,
+//                                                                 }))
+//                                                                 c.useGamepadButtons = val
+//                                                             }}
+//                                                         />
+//                                                         {/* // Button to invert the joystick axis */}
+//                                                         <Checkbox
+//                                                             label="Joystick Inverted"
+//                                                             defaultState={c.joystickInverted}
+//                                                             onClick={val => {
+//                                                                 c.joystickInverted = val
+//                                                             }}
+//                                                         />
+//                                                     </div>
+//                                                 )
+//                                             }
+//                                         }
+//                                     })}
+//                                 </Stack>
+//                             </>
+//                         ) : (
+//                             <Label>No robot selected.</Label>
+//                         )}
+//                     </div>
+//                 </Stack>
+//             </>
+//         </Modal>
+//     )
+// }
+
+// export default ChangeInputsModal
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index ba5d759d89..e1755c2500 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -72,7 +72,7 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             cancelName="Close"
         >
             {/** A scroll view with buttons to select default and custom input schemes */}
-            <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[45vh] bg-background-secondary rounded-md p-2">
+            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2">
                 {/** The label and divider at the top of the scroll view */}
                 <SectionLabel size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
                     {`${InputSchemeManager.availableInputSchemes.length} Input Schemes`}
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index 7aa17571c8..0d6e0f8214 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -5,7 +5,7 @@ import Label from "@/ui/components/Label"
 import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
 import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
-import { useMemo, useState } from "react"
+import { useMemo, useReducer, useState } from "react"
 import { AiOutlinePlus } from "react-icons/ai"
 import ConfigureGamepiecePickupInterface from "./interfaces/ConfigureGamepiecePickupInterface"
 import ConfigureShotTrajectoryInterface from "./interfaces/ConfigureShotTrajectoryInterface"
@@ -14,6 +14,10 @@ import SequentialBehaviorsInterface from "./interfaces/SequentialBehaviorsInterf
 import ChangeInputsInterface from "./interfaces/inputs/ConfigureInputsInterface"
 import InputSystem from "@/systems/input/InputSystem"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
+import { usePanelControlContext } from "@/ui/PanelContext"
+import Button from "@/ui/components/Button"
+import { setSelectedBrainIndexGlobal } from "../ChooseInputSchemePanel"
+import ConfigureSchemeInterface from "./interfaces/inputs/ConfigureSchemeInterface"
 
 const AddIcon = <AiOutlinePlus size={"1.25rem"} />
 
@@ -32,6 +36,9 @@ interface ConfigurationSelectionProps {
 }
 
 const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configurationType, onAssemblySelected }) => {
+    const [x, update] = useReducer(x => !x, false)
+    const { openPanel } = usePanelControlContext()
+
     const robots = useMemo(() => {
         const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
             if (x instanceof MirabufSceneObject) {
@@ -41,7 +48,7 @@ const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configuratio
         }) as MirabufSceneObject[]
 
         return assemblies
-    }, [])
+    }, [x])
 
     const fields = useMemo(() => {
         const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
@@ -52,7 +59,7 @@ const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configuratio
         }) as MirabufSceneObject[]
 
         return assemblies
-    }, [])
+    }, [x])
 
     return (
         <SelectMenu
@@ -67,6 +74,15 @@ const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configuratio
                 onAssemblySelected((val as AssemblySelectionOption)?.assemblyObject)
             }}
             defaultHeaderText={`Select a ${configurationType == ConfigurationType.ROBOT ? "Robot" : "Field"}`}
+            onDelete={val => {
+                World.SceneRenderer.RemoveSceneObject((val as AssemblySelectionOption).assemblyObject.id)
+                onAssemblySelected(undefined)
+                update()
+            }}
+            onAddClicked={() => {
+                console.log("Open spawn panel")
+                openPanel("import-mirabuf")
+            }}
         />
     )
 }
@@ -117,9 +133,10 @@ const ConfigModeSelection: React.FC<ConfigModeSelectionProps> = ({ configuration
 interface ConfigInterfaceProps {
     configMode: ConfigMode
     assembly: MirabufSceneObject
+    openPanel: (panelId: string) => void
 }
 
-const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly }) => {
+const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly, openPanel }) => {
     switch (configMode) {
         case ConfigMode.INTAKE:
             return <ConfigureGamepiecePickupInterface selectedRobot={assembly} />
@@ -128,7 +145,21 @@ const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly
         case ConfigMode.MOTORS:
             return <SequentialBehaviorsInterface selectedRobot={assembly} />
         case ConfigMode.CONTROLS:
-            return <Label>interface not set up</Label>
+            const brainIndex = (assembly.brain as SynthesisBrain).brainIndex
+            const scheme = InputSystem.brainIndexSchemeMap.get(brainIndex)
+
+            return (
+                <>
+                    <Button
+                        value="Set Scheme"
+                        onClick={() => {
+                            setSelectedBrainIndexGlobal(brainIndex)
+                            openPanel("choose-scheme")
+                        }}
+                    />
+                    {scheme && <ConfigureSchemeInterface selectedScheme={scheme} />}
+                </>
+            )
         case ConfigMode.SCORING_ZONES: {
             const zones = assembly.fieldPreferences?.scoringZones
             if (zones == undefined) {
@@ -165,6 +196,7 @@ enum ConfigurationType {
 }
 
 const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
+    const { openPanel } = usePanelControlContext()
     const [configurationType, setConfigurationType] = useState<ConfigurationType>(ConfigurationType.ROBOT)
     const [selectedAssembly, setSelectedAssembly] = useState<MirabufSceneObject | undefined>(undefined)
     const [selectedConfigMode, setSelectedConfigMode] = useState<ConfigMode | undefined>(undefined)
@@ -208,8 +240,8 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                             onAssemblySelected={a => {
                                 if (selectedConfigMode != undefined) {
                                     new ConfigurationSavedEvent()
-                                    setSelectedConfigMode(undefined)
                                 }
+                                setSelectedConfigMode(undefined)
                                 setSelectedAssembly(a)
                             }}
                         />
@@ -223,7 +255,11 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                             />
                         )}
                         {selectedConfigMode != undefined && selectedAssembly != undefined && (
-                            <ConfigInterface configMode={selectedConfigMode} assembly={selectedAssembly} />
+                            <ConfigInterface
+                                configMode={selectedConfigMode}
+                                assembly={selectedAssembly}
+                                openPanel={openPanel}
+                            />
                         )}
                     </>
                 )}
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
index 87e21db648..52cb701333 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
@@ -14,9 +14,10 @@ import {
     ReactRgbaColor_ThreeColor,
     ThreeMatrix4_Array,
 } from "@/util/TypeConversions"
-import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
 import { useTheme } from "@/ui/ThemeContext"
 import { ConfigurationSavedEvent } from "../ConfigurePanel"
+import Button from "@/ui/components/Button"
+import { Spacer } from "@/ui/components/StyledComponents"
 
 // slider constants
 const MIN_ZONE_SIZE = 0.1
@@ -208,11 +209,10 @@ const ConfigureGamepiecePickupInterface: React.FC<ConfigPickupProps> = ({ select
                 }}
                 step={0.01}
             />
-            <LabeledButton
-                placement={LabelPlacement.Left}
-                label="Reset"
+            {Spacer(10)}
+            <Button
                 value="Reset"
-                buttonClassName="w-min"
+                //buttonClassName="w-min"
                 onClick={() => {
                     if (transformGizmo) {
                         const robotTransformation = JoltMat44_ThreeMatrix4(
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
index 0f30cc6cea..4f5aecccea 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
@@ -115,8 +115,8 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
                 sx={{
                     borderColor:
                         lookingForParent == undefined ||
-                            lookingForParent == behavior ||
-                            behavior.parentJointIndex != undefined
+                        lookingForParent == behavior ||
+                        behavior.parentJointIndex != undefined
                             ? "transparent"
                             : "#888888",
                 }}
@@ -139,12 +139,12 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
             <Box display="flex" position="relative" alignSelf={"center"} alignItems={"center"}>
                 {/* Button to set the parent of this behavior */}
                 <Button
-                    key="set"
+                    key="follow"
                     size={ButtonSize.Small}
                     value={
                         lookingForParent == behavior || behavior.parentJointIndex != undefined
                             ? UnselectParentIcon
-                            : "set"
+                            : "follow"
                     }
                     onClick={() => {
                         if (hasChild) return
@@ -210,9 +210,10 @@ interface SequentialBehaviorProps {
 const SequentialBehaviorsInterface: React.FC<SequentialBehaviorProps> = ({ selectedRobot }) => {
     const [behaviors, setBehaviors] = useState<SequentialBehaviorPreferences[]>(
         PreferencesSystem.getRobotPreferences(selectedRobot.assemblyName)?.sequentialConfig ??
-        (selectedRobot.brain as SynthesisBrain).behaviors
-            .filter(b => b instanceof SequenceableBehavior)
-            .map(b => DefaultSequentialConfig(b.jointIndex, b instanceof GenericArmBehavior ? "Arm" : "Elevator")))
+            (selectedRobot.brain as SynthesisBrain).behaviors
+                .filter(b => b instanceof SequenceableBehavior)
+                .map(b => DefaultSequentialConfig(b.jointIndex, b instanceof GenericArmBehavior ? "Arm" : "Elevator"))
+    )
     const [lookingForParent, setLookingForParent] = useState<SequentialBehaviorPreferences | undefined>(undefined)
 
     const [_, update] = useReducer(x => {
@@ -234,9 +235,8 @@ const SequentialBehaviorsInterface: React.FC<SequentialBehaviorProps> = ({ selec
         }
     }, [saveEvent])
 
-
     return (
-        <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
+        <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary">
             <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
                 Set Parent Behaviors
             </LabelStyled>
@@ -246,11 +246,7 @@ const SequentialBehaviorsInterface: React.FC<SequentialBehaviorProps> = ({ selec
                 return (
                     <BehaviorCard
                         elementKey={jointIndex}
-                        name={
-                            behavior.type == "Arm"
-                                ? `Joint ${jointIndex} (Arm)`
-                                : `Joint ${jointIndex} (Elevator)`
-                        }
+                        name={behavior.type == "Arm" ? `Joint ${jointIndex} (Arm)` : `Joint ${jointIndex} (Elevator)`}
                         behavior={behavior}
                         key={jointIndex}
                         update={update}
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
index 46c1f5db95..7016fd12bf 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
@@ -1,18 +1,10 @@
-import React, { useCallback, useEffect, useState } from "react"
+import { useCallback, useEffect, useState } from "react"
 import { ConfigurationSavedEvent } from "../../ConfigurePanel"
 import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
-import InputSystem, { Input } from "@/systems/input/InputSystem"
+import InputSystem from "@/systems/input/InputSystem"
 import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
-import EditInputInterface from "./EditInputInterface"
-import Checkbox from "@/ui/components/Checkbox"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
-
-// Converts camelCase to Title Case for the inputs modal
-const toTitleCase = (camelCase: string) => {
-    const result = camelCase.replace(/([A-Z])/g, " $1")
-    const finalResult = result.charAt(0).toUpperCase() + result.slice(1)
-    return finalResult
-}
+import ConfigureSchemeInterface from "./ConfigureSchemeInterface"
 
 const findSchemeRobotName = (scheme: InputScheme): string | undefined => {
     for (const [key, value] of InputSystem.brainIndexSchemeMap.entries()) {
@@ -35,25 +27,10 @@ class SchemeSelectionOption extends SelectMenuOption {
     }
 }
 
-class InputSelectionOption extends SelectMenuOption {
-    input: Input
-
-    constructor(input: Input) {
-        super(toTitleCase(input.inputName))
-
-        this.input = input
-    }
-}
-
-interface ChangeInputsProps {}
-
-const ConfigureInputsInterface: React.FC<ChangeInputsProps> = () => {
+const ConfigureInputsInterface = () => {
     const [selectedScheme, setSelectedScheme] = useState<InputScheme | undefined>(undefined)
-    const [selectedInput, setSelectedInput] = useState<Input | undefined>(undefined)
-    const [useGamepad, setUseGamepad] = useState<boolean>(false)
 
     const saveEvent = useCallback(() => {
-        console.log("save")
         InputSchemeManager.saveSchemes()
     }, [])
 
@@ -73,36 +50,11 @@ const ConfigureInputsInterface: React.FC<ChangeInputsProps> = () => {
                     setSelectedScheme((val as SchemeSelectionOption)?.scheme)
                     if (val == undefined) {
                         new ConfigurationSavedEvent()
-                        setSelectedInput(undefined)
                     }
                 }}
                 defaultHeaderText={"Select an Input Scheme"}
             />
-            {selectedScheme != undefined && (
-                <>
-                    <Checkbox
-                        label="Use Controller"
-                        defaultState={selectedScheme.usesGamepad}
-                        onClick={val => {
-                            setUseGamepad(val)
-                            selectedScheme.usesGamepad = val
-                        }}
-                    />
-                    <SelectMenu
-                        options={selectedScheme.inputs.map(i => new InputSelectionOption(i))}
-                        onOptionSelected={val => setSelectedInput((val as InputSelectionOption)?.input)}
-                        defaultHeaderText={"Select an Input"}
-                        indentation={1}
-                    />
-                </>
-            )}
-            {selectedScheme != undefined && selectedInput != undefined && (
-                <EditInputInterface
-                    input={selectedInput}
-                    useGamepad={useGamepad}
-                    onInputChanged={() => (selectedScheme.customized = true)}
-                />
-            )}
+            {selectedScheme && <ConfigureSchemeInterface selectedScheme={selectedScheme} />}
         </>
     )
 }
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
new file mode 100644
index 0000000000..9013bc738b
--- /dev/null
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
@@ -0,0 +1,72 @@
+import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
+import Checkbox from "@/ui/components/Checkbox"
+import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
+import EditInputInterface from "./EditInputInterface"
+import { useCallback, useEffect, useState } from "react"
+import { Input } from "@/systems/input/InputSystem"
+import { ConfigurationSavedEvent } from "../../ConfigurePanel"
+
+// Converts camelCase to Title Case for the inputs modal
+const toTitleCase = (camelCase: string) => {
+    const result = camelCase.replace(/([A-Z])/g, " $1")
+    const finalResult = result.charAt(0).toUpperCase() + result.slice(1)
+    return finalResult
+}
+
+class InputSelectionOption extends SelectMenuOption {
+    input: Input
+
+    constructor(input: Input) {
+        super(toTitleCase(input.inputName))
+
+        this.input = input
+    }
+}
+interface ConfigSchemeProps {
+    selectedScheme: InputScheme
+}
+
+const ConfigureSchemeInterface: React.FC<ConfigSchemeProps> = ({ selectedScheme }) => {
+    const [selectedInput, setSelectedInput] = useState<Input | undefined>(undefined)
+    const [useGamepad, setUseGamepad] = useState<boolean>(false)
+
+    const saveEvent = useCallback(() => {
+        InputSchemeManager.saveSchemes()
+    }, [])
+
+    useEffect(() => {
+        ConfigurationSavedEvent.Listen(saveEvent)
+
+        return () => {
+            ConfigurationSavedEvent.RemoveListener(saveEvent)
+        }
+    }, [saveEvent])
+
+    return (
+        <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary">
+            <Checkbox
+                label="Use Controller"
+                defaultState={selectedScheme.usesGamepad}
+                onClick={val => {
+                    setUseGamepad(val)
+                    selectedScheme.usesGamepad = val
+                }}
+            />
+            <SelectMenu
+                options={selectedScheme.inputs.map(i => new InputSelectionOption(i))}
+                onOptionSelected={val => setSelectedInput((val as InputSelectionOption)?.input)}
+                defaultHeaderText={"Select an Input"}
+                indentation={1}
+            />
+
+            {selectedInput != undefined && (
+                <EditInputInterface
+                    input={selectedInput}
+                    useGamepad={useGamepad}
+                    onInputChanged={() => (selectedScheme.customized = true)}
+                />
+            )}
+        </div>
+    )
+}
+export default ConfigureSchemeInterface

From 1dd178c4f5f8e39a8e9200a54921e8928ef73fe4 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 6 Aug 2024 11:14:37 -0700
Subject: [PATCH 158/344] More verbose isort messages

---
 .../tools/verifyIsortFormatting.py              | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/tools/verifyIsortFormatting.py b/exporter/SynthesisFusionAddin/tools/verifyIsortFormatting.py
index 0f9d899d5a..613a711791 100644
--- a/exporter/SynthesisFusionAddin/tools/verifyIsortFormatting.py
+++ b/exporter/SynthesisFusionAddin/tools/verifyIsortFormatting.py
@@ -18,9 +18,20 @@ def main() -> None:
     exitCode = 0
     for i, (oldFileState, newFileState) in enumerate(zip(oldFileStates, newFileStates)):
         for j, (previousLine, newLine) in enumerate(zip(oldFileState, newFileState)):
-            if previousLine != newLine:
-                print(f"File {files[i]} is not formatted correctly!\nLine: {j + 1}")
-                exitCode = 1
+            if previousLine == newLine:
+                continue
+
+            print(f"File {files[i]} is not formatted correctly!\nLine: {j + 1}")
+            print(
+                "\nOld file state:\n"
+                + "\n".join(oldFileState[k].strip() for k in range(max(0, j - 10), min(len(oldFileState), j + 11)))
+            )
+            print(
+                "\nNew file state:\n"
+                + "\n".join(newFileState[k].strip() for k in range(max(0, j - 10), min(len(newFileState), j + 11)))
+            )
+            exitCode = 1
+            break
 
     if not exitCode:
         print("All files are formatted correctly with isort!")

From fd4ab63167ae59839921ed7fb9c2d8e549316e03 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 6 Aug 2024 11:20:20 -0700
Subject: [PATCH 159/344] fixes from merge conflict

---
 .../simulation/wpilib_brain/SimInput.ts       | 13 +++++----
 .../simulation/wpilib_brain/SimOutput.ts      | 27 +++++++++++++------
 .../simulation/wpilib_brain/WPILibBrain.ts    | 11 ++++----
 3 files changed, 30 insertions(+), 21 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 6061d9a47e..ef66d049dc 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -21,7 +21,7 @@ export class SimEncoderInput implements SimInput {
     }
 
     public Update(_deltaT: number) {
-        SimCANEncoder.SetRawInputPosition(`${this._device}`, this._stimulus.positionValue * this._conversionFactor)
+        SimCANEncoder.SetPosition(`${this._device}`, this._stimulus.positionValue * this._conversionFactor)
     }
 }
 
@@ -40,12 +40,11 @@ export class SimGyroInput implements SimInput {
         this._robot = robot
         this._joltID = this._robot.nodeToBody.get(this._robot.rootBody)
 
-        if (this._joltID)
-            this._joltBody = World.PhysicsSystem.GetBody(this._joltID)
+        if (this._joltID) this._joltBody = World.PhysicsSystem.GetBody(this._joltID)
     }
 
     private GetAxis(axis: Jolt.Vec3): number {
-        return (this._joltBody?.GetRotation().GetRotationAngle(axis) ?? 0) * 180 / Math.PI
+        return ((this._joltBody?.GetRotation().GetRotationAngle(axis) ?? 0) * 180) / Math.PI
     }
 
     private GetX(): number {
@@ -65,8 +64,8 @@ export class SimGyroInput implements SimInput {
         const y = this.GetY()
         const z = this.GetZ()
         // console.log(`${this._device}\n${x}\n${y}\n${z}`)
-        SimGyro.SetAngleX(this._device, x);
-        SimGyro.SetAngleY(this._device, y);
-        SimGyro.SetAngleZ(this._device, z);
+        SimGyro.SetAngleX(this._device, x)
+        SimGyro.SetAngleY(this._device, y)
+        SimGyro.SetAngleZ(this._device, z)
     }
 }
diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index 96f7076e8d..640d157aef 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -22,7 +22,7 @@ export abstract class SimOutputGroup {
 
 export class PWMOutputGroup extends SimOutputGroup {
     public constructor(name: string, ports: number[], drivers: Driver[]) {
-        super(name, ports, drivers, "PWM")
+        super(name, ports, drivers, SimType.PWM)
     }
 
     public Update(_deltaT: number) {
@@ -44,15 +44,26 @@ export class PWMOutputGroup extends SimOutputGroup {
     }
 }
 
-export class CANOutputGroup extends SimOutputGroup {
+export class CANGroup extends SimOutputGroup {
     public constructor(name: string, ports: number[], drivers: Driver[]) {
-        super(name, ports, drivers, "CANMotor")
+        super(name, ports, drivers, SimType.CANMotor)
     }
 
-    public Update(_deltaT: number) {
-        for (const port of this.ports) {
-            const device = SimCAN.GetDeviceWithID(port, this.type)
-            console.log(port, device)
-        }
+    // Averaging is probably not the right solution
+    public Update(deltaT: number): void {
+        const average =
+            this.ports.reduce((sum, port) => {
+                const device = SimCAN.GetDeviceWithID(port, SimType.CANMotor)
+                return sum + device["<percentOutput"]
+            }, 0) / this.ports.length
+
+        this.drivers.forEach(d => {
+            if (d instanceof WheelDriver) {
+                d.targetWheelSpeed = average * 40
+            } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
+                d.targetVelocity = average * 40
+            }
+            d.Update(deltaT)
+        })
     }
 }
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 51f3292af7..aff9c21757 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -13,7 +13,6 @@ const worker = new WPILibWSWorker()
 const PWM_SPEED = "<speed"
 const PWM_POSITION = "<position"
 
-<<<<<<< HEAD
 const CANMOTOR_PERCENT_OUTPUT = "<percentOutput"
 const CANMOTOR_BRAKE_MODE = "<brakeMode"
 const CANMOTOR_NEUTRAL_DEADBAND = "<neutralDeadband"
@@ -30,7 +29,7 @@ export enum SimType {
     CANMotor = "CANMotor",
     Solenoid = "Solenoid",
     CANEncoder = "CANEncoder",
-    Gyro = "Gyro"
+    Gyro = "Gyro",
 }
 
 enum FieldType {
@@ -207,15 +206,15 @@ export class SimGyro {
     private constructor() {}
 
     public static SetAngleX(device: string, angle: number): boolean {
-        return SimGeneric.Set(SimType.Gyro, device, ">angle_x", angle);
+        return SimGeneric.Set(SimType.Gyro, device, ">angle_x", angle)
     }
 
     public static SetAngleY(device: string, angle: number): boolean {
-        return SimGeneric.Set(SimType.Gyro, device, ">angle_y", angle);
+        return SimGeneric.Set(SimType.Gyro, device, ">angle_y", angle)
     }
 
     public static SetAngleZ(device: string, angle: number): boolean {
-        return SimGeneric.Set(SimType.Gyro, device, ">angle_z", angle);
+        return SimGeneric.Set(SimType.Gyro, device, ">angle_z", angle)
     }
 }
 
@@ -272,7 +271,7 @@ class WPILibBrain extends Brain {
             return
         }
 
-        this.addSimInput(new SimGyroInput("Gyro:ADXRS450[0]", mechanism));
+        this.addSimInput(new SimGyroInput("Gyro:ADXRS450[0]", mechanism))
     }
 
     public addSimOutputGroup(device: SimOutputGroup) {

From c194b8e24c35239692ec0e6a50acb9cac5d18809 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 6 Aug 2024 11:21:06 -0700
Subject: [PATCH 160/344] Versions work differently?

---
 .../src/Parser/SynthesisParser/Components.py                     | 1 -
 .../src/Parser/SynthesisParser/JointHierarchy.py                 | 1 -
 .../SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py    | 1 -
 .../SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py | 1 -
 .../SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py    | 1 -
 .../src/Parser/SynthesisParser/PhysicalProperties.py             | 1 -
 .../src/Parser/SynthesisParser/RigidGroup.py                     | 1 -
 7 files changed, 7 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index aa77cac500..9556eec6e3 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -6,7 +6,6 @@
 
 import adsk.core
 import adsk.fusion
-
 from proto.proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
 
 from ...Logging import logFailure, timed
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index 53dd3d10fa..c5707ee63c 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -5,7 +5,6 @@
 
 import adsk.core
 import adsk.fusion
-
 from proto.proto_out import joint_pb2, types_pb2
 
 from ...general_imports import *
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index c79a0240d0..981b73fc73 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -28,7 +28,6 @@
 
 import adsk.core
 import adsk.fusion
-
 from proto.proto_out import assembly_pb2, joint_pb2, motor_pb2, signal_pb2, types_pb2
 
 from ...general_imports import *
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index 97d8d47f57..f1dc1e3b38 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -5,7 +5,6 @@
 import traceback
 
 import adsk
-
 from proto.proto_out import material_pb2
 
 from ...general_imports import *
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index fe034d20b4..6db886f7b5 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -4,7 +4,6 @@
 import adsk.core
 import adsk.fusion
 from google.protobuf.json_format import MessageToJson
-
 from proto.proto_out import assembly_pb2, types_pb2
 
 from ...APS.APS import getAuth, upload_mirabuf
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index db488c115a..1aa91c7569 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -21,7 +21,6 @@
 from typing import Union
 
 import adsk
-
 from proto.proto_out import types_pb2
 
 from ...general_imports import INTERNAL_ID
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
index 362a2a6e72..2172c08fc0 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
@@ -16,7 +16,6 @@
 
 import adsk.core
 import adsk.fusion
-
 from proto.proto_out import assembly_pb2
 
 from ...Logging import logFailure

From 191c8cf0dbad36ff58782cd2baaa2c823458403f Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 6 Aug 2024 11:29:06 -0700
Subject: [PATCH 161/344] Shorten formatter line lengths

---
 .../tools/verifyIsortFormatting.py                   | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/tools/verifyIsortFormatting.py b/exporter/SynthesisFusionAddin/tools/verifyIsortFormatting.py
index 613a711791..61772e05cb 100644
--- a/exporter/SynthesisFusionAddin/tools/verifyIsortFormatting.py
+++ b/exporter/SynthesisFusionAddin/tools/verifyIsortFormatting.py
@@ -22,14 +22,10 @@ def main() -> None:
                 continue
 
             print(f"File {files[i]} is not formatted correctly!\nLine: {j + 1}")
-            print(
-                "\nOld file state:\n"
-                + "\n".join(oldFileState[k].strip() for k in range(max(0, j - 10), min(len(oldFileState), j + 11)))
-            )
-            print(
-                "\nNew file state:\n"
-                + "\n".join(newFileState[k].strip() for k in range(max(0, j - 10), min(len(newFileState), j + 11)))
-            )
+            oldFileStateRange = range(max(0, j - 10), min(len(oldFileState), j + 11))
+            print("\nOld file state:\n" + "\n".join(oldFileState[k].strip() for k in oldFileStateRange))
+            newFileStateRange = range(max(0, j - 10), min(len(newFileState), j + 11))
+            print("\nNew file state:\n" + "\n".join(newFileState[k].strip() for k in newFileStateRange))
             exitCode = 1
             break
 

From 68d06e862f02560507108193df31c755ff2c1275 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 6 Aug 2024 11:37:58 -0700
Subject: [PATCH 162/344] Track autogenerated proto files

---
 exporter/SynthesisFusionAddin/pyproject.toml  |  2 +
 .../src/Parser/SynthesisParser/Components.py  |  2 +-
 .../Parser/SynthesisParser/JointHierarchy.py  |  2 +-
 .../src/Parser/SynthesisParser/Joints.py      |  2 +-
 .../src/Parser/SynthesisParser/Materials.py   |  2 +-
 .../src/Parser/SynthesisParser/Parser.py      |  2 +-
 .../SynthesisParser/PhysicalProperties.py     |  2 +-
 .../src/Parser/SynthesisParser/RigidGroup.py  |  2 +-
 .../src/Proto/assembly_pb2.py                 | 65 ++++++++++++++++
 .../src/Proto/joint_pb2.py                    | 76 +++++++++++++++++++
 .../src/Proto/material_pb2.py                 | 57 ++++++++++++++
 .../src/Proto/motor_pb2.py                    | 45 +++++++++++
 .../SynthesisFusionAddin/src/Proto/readme.md  |  1 +
 .../src/Proto/signal_pb2.py                   | 47 ++++++++++++
 .../src/Proto/types_pb2.py                    | 59 ++++++++++++++
 15 files changed, 359 insertions(+), 7 deletions(-)
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/assembly_pb2.py
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/joint_pb2.py
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/material_pb2.py
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/motor_pb2.py
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/readme.md
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/signal_pb2.py
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/types_pb2.py

diff --git a/exporter/SynthesisFusionAddin/pyproject.toml b/exporter/SynthesisFusionAddin/pyproject.toml
index 01222be485..92f6c6ec1d 100644
--- a/exporter/SynthesisFusionAddin/pyproject.toml
+++ b/exporter/SynthesisFusionAddin/pyproject.toml
@@ -13,6 +13,7 @@ skip = [
   ".vscode/",
   "/dist/",
   "proto/proto_out",
+  "src/Proto",
 ]
 
 [tool.black]
@@ -30,6 +31,7 @@ exclude = '''
     | .vscode
     | dist
     | proto_out
+    | src/Proto
   )/
 )
 '''
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index aa77cac500..c85a1cc890 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -7,7 +7,7 @@
 import adsk.core
 import adsk.fusion
 
-from proto.proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
+from src.Proto import assembly_pb2, joint_pb2, material_pb2, types_pb2
 
 from ...Logging import logFailure, timed
 from ...Types import ExportMode
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index 53dd3d10fa..efd06a21f1 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -6,7 +6,7 @@
 import adsk.core
 import adsk.fusion
 
-from proto.proto_out import joint_pb2, types_pb2
+from src.Proto import joint_pb2, types_pb2
 
 from ...general_imports import *
 from ...Logging import getLogger, logFailure
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index c79a0240d0..8a6a75c04c 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -29,7 +29,7 @@
 import adsk.core
 import adsk.fusion
 
-from proto.proto_out import assembly_pb2, joint_pb2, motor_pb2, signal_pb2, types_pb2
+from src.Proto import assembly_pb2, joint_pb2, motor_pb2, signal_pb2, types_pb2
 
 from ...general_imports import *
 from ...Logging import getLogger
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index 97d8d47f57..bbf4fab3b0 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -6,7 +6,7 @@
 
 import adsk
 
-from proto.proto_out import material_pb2
+from src.Proto import material_pb2
 
 from ...general_imports import *
 from ...Logging import logFailure, timed
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index fe034d20b4..9ee55cddd4 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -5,7 +5,7 @@
 import adsk.fusion
 from google.protobuf.json_format import MessageToJson
 
-from proto.proto_out import assembly_pb2, types_pb2
+from src.Proto import assembly_pb2, types_pb2
 
 from ...APS.APS import getAuth, upload_mirabuf
 from ...general_imports import *
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index db488c115a..44d60345a4 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -22,7 +22,7 @@
 
 import adsk
 
-from proto.proto_out import types_pb2
+from src.Proto import types_pb2
 
 from ...general_imports import INTERNAL_ID
 from ...Logging import logFailure
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
index 362a2a6e72..bb144f6b45 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
@@ -17,7 +17,7 @@
 import adsk.core
 import adsk.fusion
 
-from proto.proto_out import assembly_pb2
+from src.Proto import assembly_pb2
 
 from ...Logging import logFailure
 
diff --git a/exporter/SynthesisFusionAddin/src/Proto/assembly_pb2.py b/exporter/SynthesisFusionAddin/src/Proto/assembly_pb2.py
new file mode 100644
index 0000000000..20803d3601
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/assembly_pb2.py
@@ -0,0 +1,65 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: assembly.proto
+# Protobuf Python Version: 5.27.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    27,
+    1,
+    '',
+    'assembly.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+import joint_pb2 as joint__pb2
+import material_pb2 as material__pb2
+import signal_pb2 as signal__pb2
+import types_pb2 as types__pb2
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0e\x61ssembly.proto\x12\x07mirabuf\x1a\x0btypes.proto\x1a\x0bjoint.proto\x1a\x0ematerial.proto\x1a\x0csignal.proto\"\xc4\x02\n\x08\x41ssembly\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12#\n\x04\x64\x61ta\x18\x02 \x01(\x0b\x32\x15.mirabuf.AssemblyData\x12\x0f\n\x07\x64ynamic\x18\x03 \x01(\x08\x12\x32\n\rphysical_data\x18\x04 \x01(\x0b\x32\x1b.mirabuf.PhysicalProperties\x12\x31\n\x10\x64\x65sign_hierarchy\x18\x05 \x01(\x0b\x32\x17.mirabuf.GraphContainer\x12\x30\n\x0fjoint_hierarchy\x18\x06 \x01(\x0b\x32\x17.mirabuf.GraphContainer\x12%\n\ttransform\x18\x07 \x01(\x0b\x32\x12.mirabuf.Transform\x12%\n\tthumbnail\x18\x08 \x01(\x0b\x32\x12.mirabuf.Thumbnail\"\xae\x01\n\x0c\x41ssemblyData\x12\x1d\n\x05parts\x18\x01 \x01(\x0b\x32\x0e.mirabuf.Parts\x12%\n\x06joints\x18\x02 \x01(\x0b\x32\x15.mirabuf.joint.Joints\x12.\n\tmaterials\x18\x03 \x01(\x0b\x32\x1b.mirabuf.material.Materials\x12(\n\x07signals\x18\x04 \x01(\x0b\x32\x17.mirabuf.signal.Signals\"\xe2\x02\n\x05Parts\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12=\n\x10part_definitions\x18\x02 \x03(\x0b\x32#.mirabuf.Parts.PartDefinitionsEntry\x12\x39\n\x0epart_instances\x18\x03 \x03(\x0b\x32!.mirabuf.Parts.PartInstancesEntry\x12$\n\tuser_data\x18\x04 \x01(\x0b\x32\x11.mirabuf.UserData\x1aO\n\x14PartDefinitionsEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12&\n\x05value\x18\x02 \x01(\x0b\x32\x17.mirabuf.PartDefinition:\x02\x38\x01\x1aK\n\x12PartInstancesEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12$\n\x05value\x18\x02 \x01(\x0b\x32\x15.mirabuf.PartInstance:\x02\x38\x01\"\xef\x01\n\x0ePartDefinition\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12\x32\n\rphysical_data\x18\x02 \x01(\x0b\x32\x1b.mirabuf.PhysicalProperties\x12*\n\x0e\x62\x61se_transform\x18\x03 \x01(\x0b\x32\x12.mirabuf.Transform\x12\x1d\n\x06\x62odies\x18\x04 \x03(\x0b\x32\r.mirabuf.Body\x12\x0f\n\x07\x64ynamic\x18\x05 \x01(\x08\x12\x19\n\x11\x66riction_override\x18\x06 \x01(\x02\x12\x15\n\rmass_override\x18\x07 \x01(\x02\"\xf9\x01\n\x0cPartInstance\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12!\n\x19part_definition_reference\x18\x02 \x01(\t\x12%\n\ttransform\x18\x03 \x01(\x0b\x32\x12.mirabuf.Transform\x12,\n\x10global_transform\x18\x04 \x01(\x0b\x32\x12.mirabuf.Transform\x12\x0e\n\x06joints\x18\x05 \x03(\t\x12\x12\n\nappearance\x18\x06 \x01(\t\x12\x19\n\x11physical_material\x18\x07 \x01(\t\x12\x15\n\rskip_collider\x18\x08 \x01(\x08\"|\n\x04\x42ody\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12\x0c\n\x04part\x18\x02 \x01(\t\x12,\n\rtriangle_mesh\x18\x03 \x01(\x0b\x32\x15.mirabuf.TriangleMesh\x12\x1b\n\x13\x61ppearance_override\x18\x04 \x01(\t\"\xad\x01\n\x0cTriangleMesh\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12\x12\n\nhas_volume\x18\x02 \x01(\x08\x12\x1a\n\x12material_reference\x18\x03 \x01(\t\x12\x1d\n\x04mesh\x18\x04 \x01(\x0b\x32\r.mirabuf.MeshH\x00\x12$\n\x05\x62mesh\x18\x05 \x01(\x0b\x32\x13.mirabuf.BinaryMeshH\x00\x42\x0b\n\tmesh_type\"C\n\x04Mesh\x12\r\n\x05verts\x18\x01 \x03(\x02\x12\x0f\n\x07normals\x18\x02 \x03(\x02\x12\n\n\x02uv\x18\x03 \x03(\x02\x12\x0f\n\x07indices\x18\x04 \x03(\x05\"\x1a\n\nBinaryMesh\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\x0c\x42\x02H\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'assembly_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  _globals['DESCRIPTOR']._loaded_options = None
+  _globals['DESCRIPTOR']._serialized_options = b'H\001'
+  _globals['_PARTS_PARTDEFINITIONSENTRY']._loaded_options = None
+  _globals['_PARTS_PARTDEFINITIONSENTRY']._serialized_options = b'8\001'
+  _globals['_PARTS_PARTINSTANCESENTRY']._loaded_options = None
+  _globals['_PARTS_PARTINSTANCESENTRY']._serialized_options = b'8\001'
+  _globals['_ASSEMBLY']._serialized_start=84
+  _globals['_ASSEMBLY']._serialized_end=408
+  _globals['_ASSEMBLYDATA']._serialized_start=411
+  _globals['_ASSEMBLYDATA']._serialized_end=585
+  _globals['_PARTS']._serialized_start=588
+  _globals['_PARTS']._serialized_end=942
+  _globals['_PARTS_PARTDEFINITIONSENTRY']._serialized_start=786
+  _globals['_PARTS_PARTDEFINITIONSENTRY']._serialized_end=865
+  _globals['_PARTS_PARTINSTANCESENTRY']._serialized_start=867
+  _globals['_PARTS_PARTINSTANCESENTRY']._serialized_end=942
+  _globals['_PARTDEFINITION']._serialized_start=945
+  _globals['_PARTDEFINITION']._serialized_end=1184
+  _globals['_PARTINSTANCE']._serialized_start=1187
+  _globals['_PARTINSTANCE']._serialized_end=1436
+  _globals['_BODY']._serialized_start=1438
+  _globals['_BODY']._serialized_end=1562
+  _globals['_TRIANGLEMESH']._serialized_start=1565
+  _globals['_TRIANGLEMESH']._serialized_end=1738
+  _globals['_MESH']._serialized_start=1740
+  _globals['_MESH']._serialized_end=1807
+  _globals['_BINARYMESH']._serialized_start=1809
+  _globals['_BINARYMESH']._serialized_end=1835
+# @@protoc_insertion_point(module_scope)
diff --git a/exporter/SynthesisFusionAddin/src/Proto/joint_pb2.py b/exporter/SynthesisFusionAddin/src/Proto/joint_pb2.py
new file mode 100644
index 0000000000..6a14bfadaa
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/joint_pb2.py
@@ -0,0 +1,76 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: joint.proto
+# Protobuf Python Version: 5.27.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    27,
+    1,
+    '',
+    'joint.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+import motor_pb2 as motor__pb2
+import types_pb2 as types__pb2
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0bjoint.proto\x12\rmirabuf.joint\x1a\x0btypes.proto\x1a\x0bmotor.proto\"\x9d\x04\n\x06Joints\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12\x46\n\x11joint_definitions\x18\x02 \x03(\x0b\x32+.mirabuf.joint.Joints.JointDefinitionsEntry\x12\x42\n\x0fjoint_instances\x18\x03 \x03(\x0b\x32).mirabuf.joint.Joints.JointInstancesEntry\x12/\n\x0crigid_groups\x18\x04 \x03(\x0b\x32\x19.mirabuf.joint.RigidGroup\x12\x46\n\x11motor_definitions\x18\x05 \x03(\x0b\x32+.mirabuf.joint.Joints.MotorDefinitionsEntry\x1aM\n\x15JointDefinitionsEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12#\n\x05value\x18\x02 \x01(\x0b\x32\x14.mirabuf.joint.Joint:\x02\x38\x01\x1aS\n\x13JointInstancesEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12+\n\x05value\x18\x02 \x01(\x0b\x32\x1c.mirabuf.joint.JointInstance:\x02\x38\x01\x1aM\n\x15MotorDefinitionsEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12#\n\x05value\x18\x02 \x01(\x0b\x32\x14.mirabuf.motor.Motor:\x02\x38\x01\"\x99\x02\n\rJointInstance\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12\x15\n\risEndEffector\x18\x02 \x01(\x08\x12\x13\n\x0bparent_part\x18\x03 \x01(\t\x12\x12\n\nchild_part\x18\x04 \x01(\t\x12\x17\n\x0fjoint_reference\x18\x05 \x01(\t\x12 \n\x06offset\x18\x06 \x01(\x0b\x32\x10.mirabuf.Vector3\x12&\n\x05parts\x18\x07 \x01(\x0b\x32\x17.mirabuf.GraphContainer\x12\x18\n\x10signal_reference\x18\x08 \x01(\t\x12.\n\x0bmotion_link\x18\t \x03(\x0b\x32\x19.mirabuf.joint.MotionLink\"E\n\nMotionLink\x12\x16\n\x0ejoint_instance\x18\x01 \x01(\t\x12\r\n\x05ratio\x18\x02 \x01(\x02\x12\x10\n\x08reversed\x18\x03 \x01(\x08\"\xfc\x02\n\x05Joint\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12 \n\x06origin\x18\x02 \x01(\x0b\x32\x10.mirabuf.Vector3\x12\x35\n\x11joint_motion_type\x18\x03 \x01(\x0e\x32\x1a.mirabuf.joint.JointMotion\x12\x17\n\x0f\x62reak_magnitude\x18\x04 \x01(\x02\x12\x34\n\nrotational\x18\x05 \x01(\x0b\x32\x1e.mirabuf.joint.RotationalJointH\x00\x12\x32\n\tprismatic\x18\x06 \x01(\x0b\x32\x1d.mirabuf.joint.PrismaticJointH\x00\x12,\n\x06\x63ustom\x18\x07 \x01(\x0b\x32\x1a.mirabuf.joint.CustomJointH\x00\x12$\n\tuser_data\x18\x08 \x01(\x0b\x32\x11.mirabuf.UserData\x12\x17\n\x0fmotor_reference\x18\t \x01(\tB\r\n\x0bJointMotion\"-\n\x08\x44ynamics\x12\x0f\n\x07\x64\x61mping\x18\x01 \x01(\x02\x12\x10\n\x08\x66riction\x18\x02 \x01(\x02\"H\n\x06Limits\x12\r\n\x05lower\x18\x01 \x01(\x02\x12\r\n\x05upper\x18\x02 \x01(\x02\x12\x10\n\x08velocity\x18\x03 \x01(\x02\x12\x0e\n\x06\x65\x66\x66ort\x18\x04 \x01(\x02\"Z\n\x06Safety\x12\x13\n\x0blower_limit\x18\x01 \x01(\x02\x12\x13\n\x0bupper_limit\x18\x02 \x01(\x02\x12\x12\n\nk_position\x18\x03 \x01(\x02\x12\x12\n\nk_velocity\x18\x04 \x01(\x02\"\xbb\x01\n\x03\x44OF\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x1e\n\x04\x61xis\x18\x02 \x01(\x0b\x32\x10.mirabuf.Vector3\x12%\n\x0epivotDirection\x18\x03 \x01(\x0e\x32\r.mirabuf.Axis\x12)\n\x08\x64ynamics\x18\x04 \x01(\x0b\x32\x17.mirabuf.joint.Dynamics\x12%\n\x06limits\x18\x05 \x01(\x0b\x32\x15.mirabuf.joint.Limits\x12\r\n\x05value\x18\x06 \x01(\x02\"/\n\x0b\x43ustomJoint\x12 \n\x04\x64ofs\x18\x01 \x03(\x0b\x32\x12.mirabuf.joint.DOF\"A\n\x0fRotationalJoint\x12.\n\x12rotational_freedom\x18\x01 \x01(\x0b\x32\x12.mirabuf.joint.DOF\"u\n\tBallJoint\x12\x1f\n\x03yaw\x18\x01 \x01(\x0b\x32\x12.mirabuf.joint.DOF\x12!\n\x05pitch\x18\x02 \x01(\x0b\x32\x12.mirabuf.joint.DOF\x12$\n\x08rotation\x18\x03 \x01(\x0b\x32\x12.mirabuf.joint.DOF\"?\n\x0ePrismaticJoint\x12-\n\x11prismatic_freedom\x18\x01 \x01(\x0b\x32\x12.mirabuf.joint.DOF\"/\n\nRigidGroup\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x13\n\x0boccurrences\x18\x02 \x03(\t*r\n\x0bJointMotion\x12\t\n\x05RIGID\x10\x00\x12\x0c\n\x08REVOLUTE\x10\x01\x12\n\n\x06SLIDER\x10\x02\x12\x0f\n\x0b\x43YLINDRICAL\x10\x03\x12\x0b\n\x07PINSLOT\x10\x04\x12\n\n\x06PLANAR\x10\x05\x12\x08\n\x04\x42\x41LL\x10\x06\x12\n\n\x06\x43USTOM\x10\x07\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'joint_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_JOINTS_JOINTDEFINITIONSENTRY']._loaded_options = None
+  _globals['_JOINTS_JOINTDEFINITIONSENTRY']._serialized_options = b'8\001'
+  _globals['_JOINTS_JOINTINSTANCESENTRY']._loaded_options = None
+  _globals['_JOINTS_JOINTINSTANCESENTRY']._serialized_options = b'8\001'
+  _globals['_JOINTS_MOTORDEFINITIONSENTRY']._loaded_options = None
+  _globals['_JOINTS_MOTORDEFINITIONSENTRY']._serialized_options = b'8\001'
+  _globals['_JOINTMOTION']._serialized_start=2090
+  _globals['_JOINTMOTION']._serialized_end=2204
+  _globals['_JOINTS']._serialized_start=57
+  _globals['_JOINTS']._serialized_end=598
+  _globals['_JOINTS_JOINTDEFINITIONSENTRY']._serialized_start=357
+  _globals['_JOINTS_JOINTDEFINITIONSENTRY']._serialized_end=434
+  _globals['_JOINTS_JOINTINSTANCESENTRY']._serialized_start=436
+  _globals['_JOINTS_JOINTINSTANCESENTRY']._serialized_end=519
+  _globals['_JOINTS_MOTORDEFINITIONSENTRY']._serialized_start=521
+  _globals['_JOINTS_MOTORDEFINITIONSENTRY']._serialized_end=598
+  _globals['_JOINTINSTANCE']._serialized_start=601
+  _globals['_JOINTINSTANCE']._serialized_end=882
+  _globals['_MOTIONLINK']._serialized_start=884
+  _globals['_MOTIONLINK']._serialized_end=953
+  _globals['_JOINT']._serialized_start=956
+  _globals['_JOINT']._serialized_end=1336
+  _globals['_DYNAMICS']._serialized_start=1338
+  _globals['_DYNAMICS']._serialized_end=1383
+  _globals['_LIMITS']._serialized_start=1385
+  _globals['_LIMITS']._serialized_end=1457
+  _globals['_SAFETY']._serialized_start=1459
+  _globals['_SAFETY']._serialized_end=1549
+  _globals['_DOF']._serialized_start=1552
+  _globals['_DOF']._serialized_end=1739
+  _globals['_CUSTOMJOINT']._serialized_start=1741
+  _globals['_CUSTOMJOINT']._serialized_end=1788
+  _globals['_ROTATIONALJOINT']._serialized_start=1790
+  _globals['_ROTATIONALJOINT']._serialized_end=1855
+  _globals['_BALLJOINT']._serialized_start=1857
+  _globals['_BALLJOINT']._serialized_end=1974
+  _globals['_PRISMATICJOINT']._serialized_start=1976
+  _globals['_PRISMATICJOINT']._serialized_end=2039
+  _globals['_RIGIDGROUP']._serialized_start=2041
+  _globals['_RIGIDGROUP']._serialized_end=2088
+# @@protoc_insertion_point(module_scope)
diff --git a/exporter/SynthesisFusionAddin/src/Proto/material_pb2.py b/exporter/SynthesisFusionAddin/src/Proto/material_pb2.py
new file mode 100644
index 0000000000..3c54e0c3dc
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/material_pb2.py
@@ -0,0 +1,57 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: material.proto
+# Protobuf Python Version: 5.27.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    27,
+    1,
+    '',
+    'material.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+import types_pb2 as types__pb2
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0ematerial.proto\x12\x10mirabuf.material\x1a\x0btypes.proto\"\xea\x02\n\tMaterials\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12M\n\x11physicalMaterials\x18\x02 \x03(\x0b\x32\x32.mirabuf.material.Materials.PhysicalMaterialsEntry\x12\x41\n\x0b\x61ppearances\x18\x03 \x03(\x0b\x32,.mirabuf.material.Materials.AppearancesEntry\x1a\\\n\x16PhysicalMaterialsEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\x31\n\x05value\x18\x02 \x01(\x0b\x32\".mirabuf.material.PhysicalMaterial:\x02\x38\x01\x1aP\n\x10\x41ppearancesEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12+\n\x05value\x18\x02 \x01(\x0b\x32\x1c.mirabuf.material.Appearance:\x02\x38\x01\"\x80\x01\n\nAppearance\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12\x1e\n\x06\x61lbedo\x18\x02 \x01(\x0b\x32\x0e.mirabuf.Color\x12\x11\n\troughness\x18\x03 \x01(\x01\x12\x10\n\x08metallic\x18\x04 \x01(\x01\x12\x10\n\x08specular\x18\x05 \x01(\x01\"\x82\x06\n\x10PhysicalMaterial\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12\x13\n\x0b\x64\x65scription\x18\x02 \x01(\t\x12;\n\x07thermal\x18\x03 \x01(\x0b\x32*.mirabuf.material.PhysicalMaterial.Thermal\x12\x41\n\nmechanical\x18\x04 \x01(\x0b\x32-.mirabuf.material.PhysicalMaterial.Mechanical\x12=\n\x08strength\x18\x05 \x01(\x0b\x32+.mirabuf.material.PhysicalMaterial.Strength\x12\x18\n\x10\x64ynamic_friction\x18\x06 \x01(\x02\x12\x17\n\x0fstatic_friction\x18\x07 \x01(\x02\x12\x13\n\x0brestitution\x18\x08 \x01(\x02\x12\x12\n\ndeformable\x18\t \x01(\x08\x12@\n\x07matType\x18\n \x01(\x0e\x32/.mirabuf.material.PhysicalMaterial.MaterialType\x1a\x65\n\x07Thermal\x12\x1c\n\x14thermal_conductivity\x18\x01 \x01(\x02\x12\x15\n\rspecific_heat\x18\x02 \x01(\x02\x12%\n\x1dthermal_expansion_coefficient\x18\x03 \x01(\x02\x1aw\n\nMechanical\x12\x11\n\tyoung_mod\x18\x01 \x01(\x02\x12\x15\n\rpoisson_ratio\x18\x02 \x01(\x02\x12\x11\n\tshear_mod\x18\x03 \x01(\x02\x12\x0f\n\x07\x64\x65nsity\x18\x04 \x01(\x02\x12\x1b\n\x13\x64\x61mping_coefficient\x18\x05 \x01(\x02\x1aW\n\x08Strength\x12\x16\n\x0eyield_strength\x18\x01 \x01(\x02\x12\x18\n\x10tensile_strength\x18\x02 \x01(\x02\x12\x19\n\x11thermal_treatment\x18\x03 \x01(\x08\"&\n\x0cMaterialType\x12\t\n\x05METAL\x10\x00\x12\x0b\n\x07PLASTIC\x10\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'material_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_MATERIALS_PHYSICALMATERIALSENTRY']._loaded_options = None
+  _globals['_MATERIALS_PHYSICALMATERIALSENTRY']._serialized_options = b'8\001'
+  _globals['_MATERIALS_APPEARANCESENTRY']._loaded_options = None
+  _globals['_MATERIALS_APPEARANCESENTRY']._serialized_options = b'8\001'
+  _globals['_MATERIALS']._serialized_start=50
+  _globals['_MATERIALS']._serialized_end=412
+  _globals['_MATERIALS_PHYSICALMATERIALSENTRY']._serialized_start=238
+  _globals['_MATERIALS_PHYSICALMATERIALSENTRY']._serialized_end=330
+  _globals['_MATERIALS_APPEARANCESENTRY']._serialized_start=332
+  _globals['_MATERIALS_APPEARANCESENTRY']._serialized_end=412
+  _globals['_APPEARANCE']._serialized_start=415
+  _globals['_APPEARANCE']._serialized_end=543
+  _globals['_PHYSICALMATERIAL']._serialized_start=546
+  _globals['_PHYSICALMATERIAL']._serialized_end=1316
+  _globals['_PHYSICALMATERIAL_THERMAL']._serialized_start=965
+  _globals['_PHYSICALMATERIAL_THERMAL']._serialized_end=1066
+  _globals['_PHYSICALMATERIAL_MECHANICAL']._serialized_start=1068
+  _globals['_PHYSICALMATERIAL_MECHANICAL']._serialized_end=1187
+  _globals['_PHYSICALMATERIAL_STRENGTH']._serialized_start=1189
+  _globals['_PHYSICALMATERIAL_STRENGTH']._serialized_end=1276
+  _globals['_PHYSICALMATERIAL_MATERIALTYPE']._serialized_start=1278
+  _globals['_PHYSICALMATERIAL_MATERIALTYPE']._serialized_end=1316
+# @@protoc_insertion_point(module_scope)
diff --git a/exporter/SynthesisFusionAddin/src/Proto/motor_pb2.py b/exporter/SynthesisFusionAddin/src/Proto/motor_pb2.py
new file mode 100644
index 0000000000..7371eb693f
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/motor_pb2.py
@@ -0,0 +1,45 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: motor.proto
+# Protobuf Python Version: 5.27.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    27,
+    1,
+    '',
+    'motor.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+import types_pb2 as types__pb2
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0bmotor.proto\x12\rmirabuf.motor\x1a\x0btypes.proto\"\x98\x01\n\x05Motor\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12*\n\x08\x64\x63_motor\x18\x02 \x01(\x0b\x32\x16.mirabuf.motor.DCMotorH\x00\x12\x32\n\x0csimple_motor\x18\x03 \x01(\x0b\x32\x1a.mirabuf.motor.SimpleMotorH\x00\x42\x0c\n\nmotor_typeJ\x04\x08\x04\x10\x06\"S\n\x0bSimpleMotor\x12\x14\n\x0cstall_torque\x18\x01 \x01(\x02\x12\x14\n\x0cmax_velocity\x18\x02 \x01(\x02\x12\x18\n\x10\x62raking_constant\x18\x03 \x01(\x02\"\x9d\x03\n\x07\x44\x43Motor\x12\x15\n\rreference_url\x18\x02 \x01(\t\x12\x17\n\x0ftorque_constant\x18\x03 \x01(\x02\x12\x14\n\x0c\x65mf_constant\x18\x04 \x01(\x02\x12\x12\n\nresistance\x18\x05 \x01(\x02\x12\x1a\n\x12maximum_effeciency\x18\x06 \x01(\r\x12\x15\n\rmaximum_power\x18\x07 \x01(\r\x12-\n\nduty_cycle\x18\x08 \x01(\x0e\x32\x19.mirabuf.motor.DutyCycles\x12\x31\n\x08\x61\x64vanced\x18\x10 \x01(\x0b\x32\x1f.mirabuf.motor.DCMotor.Advanced\x1a\x96\x01\n\x08\x41\x64vanced\x12\x14\n\x0c\x66ree_current\x18\x01 \x01(\x02\x12\x12\n\nfree_speed\x18\x02 \x01(\r\x12\x15\n\rstall_current\x18\x03 \x01(\x02\x12\x14\n\x0cstall_torque\x18\x04 \x01(\x02\x12\x15\n\rinput_voltage\x18\x05 \x01(\r\x12\x1c\n\x14resistance_variation\x18\x07 \x01(\x02J\x04\x08\x01\x10\x02J\x04\x08\t\x10\x10*h\n\nDutyCycles\x12\x16\n\x12\x43ONTINUOUS_RUNNING\x10\x00\x12\x0e\n\nSHORT_TIME\x10\x01\x12\x19\n\x15INTERMITTENT_PERIODIC\x10\x02\x12\x17\n\x13\x43ONTINUOUS_PERIODIC\x10\x03\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'motor_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_DUTYCYCLES']._serialized_start=699
+  _globals['_DUTYCYCLES']._serialized_end=803
+  _globals['_MOTOR']._serialized_start=44
+  _globals['_MOTOR']._serialized_end=196
+  _globals['_SIMPLEMOTOR']._serialized_start=198
+  _globals['_SIMPLEMOTOR']._serialized_end=281
+  _globals['_DCMOTOR']._serialized_start=284
+  _globals['_DCMOTOR']._serialized_end=697
+  _globals['_DCMOTOR_ADVANCED']._serialized_start=535
+  _globals['_DCMOTOR_ADVANCED']._serialized_end=685
+# @@protoc_insertion_point(module_scope)
diff --git a/exporter/SynthesisFusionAddin/src/Proto/readme.md b/exporter/SynthesisFusionAddin/src/Proto/readme.md
new file mode 100644
index 0000000000..11ad5046e7
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/readme.md
@@ -0,0 +1 @@
+These files are autogenerated by protobuf. For more information visit ['/exporter/proto/`](../../proto/)
diff --git a/exporter/SynthesisFusionAddin/src/Proto/signal_pb2.py b/exporter/SynthesisFusionAddin/src/Proto/signal_pb2.py
new file mode 100644
index 0000000000..c981f82f04
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/signal_pb2.py
@@ -0,0 +1,47 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: signal.proto
+# Protobuf Python Version: 5.27.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    27,
+    1,
+    '',
+    'signal.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+import types_pb2 as types__pb2
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0csignal.proto\x12\x0emirabuf.signal\x1a\x0btypes.proto\"\xac\x01\n\x07Signals\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12:\n\nsignal_map\x18\x02 \x03(\x0b\x32&.mirabuf.signal.Signals.SignalMapEntry\x1aH\n\x0eSignalMapEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12%\n\x05value\x18\x02 \x01(\x0b\x32\x16.mirabuf.signal.Signal:\x02\x38\x01\"\xa2\x01\n\x06Signal\x12\x1b\n\x04info\x18\x01 \x01(\x0b\x32\r.mirabuf.Info\x12\"\n\x02io\x18\x02 \x01(\x0e\x32\x16.mirabuf.signal.IOType\x12\x13\n\x0b\x63ustom_type\x18\x03 \x01(\t\x12\x11\n\tsignal_id\x18\x04 \x01(\r\x12/\n\x0b\x64\x65vice_type\x18\x05 \x01(\x0e\x32\x1a.mirabuf.signal.DeviceType*\x1f\n\x06IOType\x12\t\n\x05INPUT\x10\x00\x12\n\n\x06OUTPUT\x10\x01*O\n\nDeviceType\x12\x07\n\x03PWM\x10\x00\x12\x0b\n\x07\x44igital\x10\x01\x12\n\n\x06\x41nalog\x10\x02\x12\x07\n\x03I2C\x10\x03\x12\n\n\x06\x43\x41NBUS\x10\x04\x12\n\n\x06\x43USTOM\x10\x05\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'signal_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_SIGNALS_SIGNALMAPENTRY']._loaded_options = None
+  _globals['_SIGNALS_SIGNALMAPENTRY']._serialized_options = b'8\001'
+  _globals['_IOTYPE']._serialized_start=385
+  _globals['_IOTYPE']._serialized_end=416
+  _globals['_DEVICETYPE']._serialized_start=418
+  _globals['_DEVICETYPE']._serialized_end=497
+  _globals['_SIGNALS']._serialized_start=46
+  _globals['_SIGNALS']._serialized_end=218
+  _globals['_SIGNALS_SIGNALMAPENTRY']._serialized_start=146
+  _globals['_SIGNALS_SIGNALMAPENTRY']._serialized_end=218
+  _globals['_SIGNAL']._serialized_start=221
+  _globals['_SIGNAL']._serialized_end=383
+# @@protoc_insertion_point(module_scope)
diff --git a/exporter/SynthesisFusionAddin/src/Proto/types_pb2.py b/exporter/SynthesisFusionAddin/src/Proto/types_pb2.py
new file mode 100644
index 0000000000..658fabbb7d
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/types_pb2.py
@@ -0,0 +1,59 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: types.proto
+# Protobuf Python Version: 5.27.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    27,
+    1,
+    '',
+    'types.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0btypes.proto\x12\x07mirabuf\"\\\n\x04Node\x12\r\n\x05value\x18\x01 \x01(\t\x12\x1f\n\x08\x63hildren\x18\x02 \x03(\x0b\x32\r.mirabuf.Node\x12$\n\tuser_data\x18\x03 \x01(\x0b\x32\x11.mirabuf.UserData\".\n\x0eGraphContainer\x12\x1c\n\x05nodes\x18\x01 \x03(\x0b\x32\r.mirabuf.Node\"b\n\x08UserData\x12)\n\x04\x64\x61ta\x18\x01 \x03(\x0b\x32\x1b.mirabuf.UserData.DataEntry\x1a+\n\tDataEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\t:\x02\x38\x01\"*\n\x07Vector3\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"p\n\x12PhysicalProperties\x12\x0f\n\x07\x64\x65nsity\x18\x01 \x01(\x01\x12\x0c\n\x04mass\x18\x02 \x01(\x01\x12\x0e\n\x06volume\x18\x03 \x01(\x01\x12\x0c\n\x04\x61rea\x18\x04 \x01(\x01\x12\x1d\n\x03\x63om\x18\x05 \x01(\x0b\x32\x10.mirabuf.Vector3\"#\n\tTransform\x12\x16\n\x0espatial_matrix\x18\x01 \x03(\x02\"3\n\x05\x43olor\x12\t\n\x01R\x18\x01 \x01(\x05\x12\t\n\x01G\x18\x02 \x01(\x05\x12\t\n\x01\x42\x18\x03 \x01(\x05\x12\t\n\x01\x41\x18\x04 \x01(\x05\"3\n\x04Info\x12\x0c\n\x04GUID\x18\x01 \x01(\t\x12\x0c\n\x04name\x18\x02 \x01(\t\x12\x0f\n\x07version\x18\x03 \x01(\r\"`\n\tThumbnail\x12\r\n\x05width\x18\x01 \x01(\x05\x12\x0e\n\x06height\x18\x02 \x01(\x05\x12\x11\n\textension\x18\x03 \x01(\t\x12\x13\n\x0btransparent\x18\x04 \x01(\x08\x12\x0c\n\x04\x64\x61ta\x18\x05 \x01(\x0c*\x1b\n\x04\x41xis\x12\x05\n\x01X\x10\x00\x12\x05\n\x01Y\x10\x01\x12\x05\n\x01Z\x10\x02\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'types_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_USERDATA_DATAENTRY']._loaded_options = None
+  _globals['_USERDATA_DATAENTRY']._serialized_options = b'8\001'
+  _globals['_AXIS']._serialized_start=665
+  _globals['_AXIS']._serialized_end=692
+  _globals['_NODE']._serialized_start=24
+  _globals['_NODE']._serialized_end=116
+  _globals['_GRAPHCONTAINER']._serialized_start=118
+  _globals['_GRAPHCONTAINER']._serialized_end=164
+  _globals['_USERDATA']._serialized_start=166
+  _globals['_USERDATA']._serialized_end=264
+  _globals['_USERDATA_DATAENTRY']._serialized_start=221
+  _globals['_USERDATA_DATAENTRY']._serialized_end=264
+  _globals['_VECTOR3']._serialized_start=266
+  _globals['_VECTOR3']._serialized_end=308
+  _globals['_PHYSICALPROPERTIES']._serialized_start=310
+  _globals['_PHYSICALPROPERTIES']._serialized_end=422
+  _globals['_TRANSFORM']._serialized_start=424
+  _globals['_TRANSFORM']._serialized_end=459
+  _globals['_COLOR']._serialized_start=461
+  _globals['_COLOR']._serialized_end=512
+  _globals['_INFO']._serialized_start=514
+  _globals['_INFO']._serialized_end=565
+  _globals['_THUMBNAIL']._serialized_start=567
+  _globals['_THUMBNAIL']._serialized_end=663
+# @@protoc_insertion_point(module_scope)

From 57ca20865e0e56bb0bf9772c382b42be7f04efed Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 6 Aug 2024 11:38:56 -0700
Subject: [PATCH 163/344] Typo correction

---
 exporter/SynthesisFusionAddin/src/Proto/readme.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/Proto/readme.md b/exporter/SynthesisFusionAddin/src/Proto/readme.md
index 11ad5046e7..3f4ac2a4c6 100644
--- a/exporter/SynthesisFusionAddin/src/Proto/readme.md
+++ b/exporter/SynthesisFusionAddin/src/Proto/readme.md
@@ -1 +1 @@
-These files are autogenerated by protobuf. For more information visit ['/exporter/proto/`](../../proto/)
+These files are autogenerated by protobuf. For more information visit [`/exporter/proto/`](../../proto/)

From 1ed0fd2a5742c637e1e001599d8a06ecff2ddf08 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Tue, 6 Aug 2024 12:24:02 -0700
Subject: [PATCH 164/344] Fixed

---
 fission/src/mirabuf/MirabufLoader.ts | 117 ++++++++++-----------------
 fission/src/mirabuf/MirabufParser.ts |   1 -
 fission/src/ui/panels/DebugPanel.tsx |   4 +-
 3 files changed, 44 insertions(+), 78 deletions(-)

diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index 4ce17696b4..cd51213ad7 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -21,26 +21,19 @@ export interface MirabufRemoteInfo {
     src: string
 }
 
-type MapCache = { [id: string]: MirabufCacheInfo }
-type BackUpBufferCache = { [id: string]: ArrayBuffer }
+type MapCache = { [id: MirabufCacheID]: MirabufCacheInfo }
 
-// Local Storage
-const robotMapDirName = "RobotMap"
-const fieldMapDirName = "FieldMap"
-const backUpRobotsDirName = "BackUpRobots"
-const backUpFieldsDirName = "BackUpFields"
-
-// OPFS
 const robotsDirName = "Robots"
 const fieldsDirName = "Fields"
 const root = await navigator.storage.getDirectory()
 const robotFolderHandle = await root.getDirectoryHandle(robotsDirName, { create: true })
 const fieldFolderHandle = await root.getDirectoryHandle(fieldsDirName, { create: true })
 
+export const backUpRobots: Map<MirabufCacheID, ArrayBuffer> = new Map<MirabufCacheID, ArrayBuffer>()
+export const backUpFields: Map<MirabufCacheID, ArrayBuffer> = new Map<MirabufCacheID, ArrayBuffer>()
+
 const canOPFS = await (async() => {
     try {
-        console.log(`trying OPFS`)
-
         if (robotFolderHandle.name == robotsDirName) {
             robotFolderHandle.entries
             robotFolderHandle.keys
@@ -55,14 +48,13 @@ const canOPFS = await (async() => {
 
             robotFolderHandle.removeEntry(fileHandle.name)
 
-            console.log(`yes OPFS`)
             return true
         } else {
-            console.log(`no OPFS`)
+            console.log(`No access to OPFS`)
             return false
         }
     } catch (e) {
-        console.log(`no OPFS`)
+        console.log(`No access to OPFS`)
         return false
     }
 })()
@@ -89,38 +81,12 @@ class MirabufCachingService {
             (window.localStorage.getItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY) ?? "") == MIRABUF_LOCALSTORAGE_GENERATION
         ) {
             window.localStorage.setItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY, MIRABUF_LOCALSTORAGE_GENERATION)
-            window.localStorage.setItem(robotMapDirName, "{}")
-            window.localStorage.setItem(fieldMapDirName, "{}")
-            return {}
-        }
-
-        const key = miraType == MiraType.ROBOT ? robotMapDirName : fieldMapDirName
-        const map = window.localStorage.getItem(key)
-
-        if (map) {
-            return JSON.parse(map)
-        } else {
-            window.localStorage.setItem(key, "{}")
-            return {}
-        }
-    }
-
-    /**
-     * Get back up cache from local storage. Used if no access to OPFS (Safari and iOS)
-     * @param miraType Type of Mirabuf Assembly
-     * @returns IDs and buffers
-     */
-    public static GetBackUpCache(miraType: MiraType): BackUpBufferCache {
-        if (
-            (window.localStorage.getItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY) ?? "") == MIRABUF_LOCALSTORAGE_GENERATION
-        ) {
-            window.localStorage.setItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY, MIRABUF_LOCALSTORAGE_GENERATION)
-            window.localStorage.setItem(robotMapDirName, "{}")
-            window.localStorage.setItem(fieldMapDirName, "{}")
+            window.localStorage.setItem(robotsDirName, "{}")
+            window.localStorage.setItem(fieldsDirName, "{}")
             return {}
         }
 
-        const key = miraType == MiraType.ROBOT ? backUpRobotsDirName : backUpFieldsDirName
+        const key = miraType == MiraType.ROBOT ? robotsDirName : fieldsDirName
         const map = window.localStorage.getItem(key)
 
         if (map) {
@@ -236,7 +202,7 @@ class MirabufCachingService {
                 thumbnailStorageID: thumbnailStorageID ?? _thumbnailStorageID,
             }
             map[key] = info
-            window.localStorage.setItem(miraType == MiraType.ROBOT ? robotMapDirName : fieldMapDirName, JSON.stringify(map))
+            window.localStorage.setItem(miraType == MiraType.ROBOT ? robotsDirName : fieldsDirName, JSON.stringify(map))
             return true
         } catch (e) {
             console.error(`Failed to cache info\n${e}`)
@@ -278,17 +244,19 @@ class MirabufCachingService {
      */
     public static async Get(id: MirabufCacheID, miraType: MiraType): Promise<mirabuf.Assembly | undefined> {
         try {
-            // If we have access to OPFS, get file handle from OPFS
-            const fileHandle = canOPFS ? await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(
-                id,
-                {
-                    create: false,
-                }
-            ) : undefined
-
-            // If we have OPFS file, get buffer from OPFS, otherwise get from local storage
-            const buff = fileHandle ? await fileHandle.getFile().then(x => x.arrayBuffer()) : this.GetBackUpCache(miraType)[id]
-
+            // Get buffer from hashMap. If not in hashMap, check OPFS. Otherwise, buff is undefined
+            const cache = miraType == MiraType.ROBOT ? backUpRobots : backUpFields
+            const buff = cache.get(id) ?? await (async() => {
+                const fileHandle = canOPFS ? await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(
+                    id,
+                    {
+                        create: false,
+                    }
+                ) : undefined
+                return fileHandle ? await fileHandle.getFile().then(x => x.arrayBuffer()) : undefined
+            })()
+
+            // If we have buffer, get assembly 
             if (buff) {
                 const assembly = this.AssemblyFromBuffer(buff)
                 World.AnalyticsSystem?.Event("Cache Get", {
@@ -299,7 +267,7 @@ class MirabufCachingService {
                 })
                 return assembly
             } else {
-                console.error(`Failed to find file for id: ${id}`)
+                console.error(`Failed to find arrayBuffer for id: ${id}`)
             }
         } catch (e) {
             console.error(`Failed to find file\n${e}`)
@@ -322,7 +290,7 @@ class MirabufCachingService {
             if (map) {
                 delete map[key]
                 window.localStorage.setItem(
-                    miraType == MiraType.ROBOT ? robotMapDirName : fieldMapDirName,
+                    miraType == MiraType.ROBOT ? robotsDirName : fieldsDirName,
                     JSON.stringify(map)
                 )
             }
@@ -330,15 +298,11 @@ class MirabufCachingService {
             if (canOPFS) {
                 const dir = miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle
                 await dir.removeEntry(id)
-            } else {
-                const backUpCache = this.GetBackUpCache(miraType)
-                if (backUpCache) {
-                    delete backUpCache[key]
-                    window.localStorage.setItem(
-                        miraType == MiraType.ROBOT ? backUpRobotsDirName : backUpFieldsDirName,
-                        JSON.stringify(backUpCache)
-                    )
-                }
+            }
+
+            const backUpCache = miraType == MiraType.ROBOT ? backUpRobots : backUpFields
+            if (backUpCache) {
+                backUpCache.delete(id)
             }
 
             World.AnalyticsSystem?.Event("Cache Remove", {
@@ -364,10 +328,11 @@ class MirabufCachingService {
             fieldFolderHandle.removeEntry(key)
         }
 
-        window.localStorage.removeItem(robotMapDirName)
-        window.localStorage.removeItem(fieldMapDirName)
-        window.localStorage.removeItem(backUpRobotsDirName)
-        window.localStorage.removeItem(backUpFieldsDirName)
+        window.localStorage.removeItem(robotsDirName)
+        window.localStorage.removeItem(fieldsDirName)
+
+        backUpRobots.clear()
+        backUpFields.clear()
     }
 
     // Optional name for when assembly is being decoded anyway like in CacheAndGetLocal()
@@ -393,7 +358,7 @@ class MirabufCachingService {
                 name: name,
             }
             map[key] = info
-            window.localStorage.setItem(miraType == MiraType.ROBOT ? robotMapDirName : fieldMapDirName, JSON.stringify(map))
+            window.localStorage.setItem(miraType == MiraType.ROBOT ? robotsDirName : fieldsDirName, JSON.stringify(map))
 
             World.AnalyticsSystem?.Event("Cache Store", {
                 name: name ?? "-",
@@ -402,6 +367,7 @@ class MirabufCachingService {
                 fileSize: miraBuff.byteLength,
             })
 
+            // Store buffer
             if (canOPFS) {
                 // Store in OPFS
                 const fileHandle = await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(
@@ -411,13 +377,12 @@ class MirabufCachingService {
                 const writable = await fileHandle.createWritable()
                 await writable.write(miraBuff)
                 await writable.close()
-            } else {
-                // Store in localStorage
-                const cache: BackUpBufferCache = this.GetBackUpCache(miraType)
-                cache[key] = miraBuff
-                window.localStorage.setItem(miraType == MiraType.ROBOT ? backUpRobotsDirName : backUpFieldsDirName, JSON.stringify(cache))
             }
 
+            // Store in hash
+            const cache = miraType == MiraType.ROBOT ? backUpRobots : backUpFields
+            cache.set(backupID, miraBuff)
+
             return info
         } catch (e) {
             console.error("Failed to cache mira " + e)
diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index dd7df1e7cf..7dab72156b 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -240,7 +240,6 @@ class MirabufParser {
             console.log("Failed to get part definitions")
             return
         }
-        console.log(partDefinitions)
     }
 
     private NewRigidNode(suffix?: string): RigidNode {
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index 3daebda498..28b96397f4 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -6,7 +6,7 @@ import WPILibBrain from "@/systems/simulation/wpilib_brain/WPILibBrain"
 import { MainHUD_AddToast } from "../components/MainHUD"
 import { ToastType } from "../ToastContext"
 import { Random } from "@/util/Random"
-import MirabufCachingService, { MiraType } from "@/mirabuf/MirabufLoader"
+import MirabufCachingService, { backUpFields as hashedMiraFields, backUpRobots as hashedMiraRobots, MiraType } from "@/mirabuf/MirabufLoader"
 import { Box, styled } from "@mui/material"
 import { usePanelControlContext } from "../PanelContext"
 import APS from "@/aps/APS"
@@ -113,6 +113,8 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     onClick={() => {
                         console.log(MirabufCachingService.GetCacheMap(MiraType.ROBOT))
                         console.log(MirabufCachingService.GetCacheMap(MiraType.FIELD))
+                        console.log(hashedMiraRobots)
+                        console.log(hashedMiraFields)
                     }}
                 />
                 <Button value={"Clear Mira Cache"} onClick={() => MirabufCachingService.RemoveAll()} />

From 6deab171dd2289c7e5b540403a027f7f723e488d Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Tue, 6 Aug 2024 13:46:17 -0700
Subject: [PATCH 165/344] Formatting

---
 fission/src/mirabuf/MirabufLoader.ts | 40 +++++++++++++---------------
 fission/src/ui/panels/DebugPanel.tsx |  6 ++++-
 2 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index cd51213ad7..1355d9e38c 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -32,17 +32,14 @@ const fieldFolderHandle = await root.getDirectoryHandle(fieldsDirName, { create:
 export const backUpRobots: Map<MirabufCacheID, ArrayBuffer> = new Map<MirabufCacheID, ArrayBuffer>()
 export const backUpFields: Map<MirabufCacheID, ArrayBuffer> = new Map<MirabufCacheID, ArrayBuffer>()
 
-const canOPFS = await (async() => {
+const canOPFS = await (async () => {
     try {
         if (robotFolderHandle.name == robotsDirName) {
             robotFolderHandle.entries
             robotFolderHandle.keys
 
-            const fileHandle = await robotFolderHandle.getFileHandle(
-                "0",
-                { create: true }
-            )
-            const writable = await fileHandle.createWritable() 
+            const fileHandle = await robotFolderHandle.getFileHandle("0", { create: true })
+            const writable = await fileHandle.createWritable()
             await writable.close()
             await fileHandle.getFile()
 
@@ -97,7 +94,6 @@ class MirabufCachingService {
         }
     }
 
-
     /**
      * Cache remote Mirabuf file
      *
@@ -246,17 +242,18 @@ class MirabufCachingService {
         try {
             // Get buffer from hashMap. If not in hashMap, check OPFS. Otherwise, buff is undefined
             const cache = miraType == MiraType.ROBOT ? backUpRobots : backUpFields
-            const buff = cache.get(id) ?? await (async() => {
-                const fileHandle = canOPFS ? await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(
-                    id,
-                    {
-                        create: false,
-                    }
-                ) : undefined
-                return fileHandle ? await fileHandle.getFile().then(x => x.arrayBuffer()) : undefined
-            })()
-
-            // If we have buffer, get assembly 
+            const buff =
+                cache.get(id) ??
+                (await (async () => {
+                    const fileHandle = canOPFS
+                        ? await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(id, {
+                              create: false,
+                          })
+                        : undefined
+                    return fileHandle ? await fileHandle.getFile().then(x => x.arrayBuffer()) : undefined
+                })())
+
+            // If we have buffer, get assembly
             if (buff) {
                 const assembly = this.AssemblyFromBuffer(buff)
                 World.AnalyticsSystem?.Event("Cache Get", {
@@ -370,10 +367,9 @@ class MirabufCachingService {
             // Store buffer
             if (canOPFS) {
                 // Store in OPFS
-                const fileHandle = await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(
-                    backupID,
-                    { create: true }
-                )
+                const fileHandle = await (
+                    miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle
+                ).getFileHandle(backupID, { create: true })
                 const writable = await fileHandle.createWritable()
                 await writable.write(miraBuff)
                 await writable.close()
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index 28b96397f4..e94cdedd03 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -6,7 +6,11 @@ import WPILibBrain from "@/systems/simulation/wpilib_brain/WPILibBrain"
 import { MainHUD_AddToast } from "../components/MainHUD"
 import { ToastType } from "../ToastContext"
 import { Random } from "@/util/Random"
-import MirabufCachingService, { backUpFields as hashedMiraFields, backUpRobots as hashedMiraRobots, MiraType } from "@/mirabuf/MirabufLoader"
+import MirabufCachingService, {
+    backUpFields as hashedMiraFields,
+    backUpRobots as hashedMiraRobots,
+    MiraType,
+} from "@/mirabuf/MirabufLoader"
 import { Box, styled } from "@mui/material"
 import { usePanelControlContext } from "../PanelContext"
 import APS from "@/aps/APS"

From e86f4f25a9b6cd89f9e2bd95d8ca486a70770eb5 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 6 Aug 2024 16:09:20 -0700
Subject: [PATCH 166/344] Input config rework, cleanup, and comments

---
 fission/src/Synthesis.tsx                     |   2 -
 fission/src/mirabuf/MirabufSceneObject.ts     |   4 -
 fission/src/ui/components/MainHUD.tsx         |   7 +-
 fission/src/ui/components/SelectButton.tsx    |   2 +-
 fission/src/ui/components/SelectMenu.tsx      | 112 +++--
 .../src/ui/components/StyledComponents.tsx    |   4 +
 .../configuring/inputs/ChangeInputsModal.tsx  | 466 ------------------
 .../modals/spawning/ManageAssembliesModal.tsx |  94 ----
 .../assembly-config/ConfigurePanel.tsx        |  32 +-
 .../ConfigureGamepiecePickupInterface.tsx     |   1 -
 .../ConfigureShotTrajectoryInterface.tsx      |   9 +-
 .../SequentialBehaviorsInterface.tsx          |  26 +-
 .../inputs/ConfigureInputsInterface.tsx       |   2 +
 .../inputs/ConfigureSchemeInterface.tsx       |  59 +--
 .../interfaces/inputs/EditInputInterface.tsx  | 306 +++++++-----
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  |   2 +-
 16 files changed, 309 insertions(+), 819 deletions(-)
 delete mode 100644 fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
 delete mode 100644 fission/src/ui/modals/spawning/ManageAssembliesModal.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 42945e5e6a..f26769d7a1 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -39,7 +39,6 @@ import SpawnLocationsPanel from "@/panels/SpawnLocationPanel"
 import ScoreboardPanel from "@/panels/information/ScoreboardPanel"
 import DriverStationPanel from "@/panels/simulation/DriverStationPanel"
 import PokerPanel from "@/panels/PokerPanel.tsx"
-import ManageAssembliesModal from "@/modals/spawning/ManageAssembliesModal.tsx"
 import World from "@/systems/World.ts"
 import { AddRobotsModal, AddFieldsModal, SpawningModal } from "@/modals/spawning/SpawningModals.tsx"
 import ImportLocalMirabufModal from "@/modals/mirabuf/ImportLocalMirabufModal.tsx"
@@ -219,7 +218,6 @@ const initialModals = [
     <RCConfigEncoderModal key="config-encoder" modalId="config-encoder" />,
     <MatchModeModal key="match-mode" modalId="match-mode" />,
     <ConfigMotorModal key="config-motor" modalId="config-motor" />,
-    <ManageAssembliesModal key="manage-assemblies" modalId="manage-assemblies" />,
     <ImportLocalMirabufModal key="import-local-mirabuf" modalId="import-local-mirabuf" />,
     <ResetAllInputsModal key="reset-inputs" modalId="reset-inputs" />,
 ]
diff --git a/fission/src/mirabuf/MirabufSceneObject.ts b/fission/src/mirabuf/MirabufSceneObject.ts
index d886c4ae14..2804f3ae1b 100644
--- a/fission/src/mirabuf/MirabufSceneObject.ts
+++ b/fission/src/mirabuf/MirabufSceneObject.ts
@@ -59,10 +59,6 @@ class MirabufSceneObject extends SceneObject {
         return this._mechanism
     }
 
-    get brain() {
-        return this._brain
-    }
-
     get assemblyName() {
         return this._assemblyName
     }
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 17c036db3f..520fe5e879 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -85,11 +85,6 @@ const MainHUD: React.FC = () => {
                     onClick={() => openPanel("import-mirabuf")}
                 />
                 <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
-                    <MainHUDButton
-                        value={"Manage Assemblies"}
-                        icon={SynthesisIcons.Wrench}
-                        onClick={() => openModal("manage-assemblies")}
-                    />
                     <MainHUDButton
                         value={"Settings"}
                         icon={SynthesisIcons.Gear}
@@ -101,7 +96,7 @@ const MainHUD: React.FC = () => {
                         onClick={() => openModal("view")}
                     /> */}
                     <MainHUDButton
-                        value={"Import Local Mira"}
+                        value={"Import Local Asset"}
                         icon={SynthesisIcons.Import}
                         onClick={() => openModal("import-local-mirabuf")}
                     />
diff --git a/fission/src/ui/components/SelectButton.tsx b/fission/src/ui/components/SelectButton.tsx
index 81c1914cca..3d7e018669 100644
--- a/fission/src/ui/components/SelectButton.tsx
+++ b/fission/src/ui/components/SelectButton.tsx
@@ -70,7 +70,7 @@ const SelectButton: React.FC<SelectButtonProps> = ({ colorClass, size, value, pl
 
     return (
         <Stack direction={StackDirection.Vertical}>
-            <Label size={LabelSize.Small}>{"Select Follow Node"}</Label>
+            <Label size={LabelSize.Small}>{"Select parent node"}</Label>
             <Button
                 value={selecting ? "..." : value || placeholder || "Click to select"}
                 colorOverrideClass={selecting ? "bg-background-secondary" : colorClass}
diff --git a/fission/src/ui/components/SelectMenu.tsx b/fission/src/ui/components/SelectMenu.tsx
index be6ddd8581..852bb9852f 100644
--- a/fission/src/ui/components/SelectMenu.tsx
+++ b/fission/src/ui/components/SelectMenu.tsx
@@ -1,13 +1,18 @@
 import React, { useEffect, useState } from "react"
 
-import { Box, Button as MUIButton, styled, alpha, Divider } from "@mui/material"
+import { Box, Button as MUIButton, styled, alpha } from "@mui/material"
 import Label, { LabelSize } from "./Label"
-import { FaArrowLeft } from "react-icons/fa6"
-import Button from "./Button"
-import { AddButtonInteractiveColor, DeleteButton, Spacer } from "./StyledComponents"
-
-const LeftArrow = <FaArrowLeft size={"1.25rem"} />
+import {
+    AddButtonInteractiveColor,
+    ButtonIcon,
+    DeleteButton,
+    SectionDivider,
+    SectionLabel,
+    Spacer,
+    SynthesisIcons,
+} from "./StyledComponents"
 
+// Select menu item button (appears as an outline when hovered over, the text is a separate component)
 const CustomButton = styled(MUIButton)({
     "borderStyle": "none",
     "borderWidth": "1px",
@@ -36,16 +41,6 @@ const CustomButton = styled(MUIButton)({
     },
 })
 
-const LabelStyled = styled(Label)({
-    fontWeight: 700,
-    margin: "0pt",
-    textWrap: "nowrap",
-})
-
-const DividerStyled = styled(Divider)({
-    borderColor: "white",
-})
-
 /** Extend this to make a type that contains custom data */
 export class SelectMenuOption {
     name: string
@@ -76,13 +71,13 @@ const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected, onDel
                 {/* Indentation before the name */}
                 <Box width="8px" />
                 {/* Label for joint index and type (grey if child) */}
-                <LabelStyled
+                <SectionLabel
                     key={value.name + index}
                     size={LabelSize.Small}
                     className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
                 >
                     {value.name}
-                </LabelStyled>
+                </SectionLabel>
             </Box>
 
             {/* Button used for selecting a parent (shows up as an outline) */}
@@ -93,6 +88,7 @@ const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected, onDel
                 }}
                 sx={{ borderColor: "#888888" }}
             />
+            {/** Delete button only if onDelete is defined */}
             {onDelete && (
                 <>
                     {Spacer(0, 10)}
@@ -107,6 +103,7 @@ interface SelectMenuProps {
     options: SelectMenuOption[]
     onOptionSelected: (val: SelectMenuOption | undefined) => void
     defaultHeaderText: string
+    noOptionsText?: string
     indentation?: number
     onDelete?: (val: SelectMenuOption) => void | undefined
     onAddClicked?: () => void
@@ -115,68 +112,77 @@ interface SelectMenuProps {
 const SelectMenu: React.FC<SelectMenuProps> = ({
     options,
     onOptionSelected,
-    defaultHeaderText: headerText,
+    defaultHeaderText,
+    noOptionsText,
     indentation,
     onDelete,
     onAddClicked,
 }) => {
     const [selectedOption, setSelectedOption] = useState<SelectMenuOption | undefined>(undefined)
-    // useEffect(() => {
-    //     if (selectedOption == undefined)
-    //         return
-    //
-    //     if (!options.some(o => o.name == selectedOption.name)) setSelectedOption(undefined)
-    // }, [options, selectedOption])
 
+    // If the selected option no longer exists as an option, deselect it
     useEffect(() => {
         if (!options.some(o => o.name === selectedOption?.name)) {
             setSelectedOption(undefined)
-            onOptionSelected(undefined) // Notify parent if needed
+            onOptionSelected(undefined)
         }
-    }, [options])
+    }, [options, onOptionSelected, selectedOption])
 
     return (
         <>
+            {/** Box containing the menu header */}
             <Box display="flex" textAlign={"center"} minHeight={"30px"} key="selected-item">
                 <Box width={`${20 * (indentation ?? 0)}px`} />
-                {selectedOption != undefined ? (
-                    <Button
-                        value={LeftArrow}
+
+                {/** Back arrow button when an option is selected */}
+                {selectedOption != undefined && (
+                    <ButtonIcon
+                        value={SynthesisIcons.LeftArrowLarge}
                         onClick={() => {
                             setSelectedOption(undefined)
                             onOptionSelected(undefined)
                         }}
-                        colorOverrideClass="bg-[#00000000] hover:brightness-90"
-                        sizeOverrideClass="p-[0.25rem]"
                     />
-                ) : null}
+                )}
+
+                {/** Label with either the header text, or the name of the selected option if an option is selected */}
                 <Box alignSelf={"center"} display="flex">
                     <Box width="8px" />
-                    <LabelStyled size={LabelSize.Small} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                        {selectedOption != undefined ? selectedOption.name : headerText}
-                    </LabelStyled>
+                    <SectionLabel size={LabelSize.Small} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                        {selectedOption != undefined ? selectedOption.name : defaultHeaderText}
+                    </SectionLabel>
                 </Box>
             </Box>
-            <DividerStyled />
-            {selectedOption == undefined ? (
+            <SectionDivider />
+
+            {selectedOption == undefined && (
                 <>
-                    {options.map((option, i) => {
-                        return (
-                            <OptionCard
-                                value={option}
-                                index={i}
-                                onSelected={val => {
-                                    setSelectedOption(val)
-                                    onOptionSelected(val)
-                                }}
-                                key={option.name + i}
-                                onDelete={onDelete ? () => onDelete(option) : undefined}
-                            />
-                        )
-                    })}
+                    {/** List of options */}
+                    {options.length > 0 ? (
+                        options.map((option, i) => {
+                            return (
+                                <OptionCard
+                                    value={option}
+                                    index={i}
+                                    onSelected={val => {
+                                        setSelectedOption(val)
+                                        onOptionSelected(val)
+                                    }}
+                                    key={option.name + i}
+                                    onDelete={onDelete ? () => onDelete(option) : undefined}
+                                />
+                            )
+                        })
+                    ) : (
+                        <>
+                            {/** No options available text */}
+                            <Label size={LabelSize.Small}>{noOptionsText ?? "No options available!"}</Label>
+                        </>
+                    )}
+                    {/** Add button */}
                     {onAddClicked && AddButtonInteractiveColor(onAddClicked)}
                 </>
-            ) : null}
+            )}
         </>
     )
 }
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index e9e521299b..9bccc83a54 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -24,6 +24,8 @@ import {
     FaXmark,
     FaChessBoard,
     FaCar,
+    FaArrowLeft,
+    FaMinus,
 } from "react-icons/fa6"
 
 export class SynthesisIcons {
@@ -33,6 +35,7 @@ export class SynthesisIcons {
     public static Gear = (<FaGear />)
     public static MagnifyingGlass = (<FaMagnifyingGlass />)
     public static Add = (<FaPlus />)
+    public static Minus = (<FaMinus />)
     public static Import = (<FaFileImport />)
     public static Wrench = (<FaWrench />)
     public static ScrewdriverWrench = (<FaScrewdriverWrench />)
@@ -54,6 +57,7 @@ export class SynthesisIcons {
     public static RefreshLarge = (<BiRefresh size={"1.25rem"} />)
     public static SelectLarge = (<IoCheckmark size={"1.25rem"} />)
     public static EditLarge = (<IoPencil size={"1.25rem"} />)
+    public static LeftArrowLarge = (<FaArrowLeft size={"1.25rem"} />)
 }
 
 export const SectionDivider = styled(Divider)({
diff --git a/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
deleted file mode 100644
index 62f8f257f0..0000000000
--- a/fission/src/ui/modals/configuring/inputs/ChangeInputsModal.tsx
+++ /dev/null
@@ -1,466 +0,0 @@
-// import React, { useEffect, useState } from "react"
-// import Modal, { ModalPropsImpl } from "@/components/Modal"
-// import Stack, { StackDirection } from "@/ui/components/Stack"
-// import Label, { LabelSize } from "@/ui/components/Label"
-// import LabeledButton, { LabelPlacement } from "../../../components/LabeledButton"
-// import InputSystem, { AxisInput, ButtonInput, ModifierState, EmptyModifierState } from "@/systems/input/InputSystem"
-// import Dropdown from "@/ui/components/Dropdown"
-// import Checkbox from "@/ui/components/Checkbox"
-// import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
-// import Button from "@/ui/components/Button"
-// import { useModalControlContext } from "@/ui/ModalContext"
-// import { Box } from "@mui/material"
-// import { AddButtonInteractiveColor, SectionDivider, SynthesisIcons } from "@/ui/components/StyledComponents"
-
-// // capitalize first letter
-// const transformKeyName = (keyCode: string, keyModifiers: ModifierState) => {
-//     let prefix = ""
-//     if (keyModifiers) {
-//         if (keyModifiers.meta) prefix += "Meta + "
-//         if (keyModifiers.shift) prefix += "Shift + "
-//         if (keyModifiers.ctrl) prefix += "Ctrl + "
-//         if (keyModifiers.alt) prefix += "Alt + "
-//     }
-
-//     const displayName = prefix + keyCodeToCharacter(keyCode)
-//     if (displayName == "") return "N/A"
-
-//     return displayName
-// }
-
-// // Converts camelCase to Title Case for the inputs modal
-// const toTitleCase = (camelCase: string) => {
-//     const result = camelCase.replace(/([A-Z])/g, " $1")
-//     const finalResult = result.charAt(0).toUpperCase() + result.slice(1)
-//     return finalResult
-// }
-
-// // Special characters only
-// const codeToCharacterMap: { [code: string]: string } = {
-//     Slash: "/",
-//     Comma: ",",
-//     Period: ".",
-//     BracketLeft: "{",
-//     BracketRight: "}",
-//     BackQuote: "`",
-//     Minus: "-",
-//     Equal: "=",
-//     Backslash: "\\",
-//     Semicolon: ";",
-//     Quote: '"',
-// }
-
-// const gamepadButtons: string[] = [
-//     "A",
-//     "B",
-//     "X",
-//     "Y",
-//     "Left Bumper",
-//     "Right Bumper",
-//     "Back",
-//     "Start",
-//     "Left Stick",
-//     "Right Stick",
-//     "UNKNOWN",
-//     "UNKNOWN2",
-//     "Dpad Up",
-//     "Dpad Down",
-//     "Dpad Left",
-//     "Dpad Right",
-// ]
-// const gamepadAxes: string[] = ["N/A", "Left X", "Left Y", "Right X", "Right Y"]
-
-// // Converts a key code to displayable character (ex: KeyA -> "A")
-// const keyCodeToCharacter = (code: string) => {
-//     if (code.startsWith("Key")) return code.charAt(3)
-
-//     if (code.startsWith("Digit")) return code.charAt(5)
-
-//     if (code in codeToCharacterMap) return codeToCharacterMap[code]
-
-//     if (code.startsWith("Gamepad")) return gamepadButtons[parseInt(code.substring(8))]
-
-//     return code
-// }
-
-// const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-//     const { openModal } = useModalControlContext()
-
-//     const [selectedScheme, setSelectedScheme] = useState<InputScheme | undefined>(undefined)
-//     const [useGamepad, setUseGamepad] = useState<boolean>(false)
-
-//     const [selectedInput, setSelectedInput] = useState<string>("")
-
-//     const [chosenKey, setChosenKey] = useState<string>("")
-//     const [chosenButton, setChosenButton] = useState<number>(-1)
-//     const [modifierState, setModifierState] = useState<ModifierState>(EmptyModifierState)
-
-//     const [chosenGamepadAxis, setChosenGamepadAxis] = useState<number>(-1)
-//     const [useButtons, setUseButtons] = useState<UseButtonsState>({})
-
-//     // If there is a robot spawned, set it as the selected robot
-//     if (selectedScheme == null && InputSchemeManager.allInputSchemes.length > 0) {
-//         setTimeout(() => {
-//             if (!InputSystem.selectedScheme) {
-//                 InputSystem.selectedScheme = InputSchemeManager.allInputSchemes[0]
-//             }
-
-//             setUseButtons({})
-//             setSelectedScheme(InputSystem.selectedScheme)
-//             setUseGamepad(InputSystem.selectedScheme?.usesGamepad ?? false)
-//         }, 1)
-//     }
-
-//     const axisInputs = selectedScheme?.inputs.filter((input): input is AxisInput => input instanceof AxisInput)
-
-//     // Stores the states for using buttons or a joystick axis for gamepad axis inputs
-//     type UseButtonsState = {
-//         [key: string]: boolean
-//     }
-
-//     if (axisInputs && Object.keys(useButtons).length == 0) {
-//         axisInputs.forEach(input => {
-//             useButtons[input.inputName] = input.useGamepadButtons
-//         })
-//     }
-
-//     // Assign keyboard inputs when a key is pressed
-//     if (!useGamepad && selectedInput && chosenKey && selectedScheme) {
-//         if (selectedInput.startsWith("pos")) {
-//             const input = selectedScheme?.inputs.find(
-//                 input => input.inputName == selectedInput.substring(3)
-//             ) as AxisInput
-//             input.posKeyCode = chosenKey
-//             input.posKeyModifiers = modifierState
-//         } else if (selectedInput.startsWith("neg")) {
-//             const input = selectedScheme?.inputs.find(
-//                 input => input.inputName == selectedInput.substring(3)
-//             ) as AxisInput
-//             input.negKeyCode = chosenKey
-//             input.negKeyModifiers = modifierState
-//         } else {
-//             const input = selectedScheme?.inputs.find(input => input.inputName == selectedInput) as ButtonInput
-//             input.keyCode = chosenKey
-//             input.keyModifiers = modifierState
-//         }
-
-//         selectedScheme.customized = true
-
-//         setChosenKey("")
-//         setSelectedInput("")
-//         setModifierState(EmptyModifierState)
-//     }
-//     // Assign gamepad button inputs when a button is pressed
-//     else if (selectedScheme && useGamepad && selectedInput && chosenButton != -1) {
-//         if (selectedInput.startsWith("pos")) {
-//             const input = selectedScheme?.inputs.find(
-//                 input => input.inputName == selectedInput.substring(3)
-//             ) as AxisInput
-//             input.posGamepadButton = chosenButton
-//         } else if (selectedInput.startsWith("neg")) {
-//             const input = selectedScheme?.inputs.find(
-//                 input => input.inputName == selectedInput.substring(3)
-//             ) as AxisInput
-//             input.negGamepadButton = chosenButton
-//         } else {
-//             const input = selectedScheme?.inputs.find(input => input.inputName == selectedInput) as ButtonInput
-
-//             input.gamepadButton = chosenButton
-//         }
-
-//         selectedScheme.customized = true
-
-//         setChosenButton(-1)
-//         setSelectedInput("")
-//     }
-
-//     // Assign gamepad axis inputs when a gamepad axis is selected
-//     if (useGamepad && selectedInput && chosenGamepadAxis != -1 && selectedScheme) {
-//         const selected = selectedScheme?.inputs.find(input => input.inputName == selectedInput) as AxisInput
-//         selected.gamepadAxisNumber = chosenGamepadAxis - 1
-
-//         selectedScheme.customized = true
-
-//         setChosenGamepadAxis(-1)
-//         setSelectedInput("")
-//     }
-
-//     useEffect(() => {
-//         const checkGamepadState = () => {
-//             if (InputSystem.gamepad !== null) {
-//                 const pressedButtons = InputSystem.gamepad.buttons
-//                     .map((button, index) => (button.pressed ? index : null))
-//                     .filter(index => index !== null)
-//                     .map(index => index!)
-
-//                 if (pressedButtons.length > 0) setChosenButton(pressedButtons[0])
-//                 else setChosenButton(-1)
-//             }
-//             requestAnimationFrame(checkGamepadState)
-//         }
-
-//         checkGamepadState()
-//     })
-
-//     const KeyboardButtonSelection = (c: ButtonInput) => {
-//         return (
-//             <LabeledButton
-//                 key={c.inputName}
-//                 label={toTitleCase(c.inputName)}
-//                 placement={LabelPlacement.Left}
-//                 value={c.inputName == selectedInput ? "Press anything" : transformKeyName(c.keyCode, c.keyModifiers)}
-//                 onClick={() => {
-//                     setSelectedInput(c.inputName)
-//                 }}
-//             />
-//         )
-//     }
-
-//     const KeyboardAxisSelection = (c: AxisInput) => {
-//         return (
-//             <div key={c.inputName}>
-//                 <Stack direction={StackDirection.Vertical} spacing={3}>
-//                     {/* Positive key */}
-//                     <Label size={LabelSize.Medium}>{toTitleCase(c.inputName)}</Label>
-//                     <LabeledButton
-//                         key={"pos" + c.inputName}
-//                         label={"(+)"}
-//                         placement={LabelPlacement.Left}
-//                         value={
-//                             "pos" + c.inputName == selectedInput
-//                                 ? "Press anything"
-//                                 : transformKeyName(c.posKeyCode, c.posKeyModifiers)
-//                         }
-//                         onClick={() => {
-//                             setSelectedInput("pos" + c.inputName)
-//                         }}
-//                     />
-//                     {/* Negative key */}
-//                     <LabeledButton
-//                         key={"neg" + c.inputName}
-//                         label={"(-)"}
-//                         placement={LabelPlacement.Left}
-//                         value={
-//                             "neg" + c.inputName == selectedInput
-//                                 ? "Press anything"
-//                                 : transformKeyName(c.negKeyCode, c.negKeyModifiers)
-//                         }
-//                         onClick={() => {
-//                             setSelectedInput("neg" + c.inputName)
-//                         }}
-//                     />
-//                 </Stack>
-//             </div>
-//         )
-//     }
-
-//     const JoystickButtonSelection = (c: ButtonInput) => {
-//         return (
-//             <LabeledButton
-//                 key={c.inputName}
-//                 label={toTitleCase(c.inputName)}
-//                 placement={LabelPlacement.Left}
-//                 value={
-//                     c.inputName == selectedInput
-//                         ? "Press anything"
-//                         : c.gamepadButton == -1
-//                           ? "N/A"
-//                           : gamepadButtons[c.gamepadButton]
-//                 }
-//                 onClick={() => {
-//                     setSelectedInput(c.inputName)
-//                 }}
-//             />
-//         )
-//     }
-
-//     const JoystickAxisSelection = (c: AxisInput) => {
-//         return (
-//             <Dropdown
-//                 key={c.inputName}
-//                 label={toTitleCase(c.inputName)}
-//                 defaultValue={gamepadAxes[c.gamepadAxisNumber + 1]}
-//                 options={gamepadAxes}
-//                 onSelect={value => {
-//                     setSelectedInput(c.inputName)
-//                     setChosenGamepadAxis(gamepadAxes.indexOf(value))
-//                 }}
-//             />
-//         )
-//     }
-
-//     const GamepadButtonAxisSelection = (c: AxisInput) => {
-//         return (
-//             <div>
-//                 <Stack direction={StackDirection.Vertical} spacing={3}>
-//                     <Label size={LabelSize.Medium}>{toTitleCase(c.inputName)}</Label>
-//                     {/* // Positive gamepad button */}
-//                     <LabeledButton
-//                         key={"pos" + c.inputName}
-//                         label={"(+)"}
-//                         placement={LabelPlacement.Left}
-//                         value={
-//                             "pos" + c.inputName == selectedInput
-//                                 ? "Press anything"
-//                                 : c.posGamepadButton == -1
-//                                   ? "N/A"
-//                                   : gamepadButtons[c.posGamepadButton]
-//                         }
-//                         onClick={() => {
-//                             setSelectedInput("pos" + c.inputName)
-//                         }}
-//                     />
-//                     {/* // Negative gamepad button */}
-//                     <LabeledButton
-//                         key={"neg" + c.inputName}
-//                         label={"(-)"}
-//                         placement={LabelPlacement.Left}
-//                         value={
-//                             "neg" + c.inputName == selectedInput
-//                                 ? "Press anything"
-//                                 : c.negGamepadButton == -1
-//                                   ? "N/A"
-//                                   : gamepadButtons[c.negGamepadButton]
-//                         }
-//                         onClick={() => {
-//                             setSelectedInput("neg" + c.inputName)
-//                         }}
-//                     />
-//                 </Stack>
-//             </div>
-//         )
-//     }
-
-//     return (
-//         <Modal
-//             name="Keybinds"
-//             icon={SynthesisIcons.Gamepad}
-//             modalId={modalId}
-//             onAccept={() => {
-//                 InputSchemeManager.saveSchemes()
-//                 InputSystem.selectedScheme = undefined
-//             }}
-//         >
-//             <>
-//                 <Stack direction={StackDirection.Horizontal} spacing={25}>
-//                     <Box display="flex" flexDirection={"column"} gap={"10px"}>
-//                         <Dropdown
-//                             label={"Select a Control Scheme"}
-//                             defaultValue={InputSystem?.selectedScheme?.schemeName}
-//                             options={InputSchemeManager.allInputSchemes.map(s => s.schemeName)}
-//                             onSelect={value => {
-//                                 const schemeData = InputSchemeManager.allInputSchemes.find(s => s.schemeName == value)
-//                                 if (!schemeData || schemeData == selectedScheme) return
-
-//                                 setSelectedScheme(undefined)
-//                                 InputSystem.selectedScheme = schemeData
-//                             }}
-//                         />
-//                         {AddButtonInteractiveColor(() => {
-//                             openModal("new-scheme")
-//                         })}
-//                         {selectedScheme ? (
-//                             <>
-//                                 <Checkbox
-//                                     label="Use Controller"
-//                                     defaultState={selectedScheme?.usesGamepad ?? false}
-//                                     onClick={val => {
-//                                         setUseGamepad(val)
-//                                         if (selectedScheme) selectedScheme.usesGamepad = val
-//                                     }}
-//                                 />
-//                                 <Box height={10} />
-//                                 <SectionDivider />
-//                                 <Box height={15}></Box>
-
-//                                 <Box display="flex" justifyContent="center" alignItems="center">
-//                                     <Button
-//                                         value={"Reset all to Defaults"}
-//                                         onClick={() => {
-//                                             openModal("reset-inputs")
-//                                         }}
-//                                     />
-//                                 </Box>
-//                             </>
-//                         ) : (
-//                             <Label>No robot selected.</Label>
-//                         )}
-//                     </Box>
-//                     <div
-//                         className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[60vh] bg-background-secondary rounded-md p-2"
-//                         onKeyUp={e => {
-//                             setChosenKey(selectedInput ? e.code : "")
-//                             setModifierState({
-//                                 ctrl: e.ctrlKey,
-//                                 alt: e.altKey,
-//                                 shift: e.shiftKey,
-//                                 meta: e.metaKey,
-//                             })
-//                         }}
-//                     >
-//                         {selectedScheme ? (
-//                             <>
-//                                 <Stack direction={StackDirection.Vertical} spacing={20}>
-//                                     {selectedScheme.inputs.map(c => {
-//                                         if (!useGamepad) {
-//                                             // Keyboard button
-//                                             if (c instanceof ButtonInput) {
-//                                                 return KeyboardButtonSelection(c)
-//                                             }
-//                                             // Keyboard Axis
-//                                             else if (c instanceof AxisInput) {
-//                                                 return KeyboardAxisSelection(c)
-//                                             }
-//                                         } else {
-//                                             // Joystick Button
-//                                             if (c instanceof ButtonInput) {
-//                                                 return JoystickButtonSelection(c)
-//                                             }
-
-//                                             // Gamepad axis
-//                                             else if (c instanceof AxisInput) {
-//                                                 return (
-//                                                     <div key={c.inputName}>
-//                                                         {useButtons[c.inputName]
-//                                                             ? GamepadButtonAxisSelection(c)
-//                                                             : // Gamepad joystick axis
-//                                                               JoystickAxisSelection(c)}
-
-//                                                         {/* // Button to switch between two buttons and a joystick axis */}
-//                                                         <Checkbox
-//                                                             label="Use Buttons"
-//                                                             defaultState={c.useGamepadButtons}
-//                                                             onClick={val => {
-//                                                                 setUseButtons(prevState => ({
-//                                                                     ...prevState,
-//                                                                     [c.inputName]: val,
-//                                                                 }))
-//                                                                 c.useGamepadButtons = val
-//                                                             }}
-//                                                         />
-//                                                         {/* // Button to invert the joystick axis */}
-//                                                         <Checkbox
-//                                                             label="Joystick Inverted"
-//                                                             defaultState={c.joystickInverted}
-//                                                             onClick={val => {
-//                                                                 c.joystickInverted = val
-//                                                             }}
-//                                                         />
-//                                                     </div>
-//                                                 )
-//                                             }
-//                                         }
-//                                     })}
-//                                 </Stack>
-//                             </>
-//                         ) : (
-//                             <Label>No robot selected.</Label>
-//                         )}
-//                     </div>
-//                 </Stack>
-//             </>
-//         </Modal>
-//     )
-// }
-
-// export default ChangeInputsModal
diff --git a/fission/src/ui/modals/spawning/ManageAssembliesModal.tsx b/fission/src/ui/modals/spawning/ManageAssembliesModal.tsx
deleted file mode 100644
index a3dc28b910..0000000000
--- a/fission/src/ui/modals/spawning/ManageAssembliesModal.tsx
+++ /dev/null
@@ -1,94 +0,0 @@
-import React, { useMemo, useReducer } from "react"
-import Modal, { ModalPropsImpl } from "@/components/Modal"
-import Button, { ButtonProps } from "@/components/Button"
-import Label, { LabelSize } from "@/components/Label"
-import World from "@/systems/World"
-import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
-import { usePanelControlContext } from "@/ui/PanelContext"
-import { setSelectedBrainIndexGlobal } from "@/ui/panels/configuring/ChooseInputSchemePanel"
-import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
-import { useModalControlContext } from "@/ui/ModalContext"
-import InputSystem from "@/systems/input/InputSystem"
-import { SynthesisIcons } from "@/ui/components/StyledComponents"
-
-interface AssemblyCardProps {
-    mira: MirabufSceneObject
-    update: React.DispatchWithoutAction
-}
-
-const ButtonSecondary: React.FC<ButtonProps> = ({ value, onClick }) => {
-    return (
-        <Button
-            sizeOverrideClass="px-6 py-2"
-            value={value}
-            onClick={onClick}
-            colorOverrideClass="bg-cancel-button hover:brightness-90"
-        ></Button>
-    )
-}
-
-const AssemblyCard: React.FC<AssemblyCardProps> = ({ mira, update }) => {
-    const { openPanel } = usePanelControlContext()
-    const { closeModal } = useModalControlContext()
-
-    const brain = useMemo(() => (mira.brain as SynthesisBrain)?.brainIndex, [mira])
-
-    return (
-        <div
-            key={mira.id}
-            className="flex flex-row align-middle justify-between items-center bg-background rounded-sm p-2 gap-2"
-        >
-            <Label className="text-wrap break-all">{`[${InputSystem.brainIndexSchemeMap.get(brain)?.schemeName ?? "-"}] ${mira.assemblyName}`}</Label>
-            <div className="flex flex-row gap-4">
-                <Button
-                    sizeOverrideClass="px-6 py-2"
-                    value="Set Scheme"
-                    onClick={() => {
-                        setSelectedBrainIndexGlobal(brain)
-                        openPanel("choose-scheme")
-                        closeModal()
-                    }}
-                />
-                <ButtonSecondary
-                    value={SynthesisIcons.DeleteLarge}
-                    onClick={() => {
-                        World.SceneRenderer.RemoveSceneObject(mira.id)
-                        update()
-                    }}
-                />
-            </div>
-        </div>
-    )
-}
-
-const ManageAssembliesModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const [_, update] = useReducer(x => !x, false)
-
-    const assemblies = [...World.SceneRenderer.sceneObjects.entries()]
-        .filter(x => {
-            const y = x[1] instanceof MirabufSceneObject
-            return y
-        })
-        .map(x => x[1] as MirabufSceneObject)
-
-    return (
-        <Modal
-            name={"Manage Assemblies"}
-            icon={SynthesisIcons.Wrench}
-            modalId={modalId}
-            acceptEnabled={false}
-            cancelName="Back"
-        >
-            <div className="flex overflow-y-auto flex-col gap-2 min-w-[50vw] max-h-[60vh] bg-background-secondary rounded-md p-2">
-                <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
-                    {assemblies ? `${assemblies.length} Assemblies` : "No Assemblies"}
-                </Label>
-                {assemblies.map(x => (
-                    <AssemblyCard key={x.id} mira={x} update={update} />
-                ))}
-            </div>
-        </Modal>
-    )
-}
-
-export default ManageAssembliesModal
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index 0d6e0f8214..e9b1dbc47c 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -6,7 +6,6 @@ import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
 import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
 import { useMemo, useReducer, useState } from "react"
-import { AiOutlinePlus } from "react-icons/ai"
 import ConfigureGamepiecePickupInterface from "./interfaces/ConfigureGamepiecePickupInterface"
 import ConfigureShotTrajectoryInterface from "./interfaces/ConfigureShotTrajectoryInterface"
 import ConfigureScoringZonesInterface from "./interfaces/scoring/ConfigureScoringZonesInterface"
@@ -18,9 +17,9 @@ import { usePanelControlContext } from "@/ui/PanelContext"
 import Button from "@/ui/components/Button"
 import { setSelectedBrainIndexGlobal } from "../ChooseInputSchemePanel"
 import ConfigureSchemeInterface from "./interfaces/inputs/ConfigureSchemeInterface"
+import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
-const AddIcon = <AiOutlinePlus size={"1.25rem"} />
-
+/** Option for selecting a robot of field */
 class AssemblySelectionOption extends SelectMenuOption {
     assemblyObject: MirabufSceneObject
 
@@ -36,7 +35,8 @@ interface ConfigurationSelectionProps {
 }
 
 const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configurationType, onAssemblySelected }) => {
-    const [x, update] = useReducer(x => !x, false)
+    // Update is used when a robot or field is deleted to update the select menu
+    const [u, update] = useReducer(x => !x, false)
     const { openPanel } = usePanelControlContext()
 
     const robots = useMemo(() => {
@@ -48,7 +48,8 @@ const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configuratio
         }) as MirabufSceneObject[]
 
         return assemblies
-    }, [x])
+        // eslint-disable-next-line react-hooks/exhaustive-deps
+    }, [u])
 
     const fields = useMemo(() => {
         const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
@@ -59,11 +60,12 @@ const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configuratio
         }) as MirabufSceneObject[]
 
         return assemblies
-    }, [x])
+        // eslint-disable-next-line react-hooks/exhaustive-deps
+    }, [u])
 
+    /** Robot or field select menu */
     return (
         <SelectMenu
-            // TODO: Add control scheme name if it's a robot
             options={(configurationType == ConfigurationType.ROBOT ? robots : fields).map(assembly => {
                 return new AssemblySelectionOption(
                     `${configurationType == ConfigurationType.ROBOT ? `[${InputSystem.brainIndexSchemeMap.get((assembly.brain as SynthesisBrain).brainIndex)?.schemeName ?? "-"}]` : ""} ${assembly.assemblyName}`,
@@ -83,6 +85,7 @@ const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configuratio
                 console.log("Open spawn panel")
                 openPanel("import-mirabuf")
             }}
+            noOptionsText={`No ${configurationType == ConfigurationType.ROBOT ? "robots" : "fields"} spawned!`}
         />
     )
 }
@@ -107,7 +110,7 @@ class ConfigModeSelectionOption extends SelectMenuOption {
 const robotModes = [
     new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
     new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
-    new ConfigModeSelectionOption("Motors", ConfigMode.MOTORS),
+    new ConfigModeSelectionOption("Joints", ConfigMode.MOTORS),
     new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
 ]
 const fieldModes = [new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES)]
@@ -136,6 +139,7 @@ interface ConfigInterfaceProps {
     openPanel: (panelId: string) => void
 }
 
+/** The interface for the actual configuration */
 const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly, openPanel }) => {
     switch (configMode) {
         case ConfigMode.INTAKE:
@@ -144,7 +148,7 @@ const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly,
             return <ConfigureShotTrajectoryInterface selectedRobot={assembly} />
         case ConfigMode.MOTORS:
             return <SequentialBehaviorsInterface selectedRobot={assembly} />
-        case ConfigMode.CONTROLS:
+        case ConfigMode.CONTROLS: {
             const brainIndex = (assembly.brain as SynthesisBrain).brainIndex
             const scheme = InputSystem.brainIndexSchemeMap.get(brainIndex)
 
@@ -160,6 +164,7 @@ const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly,
                     {scheme && <ConfigureSchemeInterface selectedScheme={scheme} />}
                 </>
             )
+        }
         case ConfigMode.SCORING_ZONES: {
             const zones = assembly.fieldPreferences?.scoringZones
             if (zones == undefined) {
@@ -173,6 +178,7 @@ const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly,
     }
 }
 
+/** An event to save whatever configuration interface is open when it is closed */
 export class ConfigurationSavedEvent extends Event {
     public constructor() {
         super("ConfigurationSaved")
@@ -204,7 +210,7 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     return (
         <Panel
             name={"Configure Assemblies"}
-            icon={AddIcon}
+            icon={SynthesisIcons.Gear}
             panelId={panelId}
             cancelEnabled={false}
             openLocation="right"
@@ -213,7 +219,8 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             }}
             acceptName="Close"
         >
-            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2">
+            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 max-h-[60vh]">
+                {/** Toggle button group for the robot, field, and input buttons */}
                 <ToggleButtonGroup
                     value={configurationType}
                     exclusive
@@ -235,6 +242,7 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     <ChangeInputsInterface />
                 ) : (
                     <>
+                        {/** Select menu to pick a robot or field */}
                         <AssemblySelection
                             configurationType={configurationType}
                             onAssemblySelected={a => {
@@ -245,6 +253,7 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                                 setSelectedAssembly(a)
                             }}
                         />
+                        {/** Nested select menu to pick a configuration mode */}
                         {selectedAssembly != undefined && (
                             <ConfigModeSelection
                                 configurationType={configurationType}
@@ -254,6 +263,7 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                                 }}
                             />
                         )}
+                        {/** The interface for the selected configuration mode */}
                         {selectedConfigMode != undefined && selectedAssembly != undefined && (
                             <ConfigInterface
                                 configMode={selectedConfigMode}
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
index 52cb701333..62f4ae818d 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
@@ -212,7 +212,6 @@ const ConfigureGamepiecePickupInterface: React.FC<ConfigPickupProps> = ({ select
             {Spacer(10)}
             <Button
                 value="Reset"
-                //buttonClassName="w-min"
                 onClick={() => {
                     if (transformGizmo) {
                         const robotTransformation = JoltMat44_ThreeMatrix4(
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
index fc8735374f..49e716b93e 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
@@ -14,9 +14,10 @@ import {
     ThreeMatrix4_Array,
 } from "@/util/TypeConversions"
 import { useTheme } from "@/ui/ThemeContext"
-import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
 import { ConfigurationSavedEvent } from "../ConfigurePanel"
+import Button from "@/ui/components/Button"
+import { Spacer } from "@/ui/components/StyledComponents"
 
 // slider constants
 const MIN_VELOCITY = 0.0
@@ -203,11 +204,9 @@ const ConfigureShotTrajectoryInterface: React.FC<ConfigEjectorProps> = ({ select
                 }}
                 step={0.01}
             />
-            <LabeledButton
-                placement={LabelPlacement.Left}
-                label="Reset"
+            {Spacer(10)}
+            <Button
                 value="Reset"
-                buttonClassName="w-min"
                 onClick={() => {
                     if (transformGizmo) {
                         const robotTransformation = JoltMat44_ThreeMatrix4(
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
index 4f5aecccea..0b97b14d38 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
@@ -2,7 +2,7 @@ import React, { useCallback, useEffect, useReducer, useState } from "react"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import Label, { LabelSize } from "@/ui/components/Label"
 import { FaArrowRightArrowLeft, FaXmark } from "react-icons/fa6"
-import { Box, Button as MUIButton, Divider, styled, alpha, Icon } from "@mui/material"
+import { Box, Button as MUIButton, styled, alpha, Icon } from "@mui/material"
 import Button, { ButtonSize } from "@/ui/components/Button"
 import { DefaultSequentialConfig, SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
@@ -11,17 +11,11 @@ import Checkbox from "@/ui/components/Checkbox"
 import GenericArmBehavior from "@/systems/simulation/behavior/synthesis/GenericArmBehavior"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 import { ConfigurationSavedEvent } from "../ConfigurePanel"
+import { SectionLabel } from "@/ui/components/StyledComponents"
 
 const UnselectParentIcon = <FaXmark size={"1.25rem"} />
 const InvertIcon = <FaArrowRightArrowLeft size={"1.25rem"} style={{ transform: "rotate(90deg)" }} />
 
-/** White label for a behavior name */
-const LabelStyled = styled(Label)({
-    fontWeight: 700,
-    margin: "0pt",
-    textWrap: "nowrap",
-})
-
 /** Grey label for a child behavior name */
 const ChildLabelStyled = styled(Label)({
     fontWeight: 700,
@@ -30,10 +24,6 @@ const ChildLabelStyled = styled(Label)({
     textWrap: "nowrap",
 })
 
-const DividerStyled = styled(Divider)({
-    borderColor: "white",
-})
-
 /** A button used to select a parent behavior. Appears at a grey outline when the 'set' button is pressed on a different behavior */
 const CustomButton = styled(MUIButton)({
     "borderStyle": "solid",
@@ -75,7 +65,7 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
 }) => {
     return (
         /* Box containing the entire card */
-        <Box display="flex" textAlign={"center"} key={elementKey}>
+        <Box display="flex" textAlign={"center"} key={elementKey} position="relative">
             {/* Box containing the label */}
             <Box position="absolute" alignSelf={"center"} display="flex">
                 {/* Indentation before the name */}
@@ -90,13 +80,13 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
                         {name}
                     </ChildLabelStyled>
                 ) : (
-                    <LabelStyled
+                    <SectionLabel
                         key={`arm-nodes-notation ${elementKey}`}
                         size={LabelSize.Small}
                         className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
                     >
                         {name}
-                    </LabelStyled>
+                    </SectionLabel>
                 )}
             </Box>
 
@@ -225,7 +215,7 @@ const SequentialBehaviorsInterface: React.FC<SequentialBehaviorProps> = ({ selec
         if (selectedRobot == undefined || behaviors == undefined) return
         PreferencesSystem.getRobotPreferences(selectedRobot.assemblyName).sequentialConfig = behaviors
         PreferencesSystem.savePreferences()
-    }, [])
+    }, [behaviors, selectedRobot])
 
     useEffect(() => {
         ConfigurationSavedEvent.Listen(saveEvent)
@@ -237,10 +227,6 @@ const SequentialBehaviorsInterface: React.FC<SequentialBehaviorProps> = ({ selec
 
     return (
         <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary">
-            <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                Set Parent Behaviors
-            </LabelStyled>
-            <DividerStyled />
             {behaviors.map(behavior => {
                 const jointIndex = behavior.jointIndex
                 return (
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
index 7016fd12bf..6d466bc8ef 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
@@ -6,6 +6,7 @@ import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeMana
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 import ConfigureSchemeInterface from "./ConfigureSchemeInterface"
 
+/** If a scheme is assigned to a robot, find the name of that robot */
 const findSchemeRobotName = (scheme: InputScheme): string | undefined => {
     for (const [key, value] of InputSystem.brainIndexSchemeMap.entries()) {
         if (value == scheme) return SynthesisBrain.brainIndexMap.get(key)?.assemblyName
@@ -44,6 +45,7 @@ const ConfigureInputsInterface = () => {
 
     return (
         <>
+            {/** Select menu with input schemes */}
             <SelectMenu
                 options={InputSchemeManager.allInputSchemes.map(s => new SchemeSelectionOption(s))}
                 onOptionSelected={val => {
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
index 9013bc738b..06887a84aa 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
@@ -1,34 +1,18 @@
 import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
 import Checkbox from "@/ui/components/Checkbox"
-import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
 import EditInputInterface from "./EditInputInterface"
 import { useCallback, useEffect, useState } from "react"
-import { Input } from "@/systems/input/InputSystem"
 import { ConfigurationSavedEvent } from "../../ConfigurePanel"
+import { SectionDivider } from "@/ui/components/StyledComponents"
 
-// Converts camelCase to Title Case for the inputs modal
-const toTitleCase = (camelCase: string) => {
-    const result = camelCase.replace(/([A-Z])/g, " $1")
-    const finalResult = result.charAt(0).toUpperCase() + result.slice(1)
-    return finalResult
-}
-
-class InputSelectionOption extends SelectMenuOption {
-    input: Input
-
-    constructor(input: Input) {
-        super(toTitleCase(input.inputName))
-
-        this.input = input
-    }
-}
 interface ConfigSchemeProps {
     selectedScheme: InputScheme
 }
 
+/** Interface to configure a specific input scheme */
 const ConfigureSchemeInterface: React.FC<ConfigSchemeProps> = ({ selectedScheme }) => {
-    const [selectedInput, setSelectedInput] = useState<Input | undefined>(undefined)
-    const [useGamepad, setUseGamepad] = useState<boolean>(false)
+    //const [selectedInput, setSelectedInput] = useState<Input | undefined>(undefined)
+    const [useGamepad, setUseGamepad] = useState<boolean>(selectedScheme.usesGamepad)
 
     const saveEvent = useCallback(() => {
         InputSchemeManager.saveSchemes()
@@ -43,7 +27,8 @@ const ConfigureSchemeInterface: React.FC<ConfigSchemeProps> = ({ selectedScheme
     }, [saveEvent])
 
     return (
-        <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary">
+        <>
+            {/** Toggle the input scheme between controller and keyboard mode */}
             <Checkbox
                 label="Use Controller"
                 defaultState={selectedScheme.usesGamepad}
@@ -52,21 +37,23 @@ const ConfigureSchemeInterface: React.FC<ConfigSchemeProps> = ({ selectedScheme
                     selectedScheme.usesGamepad = val
                 }}
             />
-            <SelectMenu
-                options={selectedScheme.inputs.map(i => new InputSelectionOption(i))}
-                onOptionSelected={val => setSelectedInput((val as InputSelectionOption)?.input)}
-                defaultHeaderText={"Select an Input"}
-                indentation={1}
-            />
-
-            {selectedInput != undefined && (
-                <EditInputInterface
-                    input={selectedInput}
-                    useGamepad={useGamepad}
-                    onInputChanged={() => (selectedScheme.customized = true)}
-                />
-            )}
-        </div>
+            <SectionDivider />
+
+            {/* Scroll view for inputs */}
+            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary">
+                {selectedScheme.inputs.map(i => {
+                    return (
+                        <EditInputInterface
+                            input={i}
+                            useGamepad={useGamepad}
+                            onInputChanged={() => {
+                                selectedScheme.customized = true
+                            }}
+                        />
+                    )
+                })}
+            </div>
+        </>
     )
 }
 export default ConfigureSchemeInterface
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx
index b7c40bc4e9..d351551a86 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx
@@ -1,5 +1,4 @@
-import React, { useCallback, useEffect, useState } from "react"
-import { ConfigurationSavedEvent } from "../../ConfigurePanel"
+import React, { useEffect, useState } from "react"
 import InputSystem, {
     AxisInput,
     ButtonInput,
@@ -7,11 +6,19 @@ import InputSystem, {
     Input,
     ModifierState,
 } from "@/systems/input/InputSystem"
-import LabeledButton, { LabelPlacement } from "@/ui/components/LabeledButton"
-import Stack, { StackDirection } from "@/ui/components/Stack"
 import Dropdown from "@/ui/components/Dropdown"
 import Checkbox from "@/ui/components/Checkbox"
 import Button from "@/ui/components/Button"
+import Label from "@/ui/components/Label"
+import { Box } from "@mui/material"
+import { SectionDivider, Spacer, SynthesisIcons } from "@/ui/components/StyledComponents"
+
+// Converts camelCase to Title Case for the inputs modal
+const toTitleCase = (camelCase: string) => {
+    const result = camelCase.replace(/([A-Z])/g, " $1")
+    const finalResult = result.charAt(0).toUpperCase() + result.slice(1)
+    return finalResult
+}
 
 // Special characters only
 const codeToCharacterMap: { [code: string]: string } = {
@@ -84,156 +91,214 @@ interface EditInputProps {
 }
 
 const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInputChanged }) => {
-    const saveEvent = useCallback(() => {}, [])
     const [selectedInput, setSelectedInput] = useState<string>("")
     const [chosenGamepadAxis, setChosenGamepadAxis] = useState<number>(-1)
     const [chosenKey, setChosenKey] = useState<string>("")
     const [modifierState, setModifierState] = useState<ModifierState>(EmptyModifierState)
     const [chosenButton, setChosenButton] = useState<number>(-1)
+    const [useGamepadButtons, setUseGamepadButtons] = useState<boolean>(
+        input instanceof AxisInput ? input.useGamepadButtons : false
+    )
 
-    useEffect(() => {
-        ConfigurationSavedEvent.Listen(saveEvent)
-
-        return () => {
-            ConfigurationSavedEvent.RemoveListener(saveEvent)
-        }
-    }, [saveEvent])
-
+    /** Select any key on the keyboard */
     const KeyboardButtonSelection = () => {
         if (!(input instanceof ButtonInput)) throw new Error("Input not button type")
 
         return (
-            <Button
-                key={input.inputName}
-                value={
-                    input.inputName == selectedInput
-                        ? "Press anything"
-                        : transformKeyName(input.keyCode, input.keyModifiers)
-                }
-                onClick={() => {
-                    setSelectedInput(input.inputName)
-                }}
-            />
+            <>
+                <Box
+                    display="flex"
+                    flexDirection={"row"}
+                    gap="10px"
+                    alignItems={"center"}
+                    justifyContent={"space-between"}
+                >
+                    <Label>{toTitleCase(input.inputName)}</Label>
+
+                    <Button
+                        key={input.inputName}
+                        value={
+                            input.inputName == selectedInput
+                                ? "Press anything"
+                                : transformKeyName(input.keyCode, input.keyModifiers)
+                        }
+                        onClick={() => {
+                            setSelectedInput(input.inputName)
+                        }}
+                    />
+                </Box>
+                {Spacer(8, 0)}
+                <SectionDivider />
+            </>
         )
     }
 
+    /** Select an axis between two keyboard keys */
     const KeyboardAxisSelection = () => {
         if (!(input instanceof AxisInput)) throw new Error("Input not axis type")
 
         return (
-            <div key={input.inputName}>
-                <Stack direction={StackDirection.Vertical} spacing={3}>
-                    {/* Positive key */}
-                    <LabeledButton
-                        key={"pos" + input.inputName}
-                        label={"(+)"}
-                        placement={LabelPlacement.Left}
-                        value={
-                            "pos" + input.inputName == selectedInput
-                                ? "Press anything"
-                                : transformKeyName(input.posKeyCode, input.posKeyModifiers)
-                        }
-                        onClick={() => {
-                            setSelectedInput("pos" + input.inputName)
-                        }}
-                    />
-                    {/* Negative key */}
-                    <LabeledButton
-                        key={"neg" + input.inputName}
-                        label={"(-)"}
-                        placement={LabelPlacement.Left}
-                        value={
-                            "neg" + input.inputName == selectedInput
-                                ? "Press anything"
-                                : transformKeyName(input.negKeyCode, input.negKeyModifiers)
-                        }
-                        onClick={() => {
-                            setSelectedInput("neg" + input.inputName)
-                        }}
-                    />
-                </Stack>
-            </div>
+            <>
+                <Box
+                    display="flex"
+                    flexDirection={"row"}
+                    gap="10px"
+                    alignItems={"center"}
+                    justifyContent={"space-between"}
+                >
+                    <Label>{toTitleCase(input.inputName)}</Label>
+
+                    <Box display="flex" gap="10px" alignItems={"center"}>
+                        {SynthesisIcons.Add}
+                        {/* Positive key */}
+                        <Button
+                            key={"pos" + input.inputName}
+                            value={
+                                "pos" + input.inputName == selectedInput
+                                    ? "Press anything"
+                                    : transformKeyName(input.posKeyCode, input.posKeyModifiers)
+                            }
+                            onClick={() => {
+                                setSelectedInput("pos" + input.inputName)
+                            }}
+                        />
+                        {Spacer()}
+                        {SynthesisIcons.Minus}
+                        {/* Negative key */}
+                        <Button
+                            key={"neg" + input.inputName}
+                            value={
+                                "neg" + input.inputName == selectedInput
+                                    ? "Press anything"
+                                    : transformKeyName(input.negKeyCode, input.negKeyModifiers)
+                            }
+                            onClick={() => {
+                                setSelectedInput("neg" + input.inputName)
+                            }}
+                        />
+                    </Box>
+                </Box>
+                {Spacer(8, 0)}
+                <SectionDivider />
+            </>
         )
     }
 
+    /** Select any button on a controller */
     const JoystickButtonSelection = () => {
         if (!(input instanceof ButtonInput)) throw new Error("Input not button type")
         return (
-            <Button
-                key={input.inputName}
-                value={
-                    input.inputName == selectedInput
-                        ? "Press anything"
-                        : input.gamepadButton == -1
-                          ? "N/A"
-                          : gamepadButtons[input.gamepadButton]
-                }
-                onClick={() => {
-                    setSelectedInput(input.inputName)
-                }}
-            />
+            <>
+                <Box
+                    display="flex"
+                    flexDirection={"row"}
+                    gap="10px"
+                    alignItems={"center"}
+                    justifyContent={"space-between"}
+                >
+                    <Label>{toTitleCase(input.inputName)}</Label>
+                    <Button
+                        key={input.inputName}
+                        value={
+                            input.inputName == selectedInput
+                                ? "Press anything"
+                                : input.gamepadButton == -1
+                                  ? "N/A"
+                                  : gamepadButtons[input.gamepadButton]
+                        }
+                        onClick={() => {
+                            setSelectedInput(input.inputName)
+                        }}
+                    />
+                </Box>
+                {Spacer(8, 0)}
+                <SectionDivider />
+            </>
         )
     }
 
+    /** Dropdown to select a controller axis */
     const JoystickAxisSelection = () => {
         if (!(input instanceof AxisInput)) throw new Error("Input not axis type")
 
         return (
-            <Dropdown
-                key={input.inputName}
-                defaultValue={gamepadAxes[input.gamepadAxisNumber + 1]}
-                options={gamepadAxes}
-                onSelect={value => {
-                    setSelectedInput(input.inputName)
-                    setChosenGamepadAxis(gamepadAxes.indexOf(value))
-                }}
-            />
+            <>
+                <Box
+                    display="flex"
+                    flexDirection={"row"}
+                    gap="10px"
+                    alignItems={"center"}
+                    justifyContent={"space-between"}
+                >
+                    <Label>{toTitleCase(input.inputName)}</Label>
+                    <Dropdown
+                        key={input.inputName}
+                        defaultValue={gamepadAxes[input.gamepadAxisNumber + 1]}
+                        options={gamepadAxes}
+                        onSelect={value => {
+                            setSelectedInput(input.inputName)
+                            setChosenGamepadAxis(gamepadAxes.indexOf(value))
+                        }}
+                    />
+                </Box>
+            </>
         )
     }
 
+    /** Select an axis between two controller buttons */
     const GamepadButtonAxisSelection = () => {
         if (!(input instanceof AxisInput)) throw new Error("Input not axis type")
 
         return (
-            <div>
-                <Stack direction={StackDirection.Vertical} spacing={3}>
-                    {/* // Positive gamepad button */}
-                    <LabeledButton
-                        key={"pos" + input.inputName}
-                        label={"(+)"}
-                        placement={LabelPlacement.Left}
-                        value={
-                            "pos" + input.inputName == selectedInput
-                                ? "Press anything"
-                                : input.posGamepadButton == -1
-                                  ? "N/A"
-                                  : gamepadButtons[input.posGamepadButton]
-                        }
-                        onClick={() => {
-                            setSelectedInput("pos" + input.inputName)
-                        }}
-                    />
-                    {/* // Negative gamepad button */}
-                    <LabeledButton
-                        key={"neg" + input.inputName}
-                        label={"(-)"}
-                        placement={LabelPlacement.Left}
-                        value={
-                            "neg" + input.inputName == selectedInput
-                                ? "Press anything"
-                                : input.negGamepadButton == -1
-                                  ? "N/A"
-                                  : gamepadButtons[input.negGamepadButton]
-                        }
-                        onClick={() => {
-                            setSelectedInput("neg" + input.inputName)
-                        }}
-                    />
-                </Stack>
-            </div>
+            <>
+                <Box
+                    display="flex"
+                    flexDirection={"row"}
+                    gap="10px"
+                    alignItems={"center"}
+                    justifyContent={"space-between"}
+                >
+                    <Label>{toTitleCase(input.inputName)}</Label>
+
+                    <Box display="flex" gap="10px" alignItems={"center"}>
+                        {/* Positive gamepad button */}
+                        {SynthesisIcons.Add}
+                        <Button
+                            key={"pos" + input.inputName}
+                            value={
+                                "pos" + input.inputName == selectedInput
+                                    ? "Press anything"
+                                    : input.posGamepadButton == -1
+                                      ? "N/A"
+                                      : gamepadButtons[input.posGamepadButton]
+                            }
+                            onClick={() => {
+                                setSelectedInput("pos" + input.inputName)
+                            }}
+                        />
+                        {Spacer()}
+                        {/* // Negative gamepad button */}
+                        {SynthesisIcons.Minus}
+                        <Button
+                            key={"neg" + input.inputName}
+                            value={
+                                "neg" + input.inputName == selectedInput
+                                    ? "Press anything"
+                                    : input.negGamepadButton == -1
+                                      ? "N/A"
+                                      : gamepadButtons[input.negGamepadButton]
+                            }
+                            onClick={() => {
+                                setSelectedInput("neg" + input.inputName)
+                            }}
+                        />
+                    </Box>
+                </Box>
+            </>
         )
     }
 
+    /** Show the correct selection mode based on input type and how it's configured */
     const inputConfig = () => {
         if (!useGamepad) {
             // Keyboard button
@@ -261,20 +326,22 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
 
                         {/* // Button to switch between two buttons and a joystick axis */}
                         <Checkbox
-                            label="Use Buttons"
-                            defaultState={input.useGamepadButtons}
+                            label="Use Gamepad Buttons"
+                            defaultState={useGamepadButtons}
                             onClick={val => {
                                 input.useGamepadButtons = val
+                                setUseGamepadButtons(val)
                             }}
                         />
                         {/* // Button to invert the joystick axis */}
                         <Checkbox
-                            label="Joystick Inverted"
+                            label="Invert Joystick"
                             defaultState={input.joystickInverted}
                             onClick={val => {
                                 input.joystickInverted = val
                             }}
                         />
+                        <SectionDivider />
                     </div>
                 )
             }
@@ -298,6 +365,7 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
         checkGamepadState()
     })
 
+    /** Input detection for setting inputs */
     useEffect(() => {
         // // Assign keyboard inputs when a key is pressed
         if (!useGamepad && selectedInput && chosenKey) {
@@ -357,7 +425,7 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
     }, [chosenKey, chosenButton, chosenGamepadAxis, input, modifierState, onInputChanged, selectedInput, useGamepad])
 
     return (
-        <div
+        <Box
             onKeyUp={e => {
                 if (selectedInput != "") setChosenKey(selectedInput ? e.code : "")
                 setModifierState({
@@ -369,7 +437,7 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
             }}
         >
             {inputConfig()}
-        </div>
+        </Box>
     )
 }
 
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index d2be05336f..0c5906fa78 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -335,7 +335,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
     return (
         <Panel
-            name={"Select Mirabuf"}
+            name={"Select Asset"}
             icon={SynthesisIcons.AddLarge}
             panelId={panelId}
             acceptEnabled={false}

From 4efd1055e90bf7ec86ba9f52640c8c98364b849f Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 6 Aug 2024 16:45:50 -0700
Subject: [PATCH 167/344] Fixed scrollbar

---
 fission/src/index.css | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/fission/src/index.css b/fission/src/index.css
index afa1fa6dc6..f3c04e2d14 100644
--- a/fission/src/index.css
+++ b/fission/src/index.css
@@ -2,6 +2,24 @@
 @tailwind components;
 @tailwind utilities;
 
+::-webkit-scrollbar {
+    width: 8px;
+    height: 8px;
+}
+
+::-webkit-scrollbar-track {
+    background: "transparent";
+}
+
+::-webkit-scrollbar-thumb {
+    background: #444444;
+    border-radius: 4px;
+}
+
+::-webkit-scrollbar-thumb:hover {
+    background: #555;
+}
+
 :root {
     /* font-family: Inter, system-ui, Avenir, Helvetica, Arial, sans-serif; */
     font-family: "Artifakt";

From 737e92d4282a0747dbcd408f29873132487c7fb3 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 6 Aug 2024 16:52:24 -0700
Subject: [PATCH 168/344] change java sample test

---
 .../simulation/wpilib_brain/SimOutput.ts      |   4 +-
 .../simulation/wpilib_brain/WPILibBrain.ts    |  16 +-
 .../rio-config/RCConfigCANGroupModal.tsx      |   2 +-
 .../src/main/java/frc/robot/Robot.java        | 189 +++++++++---------
 4 files changed, 106 insertions(+), 105 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index 640d157aef..94e9498da5 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -44,7 +44,7 @@ export class PWMOutputGroup extends SimOutputGroup {
     }
 }
 
-export class CANGroup extends SimOutputGroup {
+export class CANOutputGroup extends SimOutputGroup {
     public constructor(name: string, ports: number[], drivers: Driver[]) {
         super(name, ports, drivers, SimType.CANMotor)
     }
@@ -54,7 +54,7 @@ export class CANGroup extends SimOutputGroup {
         const average =
             this.ports.reduce((sum, port) => {
                 const device = SimCAN.GetDeviceWithID(port, SimType.CANMotor)
-                return sum + device["<percentOutput"]
+                return sum + device["<percentOutput"] ?? 0
             }, 0) / this.ports.length
 
         this.drivers.forEach(d => {
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index aff9c21757..c2a9e5a3a3 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -134,20 +134,14 @@ export class SimCAN {
     private constructor() {}
 
     public static GetDeviceWithID(id: number, type: SimType): any {
-        //const id_exp = /.*\[(\d+)\]/g
+        const id_exp = /.*\[(\d+)\]/g
         const entries = [...simMap.entries()].filter(([simType, _data]) => simType == type)
         for (const [_simType, data] of entries) {
             for (const key of data.keys()) {
-                // const result = [...key.matchAll(id_exp)]
-                // if (result?.length <= 0 || result[0].length <= 1) continue
-                // const parsed_id = parseInt(result[0][1])
-                // if (parsed_id != id) continue
-                const res = key.split("[")[1].split("]")[0]
-                // console.log("id: " + res)
-                // console.log(id)
-                if (!res) continue
-                const parsed_id = parseInt(res)
-                if (id != parsed_id) continue
+                const result = [...key.matchAll(id_exp)]
+                if (result?.length <= 0 || result[0].length <= 1) continue
+                const parsed_id = parseInt(result[0][1])
+                if (parsed_id != id) continue
                 return data.get(key)
             }
         }
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index 7b964f47de..83ee24046c 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -73,7 +73,7 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                 defaultState={false}
                                 onClick={checked => {
                                     const port = parseInt(p.split("[")[1].split("]")[0])
-                                        console.log(port)
+                                    console.log(port)
                                     if (checked && !checkedPorts.includes(port)) {
                                         setCheckedPorts([...checkedPorts, port])
                                     } else if (!checked && checkedPorts.includes(port)) {
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 871ed9bd45..92936dbd24 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -6,19 +6,13 @@
 
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
-import edu.wpi.first.wpilibj.ADXRS450_Gyro;
-import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
-import edu.wpi.first.wpilibj.simulation.ADXRS450_GyroSim;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import com.autodesk.synthesis.revrobotics.CANSparkMax;
 import com.autodesk.synthesis.ctre.TalonFX;
-import com.autodesk.synthesis.Joystick;
->>>>>>> 03bed7bc3664e58229558058ee7ab889e8ad565b
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -42,93 +36,106 @@ public class Robot extends TimedRobot {
     private CANSparkMax m_SparkMax5 = new CANSparkMax(5, MotorType.kBrushless);
     private CANSparkMax m_SparkMax6 = new CANSparkMax(6, MotorType.kBrushless);
     //private com.autodesk.synthesis.ctre.TalonFX m_Talon = new com.autodesk.synthesis.ctre.TalonFX(2);
-     private Spark m_Spark1 = new Spark(0);
-      private Spark m_Spark2 = new Spark(1);
-      private TalonFX m_Talon = new TalonFX(2);
-      private XboxController m_Controller = new XboxController(0);
-      private ADXRS450_Gyro m_Gyro;
-    private ADXRS450_GyroSim m_GyroSim;
-
-  /**
-   * This function is run when the robot is first started up and should be used for any
-   * initialization code.
-   */
-  @Override
-  public void robotInit() {
-    m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
-    m_chooser.addOption("My Auto", kCustomAuto);
-    SmartDashboard.putData("Auto choices", m_chooser);
-    m_Gyro = new ADXRS450_Gyro();
-    m_GyroSim = new ADXRS450_GyroSim(m_Gyro);
-    m_Gyro.calibrate();
-  }
-
-  /**
-   * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
-   * that you want ran during disabled, autonomous, teleoperated and test.
-   *
-   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
-   * SmartDashboard integrated updating.
-   */
-  @Override
-  public void robotPeriodic() {}
-
-  /**
-   * This autonomous (along with the chooser code above) shows how to select between different
-   * autonomous modes using the dashboard. The sendable chooser code works with the Java
-   * SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the chooser code and
-   * uncomment the getString line to get the auto name from the text box below the Gyro
-   *
-   * <p>You can add additional auto modes by adding additional comparisons to the switch structure
-   * below with additional strings. If using the SendableChooser make sure to add them to the
-   * chooser code above as well.
-   */
-  @Override
-  public void autonomousInit() {
-    m_autoSelected = m_chooser.getSelected();
-    // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
-    System.out.println("Auto selected: " + m_autoSelected);
-  }
-
-  /** This function is called periodically during autonomous. */
-  @Override
-  public void autonomousPeriodic() {
-
-    m_Spark1.set(0.5);
-    m_Spark2.set(-0.5);
-    m_SparkMax.set(1.0);
-    m_Talon.set(-1.0);
-
-    switch (m_autoSelected) {
-      case kCustomAuto:
-        // Put custom auto code here
-        break;
-      case kDefaultAuto:
-      default:
-        // Put default auto code here
-        break;
+
+    /**
+     * This function is run when the robot is first started up and should be used
+     * for any
+     * initialization code.
+     */
+    @Override
+    public void robotInit() {
+        m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
+        m_chooser.addOption("My Auto", kCustomAuto);
+        SmartDashboard.putData("Auto choices", m_chooser);
+    }
+
+    /**
+     * This function is called every 20 ms, no matter the mode. Use this for items
+     * like diagnostics
+     * that you want ran during disabled, autonomous, teleoperated and test.
+     *
+     * <p>
+     * This runs after the mode specific periodic functions, but before LiveWindow
+     * and
+     * SmartDashboard integrated updating.
+     */
+    @Override
+    public void robotPeriodic() {
+    }
+
+    /**
+     * This autonomous (along with the chooser code above) shows how to select
+     * between different
+     * autonomous modes using the dashboard. The sendable chooser code works with
+     * the Java
+     * SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the
+     * chooser code and
+     * uncomment the getString line to get the auto name from the text box below the
+     * Gyro
+     *
+     * <p>
+     * You can add additional auto modes by adding additional comparisons to the
+     * switch structure
+     * below with additional strings. If using the SendableChooser make sure to add
+     * them to the
+     * chooser code above as well.
+     */
+    @Override
+    public void autonomousInit() {
+        m_autoSelected = m_chooser.getSelected();
+        //m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
+        System.out.println("Auto selected: " + m_autoSelected);
+    }
+
+    /** This function is called periodically during autonomous. */
+    @Override
+    public void autonomousPeriodic() {
+
+        m_SparkMax1.set(1.0);
+        m_SparkMax2.set(1.0);
+        m_SparkMax3.set(1.0);
+        m_SparkMax4.set(1.0);
+        m_SparkMax5.set(1.0);
+        m_SparkMax6.set(1.0);
+
+        switch (m_autoSelected) {
+            case kCustomAuto:
+                // Put custom auto code here
+                break;
+            case kDefaultAuto:
+            default:
+                // Put default auto code here
+                break;
+        }
+    }
+
+    /** This function is called once when teleop is enabled. */
+    @Override
+    public void teleopInit() {
+    }
+
+    /** This function is called periodically during operator control. */
+    @Override
+    public void teleopPeriodic() {
+        m_SparkMax1.set(-0.75);
+        m_SparkMax2.set(-0.75);
+        m_SparkMax3.set(-0.75);
+        m_SparkMax4.set(-0.75);
+        m_SparkMax5.set(-0.75);
+        m_SparkMax6.set(-0.75);
+    }
+
+    /** This function is called once when the robot is disabled. */
+    @Override
+    public void disabledInit() {
+        m_SparkMax1.set(0.0);
+        m_SparkMax2.set(0.0);
+        m_SparkMax3.set(0.0);
+        m_SparkMax4.set(0.0);
+        m_SparkMax5.set(0.0);
+        m_SparkMax6.set(0.0);
     }
 
-/** This function is called periodically during operator control. */
-  @Override
-  public void teleopPeriodic() {
-    m_Spark1.set(m_Controller.getLeftY());
-    m_Spark2.set(-m_Controller.getRightY());
-    System.out.println(m_Gyro.getAngle());
-    m_SparkMax.set(0.75);
-    m_Talon.set(-0.5);
-  }
-
-  /** This function is called once when the robot is disabled. */
-  @Override
-  public void disabledInit() {
-    m_Spark1.set(0.0);
-    m_Spark2.set(0.0);
-    m_SparkMax.set(0.0);
-    m_Talon.set(0.0);
-  }
-
-       
     /** This function is called periodically when disabled. */
     @Override
     public void disabledPeriodic() {

From 510bf5f420e619ddc67174995073d92c0a654826 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 7 Aug 2024 10:05:08 -0700
Subject: [PATCH 169/344] verify canencoder sim

---
 fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts    | 3 +++
 .../ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx | 4 ++--
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index c2a9e5a3a3..8557aea794 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -104,6 +104,9 @@ export class SimGeneric {
         selectedData[field] = value
 
         data[field] = value
+
+        console.log("field " + field + " device " + device + " value " + value)
+
         worker.postMessage({
             command: "update",
             data: {
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
index f943ccfeea..b3743b9c6a 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
@@ -5,7 +5,7 @@ import Label, { LabelSize } from "@/components/Label"
 import Input from "@/components/Input"
 import Dropdown from "@/components/Dropdown"
 import NumberInput from "@/components/NumberInput"
-import WPILibBrain, { simMap } from "@/systems/simulation/wpilib_brain/WPILibBrain"
+import WPILibBrain, { simMap, SimType } from "@/systems/simulation/wpilib_brain/WPILibBrain"
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import EncoderStimulus from "@/systems/simulation/stimulus/EncoderStimulus"
@@ -30,7 +30,7 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
 
     let devices: [string, unknown][] = []
 
-    const encoders = simMap.get("CANEncoder")
+    const encoders = simMap.get(SimType.CANEncoder)
     if (encoders) {
         devices = [...encoders.entries()]
     }

From 14868c73c7c425c5e157dc29163075cd6506f4a9 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 7 Aug 2024 10:39:25 -0700
Subject: [PATCH 170/344] Format

---
 .../configuring/ConfigureSubsystemsPanel.tsx  | 71 ++++++++++---------
 1 file changed, 37 insertions(+), 34 deletions(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index 348d49aac2..b454da7bf9 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -43,46 +43,49 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
         ((driver as SliderDriver) || (driver as HingeDriver) || (driver as WheelDriver)).maxForce
     )
 
-    const onChange = useCallback((vel: number, force: number) => {
-        if (driver instanceof WheelDriver) {
-            const wheelDrivers = robot?.mechanism
-                ? World.SimulationSystem.GetSimulationLayer(robot.mechanism)?.drivers.filter(
-                      x => x instanceof WheelDriver
-                  )
-                : undefined
-            wheelDrivers?.forEach(x => {
-                x.maxVelocity = vel
-                x.maxForce = force
-            })
+    const onChange = useCallback(
+        (vel: number, force: number) => {
+            if (driver instanceof WheelDriver) {
+                const wheelDrivers = robot?.mechanism
+                    ? World.SimulationSystem.GetSimulationLayer(robot.mechanism)?.drivers.filter(
+                          x => x instanceof WheelDriver
+                      )
+                    : undefined
+                wheelDrivers?.forEach(x => {
+                    x.maxVelocity = vel
+                    x.maxForce = force
+                })
 
-            // Preferences
-            PreferencesSystem.getRobotPreferences(robot.assemblyName).driveVelocity = vel
-            PreferencesSystem.getRobotPreferences(robot.assemblyName).driveAcceleration = force
-        } else {
-            ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
-            ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
+                // Preferences
+                PreferencesSystem.getRobotPreferences(robot.assemblyName).driveVelocity = vel
+                PreferencesSystem.getRobotPreferences(robot.assemblyName).driveAcceleration = force
+            } else {
+                ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
+                ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
 
-            // Preferences
-            if (driver.info && driver.info.name) {
-                const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
-                    ? PreferencesSystem.getRobotPreferences(robot.assemblyName).motors.filter(x => {
-                          if (x.name) return x.name != driver.info?.name
-                          return false
-                      })
-                    : []
+                // Preferences
+                if (driver.info && driver.info.name) {
+                    const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
+                        ? PreferencesSystem.getRobotPreferences(robot.assemblyName).motors.filter(x => {
+                              if (x.name) return x.name != driver.info?.name
+                              return false
+                          })
+                        : []
 
-                removedMotor.push({
-                    name: driver.info?.name ?? "",
-                    maxVelocity: vel,
-                    maxForce: force,
-                })
+                    removedMotor.push({
+                        name: driver.info?.name ?? "",
+                        maxVelocity: vel,
+                        maxForce: force,
+                    })
 
-                PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
+                    PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
+                }
             }
-        }
 
-        PreferencesSystem.savePreferences()
-    }, [driver, robot.mechanism, robot.assemblyName])
+            PreferencesSystem.savePreferences()
+        },
+        [driver, robot.mechanism, robot.assemblyName]
+    )
 
     return (
         <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>

From c12f5e29769abd60d5a0120f816ad6ecf34eb8bc Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 7 Aug 2024 11:09:05 -0700
Subject: [PATCH 171/344] Playwright update

---
 fission/package.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/package.json b/fission/package.json
index 6e1ae08b2b..0643c80a52 100644
--- a/fission/package.json
+++ b/fission/package.json
@@ -32,7 +32,7 @@
     "colord": "^2.9.3",
     "framer-motion": "^10.13.1",
     "lygia": "^1.1.3",
-    "playwright": "^1.45.0",
+    "playwright": "^1.46.0",
     "postprocessing": "^6.35.6",
     "react": "^18.2.0",
     "react-colorful": "^5.6.1",

From 83ed35c0e4cae031f86ece8be0615fd375921709 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 7 Aug 2024 11:24:00 -0700
Subject: [PATCH 172/344] Delete, create, and modify input schemes in a way
 that is easy and integrated with the config panel

---
 fission/index.html                            | 32 +++++----
 fission/src/systems/input/InputSystem.ts      |  3 -
 fission/src/ui/components/SelectMenu.tsx      | 16 ++++-
 .../theme-editor/AssignNewSchemeModal.tsx     | 12 ++--
 .../theme-editor/NewInputSchemeModal.tsx      | 12 ++--
 .../configuring/ChooseInputSchemePanel.tsx    | 15 ++--
 .../assembly-config/ConfigurePanel.tsx        | 70 ++++++++++++-------
 .../inputs/ConfigureInputsInterface.tsx       | 52 +++++++++++++-
 .../inputs/ConfigureSchemeInterface.tsx       |  2 +-
 9 files changed, 152 insertions(+), 62 deletions(-)

diff --git a/fission/index.html b/fission/index.html
index bf462bd999..5916fa6750 100644
--- a/fission/index.html
+++ b/fission/index.html
@@ -1,16 +1,22 @@
 <!doctype html>
 <html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <script async src="https://www.googletagmanager.com/gtag/js?id=G-6XNCRD7QNC"></script>
-    <link rel="icon" type="image/svg+xml" href="/synthesis-logo.svg" />
-    <link rel='stylesheet' href='https://static-dc.autodesk.net/etc/designs/v201808022224/templates-general/structure/fonts/artifakt/clientlibs/artifakt.css'/>
-    <link rel="stylesheet" href="https://fonts.googleapis.com/css2?family=Roboto:ital,wght@0,100;0,300;0,400;0,500;0,700;0,900;1,100;1,300;1,400;1,500;1,700;1,900&display=swap" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Fission | Synthesis</title>
-  </head>
-  <body>
-    <div id="root"></div>
-    <script type="module" src="/src/main.tsx"></script>
-  </body>
+    <head>
+        <meta charset="UTF-8" />
+        <script async src="https://www.googletagmanager.com/gtag/js?id=G-6XNCRD7QNC"></script>
+        <link rel="icon" type="image/svg+xml" href="/synthesis-logo.svg" />
+        <link
+            rel="stylesheet"
+            href="https://static-dc.autodesk.net/etc/designs/v201808022224/templates-general/structure/fonts/artifakt/clientlibs/artifakt.css"
+        />
+        <link
+            rel="stylesheet"
+            href="https://fonts.googleapis.com/css2?family=Roboto:ital,wght@0,100;0,300;0,400;0,500;0,700;0,900;1,100;1,300;1,400;1,500;1,700;1,900&display=swap"
+        />
+        <meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=no" />
+        <title>Fission | Synthesis</title>
+    </head>
+    <body>
+        <div id="root"></div>
+        <script type="module" src="/src/main.tsx"></script>
+    </body>
 </html>
diff --git a/fission/src/systems/input/InputSystem.ts b/fission/src/systems/input/InputSystem.ts
index 3a396f8968..d56aadd692 100644
--- a/fission/src/systems/input/InputSystem.ts
+++ b/fission/src/systems/input/InputSystem.ts
@@ -141,9 +141,6 @@ class InputSystem extends WorldSystem {
     private static _gpIndex: number | null
     public static gamepad: Gamepad | null
 
-    // The scheme most recently selected in the controls modal
-    public static selectedScheme: InputScheme | undefined
-
     // Maps a brain index to a certain input scheme
     public static brainIndexSchemeMap: Map<number, InputScheme> = new Map()
 
diff --git a/fission/src/ui/components/SelectMenu.tsx b/fission/src/ui/components/SelectMenu.tsx
index 852bb9852f..c4c93b5fb4 100644
--- a/fission/src/ui/components/SelectMenu.tsx
+++ b/fission/src/ui/components/SelectMenu.tsx
@@ -54,9 +54,10 @@ interface OptionCardProps {
     index: number
     onSelected: (val: SelectMenuOption) => void
     onDelete?: () => void
+    includeDelete: boolean
 }
 
-const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected, onDelete }) => {
+const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected, onDelete, includeDelete }) => {
     return (
         <Box
             display="flex"
@@ -89,7 +90,7 @@ const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected, onDel
                 sx={{ borderColor: "#888888" }}
             />
             {/** Delete button only if onDelete is defined */}
-            {onDelete && (
+            {onDelete && includeDelete && (
                 <>
                     {Spacer(0, 10)}
                     {DeleteButton(onDelete != undefined ? onDelete : () => {})}
@@ -102,23 +103,31 @@ const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected, onDel
 interface SelectMenuProps {
     options: SelectMenuOption[]
     onOptionSelected: (val: SelectMenuOption | undefined) => void
+
+    // Function to return a default value
+    defaultSelectedOption?: (options: SelectMenuOption[]) => SelectMenuOption | undefined
     defaultHeaderText: string
     noOptionsText?: string
     indentation?: number
     onDelete?: (val: SelectMenuOption) => void | undefined
+
+    // If false, this menu option will not have a delete button
+    deleteCondition?: (val: SelectMenuOption) => boolean
     onAddClicked?: () => void
 }
 
 const SelectMenu: React.FC<SelectMenuProps> = ({
     options,
     onOptionSelected,
+    defaultSelectedOption,
     defaultHeaderText,
     noOptionsText,
     indentation,
     onDelete,
+    deleteCondition,
     onAddClicked,
 }) => {
-    const [selectedOption, setSelectedOption] = useState<SelectMenuOption | undefined>(undefined)
+    const [selectedOption, setSelectedOption] = useState<SelectMenuOption | undefined>(defaultSelectedOption?.(options))
 
     // If the selected option no longer exists as an option, deselect it
     useEffect(() => {
@@ -170,6 +179,7 @@ const SelectMenu: React.FC<SelectMenuProps> = ({
                                     }}
                                     key={option.name + i}
                                     onDelete={onDelete ? () => onDelete(option) : undefined}
+                                    includeDelete={deleteCondition == undefined || deleteCondition(option)}
                                 />
                             )
                         })
diff --git a/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx b/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
index e55c885ff8..1f5c98bd2f 100644
--- a/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
@@ -1,14 +1,16 @@
 import React, { useState } from "react"
 import Input from "@/components/Input"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { useModalControlContext } from "@/ui/ModalContext"
 import InputSchemeManager from "@/systems/input/InputSchemeManager"
 import InputSystem from "@/systems/input/InputSystem"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
+import { usePanelControlContext } from "@/ui/PanelContext"
+import { ConfigurationType, setSelectedConfigurationType } from "@/ui/panels/configuring/assembly-config/ConfigurePanel"
+import { setSelectedScheme } from "@/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface"
 
 const AssignNewSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { openModal } = useModalControlContext()
+    const { openPanel } = usePanelControlContext()
 
     const [name, setName] = useState<string>(InputSchemeManager.randomAvailableName)
 
@@ -24,12 +26,12 @@ const AssignNewSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
 
                 scheme.schemeName = name
 
-                InputSystem.selectedScheme = scheme
                 InputSchemeManager.addCustomScheme(scheme)
-
                 InputSchemeManager.saveSchemes()
 
-                openModal("change-inputs")
+                setSelectedConfigurationType(ConfigurationType.INPUTS)
+                setSelectedScheme(scheme)
+                openPanel("configure")
             }}
             cancelEnabled={false}
         >
diff --git a/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx b/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
index 403ad9588c..81c59769aa 100644
--- a/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
@@ -1,14 +1,15 @@
 import React, { useState } from "react"
 import Input from "@/components/Input"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { useModalControlContext } from "@/ui/ModalContext"
 import InputSchemeManager from "@/systems/input/InputSchemeManager"
-import InputSystem from "@/systems/input/InputSystem"
 import DefaultInputs from "@/systems/input/DefaultInputs"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
+import { usePanelControlContext } from "@/ui/PanelContext"
+import { ConfigurationType, setSelectedConfigurationType } from "@/ui/panels/configuring/assembly-config/ConfigurePanel"
+import { setSelectedScheme } from "@/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface"
 
 const NewInputSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { openModal } = useModalControlContext()
+    const { openPanel } = usePanelControlContext()
 
     const [name, setName] = useState<string>(InputSchemeManager.randomAvailableName)
 
@@ -24,8 +25,9 @@ const NewInputSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 InputSchemeManager.addCustomScheme(scheme)
                 InputSchemeManager.saveSchemes()
 
-                InputSystem.selectedScheme = scheme
-                openModal("change-inputs")
+                setSelectedConfigurationType(ConfigurationType.INPUTS)
+                setSelectedScheme(scheme)
+                openPanel("configure")
             }}
             cancelEnabled={false}
         >
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index e1755c2500..2b61340430 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -18,6 +18,8 @@ import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
 import { Box } from "@mui/material"
 import { useEffect, useReducer } from "react"
+import { ConfigurationType, setSelectedConfigurationType } from "./assembly-config/ConfigurePanel"
+import { setSelectedScheme } from "./assembly-config/interfaces/inputs/ConfigureInputsInterface"
 
 let selectedBrainIndexGlobal: number | undefined = undefined
 // eslint-disable-next-line react-refresh/only-export-components
@@ -30,7 +32,7 @@ function getBrainIndex() {
 }
 
 const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
-    const { closePanel } = usePanelControlContext()
+    const { closePanel, openPanel } = usePanelControlContext()
     const { openModal } = useModalControlContext()
 
     const [_, update] = useReducer(x => !x, false)
@@ -47,9 +49,10 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             const scheme = InputSchemeManager.availableInputSchemes[0]
 
             InputSystem.brainIndexSchemeMap.set(brainIndex, scheme)
-            InputSystem.selectedScheme = scheme
 
-            openModal("change-inputs")
+            setSelectedConfigurationType(ConfigurationType.INPUTS)
+            setSelectedScheme(scheme)
+            openPanel("configure")
         }
         // eslint-disable-next-line react-hooks/exhaustive-deps
     }, [])
@@ -109,8 +112,10 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                                 {/** Edit button - same as select but opens the inputs modal */}
                                 {EditButton(() => {
                                     InputSystem.brainIndexSchemeMap.set(getBrainIndex(), scheme)
-                                    InputSystem.selectedScheme = scheme
-                                    openModal("change-inputs")
+
+                                    setSelectedConfigurationType(ConfigurationType.INPUTS)
+                                    setSelectedScheme(scheme)
+                                    openPanel("configure")
                                 })}
 
                                 {/** Delete button (only if the scheme is customized) */}
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index e9b1dbc47c..a2cb525533 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -5,7 +5,7 @@ import Label from "@/ui/components/Label"
 import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
 import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
-import { useMemo, useReducer, useState } from "react"
+import { useEffect, useMemo, useReducer, useState } from "react"
 import ConfigureGamepiecePickupInterface from "./interfaces/ConfigureGamepiecePickupInterface"
 import ConfigureShotTrajectoryInterface from "./interfaces/ConfigureShotTrajectoryInterface"
 import ConfigureScoringZonesInterface from "./interfaces/scoring/ConfigureScoringZonesInterface"
@@ -19,6 +19,31 @@ import { setSelectedBrainIndexGlobal } from "../ChooseInputSchemePanel"
 import ConfigureSchemeInterface from "./interfaces/inputs/ConfigureSchemeInterface"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
 
+enum ConfigMode {
+    INTAKE,
+    EJECTOR,
+    MOTORS,
+    CONTROLS,
+    SCORING_ZONES,
+}
+
+// eslint-disable-next-line react-refresh/only-export-components
+export enum ConfigurationType {
+    ROBOT,
+    FIELD,
+    INPUTS,
+}
+
+let selectedConfigurationType: ConfigurationType = ConfigurationType.ROBOT
+// eslint-disable-next-line react-refresh/only-export-components
+export function setSelectedConfigurationType(type: ConfigurationType) {
+    selectedConfigurationType = type
+}
+
+function getConfigurationType() {
+    return selectedConfigurationType
+}
+
 /** Option for selecting a robot of field */
 class AssemblySelectionOption extends SelectMenuOption {
     assemblyObject: MirabufSceneObject
@@ -90,14 +115,6 @@ const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configuratio
     )
 }
 
-enum ConfigMode {
-    INTAKE,
-    EJECTOR,
-    MOTORS,
-    CONTROLS,
-    SCORING_ZONES,
-}
-
 class ConfigModeSelectionOption extends SelectMenuOption {
     configMode: ConfigMode
 
@@ -195,17 +212,16 @@ export class ConfigurationSavedEvent extends Event {
     }
 }
 
-enum ConfigurationType {
-    ROBOT,
-    FIELD,
-    INPUTS,
-}
-
 const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
-    const { openPanel } = usePanelControlContext()
-    const [configurationType, setConfigurationType] = useState<ConfigurationType>(ConfigurationType.ROBOT)
+    const { openPanel, closePanel } = usePanelControlContext()
+    const [configurationType, setConfigurationType] = useState<ConfigurationType>(getConfigurationType())
     const [selectedAssembly, setSelectedAssembly] = useState<MirabufSceneObject | undefined>(undefined)
-    const [selectedConfigMode, setSelectedConfigMode] = useState<ConfigMode | undefined>(undefined)
+    const [configMode, setConfigMode] = useState<ConfigMode | undefined>(undefined)
+
+    useEffect(() => {
+        closePanel("choose-scheme")
+        // eslint-disable-next-line react-hooks/exhaustive-deps
+    }, [])
 
     return (
         <Panel
@@ -215,6 +231,9 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             cancelEnabled={false}
             openLocation="right"
             onAccept={() => {
+                // Save the current panel state
+                setSelectedConfigurationType(configurationType)
+
                 new ConfigurationSavedEvent()
             }}
             acceptName="Close"
@@ -226,9 +245,10 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     exclusive
                     onChange={(_, v) => {
                         v != null && setConfigurationType(v)
+                        //console.log(v)
                         setSelectedAssembly(undefined)
                         new ConfigurationSavedEvent()
-                        setSelectedConfigMode(undefined)
+                        setConfigMode(undefined)
                     }}
                     sx={{
                         alignSelf: "center",
@@ -246,10 +266,10 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         <AssemblySelection
                             configurationType={configurationType}
                             onAssemblySelected={a => {
-                                if (selectedConfigMode != undefined) {
+                                if (configMode != undefined) {
                                     new ConfigurationSavedEvent()
                                 }
-                                setSelectedConfigMode(undefined)
+                                setConfigMode(undefined)
                                 setSelectedAssembly(a)
                             }}
                         />
@@ -258,15 +278,15 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                             <ConfigModeSelection
                                 configurationType={configurationType}
                                 onModeSelected={mode => {
-                                    if (selectedConfigMode != undefined) new ConfigurationSavedEvent()
-                                    setSelectedConfigMode(mode)
+                                    if (configMode != undefined) new ConfigurationSavedEvent()
+                                    setConfigMode(mode)
                                 }}
                             />
                         )}
                         {/** The interface for the selected configuration mode */}
-                        {selectedConfigMode != undefined && selectedAssembly != undefined && (
+                        {configMode != undefined && selectedAssembly != undefined && (
                             <ConfigInterface
-                                configMode={selectedConfigMode}
+                                configMode={configMode}
                                 assembly={selectedAssembly}
                                 openPanel={openPanel}
                             />
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
index 6d466bc8ef..dd2fdfbeef 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
@@ -5,6 +5,18 @@ import InputSystem from "@/systems/input/InputSystem"
 import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 import ConfigureSchemeInterface from "./ConfigureSchemeInterface"
+import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import { useModalControlContext } from "@/ui/ModalContext"
+
+let selectedScheme: InputScheme | undefined = undefined
+// eslint-disable-next-line react-refresh/only-export-components
+export function setSelectedScheme(scheme: InputScheme | undefined) {
+    selectedScheme = scheme
+}
+
+function getSelectedScheme() {
+    return selectedScheme
+}
 
 /** If a scheme is assigned to a robot, find the name of that robot */
 const findSchemeRobotName = (scheme: InputScheme): string | undefined => {
@@ -29,7 +41,10 @@ class SchemeSelectionOption extends SelectMenuOption {
 }
 
 const ConfigureInputsInterface = () => {
-    const [selectedScheme, setSelectedScheme] = useState<InputScheme | undefined>(undefined)
+    const { openModal } = useModalControlContext()
+
+    const [selectedScheme, setSelectedScheme] = useState<InputScheme | undefined>(getSelectedScheme())
+    const [schemes, setSchemes] = useState<InputScheme[]>(InputSchemeManager.allInputSchemes)
 
     const saveEvent = useCallback(() => {
         InputSchemeManager.saveSchemes()
@@ -39,6 +54,7 @@ const ConfigureInputsInterface = () => {
         ConfigurationSavedEvent.Listen(saveEvent)
 
         return () => {
+            setSelectedScheme(undefined)
             ConfigurationSavedEvent.RemoveListener(saveEvent)
         }
     }, [saveEvent])
@@ -47,7 +63,7 @@ const ConfigureInputsInterface = () => {
         <>
             {/** Select menu with input schemes */}
             <SelectMenu
-                options={InputSchemeManager.allInputSchemes.map(s => new SchemeSelectionOption(s))}
+                options={schemes.map(s => new SchemeSelectionOption(s))}
                 onOptionSelected={val => {
                     setSelectedScheme((val as SchemeSelectionOption)?.scheme)
                     if (val == undefined) {
@@ -55,6 +71,38 @@ const ConfigureInputsInterface = () => {
                     }
                 }}
                 defaultHeaderText={"Select an Input Scheme"}
+                onDelete={val => {
+                    if (!(val instanceof SchemeSelectionOption)) return
+
+                    // Fetch current custom schemes
+                    InputSchemeManager.saveSchemes()
+                    InputSchemeManager.resetDefaultSchemes()
+                    const schemes = PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
+
+                    // Find and remove this input scheme
+                    const index = schemes.indexOf(val.scheme)
+                    schemes.splice(index, 1)
+
+                    // Save to preferences
+                    PreferencesSystem.setGlobalPreference("InputSchemes", schemes)
+                    PreferencesSystem.savePreferences()
+
+                    // Update UI with new schemes
+                    setSchemes(InputSchemeManager.allInputSchemes)
+                }}
+                deleteCondition={val => {
+                    if (!(val instanceof SchemeSelectionOption)) return false
+
+                    return val.scheme.customized
+                }}
+                onAddClicked={() => {
+                    openModal("new-scheme")
+                }}
+                defaultSelectedOption={options => {
+                    if (options.length < 0 || !(options[0] instanceof SchemeSelectionOption)) return undefined
+
+                    return options.find(o => (o as SchemeSelectionOption).scheme == getSelectedScheme())
+                }}
             />
             {selectedScheme && <ConfigureSchemeInterface selectedScheme={selectedScheme} />}
         </>
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
index 06887a84aa..996ef2f574 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
@@ -11,7 +11,6 @@ interface ConfigSchemeProps {
 
 /** Interface to configure a specific input scheme */
 const ConfigureSchemeInterface: React.FC<ConfigSchemeProps> = ({ selectedScheme }) => {
-    //const [selectedInput, setSelectedInput] = useState<Input | undefined>(undefined)
     const [useGamepad, setUseGamepad] = useState<boolean>(selectedScheme.usesGamepad)
 
     const saveEvent = useCallback(() => {
@@ -44,6 +43,7 @@ const ConfigureSchemeInterface: React.FC<ConfigSchemeProps> = ({ selectedScheme
                 {selectedScheme.inputs.map(i => {
                     return (
                         <EditInputInterface
+                            key={i.inputName}
                             input={i}
                             useGamepad={useGamepad}
                             onInputChanged={() => {

From 557475c0f134bb395d805331c1fd622573a8f9f3 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 7 Aug 2024 12:20:37 -0700
Subject: [PATCH 173/344] Velocity max and dividers

---
 .../configuring/ConfigureSubsystemsPanel.tsx  | 67 ++++++++++---------
 1 file changed, 36 insertions(+), 31 deletions(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index b454da7bf9..93a437ba01 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -13,6 +13,7 @@ import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 import ScrollView from "@/ui/components/ScrollView"
 import Slider from "@/ui/components/Slider"
 import Stack, { StackDirection } from "@/ui/components/Stack"
+import { SectionDivider } from "@/ui/components/StyledComponents"
 import { Box } from "@mui/material"
 import { useCallback, useMemo, useState } from "react"
 import { FaGear } from "react-icons/fa6"
@@ -88,37 +89,41 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
     )
 
     return (
-        <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>
-            <Stack direction={StackDirection.Vertical} spacing={8} justify="start">
-                <Label size={LabelSize.Medium}>
-                    {driver instanceof WheelDriver ? "Drive" : driver.info?.name ?? "UnnamedMotor"}
-                </Label>
-                <Slider
-                    min={0.1}
-                    max={80}
-                    value={velocity}
-                    label="Max Velocity"
-                    format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
-                    onChange={(_, _velocity: number | number[]) => {
-                        setVelocity(_velocity as number)
-                        onChange(_velocity as number, force)
-                    }}
-                    step={0.01}
-                />
-                <Slider
-                    min={driverSwitch(driver, 100, 20, 0.1) as number}
-                    max={driverSwitch(driver, 800, 150, 15) as number}
-                    value={force}
-                    label={driverSwitch(driver, "Max Force", "Max Torque", "Max Acceleration") as string}
-                    format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
-                    onChange={(_, _force: number | number[]) => {
-                        setForce(_force as number)
-                        onChange(velocity, _force as number)
-                    }}
-                    step={0.01}
-                />
-            </Stack>
-        </Box>
+        <>
+            <Box component={"div"} display={"flex"} justifyContent={"space-between"} alignItems={"center"} gap={"1rem"}>
+                <Stack direction={StackDirection.Vertical} spacing={8} justify="start">
+                    <Label size={LabelSize.Medium}>
+                        {driver instanceof WheelDriver ? "Drive" : driver.info?.name ?? "UnnamedMotor"}
+                    </Label>
+                    <Slider
+                        min={0.1}
+                        max={driverSwitch(driver, 50, 30, 80) as number}
+                        value={velocity}
+                        label="Max Velocity"
+                        format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
+                        onChange={(_, _velocity: number | number[]) => {
+                            setVelocity(_velocity as number)
+                            onChange(_velocity as number, force)
+                        }}
+                        step={0.01}
+                    />
+                    <Slider
+                        min={driverSwitch(driver, 100, 20, 0.1) as number}
+                        max={driverSwitch(driver, 800, 150, 15) as number}
+                        value={force}
+                        label={driverSwitch(driver, "Max Force", "Max Torque", "Max Acceleration") as string}
+                        format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
+                        onChange={(_, _force: number | number[]) => {
+                            setForce(_force as number)
+                            onChange(velocity, _force as number)
+                        }}
+                        step={0.01}
+                    />
+                </Stack>
+            </Box>
+            <SectionDivider />
+        </>
+
     )
 }
 

From 3cfed80ce575e09aa398fa9873c9c6c6bc9dffac Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 7 Aug 2024 12:36:16 -0700
Subject: [PATCH 174/344] Format

---
 fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx | 1 -
 1 file changed, 1 deletion(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index 93a437ba01..309442f817 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -123,7 +123,6 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
             </Box>
             <SectionDivider />
         </>
-
     )
 }
 

From d53a2f87def8566dfea1f03848a60be6ca8b74c9 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 7 Aug 2024 15:10:13 -0700
Subject: [PATCH 175/344] sparkmax absolute encoder support

---
 .../synthesis/revrobotics/CANSparkMax.java    |  13 +--
 .../revrobotics/SparkAbsoluteEncoder.java     | 100 ++++++++++++------
 2 files changed, 72 insertions(+), 41 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 5bfb81350f..6ac10f7424 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -47,15 +47,10 @@ public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) {
         return super.setIdleMode(mode);
     }
 
-    // @Override
-    // public SparkAbsoluteEncoder getAbsoluteEncoder() throws Exception{
-    //     try {
-    //         return new SparkAbsoluteEncoder(this.m_encoder, com.revrobotics.SparkAbsoluteEncoder.Type.kDutyCycle);
-    //     } catch (Exception e) {
-    //         // TODO Auto-generated catch block
-    //         e.printStackTrace();
-    //     }
-    // }
+    /// Use instead on getAbsoluteEncoder(), everything else works exactly the same
+    public com.autodesk.synthesis.revrobotics.SparkAbsoluteEncoder getAbsoluteEncoderSim() {
+        return new SparkAbsoluteEncoder(super.getAbsoluteEncoder(), this.m_encoder);
+    }
 
     // @Override
     // public SparkAbsoluteEncoder getAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder.Type type) throws Exception {
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
index 276a08cb6a..e99a73a6d6 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
@@ -1,32 +1,68 @@
-// package com.autodesk.synthesis.revrobotics;
-// import java.lang.reflect.Constructor;
-
-// import com.autodesk.synthesis.CANEncoder;
-// import com.revrobotics.CANSparkBase;
-
-// public class SparkAbsoluteEncoder extends com.revrobotics.SparkAbsoluteEncoder {
-//     private CANSparkBase base;
-
-//     // We're prettys sure that it's impossible to make a child class of this parent class with a constructor, because the parent's constructor is private
-//     // Reflection didn't work since a child constructor __needs__ a super() call at the top of the body
-//     // Passing in the constuctor wouldn't work either, since it's just a function pointer and the child constructor would have no idea that it points to its super
-//     public SparkAbsoluteEncoder(CANSparkBase base, com.revrobotics.SparkAbsoluteEncoder.Type type) throws Exception {
-//         try {
-//             Constructor<com.revrobotics.SparkAbsoluteEncoder> constructor = com.revrobotics.SparkAbsoluteEncoder.class.getDeclaredConstructor(com.revrobotics.CANSparkBase.class, com.revrobotics.SparkAbsoluteEncoder.Type.class);
-//             constructor.setAccessible(true);
-//             com.revrobotics.SparkAbsoluteEncoder parent = constructor.newInstance(base, type);
-//         } catch (Exception e) {
-//             e.printStackTrace();
-//         }
-//     }
-
-//     @Override
-//     public double getPosition() {
-//         return this.base.m_encoder.getPosition();
-//     }
-
-//     @Override
-//     public double getVelocity() {
-//         return this.base.m_encoder.getVelocity();
-//     }
-// }
+package com.autodesk.synthesis.revrobotics;
+
+import com.autodesk.synthesis.CANEncoder;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.REVLibError;
+
+public class SparkAbsoluteEncoder implements AbsoluteEncoder {
+    private CANEncoder simEncoder;
+    private com.revrobotics.SparkAbsoluteEncoder realEncoder;
+
+    // We're prettys sure that it's impossible to make a child class of this parent class with a constructor, because the parent's constructor is private
+    // Reflection didn't work since a child constructor __needs__ a super() call at the top of the body
+    // Passing in the constuctor wouldn't work either, since it's just a function pointer and the child constructor would have no idea that it points to its super
+    public SparkAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder realEncoder, CANEncoder simEncoder) {
+        this.realEncoder = realEncoder;
+        this.simEncoder = simEncoder;
+    }
+
+    public int getAverageDepth() {
+        return this.realEncoder.getAverageDepth();
+    }
+
+    public boolean getInverted() {
+        return this.realEncoder.getInverted();
+    }
+
+    public double getPosition() {
+        return this.simEncoder.getPosition() * this.realEncoder.getPositionConversionFactor();
+    }
+
+    // TODO: Remove conversion factors on the fission end
+    public double getPositionConversionFactor() {
+        return this.getPositionConversionFactor();
+    }
+
+    public double getVelocity() {
+        return this.simEncoder.getVelocity() * this.realEncoder.getVelocityConversionFactor();
+    }
+
+    public double getVelocityConversionFactor() {
+        return this.realEncoder.getVelocityConversionFactor();
+    }
+
+    public double getZeroOffset() {
+        return this.realEncoder.getZeroOffset();
+    }
+
+    public REVLibError setAverageDepth(int depth) {
+        return this.realEncoder.setAverageDepth(depth);
+    }
+
+    public REVLibError setInverted(boolean inverted) {
+        return this.realEncoder.setInverted(inverted);
+    }
+
+    public REVLibError setPositionConversionFactor(double factor) {
+        return this.realEncoder.setPositionConversionFactor(factor);
+    }
+
+    public REVLibError setVelocityConversionFactor(double factor) {
+        return this.realEncoder.setVelocityConversionFactor(factor);
+    }
+
+    public REVLibError setZeroOffset(double factor) {
+        return this.realEncoder.setZeroOffset(factor);
+    }
+}

From 44f2860b8466299a3383c13ededef1bd7757b6b4 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 7 Aug 2024 15:39:51 -0700
Subject: [PATCH 176/344] Close config panel when you choose to spawn a new
 robot or field

---
 fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index 0c5906fa78..1b0d050045 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -136,6 +136,11 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
         }
     }, [])
 
+    useEffect(() => {
+        closePanel("configure")
+        // eslint-disable-next-line react-hooks/exhaustive-deps
+    }, [])
+
     // Get Default Mirabuf Data, Load into manifest.
     useEffect(() => {
         // To remove the prettier warning

From 7fcf795d132c2a9ecea0f7b20a19784e36d8d9bc Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 8 Aug 2024 09:22:57 -0700
Subject: [PATCH 177/344] test proper codesim autos w/encoder

---
 .../simulation/wpilib_brain/SimInput.ts       |  6 ++---
 .../simulation/wpilib_brain/WPILibBrain.ts    |  3 ---
 .../rio-config/RCConfigEncoderModal.tsx       | 12 +---------
 .../src/main/java/frc/robot/Robot.java        | 24 ++++++++++++++-----
 4 files changed, 21 insertions(+), 24 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index ef66d049dc..a073e6c510 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -12,16 +12,14 @@ export interface SimInput {
 export class SimEncoderInput implements SimInput {
     private _device: string
     private _stimulus: EncoderStimulus
-    private _conversionFactor: number
 
-    constructor(device: string, stimulus: EncoderStimulus, conversionFactor: number) {
+    constructor(device: string, stimulus: EncoderStimulus) {
         this._device = device
         this._stimulus = stimulus
-        this._conversionFactor = conversionFactor
     }
 
     public Update(_deltaT: number) {
-        SimCANEncoder.SetPosition(`${this._device}`, this._stimulus.positionValue * this._conversionFactor)
+        SimCANEncoder.SetPosition(`${this._device}`, this._stimulus.positionValue)
     }
 }
 
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 8557aea794..3d54c67caa 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -267,8 +267,6 @@ class WPILibBrain extends Brain {
             console.warn("SimulationLayer is undefined")
             return
         }
-
-        this.addSimInput(new SimGyroInput("Gyro:ADXRS450[0]", mechanism))
     }
 
     public addSimOutputGroup(device: SimOutputGroup) {
@@ -282,7 +280,6 @@ class WPILibBrain extends Brain {
     public Update(deltaT: number): void {
         this._simOutputs.forEach(d => d.Update(deltaT))
         this._simInputs.forEach(i => i.Update(deltaT))
-        console.log(simMap)
     }
 
     public Enable(): void {
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
index b3743b9c6a..e0f452cda7 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
@@ -4,7 +4,6 @@ import { useModalControlContext } from "@/ui/ModalContext"
 import Label, { LabelSize } from "@/components/Label"
 import Input from "@/components/Input"
 import Dropdown from "@/components/Dropdown"
-import NumberInput from "@/components/NumberInput"
 import WPILibBrain, { simMap, SimType } from "@/systems/simulation/wpilib_brain/WPILibBrain"
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
@@ -44,7 +43,6 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
 
     const [selectedDevice, setSelectedDevice] = useState<string>(devices[0] && devices[0][0])
     const [selectedStimulus, setSelectedStimulus] = useState<EncoderStimulus | undefined>(stimuli[0])
-    const [conversionFactor, setConversionFactor] = useState<number>(1)
 
     return (
         <Modal
@@ -54,7 +52,7 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             acceptName="Done"
             onAccept={() => {
                 if (selectedDevice && selectedStimulus)
-                    brain.addSimInput(new SimEncoderInput(selectedDevice, selectedStimulus, conversionFactor))
+                    brain.addSimInput(new SimEncoderInput(selectedDevice, selectedStimulus))
             }}
             onCancel={() => {
                 openModal("roborio")
@@ -64,14 +62,6 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             <Input placeholder="..." className="w-full" onInput={setName} />
             <Dropdown label="Encoders" options={devices.map(n => n[0])} onSelect={s => setSelectedDevice(s)} />
             <Dropdown label="Stimuli" options={Object.keys(stimMap)} onSelect={s => setSelectedStimulus(stimMap[s])} />
-            <NumberInput
-                placeholder="Conversion Factor"
-                defaultValue={conversionFactor}
-                label="Conversion Factor"
-                onInput={n => {
-                    setConversionFactor(n || 0)
-                }}
-            />
         </Modal>
     )
 }
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 92936dbd24..2369e7aea6 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -91,13 +91,25 @@ public void autonomousInit() {
     @Override
     public void autonomousPeriodic() {
 
-        m_SparkMax1.set(1.0);
-        m_SparkMax2.set(1.0);
-        m_SparkMax3.set(1.0);
-        m_SparkMax4.set(1.0);
-        m_SparkMax5.set(1.0);
-        m_SparkMax6.set(1.0);
+        double position = m_SparkMax1.getAbsoluteEncoderSim().getPosition();
+
+        if (position >= 20) {
+            m_SparkMax1.set(0.0);
+            m_SparkMax2.set(0.0);
+            m_SparkMax3.set(0.0);
+            m_SparkMax4.set(0.0);
+            m_SparkMax5.set(0.0);
+            m_SparkMax6.set(0.0);
+        } else {
+            m_SparkMax1.set(1.0);
+            m_SparkMax2.set(1.0);
+            m_SparkMax3.set(1.0);
+            m_SparkMax4.set(1.0);
+            m_SparkMax5.set(1.0);
+            m_SparkMax6.set(1.0);
+        }
 
+       
         switch (m_autoSelected) {
             case kCustomAuto:
                 // Put custom auto code here

From b787cd479dad2ca8f71aa0ec1f8398fc020c2f37 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 8 Aug 2024 10:48:13 -0700
Subject: [PATCH 178/344] disable CANMotor inputs

---
 .../src/systems/simulation/wpilib_brain/SimInput.ts    |  1 +
 .../src/main/java/com/autodesk/synthesis/CANMotor.java | 10 ++--------
 2 files changed, 3 insertions(+), 8 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index a073e6c510..79c74f39ec 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -20,6 +20,7 @@ export class SimEncoderInput implements SimInput {
 
     public Update(_deltaT: number) {
         SimCANEncoder.SetPosition(`${this._device}`, this._stimulus.positionValue)
+        SimCANEncoder.SetVelocity(`${this._device}`, this._stimulus.velocityValue)
     }
 }
 
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
index cd5e1d55d2..e4df23ba66 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
@@ -54,6 +54,7 @@ public CANMotor(String name, int deviceId, double defaultPercentOutput, boolean
         m_supplyCurrent = m_device.createDouble("supplyCurrent", Direction.kInput, 120.0);
         m_motorCurrent = m_device.createDouble("motorCurrent", Direction.kInput, 120.0);
         m_busVoltage = m_device.createDouble("busVoltage", Direction.kInput, 12.0);
+        m_busVoltage.set(0.0); // disable CANMotor inputs
     }
 
     /**
@@ -91,14 +92,7 @@ public void setNeutralDeadband(double deadband) {
         m_neutralDeadband.set(Math.min(1.0, Math.max(0.0, deadband)));
     }
 
-    /**
-     * Sets the supply current, simulated.
-     * 
-     */
-    public void setSupplyCurrent(int current) {
-        m_supplyCurrent.set(current);
-    }
-
+    
     /**
      * Get the supply current, simulated.
      * 

From b54cec933e94c9c18c86a1770d9fb9f205648557 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 8 Aug 2024 11:18:51 -0700
Subject: [PATCH 179/344] fix build

---
 .../simulation/wpilib_brain/WPILibBrain.ts    |  2 +-
 fission/src/ui/panels/WSViewPanel.tsx         | 37 +++++--------------
 2 files changed, 10 insertions(+), 29 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 3d54c67caa..d484a4bee9 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -7,7 +7,7 @@ import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 
 import { SimOutputGroup } from "./SimOutput"
-import { SimGyroInput, SimInput } from "./SimInput"
+import { SimInput } from "./SimInput"
 
 const worker = new WPILibWSWorker()
 const PWM_SPEED = "<speed"
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index f7b47eff28..bae96b224f 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -29,8 +29,8 @@ const TypoStyled = styled(Typography)({
 function generateTableBody() {
     return (
         <TableBody>
-            {simMap.has("PWM") ? (
-                [...simMap.get("PWM")!.entries()]
+            {simMap.has(SimType.PWM) ? (
+                [...simMap.get(SimType.PWM)!.entries()]
                     .filter(x => x[1]["<init"] == true)
                     .map(x => {
                         return (
@@ -50,27 +50,8 @@ function generateTableBody() {
             ) : (
                 <></>
             )}
-            {simMap.has("SimDevice") ? (
-                [...simMap.get("SimDevice")!.entries()].map(x => {
-                    return (
-                        <TableRow key={x[0]}>
-                            <TableCell>
-                                <TypoStyled>SimDevice</TypoStyled>
-                            </TableCell>
-                            <TableCell>
-                                <TypoStyled>{x[0]}</TypoStyled>
-                            </TableCell>
-                            <TableCell>
-                                <TypoStyled>{JSON.stringify(x[1])}</TypoStyled>
-                            </TableCell>
-                        </TableRow>
-                    )
-                })
-            ) : (
-                <></>
-            )}
-            {simMap.has("CANMotor") ? (
-                [...simMap.get("CANMotor")!.entries()].map(x => {
+            {simMap.has(SimType.CANMotor) ? (
+                [...simMap.get(SimType.CANMotor)!.entries()].map(x => {
                     return (
                         <TableRow key={x[0]}>
                             <TableCell>
@@ -88,8 +69,8 @@ function generateTableBody() {
             ) : (
                 <></>
             )}
-            {simMap.has("CANEncoder") ? (
-                [...simMap.get("CANEncoder")!.entries()].map(x => {
+            {simMap.has(SimType.CANEncoder) ? (
+                [...simMap.get(SimType.CANEncoder)!.entries()].map(x => {
                     return (
                         <TableRow key={x[0]}>
                             <TableCell>
@@ -107,8 +88,8 @@ function generateTableBody() {
             ) : (
                 <></>
             )}
-            {simMap.has("Gyro") ? (
-                [...simMap.get("Gyro")!.entries()].map(x => {
+            {simMap.has(SimType.Gyro) ? (
+                [...simMap.get(SimType.Gyro)!.entries()].map(x => {
                     return (
                         <TableRow key={x[0]}>
                             <TableCell>
@@ -228,7 +209,7 @@ const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         <Button
                             value={"Set"}
                             onClick={() =>
-                                setGeneric(selectedType ?? "PWM", selectedDevice, field, value, selectedValueType)
+                                setGeneric(selectedType ?? SimType.PWM, selectedDevice, field, value, selectedValueType)
                             }
                         />
                     </Box>

From 9c847850bcb364cd6f5ffd0f0388153909523c3b Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Thu, 8 Aug 2024 11:28:05 -0700
Subject: [PATCH 180/344] Optional realistic gravity/force config

---
 .../systems/preferences/PreferenceTypes.ts    |  2 ++
 .../systems/simulation/driver/HingeDriver.ts  | 31 ++++++++++++++++--
 .../systems/simulation/driver/SliderDriver.ts | 32 +++++++++++++++++--
 .../ui/modals/configuring/SettingsModal.tsx   | 11 +++++++
 .../configuring/ConfigureSubsystemsPanel.tsx  | 15 +++++++--
 5 files changed, 85 insertions(+), 6 deletions(-)

diff --git a/fission/src/systems/preferences/PreferenceTypes.ts b/fission/src/systems/preferences/PreferenceTypes.ts
index 2402ead0c5..06a33fe168 100644
--- a/fission/src/systems/preferences/PreferenceTypes.ts
+++ b/fission/src/systems/preferences/PreferenceTypes.ts
@@ -12,6 +12,7 @@ export type GlobalPreference =
     | "InputSchemes"
     | "RenderSceneTags"
     | "RenderScoreboard"
+    | "SubsystemGravity"
 
 export const RobotPreferencesKey: string = "Robots"
 export const FieldPreferencesKey: string = "Fields"
@@ -27,6 +28,7 @@ export const DefaultGlobalPreferences: { [key: string]: unknown } = {
     InputSchemes: [],
     RenderSceneTags: true,
     RenderScoreboard: true,
+    SubsystemGravity: false,
 }
 
 export type QualitySetting = "Low" | "Medium" | "High"
diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
index a356aa8062..13e01d163a 100644
--- a/fission/src/systems/simulation/driver/HingeDriver.ts
+++ b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -3,17 +3,23 @@ import Driver, { DriverControlMode } from "./Driver"
 import { GetLastDeltaT } from "@/systems/physics/PhysicsSystem"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { mirabuf } from "@/proto/mirabuf"
+import PreferencesSystem, { PreferenceEvent } from "@/systems/preferences/PreferencesSystem"
+
+const MAX_TORQUE_WITHOUT_GRAV = 100
 
 class HingeDriver extends Driver {
     private _constraint: Jolt.HingeConstraint
 
     private _controlMode: DriverControlMode = DriverControlMode.Velocity
     private _targetAngle: number
+    private _maxTorqueWithGrav: number = 0.0
     public accelerationDirection: number = 0.0
     public maxVelocity: number
 
     private _prevAng: number = 0.0
 
+    private _gravityChange?: (event: PreferenceEvent) => void
+
     public get targetAngle(): number {
         return this._targetAngle
     }
@@ -27,8 +33,8 @@ class HingeDriver extends Driver {
 
     public set maxForce(nm: number) {
         const motorSettings = this._constraint.GetMotorSettings()
-        motorSettings.mMaxTorqueLimit = nm
-        motorSettings.mMinTorqueLimit = -nm
+        motorSettings.set_mMaxTorqueLimit(nm)
+        motorSettings.set_mMinTorqueLimit(nm)
     }
 
     public get controlMode(): DriverControlMode {
@@ -65,7 +71,28 @@ class HingeDriver extends Driver {
         springSettings.mDamping = 0.995
         motorSettings.mSpringSettings = springSettings
 
+        this._maxTorqueWithGrav = motorSettings.get_mMaxTorqueLimit()
+        if (!PreferencesSystem.getGlobalPreference("SubsystemGravity")) {
+            motorSettings.set_mMaxTorqueLimit(MAX_TORQUE_WITHOUT_GRAV)
+            motorSettings.set_mMinTorqueLimit(-MAX_TORQUE_WITHOUT_GRAV)
+        }
+
         this.controlMode = DriverControlMode.Velocity
+        
+        this._gravityChange = (event: PreferenceEvent) => {
+            if (event.prefName == "SubsystemGravity") {
+                const motorSettings = this._constraint.GetMotorSettings()
+                if (event.prefValue) {
+                    motorSettings.set_mMaxTorqueLimit(this._maxTorqueWithGrav)
+                    motorSettings.set_mMinTorqueLimit(-this._maxTorqueWithGrav)
+                } else {
+                    motorSettings.set_mMaxTorqueLimit(MAX_TORQUE_WITHOUT_GRAV)
+                    motorSettings.set_mMinTorqueLimit(-MAX_TORQUE_WITHOUT_GRAV)
+                }
+            }
+        }
+
+        PreferencesSystem.addEventListener(this._gravityChange)
     }
 
     public Update(_: number): void {
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index d80a3fa681..9bf7bd7563 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -3,17 +3,24 @@ import Driver, { DriverControlMode } from "./Driver"
 import { GetLastDeltaT } from "@/systems/physics/PhysicsSystem"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { mirabuf } from "@/proto/mirabuf"
+import PreferencesSystem, { PreferenceEvent } from "@/systems/preferences/PreferencesSystem"
+
+const MAX_FORCE_WITHOUT_GRAV = 500
 
 class SliderDriver extends Driver {
     private _constraint: Jolt.SliderConstraint
 
     private _controlMode: DriverControlMode = DriverControlMode.Velocity
     private _targetPosition: number = 0.0
+    private _maxForceWithGrav: number = 0.0
     public accelerationDirection: number = 0.0
     public maxVelocity: number = 1.0
 
     private _prevPos: number = 0.0
 
+    private _gravityChange?: (event: PreferenceEvent) => void
+
+
     public get targetPosition(): number {
         return this._targetPosition
     }
@@ -29,8 +36,8 @@ class SliderDriver extends Driver {
     }
     public set maxForce(newtons: number) {
         const motorSettings = this._constraint.GetMotorSettings()
-        motorSettings.mMaxForceLimit = newtons
-        motorSettings.mMinForceLimit = -newtons
+        motorSettings.set_mMaxForceLimit(newtons)
+        motorSettings.set_mMinForceLimit(-newtons)
     }
 
     public get controlMode(): DriverControlMode {
@@ -64,8 +71,29 @@ class SliderDriver extends Driver {
         springSettings.mDamping = 0.999
         motorSettings.mSpringSettings = springSettings
 
+        this._maxForceWithGrav = motorSettings.get_mMaxForceLimit()
+        if (!PreferencesSystem.getGlobalPreference("SubsystemGravity")) {
+            motorSettings.set_mMaxForceLimit(MAX_FORCE_WITHOUT_GRAV)
+            motorSettings.set_mMinForceLimit(-MAX_FORCE_WITHOUT_GRAV)
+        }
+
         this._constraint.SetMotorState(JOLT.EMotorState_Velocity)
         this.controlMode = DriverControlMode.Velocity
+
+        this._gravityChange = (event: PreferenceEvent) => {
+            if (event.prefName == "SubsystemGravity") {
+                const motorSettings = this._constraint.GetMotorSettings()
+                if (event.prefValue) {
+                    motorSettings.set_mMaxForceLimit(this._maxForceWithGrav)
+                    motorSettings.set_mMinForceLimit(-this._maxForceWithGrav)
+                } else {
+                    motorSettings.set_mMaxForceLimit(MAX_FORCE_WITHOUT_GRAV)
+                    motorSettings.set_mMinForceLimit(-MAX_FORCE_WITHOUT_GRAV)
+                }
+            }
+        }
+
+        PreferencesSystem.addEventListener(this._gravityChange)
     }
 
     public Update(_: number): void {
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index 9e2ab7e340..fdd91b3da2 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -41,6 +41,9 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const [renderScoreboard, setRenderScoreboard] = useState<boolean>(
         PreferencesSystem.getGlobalPreference<boolean>("RenderScoreboard")
     )
+    const [subsystemGravity, setSubsystemGravity] = useState<boolean>(
+        PreferencesSystem.getGlobalPreference<boolean>("SubsystemGravity")
+    )
 
     const saveSettings = () => {
         PreferencesSystem.setGlobalPreference<string>("QualitySettings", qualitySettings)
@@ -52,6 +55,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         PreferencesSystem.setGlobalPreference<boolean>("RenderScoringZones", renderScoringZones)
         PreferencesSystem.setGlobalPreference<boolean>("RenderSceneTags", renderSceneTags)
         PreferencesSystem.setGlobalPreference<boolean>("RenderScoreboard", renderScoreboard)
+        PreferencesSystem.setGlobalPreference<boolean>("SubsystemGravity", subsystemGravity)
 
         PreferencesSystem.savePreferences()
     }
@@ -122,6 +126,13 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                             setUseMetric(checked)
                         }}
                     />
+                    <Checkbox
+                        label="Subsystem Realistic Gravity"
+                        defaultState={PreferencesSystem.getGlobalPreference<boolean>("SubsystemGravity")}
+                        onClick={checked => {
+                            setSubsystemGravity(checked)
+                        }}
+                    />
                     <Checkbox
                         label="Render Score Zones"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderScoringZones")}
diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index 309442f817..2e39295082 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -97,7 +97,7 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                     </Label>
                     <Slider
                         min={0.1}
-                        max={driverSwitch(driver, 50, 30, 80) as number}
+                        max={driverSwitch(driver, 80, 40, 80) as number}
                         value={velocity}
                         label="Max Velocity"
                         format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
@@ -107,6 +107,7 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                         }}
                         step={0.01}
                     />
+                    {(PreferencesSystem.getGlobalPreference("SubsystemGravity") || driver instanceof WheelDriver) ? (
                     <Slider
                         min={driverSwitch(driver, 100, 20, 0.1) as number}
                         max={driverSwitch(driver, 800, 150, 15) as number}
@@ -119,6 +120,14 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                         }}
                         step={0.01}
                     />
+                    ) : (
+                        (driver instanceof HingeDriver) ? (
+                            <Label>Select Realistic Gravity in Settings for torque config</Label>
+                        ) : (
+                            <Label>Select Realistic Gravity in Settings for force config</Label>
+                        )
+                    )
+                    }
                 </Stack>
             </Box>
             <SectionDivider />
@@ -184,7 +193,9 @@ const ConfigureSubsystemsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
                         })[0]
                         if (motor) {
                             ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = motor.maxVelocity
-                            ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = motor.maxForce
+                            ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = PreferencesSystem.getGlobalPreference("SubsystemGravity")
+                                ? motor.maxForce 
+                                : ( driver instanceof SliderDriver ? 500 : 100)
                         }
                     }
                 }

From 2c1047441fcbab3b08fed8d36adf4a7138521f34 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 8 Aug 2024 13:35:58 -0700
Subject: [PATCH 181/344] Added Hunters jolt submodule

---
 .gitmodules          | 3 +++
 README.md            | 4 ++++
 jolt-physics-barclay | 1 +
 3 files changed, 8 insertions(+)
 create mode 160000 jolt-physics-barclay

diff --git a/.gitmodules b/.gitmodules
index 44da10b0bf..43708ce766 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "mirabuf"]
 	path = mirabuf
 	url = https://github.com/HiceS/mirabuf.git
+[submodule "JoltPhysics.js"]
+	path = jolt-physics-barclay
+	url = https://github.com/HunterBarclay/JoltPhysics.js.git
diff --git a/README.md b/README.md
index 3a6135d588..cd19a6d963 100644
--- a/README.md
+++ b/README.md
@@ -60,6 +60,10 @@ All code is under a configured formatting utility. See each component for more d
 
 Mirabuf is a file format we use to store physical data from Fusion to load into the Synthesis simulator (Fission). This is a separate project that is a submodule of Synthesis. [See Mirabuf](https://github.com/HiceS/mirabuf/)
 
+### Jolt Physics
+
+Jolt is the core physics engine for our web biased simulator. [See JoltPhysics.js](https://github.com/HunterBarclay/JoltPhysics.js) for more information.
+
 ### Tutorials
 
 Our source code for the tutorials featured on our [Tutorials Page](https://synthesis.autodesk.com/tutorials.html).
diff --git a/jolt-physics-barclay b/jolt-physics-barclay
new file mode 160000
index 0000000000..37d20efc60
--- /dev/null
+++ b/jolt-physics-barclay
@@ -0,0 +1 @@
+Subproject commit 37d20efc6075d0bfc360a67345ca44a2d5caeb8b

From 59f2bda202fb53506577434926a1850266e26c2f Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 8 Aug 2024 13:41:55 -0700
Subject: [PATCH 182/344] Rename jolt submodule

---
 .gitmodules                  | 4 ++--
 jolt-physics-barclay => jolt | 0
 2 files changed, 2 insertions(+), 2 deletions(-)
 rename jolt-physics-barclay => jolt (100%)

diff --git a/.gitmodules b/.gitmodules
index 43708ce766..8f7b277463 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
 [submodule "mirabuf"]
 	path = mirabuf
 	url = https://github.com/HiceS/mirabuf.git
-[submodule "JoltPhysics.js"]
-	path = jolt-physics-barclay
+[submodule "jolt"]
+	path = jolt
 	url = https://github.com/HunterBarclay/JoltPhysics.js.git
diff --git a/jolt-physics-barclay b/jolt
similarity index 100%
rename from jolt-physics-barclay
rename to jolt

From 744c15f0e1e8e55695efcc6e424f3a3682e79916 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 8 Aug 2024 14:09:03 -0700
Subject: [PATCH 183/344] add cansparkmax following support

---
 .../synthesis/revrobotics/CANSparkMax.java    | 39 ++++++++++---------
 1 file changed, 21 insertions(+), 18 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 6ac10f7424..f61f91e0f0 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -1,5 +1,7 @@
 package com.autodesk.synthesis.revrobotics;
 
+import java.util.ArrayList;
+
 import com.autodesk.synthesis.CANEncoder;
 import com.autodesk.synthesis.CANMotor;
 // import com.autodesk.synthesis.revrobotics.SparkAbsoluteEncoder;
@@ -13,6 +15,7 @@ public class CANSparkMax extends com.revrobotics.CANSparkMax {
 
     private CANMotor m_motor;
     public CANEncoder m_encoder;
+    private ArrayList<CANSparkMax> followers;
 
     /**
      * Creates a new CANSparkMax, wrapped with simulation support.
@@ -26,12 +29,17 @@ public CANSparkMax(int deviceId, MotorType motorType) {
 
         this.m_motor = new CANMotor("SYN CANSparkMax", deviceId, 0.0, false, 0.3);
         this.m_encoder = new CANEncoder("SYN CANSparkMax", deviceId);
+        this.followers = new ArrayList();
     }
 
+    // setting a follower doesn't break the simulated follower - leader relationship
     @Override
     public void set(double percent) {
         super.set(percent);
         this.m_motor.setPercentOutput(percent);
+        for (CANSparkMax follower : this.followers) {
+            follower.set(percent);
+        }
     }
 
     public void setNeutralDeadband(double n) {
@@ -47,27 +55,22 @@ public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) {
         return super.setIdleMode(mode);
     }
 
-    /// Use instead on getAbsoluteEncoder(), everything else works exactly the same
+    /// Use instead on getAbsoluteEncoder(), everything else works exactly the same in every way but name
     public com.autodesk.synthesis.revrobotics.SparkAbsoluteEncoder getAbsoluteEncoderSim() {
         return new SparkAbsoluteEncoder(super.getAbsoluteEncoder(), this.m_encoder);
     }
 
-    // @Override
-    // public SparkAbsoluteEncoder getAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder.Type type) throws Exception {
-    //     try {
-    //         return new SparkAbsoluteEncoder(this.m_encoder, type);
-    //     } catch (Exception e) {
-    //         // TODO Auto-generated catch block
-    //         e.printStackTrace();
-    //     }
-    // }
+    public void newFollower(CANSparkMax f) {
+        this.followers.add(f);
+    }
 
-    // TODO: Finish following
-    // @Override
-    // public REVLibError follow(CANSparkBase leader) {
-    //     REVLibError err = super.follow(leader);
-    //     // figure out how to have primitives follow
-    //     this.m_motor.m_percentOuput = leader.x;
-    //     return err;
-    // }
+    // Must pass in a simulation-supported leader to have the simulated portion of this motor follow
+    @Override
+    public REVLibError follow(CANSparkBase leader) {
+        REVLibError err = super.follow(leader);
+        if (leader instanceof CANSparkMax) {
+            ((CANSparkMax) leader).newFollower(this);
+        }
+        return err;
+    }
 }

From 1fdb7677547b5ac84978ace5c3ee5e858fb05bbb Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Thu, 8 Aug 2024 14:10:04 -0700
Subject: [PATCH 184/344] Increased number of cascades

---
 fission/src/systems/scene/SceneRenderer.ts | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index c610259076..205aa4434d 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -197,7 +197,7 @@ class SceneRenderer extends WorldSystem {
             this._light = new CSM({
                 parent: this._scene,
                 camera: this._mainCamera,
-                cascades: 3,
+                cascades: 4,
                 lightDirection: new THREE.Vector3(1.0, -3.0, -2.0).normalize(),
                 lightIntensity: 5,
                 shadowMapSize: shadowMapSize,
@@ -314,7 +314,7 @@ class SceneRenderer extends WorldSystem {
         return [(window.innerWidth * (screenSpace.x + 1.0)) / 2.0, (window.innerHeight * (1.0 - screenSpace.y)) / 2.0]
     }
 
-    /** 
+    /**
      * Updates the skybox colors based on the current theme
 
      * @param currentTheme: current theme from ThemeContext.useTheme()

From 7e9d8ff5ed48e1ce0863e1998d5b35566ddfc01b Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Thu, 8 Aug 2024 14:36:27 -0700
Subject: [PATCH 185/344] Removed commented code

---
 fission/src/ui/components/MainHUD.tsx | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 394101b6f8..a637faf9f0 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -105,11 +105,6 @@ const MainHUD: React.FC = () => {
                         icon={SynthesisIcons.Gamepad}
                         onClick={() => openModal("change-inputs")}
                     />
-                    {/* <MainHUDButton
-                        value={"Import Local Mira"}
-                        icon={SynthesisIcons.Import}
-                        onClick={() => openModal("import-local-mirabuf")}
-                    /> */}
                 </div>
                 <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
                     <MainHUDButton

From e2fcd382e6d01eb89c266f95c5feecebc5aab20f Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 8 Aug 2024 15:36:56 -0700
Subject: [PATCH 186/344] ran formatter

---
 fission/src/ui/components/Modal.tsx           | 20 +++++++++++--------
 .../rio-config/RCConfigCANGroupModal.tsx      |  4 ++--
 2 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/fission/src/ui/components/Modal.tsx b/fission/src/ui/components/Modal.tsx
index b550d82bfd..6ccf23c837 100644
--- a/fission/src/ui/components/Modal.tsx
+++ b/fission/src/ui/components/Modal.tsx
@@ -68,8 +68,9 @@ const Modal: React.FC<ModalProps> = ({
                 )}
                 <div
                     id="content"
-                    className={`${contentClassName} ${!contentClassName?.includes("mx") ? "mx-[2rem]" : ""
-                        } flex flex-col gap-4 max-h-75vh p-4`}
+                    className={`${contentClassName} ${
+                        !contentClassName?.includes("mx") ? "mx-[2rem]" : ""
+                    } flex flex-col gap-4 max-h-75vh p-4`}
                 >
                     {children}
                 </div>
@@ -82,8 +83,9 @@ const Modal: React.FC<ModalProps> = ({
                                 closeModal()
                                 if (!cancelBlocked && onCancel) onCancel()
                             }}
-                            className={`${cancelBlocked ? "bg-interactive-background" : "bg-cancel-button"
-                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                            className={`${
+                                cancelBlocked ? "bg-interactive-background" : "bg-cancel-button"
+                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
                         />
                     )}
                     {middleEnabled && (
@@ -93,8 +95,9 @@ const Modal: React.FC<ModalProps> = ({
                             onClick={() => {
                                 if (!middleBlocked && onMiddle) onMiddle()
                             }}
-                            className={`${middleBlocked ? "bg-interactive-background" : "bg-accept-button"
-                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                            className={`${
+                                middleBlocked ? "bg-interactive-background" : "bg-accept-button"
+                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
                         />
                     )}
                     {acceptEnabled && (
@@ -105,8 +108,9 @@ const Modal: React.FC<ModalProps> = ({
                                 closeModal()
                                 if (!acceptBlocked && onAccept) onAccept()
                             }}
-                            className={`${acceptBlocked ? "bg-interactive-background" : "bg-accept-button"
-                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                            className={`${
+                                acceptBlocked ? "bg-interactive-background" : "bg-accept-button"
+                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
                         />
                     )}
                 </div>
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index 83ee24046c..2f81e76dc4 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -34,8 +34,8 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         simLayer?.SetBrain(brain)
     }
 
-    const cans = simMap.get(SimType.CANMotor) ?? new Map<string, any>
-    const devices: [string, any][] = [...cans.entries()].filter(([_, data]) => data["<init"]).reverse()
+    const cans = simMap.get(SimType.CANMotor) ?? new Map<string, Map<string, number>>()
+    const devices: [string, Map<string, number>][] = [...cans.entries()].filter(([_, data]) => data["<init"]).reverse()
 
     return (
         <Modal

From 715411be5b7747ba588065e0878c433ddea3d4b4 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 8 Aug 2024 15:53:46 -0700
Subject: [PATCH 187/344] Version detection for protobuf fix

---
 exporter/SynthesisFusionAddin/Synthesis.py | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 06ead88431..5398577fde 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -14,8 +14,15 @@
 
 try:
     # Attempt to import required pip dependencies to verify their installation.
-    import google.protobuf
     import requests
+    from proto.proto_out import (
+        assembly_pb2,
+        joint_pb2,
+        material_pb2,
+        motor_pb2,
+        signal_pb2,
+        types_pb2,
+    )
 except (ImportError, ModuleNotFoundError) as error:
     logger.warn(f"Running resolve dependencies with error of:\n{error}")
     result = resolveDependencies()

From db138f94aca32ee5149b9fcac6b437868de59a40 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 8 Aug 2024 17:10:07 -0700
Subject: [PATCH 188/344] Added `BaseException` catch for google `VersionError`

---
 exporter/SynthesisFusionAddin/Synthesis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 5398577fde..deba3c9551 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -23,7 +23,7 @@
         signal_pb2,
         types_pb2,
     )
-except (ImportError, ModuleNotFoundError) as error:
+except (ImportError, ModuleNotFoundError, BaseException) as error:  # BaseException required to catch proto.VersionError
     logger.warn(f"Running resolve dependencies with error of:\n{error}")
     result = resolveDependencies()
     if result:

From 9c3de89876fd1ead974fe1766c089d5b018267ab Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 8 Aug 2024 17:48:06 -0700
Subject: [PATCH 189/344] Ensure browser cache key

---
 .github/workflows/FissionUnitTest.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/FissionUnitTest.yml b/.github/workflows/FissionUnitTest.yml
index 1a0389244b..b3dc4e6be2 100644
--- a/.github/workflows/FissionUnitTest.yml
+++ b/.github/workflows/FissionUnitTest.yml
@@ -44,7 +44,7 @@ jobs:
         with:
           path: |
             ~/.cache/ms-playwright/
-          key: ${{ runner.os }}-assets-playwright-${{ env.PLAYWRIGHT_VERSION }}
+          key: ${{ runner.os }}-assets-playwright-${{ env.PLAYWRIGHT_VERSION }}-v2
 
       - name: Install Dependencies
         run: |

From 4514f7ec87300e961abdffd896e14185028f5ae7 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 8 Aug 2024 21:06:46 -0700
Subject: [PATCH 190/344] Import formatting fixes

---
 .../src/Parser/SynthesisParser/Components.py                     | 1 +
 .../src/Parser/SynthesisParser/JointHierarchy.py                 | 1 +
 .../SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py | 1 +
 .../SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py    | 1 +
 .../src/Parser/SynthesisParser/PhysicalProperties.py             | 1 +
 .../src/Parser/SynthesisParser/RigidGroup.py                     | 1 +
 6 files changed, 6 insertions(+)

diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index 6f53db6eb1..aea709f04a 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -2,6 +2,7 @@
 import adsk.core
 import adsk.fusion
 from proto.proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
+
 from src.Logging import logFailure
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser import PhysicalProperties
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index 811a39cc00..cf8c5e04b0 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -4,6 +4,7 @@
 import adsk.core
 import adsk.fusion
 from proto.proto_out import joint_pb2, types_pb2
+
 from src import gm
 from src.Logging import getLogger, logFailure
 from src.Parser.ExporterOptions import ExporterOptions
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index dbc996c08a..a077c764b7 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -1,5 +1,6 @@
 import adsk
 from proto.proto_out import material_pb2
+
 from src.Logging import logFailure
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.PDMessage import PDMessage
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index f43add6642..338f5a300a 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -5,6 +5,7 @@
 import adsk.fusion
 from google.protobuf.json_format import MessageToJson
 from proto.proto_out import assembly_pb2, types_pb2
+
 from src import gm
 from src.APS.APS import getAuth, upload_mirabuf
 from src.Logging import getLogger, logFailure, timed
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index f9c5ef7249..b178bcb3bb 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -20,6 +20,7 @@
 
 import adsk
 from proto.proto_out import types_pb2
+
 from src.Logging import logFailure
 
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
index bdc012dbd1..8516cefae6 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
@@ -17,6 +17,7 @@
 import adsk.core
 import adsk.fusion
 from proto.proto_out import assembly_pb2
+
 from src.Logging import logFailure
 
 

From cd60dcbac91f3fa9f81629fc48ff640c7a38d033 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Fri, 9 Aug 2024 09:49:04 -0700
Subject: [PATCH 191/344] Arm fix

---
 fission/src/systems/simulation/driver/HingeDriver.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
index 13e01d163a..e86a6e5b48 100644
--- a/fission/src/systems/simulation/driver/HingeDriver.ts
+++ b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -34,7 +34,7 @@ class HingeDriver extends Driver {
     public set maxForce(nm: number) {
         const motorSettings = this._constraint.GetMotorSettings()
         motorSettings.set_mMaxTorqueLimit(nm)
-        motorSettings.set_mMinTorqueLimit(nm)
+        motorSettings.set_mMinTorqueLimit(-nm)
     }
 
     public get controlMode(): DriverControlMode {

From ff07568b4676c32e52b48eb5f62f18f8e72a3c84 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Fri, 9 Aug 2024 10:17:50 -0700
Subject: [PATCH 192/344] merge fixes

---
 fission/src/systems/input/DefaultInputs.ts    |  4 +--
 fission/src/ui/components/MainHUD.tsx         |  2 --
 fission/src/ui/components/SelectMenu.tsx      |  4 +--
 .../assembly-config/ConfigurePanel.tsx        |  6 ++---
 .../ConfigureGamepiecePickupInterface.tsx     |  2 +-
 .../ConfigureShotTrajectoryInterface.tsx      |  2 +-
 .../inputs/ConfigureSchemeInterface.tsx       | 25 +++++++++++++++++--
 7 files changed, 31 insertions(+), 14 deletions(-)

diff --git a/fission/src/systems/input/DefaultInputs.ts b/fission/src/systems/input/DefaultInputs.ts
index 2b9ac8d65a..e15fe82d44 100644
--- a/fission/src/systems/input/DefaultInputs.ts
+++ b/fission/src/systems/input/DefaultInputs.ts
@@ -91,8 +91,8 @@ class DefaultInputs {
                     shift: false,
                     meta: false,
                 }),
-                new AxisInput("joint 5", "KeyN", "true", -1, false, false, -1, -1, EmptyModifierState, {
-                    ctrl: false,
+                new AxisInput("joint 5", "KeyN", "KeyN", -1, false, false, -1, -1, EmptyModifierState, {
+                    ctrl: true,
                     alt: false,
                     shift: false,
                     meta: false,
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 34c53855d1..c2c9fea4df 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -100,8 +100,6 @@ const MainHUD: React.FC = () => {
                         icon={SynthesisIcons.Import}
                         onClick={() => openModal("import-local-mirabuf")}
                     />
-                </div>
-                <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
                     <MainHUDButton
                         value={"Configure"}
                         icon={SynthesisIcons.Gear}
diff --git a/fission/src/ui/components/SelectMenu.tsx b/fission/src/ui/components/SelectMenu.tsx
index c4c93b5fb4..efc1fe188d 100644
--- a/fission/src/ui/components/SelectMenu.tsx
+++ b/fission/src/ui/components/SelectMenu.tsx
@@ -16,7 +16,7 @@ import {
 const CustomButton = styled(MUIButton)({
     "borderStyle": "none",
     "borderWidth": "1px",
-    "transition": "border-color 0.3s ease",
+    "transition": "border-color 0s",
     "outline": "none",
     "&:hover": {
         borderStyle: "solid",
@@ -37,7 +37,7 @@ const CustomButton = styled(MUIButton)({
     "&:selected": {
         outline: "none",
         backgroundColor: "transparent",
-        borderColor: "grey",
+        borderColor: "none",
     },
 })
 
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index a2cb525533..245ad48311 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -107,7 +107,6 @@ const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configuratio
                 update()
             }}
             onAddClicked={() => {
-                console.log("Open spawn panel")
                 openPanel("import-mirabuf")
             }}
             noOptionsText={`No ${configurationType == ConfigurationType.ROBOT ? "robots" : "fields"} spawned!`}
@@ -127,7 +126,7 @@ class ConfigModeSelectionOption extends SelectMenuOption {
 const robotModes = [
     new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
     new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
-    new ConfigModeSelectionOption("Joints", ConfigMode.MOTORS),
+    new ConfigModeSelectionOption("Sequential Joints", ConfigMode.MOTORS),
     new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
 ]
 const fieldModes = [new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES)]
@@ -225,7 +224,7 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
     return (
         <Panel
-            name={"Configure Assemblies"}
+            name={"Configure Objects"}
             icon={SynthesisIcons.Gear}
             panelId={panelId}
             cancelEnabled={false}
@@ -245,7 +244,6 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     exclusive
                     onChange={(_, v) => {
                         v != null && setConfigurationType(v)
-                        //console.log(v)
                         setSelectedAssembly(undefined)
                         new ConfigurationSavedEvent()
                         setConfigMode(undefined)
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
index 62f4ae818d..4981082dfe 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
@@ -220,7 +220,7 @@ const ConfigureGamepiecePickupInterface: React.FC<ConfigPickupProps> = ({ select
                         transformGizmo.mesh.position.setFromMatrixPosition(robotTransformation)
                         transformGizmo.mesh.rotation.setFromRotationMatrix(robotTransformation)
                     }
-                    setZoneSize((MIN_ZONE_SIZE + MAX_ZONE_SIZE) / 2.0)
+                    setZoneSize(0.5)
                     setSelectedNode(selectedRobot?.rootNodeId)
                 }}
             />
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
index 49e716b93e..f5293e93cf 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
@@ -215,7 +215,7 @@ const ConfigureShotTrajectoryInterface: React.FC<ConfigEjectorProps> = ({ select
                         transformGizmo.mesh.position.setFromMatrixPosition(robotTransformation)
                         transformGizmo.mesh.rotation.setFromRotationMatrix(robotTransformation)
                     }
-                    setEjectorVelocity((MIN_VELOCITY + MAX_VELOCITY) / 2.0)
+                    setEjectorVelocity(1)
                     setSelectedNode(selectedRobot?.rootNodeId)
                 }}
             />
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
index 996ef2f574..f2a3721704 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
@@ -1,7 +1,7 @@
 import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
 import Checkbox from "@/ui/components/Checkbox"
 import EditInputInterface from "./EditInputInterface"
-import { useCallback, useEffect, useState } from "react"
+import { useCallback, useEffect, useRef, useState } from "react"
 import { ConfigurationSavedEvent } from "../../ConfigurePanel"
 import { SectionDivider } from "@/ui/components/StyledComponents"
 
@@ -12,6 +12,7 @@ interface ConfigSchemeProps {
 /** Interface to configure a specific input scheme */
 const ConfigureSchemeInterface: React.FC<ConfigSchemeProps> = ({ selectedScheme }) => {
     const [useGamepad, setUseGamepad] = useState<boolean>(selectedScheme.usesGamepad)
+    const scrollRef = useRef<HTMLDivElement>(null)
 
     const saveEvent = useCallback(() => {
         InputSchemeManager.saveSchemes()
@@ -25,6 +26,26 @@ const ConfigureSchemeInterface: React.FC<ConfigSchemeProps> = ({ selectedScheme
         }
     }, [saveEvent])
 
+    /** Disable scrolling with arrow keys to stop accidentally scrolling when binding keys */
+    useEffect(() => {
+        const handleKeyDown = (event: React.KeyboardEvent<HTMLDivElement>) => {
+            if (event.key === "ArrowUp" || event.key === "ArrowDown") {
+                event.preventDefault()
+            }
+        }
+
+        const scrollElement = scrollRef.current
+        if (scrollElement) {
+            scrollElement.addEventListener("keydown", handleKeyDown as unknown as EventListener)
+        }
+
+        return () => {
+            if (scrollElement) {
+                scrollElement.removeEventListener("keydown", handleKeyDown as unknown as EventListener)
+            }
+        }
+    }, [])
+
     return (
         <>
             {/** Toggle the input scheme between controller and keyboard mode */}
@@ -39,7 +60,7 @@ const ConfigureSchemeInterface: React.FC<ConfigSchemeProps> = ({ selectedScheme
             <SectionDivider />
 
             {/* Scroll view for inputs */}
-            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary">
+            <div ref={scrollRef} tabIndex={0} className="flex overflow-y-auto flex-col gap-2 bg-background-secondary">
                 {selectedScheme.inputs.map(i => {
                     return (
                         <EditInputInterface

From b31793fcaa17339ed81754d6ede66b86bcffc8a1 Mon Sep 17 00:00:00 2001
From: a-crowell <53123817+a-crowell@users.noreply.github.com>
Date: Fri, 9 Aug 2024 11:29:14 -0700
Subject: [PATCH 193/344] Merge conflict

Co-authored-by: Brandon Pacewic <92102436+BrandonPacewic@users.noreply.github.com>
---
 fission/src/mirabuf/MirabufParser.ts | 1 -
 1 file changed, 1 deletion(-)

diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index ae1607b97c..7dab72156b 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -240,7 +240,6 @@ class MirabufParser {
             console.log("Failed to get part definitions")
             return
         }
-        console.debug(partDefinitions)
     }
 
     private NewRigidNode(suffix?: string): RigidNode {

From 645ee2b135cc91ca865155e80b9642fbb2e14654 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Fri, 9 Aug 2024 11:41:55 -0700
Subject: [PATCH 194/344] Forgot to add the button change :(

---
 fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index fdc5a0efcb..aa3f37b2f8 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -372,10 +372,6 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         </SectionLabel>
                         <SectionDivider />
                         {cachedRobotElements}
-                        {Spacer(5)}
-                        <Box alignSelf={"center"}>
-                            <Button value="Import from File" onClick={() => openModal("import-local-mirabuf")} />
-                        </Box>
                     </>
                 ) : (
                     <>
@@ -431,6 +427,9 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         {remoteFieldElements}
                     </>
                 )}
+                <Box alignSelf={"center"}>
+                    <Button value="Import from File" onClick={() => openModal("import-local-mirabuf")} />
+                </Box>
             </div>
         </Panel>
     )

From b7e17fbae4d0a702cdc3652f62e9eddcb837a327 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Fri, 9 Aug 2024 12:18:00 -0700
Subject: [PATCH 195/344] Tweaked colors and dynamic scaling ui components

---
 fission/src/main.tsx                          | 10 +-
 fission/src/ui/components/Button.tsx          | 23 +++--
 fission/src/ui/components/Checkbox.tsx        |  4 +-
 fission/src/ui/components/Dropdown.tsx        | 13 ++-
 fission/src/ui/components/MainHUD.tsx         |  9 +-
 fission/src/ui/components/Modal.tsx           | 99 ++++++++++---------
 fission/src/ui/components/Panel.tsx           | 12 ++-
 fission/src/ui/components/Slider.tsx          |  3 +-
 .../src/ui/components/ToggleButtonGroup.tsx   |  5 +-
 .../ui/modals/configuring/SettingsModal.tsx   | 17 ++--
 10 files changed, 119 insertions(+), 76 deletions(-)

diff --git a/fission/src/main.tsx b/fission/src/main.tsx
index 3b761d8ab3..49f85cf2cb 100644
--- a/fission/src/main.tsx
+++ b/fission/src/main.tsx
@@ -11,15 +11,15 @@ const defaultColors: Theme = {
         above: [],
     },
     InteractiveElementLeft: {
-        color: { r: 224, g: 130, b: 65, a: 1 },
+        color: { r: 207, g: 114, b: 57, a: 1 },
         above: ["Background", "BackgroundSecondary"],
     },
     InteractiveElementRight: {
-        color: { r: 218, g: 102, b: 89, a: 1 },
+        color: { r: 212, g: 75, b: 62, a: 1 },
         above: ["Background", "BackgroundSecondary"],
     },
     Background: { color: { r: 0, g: 0, b: 0, a: 1 }, above: [] },
-    BackgroundSecondary: { color: { r: 30, g: 30, b: 30, a: 1 }, above: [] },
+    BackgroundSecondary: { color: { r: 25, g: 25, b: 25, a: 1 }, above: [] },
     InteractiveBackground: { color: { r: 52, g: 58, b: 64, a: 1 }, above: [] },
     MainText: {
         color: { r: 255, g: 255, b: 255, a: 1 },
@@ -33,8 +33,8 @@ const defaultColors: Theme = {
         ],
     },
     Scrollbar: { color: { r: 170, g: 170, b: 170, a: 1 }, above: [] },
-    AcceptButton: { color: { r: 71, g: 138, b: 226, a: 1 }, above: [] },
-    CancelButton: { color: { r: 231, g: 85, b: 81, a: 1 }, above: [] },
+    AcceptButton: { color: { r: 33, g: 137, b: 228, a: 1 }, above: [] },
+    CancelButton: { color: { r: 248, g: 78, b: 78, a: 1 }, above: [] },
     InteractiveElementText: {
         color: { r: 255, g: 255, b: 255, a: 1 },
         above: [],
diff --git a/fission/src/ui/components/Button.tsx b/fission/src/ui/components/Button.tsx
index 997a2081af..c129f49516 100644
--- a/fission/src/ui/components/Button.tsx
+++ b/fission/src/ui/components/Button.tsx
@@ -42,13 +42,22 @@ const Button: React.FC<ButtonProps> = ({ value, colorOverrideClass, sizeOverride
     return (
         <BaseButton
             onClick={onClick}
-            className={`${
-                colorOverrideClass
-                    ? colorOverrideClass
-                    : "bg-gradient-to-r from-interactive-element-left via-interactive-element-right to-interactive-element-left bg-[length:200%_100%] active:bg-right"
-            }  ${sizeClassNames} rounded-sm font-semibold cursor-pointer duration-200 border-none focus-visible:outline-0 focus:outline-0 ${
-                className || ""
-            }`}
+            className={`
+                ${colorOverrideClass || "bg-gradient-to-r from-interactive-element-left via-interactive-element-right to-interactive-element-left bg-[length:200%_100%] active:bg-right"}  
+                ${sizeClassNames} 
+                rounded-sm 
+                font-semibold 
+                cursor-pointer 
+                duration-200 
+                border-none 
+                focus-visible:outline-0 
+                focus:outline-0 
+                transform 
+                transition-transform 
+                hover:scale-[1.03] 
+                active:scale-[1.06] 
+                ${className || ""}
+            `}
         >
             {value}
         </BaseButton>
diff --git a/fission/src/ui/components/Checkbox.tsx b/fission/src/ui/components/Checkbox.tsx
index 451891073a..3c1551ab79 100644
--- a/fission/src/ui/components/Checkbox.tsx
+++ b/fission/src/ui/components/Checkbox.tsx
@@ -22,14 +22,14 @@ const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, sta
                 onChange={(e: React.ChangeEvent<HTMLInputElement>) => onClick && onClick(e.target.checked)}
                 slotProps={{
                     root: {
-                        className: `group relative inline-block w-[24px] h-[24px] m-2.5 cursor-pointer`,
+                        className: `group relative inline-block w-[24px] h-[24px] m-2.5 cursor-pointer transform transition-transform hover:scale-[1.03] active:scale-[1.06]`,
                     },
                     input: {
                         className: `cursor-inherit absolute w-full h-full top-0 left-0 opacity-0 z-10 border-none`,
                     },
                     track: ownerState => {
                         return {
-                            className: `absolute block w-full h-full transition rounded-full border border-solid outline-none border-interactive-element-right dark:border-interactive-element-right group-[.base--focusVisible]:shadow-outline-switch ${ownerState.checked ? "bg-gradient-to-br from-interactive-element-left to-interactive-element-right" : "bg-background-secondary"}`,
+                            className: `absolute block w-full h-full transition rounded-full border border-solid outline-none border-interactive-element-right dark:border-interactive-element-right group-[.base--focusVisible]:shadow-outline-switch ${ownerState.checked ? "bg-gradient-to-br from-interactive-element-left to-interactive-element-right" : "bg-background-secondary"} transform transition-transform group-hover:scale-[1.03] group-active:scale-[1.06]`,
                         }
                     },
                     thumb: {
diff --git a/fission/src/ui/components/Dropdown.tsx b/fission/src/ui/components/Dropdown.tsx
index d5ba480505..e85449e071 100644
--- a/fission/src/ui/components/Dropdown.tsx
+++ b/fission/src/ui/components/Dropdown.tsx
@@ -45,9 +45,14 @@ const CustomMenu = styled(Menu)({
         minWidth: "unset",
     },
     "& .MuiMenuItem-root": {
-        "transition": "background-color 0.3s ease, color 0.3s ease",
+        "transition": "background-color 0.3s ease, color 0.3s ease, transform 0.2s ease",
+        "transform": "scale(1.06)",
         "&:hover": {
             color: "#da6659",
+            transform: "scale(1.05)",
+        },
+        "&:active": {
+            transform: "scale(1.03)",
         },
     },
 })
@@ -102,7 +107,11 @@ const Dropdown: React.FC<DropdownProps> = ({ options, defaultValue, onSelect, la
             )}
             <Tooltip title={label || ""}>
                 <div>
-                    <CustomButton onClick={handleClick} ref={buttonRef}>
+                    <CustomButton
+                        onClick={handleClick}
+                        ref={buttonRef}
+                        className={`transform transition-transform hover:scale-[1.012] active:scale-[1.024]`}
+                    >
                         {selectedValue || "Select an option"}
                     </CustomButton>
                 </div>
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 2395f26e0d..e748a7a829 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -23,7 +23,14 @@ const MainHUDButton: React.FC<ButtonProps> = ({ value, icon, onClick, larger })
     return (
         <Button
             onClick={onClick}
-            className={`relative flex flex-row cursor-pointer bg-background w-full m-auto px-2 py-1 text-main-text border-none rounded-md ${larger ? "justify-center" : ""} items-center hover:brightness-105 focus:outline-0 focus-visible:outline-0`}
+            className={`relative flex flex-row 
+                cursor-pointer 
+                bg-background w-full m-auto px-2 py-1 text-main-text border-none rounded-md ${larger ? "justify-center" : ""} 
+                items-center hover:brightness-105 focus:outline-0 focus-visible:outline-0 
+                transform 
+                transition-transform 
+                hover:scale-[1.015] 
+                active:scale-[1.03]`}
         >
             {larger && icon}
             {!larger && <span className="absolute left-3 text-main-hud-icon">{icon}</span>}
diff --git a/fission/src/ui/components/Modal.tsx b/fission/src/ui/components/Modal.tsx
index a0570db82e..72457b6994 100644
--- a/fission/src/ui/components/Modal.tsx
+++ b/fission/src/ui/components/Modal.tsx
@@ -61,59 +61,68 @@ const Modal: React.FC<ModalProps> = ({
                 {name && (
                     <div id="header" className="flex items-center gap-8 h-16">
                         <span className="flex justify-center align-center ml-8 text-icon">{iconEl && iconEl}</span>
-                        <h1 className="text-3xl font-medium inline-block align-middle whitespace-nowrap mr-10">
-                            {name}
-                        </h1>
+                        <h1 className="text-3xl inline-block align-middle whitespace-nowrap mr-10">{name}</h1>
                     </div>
                 )}
                 <div
                     id="content"
-                    className={`${contentClassName} ${
+                    className={`${contentClassName || ""} ${
                         !contentClassName?.includes("mx") ? "mx-[2rem]" : ""
-                    } flex flex-col gap-4 max-h-75vh overflow-y-auto p-4`}
+                    } flex flex-col gap-4 max-h-[75vh]`}
                 >
                     {children}
                 </div>
-                <div id="footer" className="flex justify-between px-8 py-6 gap-4 text-accept-cancel-button-text">
-                    {cancelEnabled && (
-                        <input
-                            type="button"
-                            value={cancelName || "Cancel"}
-                            onClick={() => {
-                                closeModal()
-                                if (!cancelBlocked && onCancel) onCancel()
-                            }}
-                            className={`${
-                                cancelBlocked ? "bg-interactive-background" : "bg-cancel-button"
-                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
-                        />
-                    )}
-                    {middleEnabled && (
-                        <input
-                            type="button"
-                            value={middleName || ""}
-                            onClick={() => {
-                                if (!middleBlocked && onMiddle) onMiddle()
-                            }}
-                            className={`${
-                                middleBlocked ? "bg-interactive-background" : "bg-accept-button"
-                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
-                        />
-                    )}
-                    {acceptEnabled && (
-                        <input
-                            type="button"
-                            value={acceptName || "Accept"}
-                            onClick={() => {
-                                closeModal()
-                                if (!acceptBlocked && onAccept) onAccept()
-                            }}
-                            className={`${
-                                acceptBlocked ? "bg-interactive-background" : "bg-accept-button"
-                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
-                        />
-                    )}
-                </div>
+                {(cancelEnabled || middleEnabled || acceptEnabled) && (
+                    <div
+                        id="footer"
+                        className="flex justify-between mx-[2rem] py-[1rem] text-accept-cancel-button-text"
+                    >
+                        {cancelEnabled && (
+                            <input
+                                type="button"
+                                value={cancelName || "Cancel"}
+                                onClick={() => {
+                                    closeModal()
+                                    if (!cancelBlocked && onCancel) onCancel()
+                                }}
+                                className={`${
+                                    cancelBlocked ? "bg-interactive-background" : "bg-cancel-button"
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
+                            />
+                        )}
+                        {middleEnabled && (
+                            <input
+                                type="button"
+                                value={middleName || ""}
+                                onClick={() => {
+                                    if (!middleBlocked && onMiddle) onMiddle()
+                                }}
+                                className={`${
+                                    middleBlocked ? "bg-interactive-background" : "bg-accept-button"
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90 
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
+                            />
+                        )}
+                        {acceptEnabled && (
+                            <input
+                                type="button"
+                                value={acceptName || "Accept"}
+                                onClick={() => {
+                                    closeModal()
+                                    if (!acceptBlocked && onAccept) onAccept()
+                                }}
+                                className={`${
+                                    acceptBlocked ? "bg-interactive-background" : "bg-accept-button"
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
+                            />
+                        )}
+                    </div>
+                )}
             </div>
         </ClickAwayListener>
     )
diff --git a/fission/src/ui/components/Panel.tsx b/fission/src/ui/components/Panel.tsx
index b8faee4977..212d0d1ce9 100644
--- a/fission/src/ui/components/Panel.tsx
+++ b/fission/src/ui/components/Panel.tsx
@@ -158,7 +158,9 @@ const Panel: React.FC<PanelProps> = ({
                                 }}
                                 className={`${
                                     cancelBlocked ? "bg-interactive-background" : "bg-cancel-button"
-                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
                             />
                         )}
                         {middleEnabled && (
@@ -170,7 +172,9 @@ const Panel: React.FC<PanelProps> = ({
                                 }}
                                 className={`${
                                     middleBlocked ? "bg-interactive-background" : "bg-accept-button"
-                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
                             />
                         )}
                         {acceptEnabled && (
@@ -183,7 +187,9 @@ const Panel: React.FC<PanelProps> = ({
                                 }}
                                 className={`${
                                     acceptBlocked ? "bg-interactive-background" : "bg-accept-button"
-                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
                             />
                         )}
                     </div>
diff --git a/fission/src/ui/components/Slider.tsx b/fission/src/ui/components/Slider.tsx
index b64b894d94..0c2d4b0f2b 100644
--- a/fission/src/ui/components/Slider.tsx
+++ b/fission/src/ui/components/Slider.tsx
@@ -48,7 +48,8 @@ const Slider: React.FC<SliderProps> = ({ label, min, max, value, onChange, step,
                 slotProps={{
                     root: ownerState => {
                         return {
-                            className: `h-1 w-full inline-flex items-center relative touch-none ${ownerState.disabled ? "text-slate-200 dark:text-slate-200" : "cursor-pointer text-[#343A40] dark:text-[#343A40]"}`,
+                            className: `h-1 w-full inline-flex items-center relative touch-none ${ownerState.disabled ? "text-slate-200 dark:text-slate-200" : "cursor-pointer text-[#343A40] dark:text-[#343A40]"}
+                            transform transition-transform hover:scale-[1.01] active:scale-[1.02]`,
                         }
                     },
                     rail: {
diff --git a/fission/src/ui/components/ToggleButtonGroup.tsx b/fission/src/ui/components/ToggleButtonGroup.tsx
index 8159c97b97..90ffb28f7f 100644
--- a/fission/src/ui/components/ToggleButtonGroup.tsx
+++ b/fission/src/ui/components/ToggleButtonGroup.tsx
@@ -3,11 +3,12 @@ import { styled } from "@mui/system"
 import { colorNameToVar } from "../ThemeContext"
 
 export const ToggleButton = styled(ToggleButtonMUI)({
-    // backgroundColor: "white"
     "borderColor": "transparent",
     "fontFamily": "Artifakt",
     "fontWeight": 700,
     "color": "white",
+    "transition": "transform 0.2s ease",
+    "transform": "scale(1)",
     "&.Mui-selected": {
         color: "white",
         backgroundImage: `linear-gradient(to right, ${colorNameToVar("InteractiveElementLeft")}, ${colorNameToVar("InteractiveElementRight")})`,
@@ -24,6 +25,7 @@ export const ToggleButton = styled(ToggleButtonMUI)({
     "&:hover": {
         outline: "none",
         borderColor: "transparent",
+        transform: "scale(1.03)",
     },
     "&:focus-visible": {
         outline: "none",
@@ -32,6 +34,7 @@ export const ToggleButton = styled(ToggleButtonMUI)({
     "&:active": {
         outline: "none",
         borderColor: "transparent",
+        transform: "scale(1.06)",
     },
     "&::-moz-focus-inner": {
         outline: "none",
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index 9e2ab7e340..3aa7751331 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -1,10 +1,8 @@
 import React, { useState } from "react"
-import { useModalControlContext } from "@/ui/ModalContext"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { FaGear } from "react-icons/fa6"
 import Label, { LabelSize } from "@/components/Label"
 import Dropdown from "@/components/Dropdown"
-import Button from "@/components/Button"
 import Slider from "@/components/Slider"
 import Checkbox from "@/components/Checkbox"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
@@ -14,8 +12,6 @@ import { Box } from "@mui/material"
 import { Spacer } from "@/ui/components/StyledComponents"
 
 const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { openModal } = useModalControlContext()
-
     const [qualitySettings, setQualitySettings] = useState<string>(
         PreferencesSystem.getGlobalPreference<string>("QualitySettings")
     )
@@ -75,32 +71,35 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         setQualitySettings(selected)
                     }}
                 />
-                {Spacer(5)}
+                {/** Theme editor disabled for now */}
+                {/* {Spacer(5)}
                 <Box alignSelf={"center"}>
                     <Button value="Theme Editor" onClick={() => openModal("theme-editor")} />
-                </Box>
+                </Box> */}
                 {Spacer(5)}
                 <Label size={LabelSize.Medium}>Camera Settings</Label>
                 <Slider
                     min={1}
                     max={15}
-                    value={PreferencesSystem.getGlobalPreference<number>("ZoomSensitivity")}
+                    value={zoomSensitivity}
                     label={"Zoom Sensitivity"}
                     format={{ maximumFractionDigits: 2 }}
                     onChange={(_, value) => setZoomSensitivity(value as number)}
                 />
+                {Spacer(2)}
                 <Slider
                     min={1}
                     max={15}
-                    value={PreferencesSystem.getGlobalPreference<number>("PitchSensitivity")}
+                    value={pitchSensitivity}
                     label={"Pitch Sensitivity"}
                     format={{ maximumFractionDigits: 2 }}
                     onChange={(_, value) => setPitchSensitivity(value as number)}
                 />
+                {Spacer(2)}
                 <Slider
                     min={1}
                     max={15}
-                    value={PreferencesSystem.getGlobalPreference<number>("YawSensitivity")}
+                    value={yawSensitivity}
                     label={"Yaw Sensitivity"}
                     format={{ maximumFractionDigits: 2 }}
                     onChange={(_, value) => setYawSensitivity(value as number)}

From 4d95ee7b129c430535ae0d66fa91285bf7dfe0cd Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Fri, 9 Aug 2024 14:30:30 -0700
Subject: [PATCH 196/344] Panel cleanup and more color tweaks

---
 fission/src/main.tsx                          |   4 +-
 fission/src/ui/components/Slider.tsx          |   2 +-
 .../mirabuf/ImportLocalMirabufModal.tsx       |  45 +++---
 fission/src/ui/panels/DebugPanel.tsx          | 147 ++++++++++--------
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  |   2 +-
 5 files changed, 107 insertions(+), 93 deletions(-)

diff --git a/fission/src/main.tsx b/fission/src/main.tsx
index 49f85cf2cb..eddd94842e 100644
--- a/fission/src/main.tsx
+++ b/fission/src/main.tsx
@@ -19,8 +19,8 @@ const defaultColors: Theme = {
         above: ["Background", "BackgroundSecondary"],
     },
     Background: { color: { r: 0, g: 0, b: 0, a: 1 }, above: [] },
-    BackgroundSecondary: { color: { r: 25, g: 25, b: 25, a: 1 }, above: [] },
-    InteractiveBackground: { color: { r: 52, g: 58, b: 64, a: 1 }, above: [] },
+    BackgroundSecondary: { color: { r: 18, g: 18, b: 18, a: 1 }, above: [] },
+    InteractiveBackground: { color: { r: 40, g: 44, b: 47, a: 1 }, above: [] },
     MainText: {
         color: { r: 255, g: 255, b: 255, a: 1 },
         above: [
diff --git a/fission/src/ui/components/Slider.tsx b/fission/src/ui/components/Slider.tsx
index 0c2d4b0f2b..a15ab0a3c4 100644
--- a/fission/src/ui/components/Slider.tsx
+++ b/fission/src/ui/components/Slider.tsx
@@ -53,7 +53,7 @@ const Slider: React.FC<SliderProps> = ({ label, min, max, value, onChange, step,
                         }
                     },
                     rail: {
-                        className: `block absolute w-full h-[12px] rounded-full bg-current`,
+                        className: `block absolute w-full h-[12px] rounded-full bg-interactive-background`,
                     },
                     track: {
                         className: `block absolute h-[12px] rounded-full bg-gradient-to-r from-interactive-element-left to-interactive-element-right`,
diff --git a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
index 6bcd867d90..b716f6d422 100644
--- a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
+++ b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
@@ -5,9 +5,9 @@ import Label, { LabelSize } from "@/components/Label"
 import { useTooltipControlContext } from "@/ui/TooltipContext"
 import World from "@/systems/World"
 import MirabufCachingService, { MiraType } from "@/mirabuf/MirabufLoader"
-import Dropdown from "@/ui/components/Dropdown"
 import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
+import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
 
 const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     // update tooltip based on type of drivetrain, receive message from Synthesis
@@ -16,7 +16,7 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const fileUploadRef = useRef<HTMLInputElement>(null)
 
     const [selectedFile, setSelectedFile] = useState<File | undefined>(undefined)
-    const [miraType, setSelectedType] = useState<MiraType | undefined>(undefined)
+    const [miraType, setSelectedType] = useState<MiraType | undefined>(MiraType.ROBOT)
 
     const uploadClicked = () => {
         if (fileUploadRef.current) {
@@ -31,20 +31,9 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         }
     }
 
-    const typeSelected = (type: string) => {
-        switch (type) {
-            case "Robot":
-                setSelectedType(MiraType.ROBOT)
-                break
-            case "Field":
-                setSelectedType(MiraType.FIELD)
-                break
-        }
-    }
-
     return (
         <Modal
-            name={"Import Local Assemblies"}
+            name={"Import From File"}
             icon={SynthesisIcons.Import}
             modalId={modalId}
             acceptEnabled={selectedFile !== undefined && miraType !== undefined}
@@ -69,22 +58,28 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         >
             <div className="flex flex-col items-center gap-5">
                 <input ref={fileUploadRef} onChange={onInputChanged} type="file" hidden={true} />
-                <Button value="Upload" size={ButtonSize.Large} onClick={uploadClicked} />
-                {selectedFile ? (
+
+                <ToggleButtonGroup
+                    value={miraType}
+                    exclusive
+                    onChange={(_, v) => {
+                        if (v == null) return
+                        setSelectedType(v)
+                    }}
+                    sx={{
+                        alignSelf: "center",
+                    }}
+                >
+                    <ToggleButton value={MiraType.ROBOT}>Robot</ToggleButton>
+                    <ToggleButton value={MiraType.FIELD}>Field</ToggleButton>
+                </ToggleButtonGroup>
+                <Button value="Upload File" size={ButtonSize.Large} onClick={uploadClicked} />
+                {selectedFile && (
                     <Label
                         className="text-center"
                         size={LabelSize.Medium}
                     >{`Selected File: ${selectedFile.name}`}</Label>
-                ) : (
-                    <></>
                 )}
-                <Dropdown
-                    label="Type"
-                    options={["None", "Robot", "Field"]}
-                    onSelect={(selected: string) => {
-                        typeSelected(selected)
-                    }}
-                />
             </div>
         </Modal>
     )
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index e94cdedd03..118d144783 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -19,7 +19,7 @@ import JOLT from "@/util/loading/JoltSyncLoader"
 import Jolt from "@barclah/jolt-physics"
 import Label from "../components/Label"
 import { colorNameToVar } from "../ThemeContext"
-import { SynthesisIcons } from "../components/StyledComponents"
+import { SectionDivider, Spacer, SynthesisIcons } from "../components/StyledComponents"
 import { useModalControlContext } from "../ModalContext"
 
 const LabelStyled = styled(Label)({
@@ -68,9 +68,6 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
         >
             <Box
                 component="div"
-                display="flex"
-                flexDirection="column"
-                gap="0.25rem"
                 alignItems="center"
                 sx={{
                     padding: "0.25rem",
@@ -78,68 +75,90 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     borderRadius: "0.5rem",
                     backgroundColor: colorNameToVar("BackgroundSecondary"),
                 }}
+                justifyContent={"center"}
+                textAlign={"center"}
+                minWidth={"290px"}
             >
-                <LabelStyled>Generic</LabelStyled>
-                <Button
-                    value={"Toasts"}
-                    onClick={() => {
-                        const type: ToastType = ["info", "warning", "error"][Math.floor(Random() * 3)] as ToastType
-                        MainHUD_AddToast(type, type, "This is a test toast to test the toast system")
-                    }}
-                />
-                <Button
-                    value={"The Poker"}
-                    onClick={() => {
-                        openPanel("poker")
-                    }}
-                />
-                <Button value={"Test God Mode"} onClick={TestGodMode} />
-                <Button value={"Clear Prefs"} onClick={() => PreferencesSystem.clearPreferences()} />
-                <LabelStyled>Autodesk Platform Services</LabelStyled>
-                <Button
-                    value={"Refresh APS Token"}
-                    onClick={async () =>
-                        APS.isSignedIn() && APS.refreshAuthToken((await APS.getAuth())!.refresh_token, true)
-                    }
-                />
-                <Button
-                    value={"Expire APS Token"}
-                    onClick={() => {
-                        if (APS.isSignedIn()) {
-                            APS.setExpiresAt(Date.now())
-                            APS.getAuthOrLogin()
-                        }
-                    }}
-                />
-                <LabelStyled>Caching Service</LabelStyled>
-                <Button
-                    value={"Print Mira Maps"}
-                    onClick={() => {
-                        console.log(MirabufCachingService.GetCacheMap(MiraType.ROBOT))
-                        console.log(MirabufCachingService.GetCacheMap(MiraType.FIELD))
-                        console.log(hashedMiraRobots)
-                        console.log(hashedMiraFields)
-                    }}
-                />
-                <Button value={"Clear Mira Cache"} onClick={() => MirabufCachingService.RemoveAll()} />
-                <LabelStyled>Code Simulation</LabelStyled>
-                <Button
-                    value={"WS Test"}
-                    onClick={() => {
-                        // worker?.postMessage({ command: 'connect' });
-                        const miraObjs = [...World.SceneRenderer.sceneObjects.entries()].filter(
-                            x => x[1] instanceof MirabufSceneObject
-                        )
-                        console.log(`Number of mirabuf scene objects: ${miraObjs.length}`)
-                        if (miraObjs.length > 0) {
-                            const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism
-                            const simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)
-                            simLayer?.SetBrain(new WPILibBrain(mechanism))
+                <Box display="flex" flexDirection={"column"} gap="0.25rem" width={"80%"} margin={"auto"}>
+                    <LabelStyled>Generic</LabelStyled>
+                    <Button
+                        value={"Toasts"}
+                        onClick={() => {
+                            const type: ToastType = ["info", "warning", "error"][Math.floor(Random() * 3)] as ToastType
+                            MainHUD_AddToast(type, type, "This is a test toast to test the toast system")
+                        }}
+                        className="w-full"
+                    />
+                    <Button
+                        value={"The Poker"}
+                        onClick={() => {
+                            openPanel("poker")
+                        }}
+                        className="w-full"
+                    />
+                    <Button value={"Test God Mode"} onClick={TestGodMode} className="w-full" />
+                    <Button
+                        value={"Clear Prefs"}
+                        onClick={() => PreferencesSystem.clearPreferences()}
+                        className="w-full"
+                    />
+
+                    <LabelStyled>Autodesk Platform Services</LabelStyled>
+                    <Button
+                        value={"Refresh APS Token"}
+                        onClick={async () =>
+                            APS.isSignedIn() && APS.refreshAuthToken((await APS.getAuth())!.refresh_token, true)
                         }
-                    }}
-                />
-                <Button value={"WS Viewer"} onClick={() => openPanel("ws-view")} />
-                <Button value={"RoboRIO"} onClick={() => openModal("roborio")} />
+                        className="w-full"
+                    />
+                    <Button
+                        value={"Expire APS Token"}
+                        onClick={() => {
+                            if (APS.isSignedIn()) {
+                                APS.setExpiresAt(Date.now())
+                                APS.getAuthOrLogin()
+                            }
+                        }}
+                        className="w-full"
+                    />
+
+                    <LabelStyled>Caching Service</LabelStyled>
+                    <Button
+                        value={"Print Mira Maps"}
+                        onClick={() => {
+                            console.log(MirabufCachingService.GetCacheMap(MiraType.ROBOT))
+                            console.log(MirabufCachingService.GetCacheMap(MiraType.FIELD))
+                            console.log(hashedMiraRobots)
+                            console.log(hashedMiraFields)
+                        }}
+                        className="w-full"
+                    />
+                    <Button
+                        value={"Clear Mira Cache"}
+                        onClick={() => MirabufCachingService.RemoveAll()}
+                        className="w-full"
+                    />
+
+                    <LabelStyled>Code Simulation</LabelStyled>
+                    <Button
+                        value={"WS Test"}
+                        onClick={() => {
+                            // worker?.postMessage({ command: 'connect' });
+                            const miraObjs = [...World.SceneRenderer.sceneObjects.entries()].filter(
+                                x => x[1] instanceof MirabufSceneObject
+                            )
+                            console.log(`Number of mirabuf scene objects: ${miraObjs.length}`)
+                            if (miraObjs.length > 0) {
+                                const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism
+                                const simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)
+                                simLayer?.SetBrain(new WPILibBrain(mechanism))
+                            }
+                        }}
+                        className="w-full"
+                    />
+                    <Button value={"WS Viewer"} onClick={() => openPanel("ws-view")} className="w-full" />
+                    <Button value={"RoboRIO"} onClick={() => openModal("roborio")} className="w-full" />
+                </Box>
             </Box>
         </Panel>
     )
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index d2be05336f..fe8627cf23 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -335,7 +335,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
     return (
         <Panel
-            name={"Select Mirabuf"}
+            name={"Spawn Asset"}
             icon={SynthesisIcons.AddLarge}
             panelId={panelId}
             acceptEnabled={false}

From fe1a8a71528b28a3973d370ddd45e4904186a476 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Fri, 9 Aug 2024 14:54:32 -0700
Subject: [PATCH 197/344] Remove unused import

---
 exporter/SynthesisFusionAddin/src/Dependencies.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
index 367677c9e6..3bb7261501 100644
--- a/exporter/SynthesisFusionAddin/src/Dependencies.py
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -1,5 +1,4 @@
 import importlib.machinery
-import importlib.util
 import os
 import subprocess
 import sys

From 63864f52328c0abee5db19a92acbba114117120f Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Fri, 9 Aug 2024 14:55:29 -0700
Subject: [PATCH 198/344] Remove import path for `proto.proto_out`

---
 exporter/SynthesisFusionAddin/Synthesis.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index bd61e28e39..c5befeddde 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -5,7 +5,6 @@
 
 # Required for absolute imports.
 sys.path.append(os.path.dirname(os.path.abspath(__file__)))
-sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "proto", "proto_out")))
 
 from src.Dependencies import resolveDependencies
 from src.Logging import logFailure, setupLogger

From 79cc8c1bc56a7e4731a624a22a3cc4ee22d50142 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Mon, 12 Aug 2024 11:59:36 -0700
Subject: [PATCH 199/344] Tooltips and renaming to be less technical

---
 fission/src/ui/components/Checkbox.tsx        | 28 ++++++++--
 fission/src/ui/components/MainHUD.tsx         | 17 +++----
 fission/src/ui/components/SelectButton.tsx    |  7 ++-
 fission/src/ui/components/Slider.tsx          | 19 +++++--
 .../src/ui/components/StyledComponents.tsx    | 51 ++++++++++++++++++-
 .../src/ui/components/ToggleButtonGroup.tsx   | 17 ++++---
 fission/src/ui/modals/ViewModal.tsx           |  2 +-
 .../ui/modals/configuring/SettingsModal.tsx   | 11 ++--
 fission/src/ui/panels/DebugPanel.tsx          |  2 +-
 .../assembly-config/ConfigurePanel.tsx        |  2 +-
 .../ConfigureGamepiecePickupInterface.tsx     |  2 +-
 .../interfaces/inputs/EditInputInterface.tsx  | 29 +++++++----
 12 files changed, 142 insertions(+), 45 deletions(-)

diff --git a/fission/src/ui/components/Checkbox.tsx b/fission/src/ui/components/Checkbox.tsx
index 9123a0c810..48cbcddf31 100644
--- a/fission/src/ui/components/Checkbox.tsx
+++ b/fission/src/ui/components/Checkbox.tsx
@@ -1,7 +1,8 @@
 import React, { useState } from "react"
-import Stack, { StackDirection } from "./Stack"
 import Label, { LabelSize } from "./Label"
 import { Switch } from "@mui/base/Switch"
+import { Box } from "@mui/material"
+import { LabelWithTooltip } from "./StyledComponents"
 
 type CheckboxProps = {
     label: string
@@ -10,13 +11,30 @@ type CheckboxProps = {
     stateOverride?: boolean
     hideLabel?: boolean
     onClick?: (checked: boolean) => void
+    tooltipText?: string
 }
 
-const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, stateOverride, hideLabel, onClick }) => {
+const Checkbox: React.FC<CheckboxProps> = ({
+    label,
+    className,
+    defaultState,
+    stateOverride,
+    hideLabel,
+    onClick,
+    tooltipText,
+}) => {
     const [state] = useState(defaultState)
     return (
-        <Stack direction={StackDirection.Horizontal} className="items-center">
-            {hideLabel ? null : (
+        <Box
+            display="flex"
+            flexDirection={"row"}
+            justifyContent={"space-between"}
+            alignItems={"center"}
+            textAlign={"center"}
+        >
+            {hideLabel ? null : tooltipText ? (
+                LabelWithTooltip(label, tooltipText)
+            ) : (
                 <Label size={LabelSize.Small} className={`mr-12 ${className} whitespace-nowrap`}>
                     {label}
                 </Label>
@@ -41,7 +59,7 @@ const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, sta
                 }}
                 defaultChecked={stateOverride != null ? undefined : state}
             />
-        </Stack>
+        </Box>
     )
 }
 
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 7080b7c81c..7a6ea1a854 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -8,8 +8,8 @@ import logo from "@/assets/autodesk_logo.png"
 import { ToastType, useToastContext } from "@/ui/ToastContext"
 import APS, { APS_USER_INFO_UPDATE_EVENT } from "@/aps/APS"
 import { UserIcon } from "./UserIcon"
-import { Button } from "@mui/base/Button"
 import { ButtonIcon, SynthesisIcons } from "./StyledComponents"
+import { Button } from "@mui/base"
 
 type ButtonProps = {
     value: string
@@ -65,12 +65,11 @@ const MainHUD: React.FC = () => {
     return (
         <>
             {!isOpen && (
-                <button
+                <ButtonIcon
                     onClick={() => setIsOpen(!isOpen)}
                     className="absolute left-6 top-6 focus:outline-0 focus-visible:outline-0"
-                >
-                    <BiMenuAltLeft size={40} className="text-main-hud-close-icon" />
-                </button>
+                    value={<BiMenuAltLeft size={65} className="text-main-hud-close-icon" />}
+                />
             )}
             <motion.div
                 initial="closed"
@@ -81,7 +80,7 @@ const MainHUD: React.FC = () => {
                 <div className="flex flex-row gap-2 w-60 h-10">
                     <img src={logo} className="w-[80%] h-[100%] object-contain" />
                     <ButtonIcon
-                        value={<FaXmark color="bg-icon" size={20} className="text-main-hud-close-icon" />}
+                        value={<FaXmark color="bg-icon" size={30} className="text-main-hud-close-icon" />}
                         onClick={() => setIsOpen(false)}
                     />
                 </div>
@@ -97,7 +96,7 @@ const MainHUD: React.FC = () => {
                         icon={SynthesisIcons.Gear}
                         onClick={() => openModal("settings")}
                     />
-                    {/* <MainHUDButton
+                    {/*                     <MainHUDButton
                         value={"View"}
                         icon={SynthesisIcons.MagnifyingGlass}
                         onClick={() => openModal("view")}
@@ -108,8 +107,8 @@ const MainHUD: React.FC = () => {
                         onClick={() => openModal("import-local-mirabuf")}
                     />
                     <MainHUDButton
-                        value={"Configure"}
-                        icon={SynthesisIcons.Gear}
+                        value={"Configure Scene Objects"}
+                        icon={SynthesisIcons.Wrench}
                         onClick={() => openPanel("configure")}
                     />
                     <MainHUDButton
diff --git a/fission/src/ui/components/SelectButton.tsx b/fission/src/ui/components/SelectButton.tsx
index 3d7e018669..65e277dbb5 100644
--- a/fission/src/ui/components/SelectButton.tsx
+++ b/fission/src/ui/components/SelectButton.tsx
@@ -1,10 +1,10 @@
 import React, { useCallback, useEffect, useRef, useState } from "react"
 import Button, { ButtonSize } from "./Button"
-import Label, { LabelSize } from "./Label"
 import Stack, { StackDirection } from "./Stack"
 import World from "@/systems/World"
 import { ThreeVector3_JoltVec3 } from "@/util/TypeConversions"
 import Jolt from "@barclah/jolt-physics"
+import { LabelWithTooltip } from "./StyledComponents"
 
 // raycasting constants
 const RAY_MAX_LENGTH = 20.0
@@ -70,7 +70,10 @@ const SelectButton: React.FC<SelectButtonProps> = ({ colorClass, size, value, pl
 
     return (
         <Stack direction={StackDirection.Vertical}>
-            <Label size={LabelSize.Small}>{"Select parent node"}</Label>
+            {LabelWithTooltip(
+                "Select parent node",
+                "Select the parent node for this object to follow. Click the button below, then click a part of the robot or field."
+            )}
             <Button
                 value={selecting ? "..." : value || placeholder || "Click to select"}
                 colorOverrideClass={selecting ? "bg-background-secondary" : colorClass}
diff --git a/fission/src/ui/components/Slider.tsx b/fission/src/ui/components/Slider.tsx
index a15ab0a3c4..aa9de6d6d6 100644
--- a/fission/src/ui/components/Slider.tsx
+++ b/fission/src/ui/components/Slider.tsx
@@ -2,6 +2,7 @@ import React from "react"
 import { Slider as BaseSlider } from "@mui/base/Slider"
 import { Mark } from "@mui/base/useSlider"
 import Label, { LabelSize } from "./Label"
+import { LabelWithTooltip } from "./StyledComponents"
 
 type CustomFormatOptions = {
     prefix?: string
@@ -9,7 +10,7 @@ type CustomFormatOptions = {
 }
 
 type SliderProps = {
-    label?: string
+    label: string
     min: number
     max: number
     value: number
@@ -18,9 +19,21 @@ type SliderProps = {
     step?: number
     locale?: string
     format?: Intl.NumberFormatOptions & CustomFormatOptions
+    tooltipText?: string
 }
 
-const Slider: React.FC<SliderProps> = ({ label, min, max, value, onChange, step, marks, locale, format }) => {
+const Slider: React.FC<SliderProps> = ({
+    label,
+    min,
+    max,
+    value,
+    onChange,
+    step,
+    marks,
+    locale,
+    format,
+    tooltipText,
+}) => {
     locale ||= "en-us"
     format ||= {
         maximumFractionDigits: (1.0 / (step == 0 ? 1 : step ?? 1)).toString().length - 1,
@@ -33,7 +46,7 @@ const Slider: React.FC<SliderProps> = ({ label, min, max, value, onChange, step,
     return (
         <>
             <div className="flex flex-row justify-between w-full">
-                <Label size={LabelSize.Small}>{label}</Label>
+                {tooltipText ? LabelWithTooltip(label, tooltipText) : <Label size={LabelSize.Small}>{label}</Label>}
                 <Label size={LabelSize.Small}>
                     {format.prefix + value.toLocaleString(locale, format) + format.suffix}
                 </Label>
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index 9bccc83a54..195ff48d3b 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -1,5 +1,5 @@
-import { Box, Divider, styled } from "@mui/material"
-import Label from "./Label"
+import { Box, Divider, styled, IconButton, Tooltip } from "@mui/material"
+import Label, { LabelSize } from "./Label"
 import Button, { ButtonProps, ButtonSize } from "./Button"
 import { IoCheckmark, IoPencil, IoPeople, IoTrashBin } from "react-icons/io5"
 import { HiDownload } from "react-icons/hi"
@@ -10,6 +10,7 @@ import { BsCodeSquare } from "react-icons/bs"
 import { GiSteeringWheel } from "react-icons/gi"
 import { AiOutlineDoubleRight } from "react-icons/ai"
 import { GrConnect } from "react-icons/gr"
+import InfoIcon from "@mui/icons-material/Info"
 
 import {
     FaGear,
@@ -133,3 +134,49 @@ export const RefreshButton = (onClick: () => void) => {
 export const AddButtonInteractiveColor = (onClick: () => void) => {
     return <Button value={SynthesisIcons.AddLarge} onClick={onClick} />
 }
+
+export const CustomTooltip = (text: string) => {
+    return (
+        <Tooltip title={text}>
+            <IconButton
+                size="small"
+                disableRipple
+                sx={{
+                    "color": "#ffffff77",
+                    "&:hover": {
+                        borderStyle: "solid",
+                        borderColor: "grey",
+                        backgroundColor: "transparent",
+                    },
+                    "position": "relative",
+                    "overflow": "hidden",
+                    "& .MuiTouchRipple-root span": {
+                        backgroundColor: "#ffffffaa",
+                        animationDuration: "300ms",
+                    },
+                    "&:focus": {
+                        borderColor: "grey",
+                        backgroundColor: "transparent",
+                        outline: "none",
+                    },
+                    "&:selected": {
+                        outline: "none",
+                        backgroundColor: "transparent",
+                        borderColor: "none",
+                    },
+                }}
+            >
+                <InfoIcon fontSize="small" />
+            </IconButton>
+        </Tooltip>
+    )
+}
+
+export const LabelWithTooltip = (labelText: string, tooltipText: string, size?: LabelSize) => {
+    return (
+        <Box display={"flex"} flexDirection={"row"} alignItems={"center"} textAlign={"center"}>
+            <Label size={size ?? LabelSize.Small}>{labelText}</Label>
+            {CustomTooltip(tooltipText)}
+        </Box>
+    )
+}
diff --git a/fission/src/ui/components/ToggleButtonGroup.tsx b/fission/src/ui/components/ToggleButtonGroup.tsx
index 90ffb28f7f..a87d1bdf83 100644
--- a/fission/src/ui/components/ToggleButtonGroup.tsx
+++ b/fission/src/ui/components/ToggleButtonGroup.tsx
@@ -6,14 +6,17 @@ export const ToggleButton = styled(ToggleButtonMUI)({
     "borderColor": "transparent",
     "fontFamily": "Artifakt",
     "fontWeight": 700,
-    "color": "white",
-    "transition": "transform 0.2s ease",
-    "transform": "scale(1)",
+    "color": colorNameToVar("MainText"),
+    /*     "transition": "transform 0.2s ease",
+    "transform": "scale(1)", */
     "&.Mui-selected": {
-        color: "white",
+        color: colorNameToVar("MainText"),
         backgroundImage: `linear-gradient(to right, ${colorNameToVar("InteractiveElementLeft")}, ${colorNameToVar("InteractiveElementRight")})`,
         borderColor: "transparent",
     },
+    ".MuiTouchRipple-ripple": {
+        color: "#ffffff30",
+    },
     "&:focus": {
         borderColor: "transparent !important",
         outline: "none",
@@ -25,7 +28,9 @@ export const ToggleButton = styled(ToggleButtonMUI)({
     "&:hover": {
         outline: "none",
         borderColor: "transparent",
-        transform: "scale(1.03)",
+        backgroundColor: "#ffffff20",
+
+        // transform: "scale(1.03)",
     },
     "&:focus-visible": {
         outline: "none",
@@ -34,7 +39,7 @@ export const ToggleButton = styled(ToggleButtonMUI)({
     "&:active": {
         outline: "none",
         borderColor: "transparent",
-        transform: "scale(1.06)",
+        // transform: "scale(1.06)",
     },
     "&::-moz-focus-inner": {
         outline: "none",
diff --git a/fission/src/ui/modals/ViewModal.tsx b/fission/src/ui/modals/ViewModal.tsx
index 4a68dc8299..e9d9ff42c5 100644
--- a/fission/src/ui/modals/ViewModal.tsx
+++ b/fission/src/ui/modals/ViewModal.tsx
@@ -41,7 +41,7 @@ const ViewModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 onSelect={val => {
                     setView(val as ViewType)
                 }}
-                label={"View"}
+                label={"Camera View"}
             />
         </Modal>
     )
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index 3aa7751331..223242cff4 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -94,6 +94,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                     label={"Pitch Sensitivity"}
                     format={{ maximumFractionDigits: 2 }}
                     onChange={(_, value) => setPitchSensitivity(value as number)}
+                    tooltipText="Moving the camera up and down."
                 />
                 {Spacer(2)}
                 <Slider
@@ -103,6 +104,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                     label={"Yaw Sensitivity"}
                     format={{ maximumFractionDigits: 2 }}
                     onChange={(_, value) => setYawSensitivity(value as number)}
+                    tooltipText="Moving the camera left and right."
                 />
                 {Spacer(20)}
                 <Label size={LabelSize.Medium}>Preferences</Label>
@@ -113,6 +115,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         onClick={checked => {
                             setReportAnalytics(checked)
                         }}
+                        tooltipText="Record user data such as what robots are spawned and how they are configured. No personal data will be collected."
                     />
                     <Checkbox
                         label="Use Metric"
@@ -122,23 +125,25 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         }}
                     />
                     <Checkbox
-                        label="Render Score Zones"
+                        label="Show Scoring Zones"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderScoringZones")}
                         onClick={checked => {
                             setRenderScoringZones(checked)
                         }}
+                        tooltipText="If disabled, scoring zones will not be visible but will continue to function the same."
                     />
                     <Checkbox
-                        label="Render Scene Tags"
+                        label="Show Scene Tags"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderSceneTags")}
                         onClick={checked => {
                             setRenderSceneTags(checked)
                             if (!checked) new SceneOverlayEvent(SceneOverlayEventKey.DISABLE)
                             else new SceneOverlayEvent(SceneOverlayEventKey.ENABLE)
                         }}
+                        tooltipText="Name tags above robot."
                     />
                     <Checkbox
-                        label="Render Scoreboard"
+                        label="Show Scoreboard"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderScoreboard")}
                         onClick={checked => {
                             setRenderScoreboard(checked)
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index 118d144783..f0774010f8 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -19,7 +19,7 @@ import JOLT from "@/util/loading/JoltSyncLoader"
 import Jolt from "@barclah/jolt-physics"
 import Label from "../components/Label"
 import { colorNameToVar } from "../ThemeContext"
-import { SectionDivider, Spacer, SynthesisIcons } from "../components/StyledComponents"
+import { SynthesisIcons } from "../components/StyledComponents"
 import { useModalControlContext } from "../ModalContext"
 
 const LabelStyled = styled(Label)({
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index 245ad48311..3945f61d2f 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -225,7 +225,7 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     return (
         <Panel
             name={"Configure Objects"}
-            icon={SynthesisIcons.Gear}
+            icon={SynthesisIcons.Wrench}
             panelId={panelId}
             cancelEnabled={false}
             openLocation="right"
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
index 4981082dfe..0e7dea833e 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
@@ -202,7 +202,7 @@ const ConfigureGamepiecePickupInterface: React.FC<ConfigPickupProps> = ({ select
                 min={MIN_ZONE_SIZE}
                 max={MAX_ZONE_SIZE}
                 value={zoneSize}
-                label="Size"
+                label="Zone Size"
                 format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
                 onChange={(_, vel: number | number[]) => {
                     setZoneSize(vel as number)
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx
index d351551a86..33ef12b7ab 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx
@@ -112,20 +112,23 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
                     gap="10px"
                     alignItems={"center"}
                     justifyContent={"space-between"}
+                    width={"98%"}
                 >
                     <Label>{toTitleCase(input.inputName)}</Label>
 
-                    <Button
-                        key={input.inputName}
-                        value={
-                            input.inputName == selectedInput
-                                ? "Press anything"
-                                : transformKeyName(input.keyCode, input.keyModifiers)
-                        }
-                        onClick={() => {
-                            setSelectedInput(input.inputName)
-                        }}
-                    />
+                    <Box>
+                        <Button
+                            key={input.inputName}
+                            value={
+                                input.inputName == selectedInput
+                                    ? "Press anything"
+                                    : transformKeyName(input.keyCode, input.keyModifiers)
+                            }
+                            onClick={() => {
+                                setSelectedInput(input.inputName)
+                            }}
+                        />
+                    </Box>
                 </Box>
                 {Spacer(8, 0)}
                 <SectionDivider />
@@ -145,6 +148,7 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
                     gap="10px"
                     alignItems={"center"}
                     justifyContent={"space-between"}
+                    width={"98%"}
                 >
                     <Label>{toTitleCase(input.inputName)}</Label>
 
@@ -195,6 +199,7 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
                     gap="10px"
                     alignItems={"center"}
                     justifyContent={"space-between"}
+                    width={"98%"}
                 >
                     <Label>{toTitleCase(input.inputName)}</Label>
                     <Button
@@ -229,6 +234,7 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
                     gap="10px"
                     alignItems={"center"}
                     justifyContent={"space-between"}
+                    width={"98%"}
                 >
                     <Label>{toTitleCase(input.inputName)}</Label>
                     <Dropdown
@@ -257,6 +263,7 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
                     gap="10px"
                     alignItems={"center"}
                     justifyContent={"space-between"}
+                    width={"98%"}
                 >
                     <Label>{toTitleCase(input.inputName)}</Label>
 

From dbaca757dbe6b29f3489f7b3a3328c4a2238a794 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Mon, 12 Aug 2024 12:50:13 -0700
Subject: [PATCH 200/344] Added a "It works on my machine fix"

---
 exporter/SynthesisFusionAddin/src/Proto/__init__.py | 4 ++++
 1 file changed, 4 insertions(+)
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/__init__.py

diff --git a/exporter/SynthesisFusionAddin/src/Proto/__init__.py b/exporter/SynthesisFusionAddin/src/Proto/__init__.py
new file mode 100644
index 0000000000..96a36c3a66
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/__init__.py
@@ -0,0 +1,4 @@
+import sys
+import os
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))

From faae7872dd028ffd4bedde42d762c2792737b0d5 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Mon, 12 Aug 2024 12:53:42 -0700
Subject: [PATCH 201/344] Update `README.md` + formatting fix

---
 exporter/SynthesisFusionAddin/README.md         | 17 ++++++++---------
 .../SynthesisFusionAddin/src/Proto/__init__.py  |  2 +-
 2 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/README.md b/exporter/SynthesisFusionAddin/README.md
index 4fc4933373..1e61d0735c 100644
--- a/exporter/SynthesisFusionAddin/README.md
+++ b/exporter/SynthesisFusionAddin/README.md
@@ -33,15 +33,14 @@ We use `VSCode` Primarily, download it to interact with our code or use your own
 
 ### How to Build + Run
 
-1. See root [`README`](/README.md) on how to run `init` script
-2. Open `Autodesk Fusion`
-3. Select `UTILITIES` from the top bar
-4. Click `ADD-INS` Button
-5. Click `Add-Ins` tab at the top of Scripts and Add-Ins dialog
-6. Press + Button under **My Add-Ins**
-7. Navigate to the containing folder for this Addin and click open at bottom - _clone-directory_/synthesis/exporters/SynthesisFusionAddin
-8. Synthesis should be an option - select it and click run at the bottom of the dialog
-9. There should now be a button that says Synthesis in your utilities menu
+1. Open `Autodesk Fusion`
+2. Select `UTILITIES` from the top bar
+3. Click `ADD-INS` Button
+4. Click `Add-Ins` tab at the top of Scripts and Add-Ins dialog
+5. Press + Button under **My Add-Ins**
+6. Navigate to the containing folder for this Addin and click open at bottom - _clone-directory_/synthesis/exporters/SynthesisFusionAddin
+7. Synthesis should be an option - select it and click run at the bottom of the dialog
+8. There should now be a button that says Synthesis in your utilities menu
    - If there is no button there may be a problem - see below for [checking log file](#debug-non-start)
 
 ---
diff --git a/exporter/SynthesisFusionAddin/src/Proto/__init__.py b/exporter/SynthesisFusionAddin/src/Proto/__init__.py
index 96a36c3a66..087dab646e 100644
--- a/exporter/SynthesisFusionAddin/src/Proto/__init__.py
+++ b/exporter/SynthesisFusionAddin/src/Proto/__init__.py
@@ -1,4 +1,4 @@
-import sys
 import os
+import sys
 
 sys.path.append(os.path.dirname(os.path.abspath(__file__)))

From 9790a543705737f71a6598e25e838dc87a7b1b49 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Mon, 12 Aug 2024 12:57:56 -0700
Subject: [PATCH 202/344] initial revisions to readme

---
 simulation/SyntheSimJava/README.md | 59 +++++++++++++++++-------------
 1 file changed, 34 insertions(+), 25 deletions(-)

diff --git a/simulation/SyntheSimJava/README.md b/simulation/SyntheSimJava/README.md
index 3e10a613a3..1c525fd6e8 100644
--- a/simulation/SyntheSimJava/README.md
+++ b/simulation/SyntheSimJava/README.md
@@ -4,18 +4,21 @@ This is the SyntheSim Java utility library. FRC users can add this to their proj
 
 ## Current 3rd-Party Support
 
-This is a list of the following 3rd-Party libraries that SyntheSim - Java improves, as well as the level of capability currently offered.
+A list of the 3rd-Party libraries SyntheSimJava supports, including the features currently offered.
 
 ### REVRobotics
-- [ ] CANSparkMax
+
+- [x] CANSparkMax
   - [x] Basic motor control
   - [x] Basic internal encoder data
-  - [ ] Motor following
-  - [ ] Full encoder support
+  - [x] Motor following
+  - [x] Full encoder support
+
+### CTRE Phoenix v6
 
-### CTRE Phoenix
-- [ ] TalonFX
-  - [ ] Basic motor control
+- [x] TalonFX
+  - [x] Basic motor control
+  - [x] Full configuration support (via a [TalonFXConfigurator](src/main/com/autodesk/synthesis/ctre/TalonFXConfigurator.java) wrapper)
   - [ ] Basic internal encoder data
   - [ ] Motor following
   - [ ] Full encoder support
@@ -27,15 +30,18 @@ To build the project, run the `build` task:
 <details>
   <summary>Example</summary>
 
-  Windows:
-  ```sh
-  $ gradlew.bat build
-  ```
+Windows:
+
+```sh
+gradlew.bat build
+```
+
+MacOS/Linux:
+
+```sh
+./gradlew build
+```
 
-  MacOS/Linux:
-  ```sh
-  $ ./gradlew build
-  ```
 </details>
 
 ## Usage
@@ -49,20 +55,23 @@ To publish the project locally, run the `publishToMavenLocal` task:
 <details>
   <summary>Example</summary>
 
-  Windows:
-  ```sh
-  $ gradlew.bat publishToMavenLocal
-  ```
+Windows:
+
+```sh
+gradlew.bat publishToMavenLocal
+```
+
+MacOS/Linux:
+
+```sh
+./gradlew publishToMavenLocal
+```
 
-  MacOS/Linux:
-  ```sh
-  $ ./gradlew publishToMavenLocal
-  ```
 </details>
 
 ### Adding to project locally
 
-In order to add the project locally, you must include the the `mavenLocal()` repository to your projects:
+In order to add the project locally, you must include the `mavenLocal()` repository to your projects:
 
 ```groovy
 repositories {
@@ -83,4 +92,4 @@ dependencies {
 
 ### Swapping Imports
 
-SyntheSimJava creates alternative classes that wrap the original ones. Everything that we intercept is passed on to the original class, making it so these classes can (although not recommended) be used when running your robot code on original hardware. Be sure to switch over any and all CAN devices that this project supports in order to effectively simulate your code inside of Synthesis, or with any HALSim, WebSocket supported simulation/device.
\ No newline at end of file
+SyntheSimJava creates alternative classes that wrap the original ones. Everything that we intercept is passed on to the original class, making it so these classes can (although not recommended) be used when running your robot code on original hardware. Be sure to switch over any and all CAN devices that this project supports in order to effectively simulate your code inside of Synthesis, or with any HALSim, WebSocket supported simulation/device.

From df15877e699f156912e6307241addb51cbe7754a Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Mon, 12 Aug 2024 13:36:20 -0700
Subject: [PATCH 203/344] talonfx encoder support

---
 .../com/autodesk/synthesis/ctre/TalonFX.java  | 25 ++++++++++++++++---
 1 file changed, 22 insertions(+), 3 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
index 4a242a97e3..5e671b86cd 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
@@ -1,12 +1,15 @@
 package com.autodesk.synthesis.ctre;
 
+import com.autodesk.synthesis.CANEncoder;
 import com.autodesk.synthesis.CANMotor;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.TalonFXConfigurator;
 import com.ctre.phoenix6.hardware.DeviceIdentifier;
 
 public class TalonFX extends com.ctre.phoenix6.hardware.TalonFX {
     private CANMotor m_motor;
+    private CANEncoder m_encoder;
 
     /**
      * Creates a new TalonFX, wrapped with simulation support.
@@ -19,10 +22,11 @@ public TalonFX(int deviceNumber) {
         this.m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3);
     }
 
+    /// I think we're getting percentOutput and speed mixed up
     @Override
-    public void set(double speed) {
-        super.set(speed);
-        this.m_motor.setPercentOutput(speed);
+    public void set(double percentOutput) {
+        super.set(percentOutput);
+        this.m_motor.setPercentOutput(percentOutput);
     }
 
     @Override
@@ -42,4 +46,19 @@ public TalonFXConfigurator getConfigurator() {
     public void setNeutralDeadband(double deadband) {
         this.m_motor.setNeutralDeadband(deadband);
     }
+
+    @Override
+    public StatusSignal<Double> getPosition() {
+        Double pos = this.m_encoder.getPosition();
+        super.setPosition(pos);
+        return super.getPosition();
+    }
+
+    /// I think this is a pointless method
+    @Override
+    public StatusSignal<Double> getVelocity() {
+        Double velocity = this.m_encoder.getVelocity();
+        super.set(velocity);
+        return super.getVelocity();
+    }
 }

From 3e6de62d53cfeac3b9b493f495e045e71f2708cc Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Mon, 12 Aug 2024 15:50:49 -0600
Subject: [PATCH 204/344] Added init command and updated fission readme to
 include more details

---
 fission/README.md    | 113 ++++++++++++++++++++++++++++++-------------
 fission/package.json |   5 ++
 2 files changed, 85 insertions(+), 33 deletions(-)

diff --git a/fission/README.md b/fission/README.md
index fc4098ecce..8080f33a27 100644
--- a/fission/README.md
+++ b/fission/README.md
@@ -1,14 +1,32 @@
-# Fission: Synthesis' web-based robot simulator
+# Fission
 
-## Gettings Started
+Fission is Synthesis' web-based robotics simulator. This app is hosted [on our website](https://synthesis.github.com/fission/), in addition to a closed, in-development version [here](https://synthesis.autodesk.com/beta/).
+
+## Setup & Building
 
 ### Requirements
 
 1. NPM (v10.2.4 recommended)
+   - Yarn, Bun, or any other package managers work just as well.
 2. NodeJS (v20.10.0 recommended)
-3. TypeScript (v4.8.4 recommended) _Unknown if this is actually required_
+   - Needed for running the development server.
+
+### Setup
+
+You can either run the `init` command or run the following commands details in "Specific Steps":
+
+```bash
+npm i && npm init
+```
 
-### Assets
+<details>
+<summary>Specific Steps</summary>
+
+To install all dependencies:
+
+```bash
+npm i
+```
 
 For the asset pack that will be available in production, download the asset pack [here](https://synthesis.autodesk.com/Downloadables/assetpack.zip) and unzip it.
 Make sure that the Downloadables directory is placed inside of the public directory like so:
@@ -19,50 +37,63 @@ Make sure that the Downloadables directory is placed inside of the public direct
 
 This can be accomplished with the `assetpack` npm script:
 
-```
+```bash
 npm run assetpack
 ```
 
-### Building
-
-To build, install all dependencies:
+We use [Playwright](https://playwright.dev/) for testing consistency. The package is installed with the rest of the dependencies; however, be sure to install the playwright browsers with the following command:
 
 ```bash
-npm i
+npx playwright install
+```
+or
+```bash
+npm run playwright:install
 ```
 
-### NPM Scripts
-
-| Script         | Description                                                                                                             |
-| -------------- | ----------------------------------------------------------------------------------------------------------------------- |
-| `dev`          | Starts the development server used for testing. Supports hotloading (though finicky with WASM module loading).          |
-| `test`         | Runs the unit tests via vitest.                                                                                         |
-| `build`        | Builds the project into it's packaged form. Uses root base path.                                                        |
-| `build:prod`   | Builds the project into it's packaged form. Uses the `/fission/` base path.                                             |
-| `preview`      | Runs the built project for preview locally before deploying.                                                            |
-| `lint`         | Runs eslint on the project.                                                                                             |
-| `lint:fix`     | Attempts to fix issues found with eslint.                                                                               |
-| `prettier`     | Runs prettier on the project as a check.                                                                                |
-| `prettier:fix` | Runs prettier on the project to fix any issues with formating. **DO NOT USE**, I don't like the current format it uses. |
-| `format`       | Runs `prettier:fix` and `lint:fix`. **Do not use** for the same reasons as `prettier:fix`.                              |
-| `assetpack`    | Downloads the assetpack and unzips/installs it in the correct location.                                                 |
-| `playwright:install` | Downloads the playwright browsers. |
+</details>
 
-### Unit Testing
+### Environment Configuration
 
-We use [Playwright](https://playwright.dev/) for testing consistency. The package is installed with the rest of the dependencies; however, be sure to install the playwright browsers with the following command:
+In `vite.config.ts` you'll find a number of constants that can be used to tune the project to match your development environment.
+
+## Running & Testing
+
+### Development Server
 
+You can use the `dev` command to run the development server. This will open a server on port 3000 and open your default browser at the hosted endpoint.
+
+```bash
+npm run dev
 ```
-npx playwright install
+
+### Unit Testing
+
+We use a combination of Vitest and Playwright for running our unit tests. A number of the unit tests rely on the asset pack data and may timeout due to download speeds. By default, the unit test command uses a chromium browser.
+
+```bash
+npm run test
 ```
-or
+
+## Packaging
+
+We have two commands, one for compiling dev for attachment to the in-development endpoint, and another for the release endpoint:
+
+Release:
+```bash
+npm run build:prod
 ```
-npm run playwright:install
+
+In-development:
+```bash
+npm run build:dev
 ```
 
-### Autodesk Platform Services
+You can alternatively run the default build command for your own hosting:
 
-To test/enable the use of Autodesk Platform Services (APS), please follow instructions for development web server (Closed Source).
+```bash
+npm run build
+```
 
 ## Core Systems
 
@@ -109,4 +140,20 @@ Brains are the controllers of the mechanisms. They use a combination of Drivers
 
 For basic user control of the mechanisms, we'll have a Synthesis Brain. By the end of Summer 2024, I hope to have an additional brain, the WPIBrain for facilitating WPILib code control over the mechanisms inside of Synthesis.
 
-### Mode System
+## NPM Scripts
+
+| Script               | Description                                                                                                             |
+| -------------------- | ----------------------------------------------------------------------------------------------------------------------- |
+| `init`               | Runs the initialization commands to install all dependencies, assets, and unit testing browsers.                        |
+| `dev`                | Starts the development server used for testing. Supports hotloading (though finicky with WASM module loading).          |
+| `test`               | Runs the unit tests via vitest.                                                                                         |
+| `build`              | Builds the project into it's packaged form. Uses root base path.                                                        |
+| `build:prod`         | Builds the project into it's packaged form. Uses the `/fission/` base path.                                             |
+| `preview`            | Runs the built project for preview locally before deploying.                                                            |
+| `lint`               | Runs eslint on the project.                                                                                             |
+| `lint:fix`           | Attempts to fix issues found with eslint.                                                                               |
+| `prettier`           | Runs prettier on the project as a check.                                                                                |
+| `prettier:fix`       | Runs prettier on the project to fix any issues with formating. **DO NOT USE**, I don't like the current format it uses. |
+| `format`             | Runs `prettier:fix` and `lint:fix`. **Do not use** for the same reasons as `prettier:fix`.                              |
+| `assetpack`          | Downloads the assetpack and unzips/installs it in the correct location.                                                 |
+| `playwright:install` | Downloads the playwright browsers.                                                                                      |
\ No newline at end of file
diff --git a/fission/package.json b/fission/package.json
index 6e1ae08b2b..0426cee925 100644
--- a/fission/package.json
+++ b/fission/package.json
@@ -4,6 +4,7 @@
   "version": "0.0.1",
   "type": "module",
   "scripts": {
+    "init": "(bun run assetpack && bun run playwright:install) || (npm run assetpack && npm run playwright:install)",
     "dev": "vite --open",
     "build": "tsc && vite build",
     "build:prod": "tsc && vite build --base=/fission/ --outDir dist/prod",
@@ -74,5 +75,9 @@
     "vite-plugin-glsl": "^1.3.0",
     "vite-plugin-singlefile": "^0.13.5",
     "vitest": "^1.5.3"
+  },
+  "license": "Apache-2.0",
+  "repository": {
+    "url": "https://github.com/Autodesk/synthesis.git"
   }
 }

From cfbb4725c42e5e4bb62ea6a50ebc3c2fbb970e61 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Mon, 12 Aug 2024 15:56:32 -0600
Subject: [PATCH 205/344] Removed warnings for format fix commands

---
 fission/README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/fission/README.md b/fission/README.md
index 8080f33a27..4863d83f55 100644
--- a/fission/README.md
+++ b/fission/README.md
@@ -153,7 +153,7 @@ For basic user control of the mechanisms, we'll have a Synthesis Brain. By the e
 | `lint`               | Runs eslint on the project.                                                                                             |
 | `lint:fix`           | Attempts to fix issues found with eslint.                                                                               |
 | `prettier`           | Runs prettier on the project as a check.                                                                                |
-| `prettier:fix`       | Runs prettier on the project to fix any issues with formating. **DO NOT USE**, I don't like the current format it uses. |
-| `format`             | Runs `prettier:fix` and `lint:fix`. **Do not use** for the same reasons as `prettier:fix`.                              |
+| `prettier:fix`       | Runs prettier on the project to fix any issues with formating.                                                          |
+| `format`             | Runs `prettier:fix` and `lint:fix`.                                                                                     |
 | `assetpack`          | Downloads the assetpack and unzips/installs it in the correct location.                                                 |
 | `playwright:install` | Downloads the playwright browsers.                                                                                      |
\ No newline at end of file

From d6af69542b904d7e7448e966bd1e7b44e4a8a151 Mon Sep 17 00:00:00 2001
From: LucaHaverty <93229887+LucaHaverty@users.noreply.github.com>
Date: Mon, 12 Aug 2024 16:31:46 -0700
Subject: [PATCH 206/344] Added a description of the input system

---
 fission/README.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/fission/README.md b/fission/README.md
index 4863d83f55..b74012c658 100644
--- a/fission/README.md
+++ b/fission/README.md
@@ -116,6 +116,8 @@ This Physics System is our interface with Jolt, ensuring objects are properly ha
 
 ### Input System
 
+The input system listens for and records key presses and joystick positions to be used by robots. It also maps robot behaviors (such as an arcade drivetrain or an arm) to specific keys through customizable input schemes.
+
 ### UI System
 
 ## Additional Systems
@@ -156,4 +158,4 @@ For basic user control of the mechanisms, we'll have a Synthesis Brain. By the e
 | `prettier:fix`       | Runs prettier on the project to fix any issues with formating.                                                          |
 | `format`             | Runs `prettier:fix` and `lint:fix`.                                                                                     |
 | `assetpack`          | Downloads the assetpack and unzips/installs it in the correct location.                                                 |
-| `playwright:install` | Downloads the playwright browsers.                                                                                      |
\ No newline at end of file
+| `playwright:install` | Downloads the playwright browsers.                                                                                      |

From a89a0fa0597fab27967676f3751dca972b214a8f Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Mon, 12 Aug 2024 17:11:20 -0700
Subject: [PATCH 207/344] wrote exception to API swap in readme

---
 simulation/SyntheSimJava/README.md | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/simulation/SyntheSimJava/README.md b/simulation/SyntheSimJava/README.md
index 1c525fd6e8..fff3e72efd 100644
--- a/simulation/SyntheSimJava/README.md
+++ b/simulation/SyntheSimJava/README.md
@@ -19,9 +19,9 @@ A list of the 3rd-Party libraries SyntheSimJava supports, including the features
 - [x] TalonFX
   - [x] Basic motor control
   - [x] Full configuration support (via a [TalonFXConfigurator](src/main/com/autodesk/synthesis/ctre/TalonFXConfigurator.java) wrapper)
-  - [ ] Basic internal encoder data
-  - [ ] Motor following
-  - [ ] Full encoder support
+  - [x] Basic internal encoder data
+  - [x] Motor following
+  - [x] Full encoder support
 
 ## Building
 
@@ -93,3 +93,5 @@ dependencies {
 ### Swapping Imports
 
 SyntheSimJava creates alternative classes that wrap the original ones. Everything that we intercept is passed on to the original class, making it so these classes can (although not recommended) be used when running your robot code on original hardware. Be sure to switch over any and all CAN devices that this project supports in order to effectively simulate your code inside of Synthesis, or with any HALSim, WebSocket supported simulation/device.
+
+The one exception to this is the `CANSparkMax.getAbsoluteEncoder()` method, which you must substitute for the `CANSparkMax.getAbsoluteEncoderSim()` method, because we were unable to override the original, because we are unable to wrap the return type `SparkAbsoluteEncoder`, because it's constructor is private. We instead created a class that implements all the same interfaces and has all the same methods, and thus works exactly the same, except it isn't an explicit subclass of `SparkAbsoluteEncoder`. The only difference to the API is the method name, everything else operates identically.

From 1df1fc1c0e05be5394b65d562e0ce8f128176761 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Mon, 12 Aug 2024 18:06:34 -0700
Subject: [PATCH 208/344] Added lots of typing

---
 exporter/SynthesisFusionAddin/Synthesis.py    |   5 +-
 exporter/SynthesisFusionAddin/mypy.ini        |  16 ++
 exporter/SynthesisFusionAddin/proto/build.bat |   2 +-
 exporter/SynthesisFusionAddin/proto/build.sh  |   2 +-
 exporter/SynthesisFusionAddin/src/APS/APS.py  |  45 +++--
 .../SynthesisFusionAddin/src/Dependencies.py  |  14 +-
 .../SynthesisFusionAddin/src/GlobalManager.py |  81 ++++-----
 exporter/SynthesisFusionAddin/src/Logging.py  |  21 +--
 .../src/Parser/ExporterOptions.py             |  10 +-
 .../src/Parser/SynthesisParser/Components.py  |  16 +-
 .../Parser/SynthesisParser/JointHierarchy.py  | 166 ++++++++++--------
 .../src/Parser/SynthesisParser/Joints.py      |  71 ++++----
 .../src/Parser/SynthesisParser/Materials.py   |  56 +++---
 .../src/Parser/SynthesisParser/PDMessage.py   |  20 +--
 .../src/Parser/SynthesisParser/Parser.py      |  16 +-
 .../SynthesisParser/PhysicalProperties.py     |   4 +-
 .../src/Parser/SynthesisParser/RigidGroup.py  |   5 +-
 .../src/Parser/SynthesisParser/Utilities.py   |  39 ++--
 exporter/SynthesisFusionAddin/src/Types.py    |  66 ++++---
 .../SynthesisFusionAddin/src/UI/Camera.py     |  10 +-
 .../src/UI/ConfigCommand.py                   |  70 ++++----
 .../src/UI/Configuration/SerialCommand.py     |  12 +-
 .../src/UI/CustomGraphics.py                  |   2 +-
 .../SynthesisFusionAddin/src/UI/Events.py     |  14 +-
 .../src/UI/FileDialogConfig.py                |  11 +-
 .../src/UI/GamepieceConfigTab.py              |  42 ++---
 .../src/UI/GeneralConfigTab.py                |  41 ++---
 exporter/SynthesisFusionAddin/src/UI/HUI.py   |  33 ++--
 .../SynthesisFusionAddin/src/UI/Handlers.py   |  14 +-
 .../SynthesisFusionAddin/src/UI/Helper.py     |  48 +++--
 .../src/UI/JointConfigTab.py                  |  27 ++-
 .../src/UI/MarkingMenu.py                     |  42 ++---
 .../SynthesisFusionAddin/src/UI/OsHelper.py   |   8 +-
 .../src/UI/ShowAPSAuthCommand.py              |  34 +---
 .../src/UI/ShowWebsiteCommand.py              |  33 ++--
 .../SynthesisFusionAddin/src/UI/Toolbar.py    |  26 ++-
 36 files changed, 559 insertions(+), 563 deletions(-)
 create mode 100644 exporter/SynthesisFusionAddin/mypy.ini

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 06ead88431..180fae3b5f 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -1,5 +1,6 @@
 import os
 import sys
+from typing import Any
 
 import adsk.core
 
@@ -36,7 +37,7 @@
 
 
 @logFailure
-def run(_):
+def run(_context: dict[str, Any]) -> None:
     """## Entry point to application from Fusion.
 
     Arguments:
@@ -56,7 +57,7 @@ def run(_):
 
 
 @logFailure
-def stop(_):
+def stop(_context: dict[str, Any]) -> None:
     """## Fusion exit point - deconstructs buttons and handlers
 
     Arguments:
diff --git a/exporter/SynthesisFusionAddin/mypy.ini b/exporter/SynthesisFusionAddin/mypy.ini
new file mode 100644
index 0000000000..2023fd7d9b
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/mypy.ini
@@ -0,0 +1,16 @@
+[mypy]
+files = Synthesis.py, src
+warn_unused_configs = True
+check_untyped_defs = True
+warn_unreachable = True
+warn_redundant_casts = True
+warn_unused_ignores = True
+warn_no_return = True
+warn_return_any = True
+strict_concatenate = True
+strict_equality = True
+strict = True
+ignore_missing_imports = True
+follow_imports = skip
+disallow_subclassing_any = False
+disable_error_code = no-untyped-call
diff --git a/exporter/SynthesisFusionAddin/proto/build.bat b/exporter/SynthesisFusionAddin/proto/build.bat
index 08b776b634..2d44d07102 100644
--- a/exporter/SynthesisFusionAddin/proto/build.bat
+++ b/exporter/SynthesisFusionAddin/proto/build.bat
@@ -2,5 +2,5 @@
 md .\proto_out\
 @RD /S /Q "./proto_out/__pycache__"
 @echo on
-protoc -I=../../../mirabuf --python_out=./proto_out ../../../mirabuf/*.proto
+protoc -I=../../../mirabuf --python_out=./proto_out --mypy_out=./proto_out ../../../mirabuf/*.proto
 @echo off
diff --git a/exporter/SynthesisFusionAddin/proto/build.sh b/exporter/SynthesisFusionAddin/proto/build.sh
index bf5fdeda7e..b4c48da239 100755
--- a/exporter/SynthesisFusionAddin/proto/build.sh
+++ b/exporter/SynthesisFusionAddin/proto/build.sh
@@ -1,4 +1,4 @@
 rm -rf -v ./proto_out
 mkdir ./proto_out
 git submodule update --init --recursive
-protoc -I=../../../mirabuf --python_out=./proto_out ../../../mirabuf/*.proto
\ No newline at end of file
+protoc -I=../../../mirabuf --python_out=./proto_out --mypy_out=./proto_out ../../../mirabuf/*.proto
diff --git a/exporter/SynthesisFusionAddin/src/APS/APS.py b/exporter/SynthesisFusionAddin/src/APS/APS.py
index a6f4f34a5b..65ab01e4f7 100644
--- a/exporter/SynthesisFusionAddin/src/APS/APS.py
+++ b/exporter/SynthesisFusionAddin/src/APS/APS.py
@@ -1,3 +1,4 @@
+import http.client
 import json
 import os
 import pathlib
@@ -52,21 +53,21 @@ def getAPSAuth() -> APSAuth | None:
     return APS_AUTH
 
 
-def _res_json(res):
-    return json.loads(res.read().decode(res.info().get_param("charset") or "utf-8"))
+def _res_json(res: http.client.HTTPResponse) -> dict[str, Any]:
+    return dict(json.loads(res.read().decode(str(res.info().get_param("charset")) or "utf-8")))
 
 
 def getCodeChallenge() -> str | None:
     endpoint = "https://synthesis.autodesk.com/api/aps/challenge/"
-    res = urllib.request.urlopen(endpoint)
+    res: http.client.HTTPResponse = urllib.request.urlopen(endpoint)
     data = _res_json(res)
-    return data["challenge"]
+    return str(data["challenge"])
 
 
 def getAuth() -> APSAuth | None:
     global APS_AUTH
     if APS_AUTH is not None:
-        return APS_AUTH
+        return APS_AUTH  # type: ignore[unreachable]
 
     currTime = time.time()
     if os.path.exists(auth_path):
@@ -86,7 +87,7 @@ def getAuth() -> APSAuth | None:
     return APS_AUTH
 
 
-def convertAuthToken(code: str):
+def convertAuthToken(code: str) -> None:
     global APS_AUTH
     authUrl = f'https://synthesis.autodesk.com/api/aps/code/?code={code}&redirect_uri={urllib.parse.quote_plus("https://synthesis.autodesk.com/api/aps/exporter/")}'
     res = urllib.request.urlopen(authUrl)
@@ -106,14 +107,14 @@ def convertAuthToken(code: str):
     _ = loadUserInfo()
 
 
-def removeAuth():
+def removeAuth() -> None:
     global APS_AUTH, APS_USER_INFO
     APS_AUTH = None
     APS_USER_INFO = None
     pathlib.Path.unlink(pathlib.Path(auth_path))
 
 
-def refreshAuthToken():
+def refreshAuthToken() -> None:
     global APS_AUTH
     if APS_AUTH is None or APS_AUTH.refresh_token is None:
         raise Exception("No refresh token found.")
@@ -178,6 +179,8 @@ def loadUserInfo() -> APSUserInfo | None:
         removeAuth()
         logger.error(f"User Info Error:\n{e.code} - {e.reason}")
         gm.ui.messageBox("Please sign in again.")
+    finally:
+        return None
 
 
 def getUserInfo() -> APSUserInfo | None:
@@ -259,20 +262,30 @@ def upload_mirabuf(project_id: str, folder_id: str, file_name: str, file_content
     global APS_AUTH
     if APS_AUTH is None:
         gm.ui.messageBox("You must login to upload designs to APS", "USER ERROR")
+        return None
+
     auth = APS_AUTH.access_token
     # Get token from APS API later
 
     new_folder_id = get_item_id(auth, project_id, folder_id, "MirabufDir", "folders")
     if new_folder_id is None:
-        folder_id = create_folder(auth, project_id, folder_id, "MirabufDir")
+        created_folder_id = create_folder(auth, project_id, folder_id, "MirabufDir")
     else:
-        folder_id = new_folder_id
-    (lineage_id, file_id, file_version) = get_file_id(auth, project_id, folder_id, file_name)
+        created_folder_id = new_folder_id
+
+    if created_folder_id is None:
+        return None
+
+    file_id_data = get_file_id(auth, project_id, created_folder_id, file_name)
+    if file_id_data is None:
+        return None
+
+    (lineage_id, file_id, file_version) = file_id_data
 
     """
     Create APS Storage Location
     """
-    object_id = create_storage_location(auth, project_id, folder_id, file_name)
+    object_id = create_storage_location(auth, project_id, created_folder_id, file_name)
     if object_id is None:
         gm.ui.messageBox("UPLOAD ERROR", "Object id is none; check create storage location")
         return None
@@ -297,10 +310,10 @@ def upload_mirabuf(project_id: str, folder_id: str, file_name: str, file_content
         return None
     if file_id != "":
         update_file_version(
-            auth, project_id, folder_id, lineage_id, file_id, file_name, file_contents, file_version, object_id
+            auth, project_id, created_folder_id, lineage_id, file_id, file_name, file_contents, file_version, object_id
         )
     else:
-        _lineage_info = create_first_file_version(auth, str(object_id), project_id, str(folder_id), file_name)
+        _lineage_info = create_first_file_version(auth, str(object_id), project_id, str(created_folder_id), file_name)
     return ""
 
 
@@ -376,7 +389,7 @@ def get_item_id(auth: str, project_id: str, parent_folder_id: str, folder_name:
         return ""
     for item in data:
         if item["type"] == item_type and item["attributes"]["name"] == folder_name:
-            return item["id"]
+            return str(item["id"])
     return None
 
 
@@ -500,7 +513,7 @@ def get_file_id(auth: str, project_id: str, folder_id: str, file_name: str) -> t
     elif not file_res.ok:
         gm.ui.messageBox(f"UPLOAD ERROR: {file_res.text}", "Failed to get file")
         return None
-    file_json: list[dict[str, Any]] = file_res.json()
+    file_json: dict[str, Any] = file_res.json()
     if len(file_json["data"]) == 0:
         return ("", "", "")
     id: str = str(file_json["data"][0]["id"])
diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
index c6c1b26b4c..4e66d4ea7b 100644
--- a/exporter/SynthesisFusionAddin/src/Dependencies.py
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -22,14 +22,18 @@
 
 
 @logFailure
-def getInternalFusionPythonInstillationFolder() -> str:
+def getInternalFusionPythonInstillationFolder() -> str | os.PathLike[str]:
     # Thank you Kris Kaplan
     # Find the folder location where the Autodesk python instillation keeps the 'os' standard library module.
-    pythonStandardLibraryModulePath = importlib.machinery.PathFinder.find_spec("os", sys.path).origin
+    pythonOSModulePath = importlib.machinery.PathFinder.find_spec("os", sys.path)
+    if pythonOSModulePath:
+        pythonStandardLibraryModulePath = pythonOSModulePath.origin or "ERROR"
+    else:
+        raise BaseException("Could not locate spec 'os'")
 
     # Depending on platform, adjust to folder to where the python executable binaries are stored.
     if SYSTEM == "Windows":
-        folder = f"{Path(pythonStandardLibraryModulePath).parents[1]}"
+        folder = str(Path(pythonStandardLibraryModulePath).parents[1])
     else:
         assert SYSTEM == "Darwin"
         folder = f"{Path(pythonStandardLibraryModulePath).parents[2]}/bin"
@@ -37,10 +41,10 @@ def getInternalFusionPythonInstillationFolder() -> str:
     return folder
 
 
-def executeCommand(*args: str) -> subprocess.CompletedProcess:
+def executeCommand(*args: str) -> subprocess.CompletedProcess[str]:
     logger.debug(f"Running Command -> {' '.join(args)}")
     try:
-        result: subprocess.CompletedProcess = subprocess.run(
+        result: subprocess.CompletedProcess[str] = subprocess.run(
             args, shell=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True, check=True
         )
         logger.debug(f"Command Output:\n{result.stdout}")
diff --git a/exporter/SynthesisFusionAddin/src/GlobalManager.py b/exporter/SynthesisFusionAddin/src/GlobalManager.py
index 6841a58750..bc9e23e6d3 100644
--- a/exporter/SynthesisFusionAddin/src/GlobalManager.py
+++ b/exporter/SynthesisFusionAddin/src/GlobalManager.py
@@ -1,62 +1,53 @@
 """ Initializes the global variables that are set in the run method to reduce hanging commands. """
 
+from typing import Any
+
 import adsk.core
 import adsk.fusion
 
 
-class GlobalManager(object):
-    """Global Manager instance"""
-
-    class __GlobalManager:
-        def __init__(self):
-            self.app = adsk.core.Application.get()
-
-            if self.app:
-                self.ui = self.app.userInterface
-
-            self.connected = False
-            """ Is unity currently connected """
-
-            self.uniqueIds = []
-            """ Collection of unique ID values to not overlap """
-
-            self.elements = []
-            """ Unique constructed buttons to delete """
-
-            self.palettes = []
-            """ Unique constructed palettes to delete """
+class GlobalManager:
+    def __init__(self) -> None:
+        self.app = adsk.core.Application.get()
 
-            self.handlers = []
-            """ Object to store all event handlers to custom events like saving. """
+        if self.app:
+            self.ui = self.app.userInterface
 
-            self.tabs = []
-            """ Set of Tab objects to keep track of. """
+        self.connected = False
+        """ Is unity currently connected """
 
-            self.queue = []
-            """ This will eventually implement the Python SimpleQueue synchronized workflow
-                - this is the list of objects being sent
-            """
+        self.uniqueIds: list[str] = []  # type of HButton
+        """ Collection of unique ID values to not overlap """
 
-            self.files = []
+        self.elements: list[Any] = []
+        """ Unique constructed buttons to delete """
 
-        def __str__(self):
-            return "GlobalManager"
+        # Transition: AARD-1765
+        # Will likely be removed later as this is no longer used. Avoiding adding typing for now.
+        self.palettes = []  # type: ignore
+        """ Unique constructed palettes to delete """
 
-        def clear(self):
-            for attr, value in self.__dict__.items():
-                if isinstance(value, list):
-                    setattr(self, attr, [])
+        self.handlers: list[adsk.core.EventHandler] = []
+        """ Object to store all event handlers to custom events like saving. """
 
-    instance = None
+        self.tabs: list[adsk.core.ToolbarPanel] = []
+        """ Set of Tab objects to keep track of. """
 
-    def __new__(cls):
-        if not GlobalManager.instance:
-            GlobalManager.instance = GlobalManager.__GlobalManager()
+        # Transition: AARD-1765
+        # Will likely be removed later as this is no longer used. Avoiding adding typing for now.
+        self.queue = []  # type: ignore
+        """ This will eventually implement the Python SimpleQueue synchronized workflow
+            - this is the list of objects being sent
+        """
 
-        return GlobalManager.instance
+        # Transition: AARD-1765
+        # Will likely be removed later as this is no longer used. Avoiding adding typing for now.
+        self.files = []  # type: ignore
 
-    def __getattr__(self, name):
-        return getattr(self.instance, name)
+    def __str__(self) -> str:
+        return "GlobalManager"
 
-    def __setattr__(self, name):
-        return setattr(self.instance, name)
+    def clear(self) -> None:
+        for attr, value in self.__dict__.items():
+            if isinstance(value, list):
+                setattr(self, attr, [])
diff --git a/exporter/SynthesisFusionAddin/src/Logging.py b/exporter/SynthesisFusionAddin/src/Logging.py
index e5f352f480..c4dfbaadfc 100644
--- a/exporter/SynthesisFusionAddin/src/Logging.py
+++ b/exporter/SynthesisFusionAddin/src/Logging.py
@@ -7,7 +7,7 @@
 import time
 import traceback
 from datetime import date, datetime
-from typing import cast
+from typing import Any, Callable, cast
 
 import adsk.core
 
@@ -19,7 +19,7 @@
 
 
 class SynthesisLogger(logging.Logger):
-    def timing(self, msg: str, *args: any, **kwargs: any) -> None:
+    def timing(self, msg: str, *args: Any, **kwargs: Any) -> None:
         return self.log(TIMING_LEVEL, msg, *args, **kwargs)
 
     def cleanupHandlers(self) -> None:
@@ -46,27 +46,28 @@ def setupLogger() -> SynthesisLogger:
     logger = getLogger(INTERNAL_ID)
     logger.setLevel(10)  # Debug
     logger.addHandler(logHandler)
-    return cast(SynthesisLogger, logger)
+    return logger
 
 
 def getLogger(name: str | None = None) -> SynthesisLogger:
     if not name:
         # Inspect the caller stack to automatically get the module from which the function is being called from.
-        name = f"{INTERNAL_ID}.{'.'.join(inspect.getmodule(inspect.stack()[1][0]).__name__.split('.')[1:])}"
+        pyModule = inspect.getmodule(inspect.stack()[1][0])
+        name = f"{INTERNAL_ID}.{'.'.join(pyModule.__name__.split('.')[1:])}" if pyModule else INTERNAL_ID
 
     return cast(SynthesisLogger, logging.getLogger(name))
 
 
 # Log function failure decorator.
-def logFailure(func: callable = None, /, *, messageBox: bool = False) -> callable:
-    def wrap(func: callable) -> callable:
+def logFailure(func: Callable[..., Any] | None = None, /, *, messageBox: bool = False) -> Callable[..., Any]:
+    def wrap(func: Callable[..., Any]) -> Callable[..., Any]:
         @functools.wraps(func)
-        def wrapper(*args: any, **kwargs: any) -> any:
+        def wrapper(*args: Any, **kwargs: Any) -> Any:
             try:
                 return func(*args, **kwargs)
             except BaseException:
                 excType, excValue, excTrace = sys.exc_info()
-                tb = traceback.TracebackException(excType, excValue, excTrace)
+                tb = traceback.TracebackException(excType or BaseException, excValue or BaseException(), excTrace)
                 formattedTb = "".join(list(tb.format())[2:])  # Remove the wrapper func from the traceback.
                 clsName = ""
                 if args and hasattr(args[0], "__class__"):
@@ -88,8 +89,8 @@ def wrapper(*args: any, **kwargs: any) -> any:
 
 
 # Time function decorator.
-def timed(func: callable) -> callable:
-    def wrapper(*args: any, **kwargs: any) -> any:
+def timed(func: Callable[..., Any]) -> Callable[..., Any]:
+    def wrapper(*args: Any, **kwargs: Any) -> Any:
         startTime = time.perf_counter()
         result = func(*args, **kwargs)
         endTime = time.perf_counter()
diff --git a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
index 69e9bbef5d..92e739da77 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
@@ -36,13 +36,13 @@ class ExporterOptions:
     fileLocation: str | None = field(
         default=(os.getenv("HOME") if platform.system() == "Windows" else os.path.expanduser("~"))
     )
-    name: str = field(default=None)
-    version: str = field(default=None)
+    name: str | None = field(default=None)
+    version: str | None = field(default=None)
     materials: int = field(default=0)
     exportMode: ExportMode = field(default=ExportMode.ROBOT)
-    wheels: list[Wheel] = field(default=None)
-    joints: list[Joint] = field(default=None)
-    gamepieces: list[Gamepiece] = field(default=None)
+    wheels: list[Wheel] = field(default_factory=list)
+    joints: list[Joint] = field(default_factory=list)
+    gamepieces: list[Gamepiece] = field(default_factory=list)
     preferredUnits: PreferredUnits = field(default=PreferredUnits.IMPERIAL)
 
     # Always stored in kg regardless of 'preferredUnits'
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index fbdba1d891..a0c026e60a 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -45,7 +45,7 @@ def _MapAllComponents(
         else:
             partDefinition.dynamic = True
 
-        def processBody(body: adsk.fusion.BRepBody | adsk.fusion.MeshBody):
+        def processBody(body: adsk.fusion.BRepBody | adsk.fusion.MeshBody) -> None:
             if progressDialog.wasCancelled():
                 raise RuntimeError("User canceled export")
             if body.isLightBulbOn:
@@ -77,7 +77,7 @@ def _ParseComponentRoot(
     progressDialog: PDMessage,
     options: ExporterOptions,
     partsData: assembly_pb2.Parts,
-    material_map: dict,
+    material_map: dict[str, material_pb2.Appearance],
     node: types_pb2.Node,
 ) -> None:
     mapConstant = guid_component(component)
@@ -108,7 +108,7 @@ def __parseChildOccurrence(
     progressDialog: PDMessage,
     options: ExporterOptions,
     partsData: assembly_pb2.Parts,
-    material_map: dict,
+    material_map: dict[str, material_pb2.Appearance],
     node: types_pb2.Node,
 ) -> None:
     if occurrence.isLightBulbOn is False:
@@ -172,10 +172,10 @@ def __parseChildOccurrence(
 # saw online someone used this to get the correct context but oh boy does it look pricey
 # I think if I can make all parts relative to a parent it should return that parents transform maybe
 # TESTED AND VERIFIED - but unoptimized
-def GetMatrixWorld(occurrence):
-    matrix = occurrence.transform
+def GetMatrixWorld(occurrence: adsk.fusion.Occurrence) -> adsk.core.Matrix3D:
+    matrix = occurrence.transform2
     while occurrence.assemblyContext:
-        matrix.transformBy(occurrence.assemblyContext.transform)
+        matrix.transformBy(occurrence.assemblyContext.transform2)
         occurrence = occurrence.assemblyContext
     return matrix
 
@@ -185,7 +185,7 @@ def _ParseBRep(
     body: adsk.fusion.BRepBody,
     options: ExporterOptions,
     trimesh: assembly_pb2.TriangleMesh,
-) -> any:
+) -> None:
     meshManager = body.meshManager
     calc = meshManager.createMeshCalculator()
     calc.setQuality(options.visualQuality)
@@ -207,7 +207,7 @@ def _ParseMesh(
     meshBody: adsk.fusion.MeshBody,
     options: ExporterOptions,
     trimesh: assembly_pb2.TriangleMesh,
-) -> any:
+) -> None:
     mesh = meshBody.displayMesh
 
     fill_info(trimesh, meshBody)
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index 2bd563b489..34647c4160 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -1,5 +1,5 @@
 import enum
-from typing import Union
+from typing import Any, Iterator, cast
 
 import adsk.core
 import adsk.fusion
@@ -18,12 +18,12 @@
 
 # this is more of a tree - todo rewrite
 class GraphNode:
-    def __init__(self, data: any):
+    def __init__(self, data: Any) -> None:
         self.data = data
         self.previous = None
-        self.edges = list()
+        self.edges: list[GraphEdge] = list()
 
-    def iter(self, filter_relationship=[]):
+    def iter(self, filter_relationship: list[enum.Enum] = []) -> Iterator["GraphNode"]:
         """Generator for Node Iterator that does not have the given relationship
 
         Args:
@@ -37,19 +37,35 @@ def iter(self, filter_relationship=[]):
             if edge.relationship not in filter_relationship:
                 yield from edge.node.iter(filter_relationship=filter_relationship)
 
-    def __iter__(self):
+    def __iter__(self) -> Iterator["GraphNode"]:
         for edge in self.edges:
             yield edge.node
 
-    def allChildren(self):
+    def allChildren(self) -> list["GraphNode"]:
         nodes = [self]
         for edge in self.edges:
-            nodes.extend(edge.node.allNodes())
+            nodes.extend(edge.node.allChildren())
         return nodes
 
 
+class RelationshipBase(enum.Enum): ...
+
+
+class OccurrenceRelationship(RelationshipBase):
+    TRANSFORM = 1  # As in hierarchy parenting
+    CONNECTION = 2  # As in a rigid joint or other designator
+    GROUP = 3  # As in a Rigid Grouping
+    NEXT = 4  # As in next_joint in list
+    END = 5  # Orphaned child relationship
+
+
+class JointRelationship(RelationshipBase):
+    GROUND = 1  # This currently has no bearing
+    ROTATIONAL = 2  # This currently has no bearing
+
+
 class GraphEdge:
-    def __init__(self, relationship: enum.Enum, node: GraphNode):
+    def __init__(self, relationship: RelationshipBase | None, node: GraphNode) -> None:
         """A GraphEdge representing a edge in the GraphNode
 
         Args:
@@ -59,10 +75,15 @@ def __init__(self, relationship: enum.Enum, node: GraphNode):
         self.relationship = relationship
         self.node = node
 
-    def print(self):
-        print(f"Edge Containing {self.relationship.name} -> {self.node}")
+    def print(self) -> None:
+        if self.relationship is None:
+            name = "None"
+        else:
+            name = self.relationship.name
 
-    def __iter__(self):
+        print(f"Edge Containing {name} -> {self.node}")
+
+    def __iter__(self) -> Iterator["GraphEdge"]:
         """Iterator for Edges within this edge
 
         Yields:
@@ -71,34 +92,23 @@ def __iter__(self):
         return (edge for edge in self.node.edges)
 
 
-class OccurrenceRelationship(enum.Enum):
-    TRANSFORM = 1  # As in hierarchy parenting
-    CONNECTION = 2  # As in a rigid joint or other designator
-    GROUP = 3  # As in a Rigid Grouping
-    NEXT = 4  # As in next_joint in list
-    END = 5  # Orphaned child relationship
-
-
-class JointRelationship(enum.Enum):
-    GROUND = 1  # This currently has no bearing
-    ROTATIONAL = 2  # This currently has no bearing
-
-
 # ______________________ INDIVIDUAL JOINT CHAINS ____________________________
 
 
 class DynamicOccurrenceNode(GraphNode):
-    def __init__(self, occurrence: adsk.fusion.Occurrence, isGround=False, previous=None):
+    def __init__(self, occurrence: adsk.fusion.Occurrence, isGround: bool = False, previous: GraphNode | None = None):
         super().__init__(occurrence)
         self.isGround = isGround
         self.name = occurrence.name
 
-    def print(self):
+    def print(self) -> None:
         print(f"\n\t-------{self.data.name}-------")
         for edge in self.edges:
-            edge.print()
+            ...
+        # Transition: AARD-1765
+        # edge.print()
 
-    def getConnectedAxis(self) -> list:
+    def getConnectedAxis(self) -> list[Any]:
         """Gets all Axis with the NEXT relationship
 
         Returns:
@@ -109,10 +119,10 @@ def getConnectedAxis(self) -> list:
             if edge.relationship == OccurrenceRelationship.NEXT:
                 nextItems.append(edge.node.data)
             else:
-                nextItems.extend(edge.node.getConnectedAxis())
+                nextItems.extend(cast(DynamicOccurrenceNode, edge.node).getConnectedAxis())
         return nextItems
 
-    def getConnectedAxisTokens(self) -> list:
+    def getConnectedAxisTokens(self) -> list[str]:
         """Gets all Axis with the NEXT relationship
 
         Returns:
@@ -123,18 +133,20 @@ def getConnectedAxisTokens(self) -> list:
             if edge.relationship == OccurrenceRelationship.NEXT:
                 nextItems.append(edge.node.data.entityToken)
             else:
-                nextItems.extend(edge.node.getConnectedAxisTokens())
+                nextItems.extend(cast(DynamicOccurrenceNode, edge.node).getConnectedAxisTokens())
         return nextItems
 
 
 class DynamicEdge(GraphEdge):
-    def __init__(self, relationship: OccurrenceRelationship, node: DynamicOccurrenceNode):
-        super().__init__(relationship, node)
-
     # should print all in this class
-    def print(self):
-        print(f"\t\t - {self.relationship.name} -> {self.node.data.name}")
-        self.node.print()
+    def print(self) -> None:
+        if self.relationship is None:
+            name = "None"
+        else:
+            name = self.relationship.name
+
+        print(f"\t\t - {name} -> {self.node.data.name}")
+        cast(DynamicOccurrenceNode, self.node).print()
 
 
 # ______________________ ENTIRE SIMULATION STRUCTURE _______________________
@@ -143,10 +155,10 @@ def print(self):
 class SimulationNode(GraphNode):
     def __init__(
         self,
-        dynamicJoint: DynamicOccurrenceNode,
+        dynamicJoint: DynamicOccurrenceNode | None,
         joint: adsk.fusion.Joint,
-        grounded=False,
-    ):
+        grounded: bool = False,
+    ) -> None:
         super().__init__(dynamicJoint)
         self.joint = joint
         self.grounded = grounded
@@ -156,30 +168,30 @@ def __init__(
         else:
             self.name = self.joint.name
 
-    def print(self):
+    def print(self) -> None:
         print(f"Simulation Node for joint : {self.name} ")
 
-    def printLink(self):
+    def printLink(self) -> None:
         if self.grounded:
             print(f"GROUND -- {self.data.data.name}")
         else:
             print(f"--> {self.data.data.name}")
 
         for edge in self.edges:
-            edge.node.printLink()
+            cast(SimulationNode, edge.node).printLink()
 
 
-class SimulationEdge(GraphEdge):
-    def __init__(self, relationship: JointRelationship, node: SimulationNode):
-        super().__init__(relationship, node)
+class SimulationEdge(GraphEdge): ...
 
 
 # ______________________________ PARSER ___________________________________
 
 
 class JointParser:
+    grounded: adsk.fusion.Occurrence
+
     @logFailure
-    def __init__(self, design):
+    def __init__(self, design: adsk.fusion.Design) -> None:
         # Create hierarchy with just joint assembly
         # - Assembly
         #   - Grounded
@@ -211,15 +223,16 @@ def __init__(self, design):
             gm.ui.messageBox("There is not currently a Grounded Component in the assembly, stopping kinematic export.")
             raise RuntimeWarning("There is no grounded component")
 
-        self.currentTraversal = dict()
-        self.groundedConnections = []
+        self.currentTraversal: dict[str, DynamicOccurrenceNode | bool] = dict()
+        self.groundedConnections: list[adsk.fusion.Occurrence] = []
 
         # populate the rigidJoints connected to a given occurrence
-        self.rigidJoints = dict()
+        # Transition: AARD-1765
+        # self.rigidJoints = dict()
         # populate all joints
-        self.dynamicJoints = dict()
+        self.dynamicJoints: dict[str, adsk.fusion.Joint] = dict()
 
-        self.simulationNodesRef = dict()
+        self.simulationNodesRef: dict[str, SimulationNode] = dict()
 
         # TODO: need to look through every single joint and find the starting point that is connected to ground
         # Next add that occurrence to the graph and then traverse down that path etc
@@ -243,13 +256,13 @@ def __init__(self, design):
         # self.groundSimNode.printLink()
 
     @logFailure
-    def __getAllJoints(self):
+    def __getAllJoints(self) -> None:
         for joint in list(self.design.rootComponent.allJoints) + list(self.design.rootComponent.allAsBuiltJoints):
             if joint and joint.occurrenceOne and joint.occurrenceTwo:
                 occurrenceOne = joint.occurrenceOne
                 occurrenceTwo = joint.occurrenceTwo
             else:
-                return None
+                return
 
             if occurrenceOne is None:
                 try:
@@ -286,19 +299,19 @@ def __getAllJoints(self):
                     logger.error(
                         f"Occurrences that connect joints could not be found\n\t1: {occurrenceOne}\n\t2: {occurrenceTwo}"
                     )
-                    return None
+                    return
             else:
                 if oneEntityToken == self.grounded.entityToken:
                     self.groundedConnections.append(occurrenceTwo)
                 elif twoEntityToken == self.grounded.entityToken:
                     self.groundedConnections.append(occurrenceOne)
 
-    def _linkAllAxis(self):
+    def _linkAllAxis(self) -> None:
         # looks through each simulation nood starting with ground and orders them using edges
         # self.groundSimNode is ground
         self._recurseLink(self.groundSimNode)
 
-    def _recurseLink(self, simNode: SimulationNode):
+    def _recurseLink(self, simNode: SimulationNode) -> None:
         connectedAxisNodes = [
             self.simulationNodesRef.get(componentKeys, None) for componentKeys in simNode.data.getConnectedAxisTokens()
         ]
@@ -309,7 +322,7 @@ def _recurseLink(self, simNode: SimulationNode):
                 simNode.edges.append(edge)
                 self._recurseLink(connectedAxis)
 
-    def _lookForGroundedJoints(self):
+    def _lookForGroundedJoints(self) -> None:
         grounded_token = self.grounded.entityToken
         rootDynamicJoint = self.groundSimNode.data
 
@@ -322,7 +335,7 @@ def _lookForGroundedJoints(self):
                 is_ground=False,
             )
 
-    def _populateAxis(self, occ_token: str, joint: adsk.fusion.Joint):
+    def _populateAxis(self, occ_token: str, joint: adsk.fusion.Joint) -> None:
         occ = self.design.findEntityByToken(occ_token)[0]
 
         if occ is None:
@@ -339,21 +352,21 @@ def _populateAxis(self, occ_token: str, joint: adsk.fusion.Joint):
     def _populateNode(
         self,
         occ: adsk.fusion.Occurrence,
-        prev: DynamicOccurrenceNode,
-        relationship: OccurrenceRelationship,
-        is_ground=False,
-    ):
+        prev: DynamicOccurrenceNode | None,
+        relationship: OccurrenceRelationship | None,
+        is_ground: bool = False,
+    ) -> DynamicOccurrenceNode | None:
         if occ.isGrounded and not is_ground:
-            return
+            return None
         elif (relationship == OccurrenceRelationship.NEXT) and (prev is not None):
             node = DynamicOccurrenceNode(occ)
             edge = DynamicEdge(relationship, node)
             prev.edges.append(edge)
-            return
+            return None
         elif ((occ.entityToken in self.dynamicJoints.keys()) and (prev is not None)) or self.currentTraversal.get(
             occ.entityToken
         ) is not None:
-            return
+            return None
 
         node = DynamicOccurrenceNode(occ)
 
@@ -363,6 +376,7 @@ def _populateNode(
             self._populateNode(occurrence, node, OccurrenceRelationship.TRANSFORM, is_ground=is_ground)
 
         # if not is_ground:  # THIS IS A BUG - OCCURRENCE ACCESS VIOLATION
+        # this is the current reason for wrapping in try except pass
         try:
             for joint in occ.joints:
                 if joint and joint.occurrenceOne and joint.occurrenceTwo:
@@ -391,7 +405,7 @@ def _populateNode(
                 else:
                     continue
         except:
-            pass  # This is to temporarily bypass the bug
+            pass
 
         if prev is not None:
             edge = DynamicEdge(relationship, node)
@@ -403,7 +417,7 @@ def _populateNode(
 
 def searchForGrounded(
     occ: adsk.fusion.Occurrence,
-) -> Union[adsk.fusion.Occurrence, None]:
+) -> adsk.fusion.Occurrence | None:
     """Search for a grounded component or occurrence in the assembly
 
     Args:
@@ -442,7 +456,7 @@ def BuildJointPartHierarchy(
     joints: joint_pb2.Joints,
     options: ExporterOptions,
     progressDialog: PDMessage,
-):
+) -> None:
     try:
         progressDialog.currentMessage = f"Constructing Simulation Hierarchy"
         progressDialog.update()
@@ -466,10 +480,10 @@ def BuildJointPartHierarchy(
             raise RuntimeError("User canceled export")
 
     except Warning:
-        return False
+        pass
 
 
-def populateJoint(simNode: SimulationNode, joints: joint_pb2.Joints, progressDialog):
+def populateJoint(simNode: SimulationNode, joints: joint_pb2.Joints, progressDialog: PDMessage) -> None:
     if progressDialog.wasCancelled():
         raise RuntimeError("User canceled export")
 
@@ -494,15 +508,15 @@ def populateJoint(simNode: SimulationNode, joints: joint_pb2.Joints, progressDia
 
     # next in line to be populated
     for edge in simNode.edges:
-        populateJoint(edge.node, joints, progressDialog)
+        populateJoint(cast(SimulationNode, edge.node), joints, progressDialog)
 
 
 def createTreeParts(
     dynNode: DynamicOccurrenceNode,
-    relationship: OccurrenceRelationship,
+    relationship: RelationshipBase | None,
     node: types_pb2.Node,
-    progressDialog,
-):
+    progressDialog: PDMessage,
+) -> None:
     if progressDialog.wasCancelled():
         raise RuntimeError("User canceled export")
 
@@ -531,5 +545,5 @@ def createTreeParts(
     # recurse and add all children connections
     for edge in dynNode.edges:
         child_node = types_pb2.Node()
-        createTreeParts(edge.node, edge.relationship, child_node, progressDialog)
+        createTreeParts(cast(DynamicOccurrenceNode, edge.node), edge.relationship, child_node, progressDialog)
         node.children.append(child_node)
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index 0d0cdea910..80c1cd28d6 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -24,7 +24,7 @@
 
 import traceback
 import uuid
-from typing import Union
+from typing import Any, Callable, Union
 
 import adsk.core
 import adsk.fusion
@@ -38,7 +38,7 @@
     fill_info,
     guid_occurrence,
 )
-from src.Types import JointParentType, SignalType
+from src.Types import Joint, JointParentType, SignalType, Wheel
 
 logger = getLogger()
 
@@ -71,7 +71,7 @@ def populateJoints(
     progressDialog: PDMessage,
     options: ExporterOptions,
     assembly: assembly_pb2.Assembly,
-):
+) -> None:
     fill_info(joints, None)
 
     # This is for creating all of the Joint Definition objects
@@ -152,7 +152,7 @@ def populateJoints(
             continue
 
 
-def _addJoint(joint: adsk.fusion.Joint, joint_definition: joint_pb2.Joint):
+def _addJoint(joint: adsk.fusion.Joint, joint_definition: joint_pb2.Joint) -> None:
     fill_info(joint_definition, joint)
 
     jointPivotTranslation = _jointOrigin(joint)
@@ -177,7 +177,7 @@ def _addJointInstance(
     joint_definition: joint_pb2.Joint,
     signals: signal_pb2.Signals,
     options: ExporterOptions,
-):
+) -> None:
     fill_info(joint_instance, joint)
     # because there is only one and we are using the token - should be the same
     joint_instance.joint_reference = joint_instance.info.GUID
@@ -232,7 +232,7 @@ def _addJointInstance(
                     joint_instance.signal_reference = ""
 
 
-def _addRigidGroup(joint: adsk.fusion.Joint, assembly: assembly_pb2.Assembly):
+def _addRigidGroup(joint: adsk.fusion.Joint, assembly: assembly_pb2.Assembly) -> None:
     if joint.jointMotion.jointType != 0 or not (
         joint.occurrenceOne.isLightBulbOn and joint.occurrenceTwo.isLightBulbOn
     ):
@@ -249,22 +249,22 @@ def _motionFromJoint(fusionMotionDefinition: adsk.fusion.JointMotion, proto_join
     # if fusionJoint.geometryOrOriginOne.objectType == "adsk::fusion::JointGeometry"
     # create the DOF depending on what kind of information the joint has
 
-    fillJointMotionFuncSwitcher = {
-        0: noop,  # this should be ignored
+    fillJointMotionFuncSwitcher: dict[int, Callable[..., None]] = {
+        0: notImplementedPlaceholder,  # this should be ignored
         1: fillRevoluteJointMotion,
         2: fillSliderJointMotion,
-        3: noop,  # TODO: Implement - Ball Joint at least
-        4: noop,  # TODO: Implement
-        5: noop,  # TODO: Implement
-        6: noop,  # TODO: Implement
+        3: notImplementedPlaceholder,  # TODO: Implement - Ball Joint at least
+        4: notImplementedPlaceholder,  # TODO: Implement
+        5: notImplementedPlaceholder,  # TODO: Implement
+        6: notImplementedPlaceholder,  # TODO: Implement
     }
 
-    fillJointMotionFunc = fillJointMotionFuncSwitcher.get(fusionMotionDefinition.jointType, lambda: None)
+    fillJointMotionFunc = fillJointMotionFuncSwitcher.get(fusionMotionDefinition.jointType, notImplementedPlaceholder)
 
     fillJointMotionFunc(fusionMotionDefinition, proto_joint)
 
 
-def fillRevoluteJointMotion(revoluteMotion: adsk.fusion.RevoluteJointMotion, proto_joint: joint_pb2.Joint):
+def fillRevoluteJointMotion(revoluteMotion: adsk.fusion.RevoluteJointMotion, proto_joint: joint_pb2.Joint) -> None:
     """#### Fill Protobuf revolute joint motion data
 
     Args:
@@ -338,9 +338,7 @@ def fillSliderJointMotion(sliderMotion: adsk.fusion.SliderJointMotion, proto_joi
     dof.value = sliderMotion.slideValue
 
 
-def noop(*argv):
-    """Easy way to keep track of no-op code that required function pointers"""
-    pass
+def notImplementedPlaceholder(*argv: Any) -> None: ...
 
 
 def _searchForGrounded(
@@ -431,9 +429,9 @@ def _jointOrigin(fusionJoint: Union[adsk.fusion.Joint, adsk.fusion.AsBuiltJoint]
 
 
 def createJointGraph(
-    supplied_joints: list,
-    wheels: list,
-    joint_tree: types_pb2.GraphContainer,
+    suppliedJoints: list[Joint],
+    _wheels: list[Wheel],
+    jointTree: types_pb2.GraphContainer,
     progressDialog: PDMessage,
 ) -> None:
     # progressDialog.message = f"Building Joint Graph Map from given joints"
@@ -442,44 +440,43 @@ def createJointGraph(
     progressDialog.update()
 
     # keep track of current nodes to link them
-    node_map = dict({})
+    nodeMap = dict()
 
     # contains all of the static ground objects
     groundNode = types_pb2.Node()
     groundNode.value = "ground"
 
-    node_map[groundNode.value] = groundNode
+    nodeMap[groundNode.value] = groundNode
 
     # addWheelsToGraph(wheels, groundNode, joint_tree)
 
     # first iterate through to create the nodes
-    for supplied_joint in supplied_joints:
+    for suppliedJoint in suppliedJoints:
         newNode = types_pb2.Node()
-        newNode.value = supplied_joint.jointToken
-        node_map[newNode.value] = newNode
+        newNode.value = suppliedJoint.jointToken
+        nodeMap[newNode.value] = newNode
 
     # second sort them
-    for supplied_joint in supplied_joints:
-        current_node = node_map[supplied_joint.jointToken]
-        if supplied_joint.parent == JointParentType.ROOT:
-            node_map["ground"].children.append(node_map[supplied_joint.jointToken])
-        elif node_map[supplied_joint.parent.value] is not None and node_map[supplied_joint.jointToken] is not None:
-            node_map[supplied_joint.parent].children.append(node_map[supplied_joint.jointToken])
+    for suppliedJoint in suppliedJoints:
+        if suppliedJoint.parent == JointParentType.ROOT:
+            nodeMap["ground"].children.append(nodeMap[suppliedJoint.jointToken])
+        elif nodeMap[suppliedJoint.parent.value] is not None and nodeMap[suppliedJoint.jointToken] is not None:
+            nodeMap[str(suppliedJoint.parent)].children.append(nodeMap[suppliedJoint.jointToken])
         else:
-            logger.error(f"Cannot construct hierarhcy because of detached tree at : {supplied_joint.jointToken}")
+            logger.error(f"Cannot construct hierarhcy because of detached tree at : {suppliedJoint.jointToken}")
 
-    for node in node_map.values():
+    for node in nodeMap.values():
         # append everything at top level to isolate kinematics
-        joint_tree.nodes.append(node)
+        jointTree.nodes.append(node)
 
 
-def addWheelsToGraph(wheels: list, rootNode: types_pb2.Node, joint_tree: types_pb2.GraphContainer):
+def addWheelsToGraph(wheels: list[Wheel], rootNode: types_pb2.Node, jointTree: types_pb2.GraphContainer) -> None:
     for wheel in wheels:
         # wheel name
         # wheel signal
         # wheel occ id
         # these don't have children
         wheelNode = types_pb2.Node()
-        wheelNode.value = wheel.occurrenceToken
+        wheelNode.value = wheel.jointToken
         rootNode.children.append(wheelNode)
-        joint_tree.nodes.append(wheelNode)
+        jointTree.nodes.append(wheelNode)
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index d8538b5d9b..964114ecc4 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -1,4 +1,4 @@
-import adsk
+import adsk.core
 
 from proto.proto_out import material_pb2
 from src.Logging import logFailure
@@ -27,7 +27,7 @@
 
 
 def _MapAllPhysicalMaterials(
-    physicalMaterials: list,
+    physicalMaterials: list[material_pb2.PhysicalMaterial],
     materials: material_pb2.Materials,
     options: ExporterOptions,
     progressDialog: PDMessage,
@@ -44,24 +44,26 @@ def _MapAllPhysicalMaterials(
         getPhysicalMaterialData(material, newmaterial, options)
 
 
-def setDefaultMaterial(physical_material: material_pb2.PhysicalMaterial, options: ExporterOptions):
-    construct_info("default", physical_material)
+def setDefaultMaterial(physicalMaterial: material_pb2.PhysicalMaterial, options: ExporterOptions) -> None:
+    construct_info("default", physicalMaterial)
 
-    physical_material.description = "A default physical material"
+    physicalMaterial.description = "A default physical material"
     if options.frictionOverride:
-        physical_material.dynamic_friction = options.frictionOverrideCoeff
-        physical_material.static_friction = options.frictionOverrideCoeff
+        physicalMaterial.dynamic_friction = options.frictionOverrideCoeff
+        physicalMaterial.static_friction = options.frictionOverrideCoeff
     else:
-        physical_material.dynamic_friction = 0.5
-        physical_material.static_friction = 0.5
+        physicalMaterial.dynamic_friction = 0.5
+        physicalMaterial.static_friction = 0.5
 
-    physical_material.restitution = 0.5
-    physical_material.deformable = False
-    physical_material.matType = 0
+    physicalMaterial.restitution = 0.5
+    physicalMaterial.deformable = False
+    physicalMaterial.matType = 0  # type: ignore[assignment]
 
 
 @logFailure
-def getPhysicalMaterialData(fusion_material, proto_material, options):
+def getPhysicalMaterialData(
+    fusionMaterial: adsk.core.Material, physicalMaterial: material_pb2.PhysicalMaterial, options: ExporterOptions
+) -> None:
     """Gets the material data and adds it to protobuf
 
     Args:
@@ -69,26 +71,26 @@ def getPhysicalMaterialData(fusion_material, proto_material, options):
         proto_material (protomaterial): proto material mirabuf
         options (parseoptions): parse options
     """
-    construct_info("", proto_material, fus_object=fusion_material)
+    construct_info("", physicalMaterial, fus_object=fusionMaterial)
 
-    proto_material.deformable = False
-    proto_material.matType = 0
+    physicalMaterial.deformable = False
+    physicalMaterial.matType = 0  # type: ignore[assignment]
 
-    materialProperties = fusion_material.materialProperties
+    materialProperties = fusionMaterial.materialProperties
 
-    thermalProperties = proto_material.thermal
-    mechanicalProperties = proto_material.mechanical
-    strengthProperties = proto_material.strength
+    thermalProperties = physicalMaterial.thermal
+    mechanicalProperties = physicalMaterial.mechanical
+    strengthProperties = physicalMaterial.strength
 
     if options.frictionOverride:
-        proto_material.dynamic_friction = options.frictionOverrideCoeff
-        proto_material.static_friction = options.frictionOverrideCoeff
+        physicalMaterial.dynamic_friction = options.frictionOverrideCoeff
+        physicalMaterial.static_friction = options.frictionOverrideCoeff
     else:
-        proto_material.dynamic_friction = DYNAMIC_FRICTION_COEFFS.get(fusion_material.name, 0.5)
-        proto_material.static_friction = STATIC_FRICTION_COEFFS.get(fusion_material.name, 0.5)
+        physicalMaterial.dynamic_friction = DYNAMIC_FRICTION_COEFFS.get(fusionMaterial.name, 0.5)
+        physicalMaterial.static_friction = STATIC_FRICTION_COEFFS.get(fusionMaterial.name, 0.5)
 
-    proto_material.restitution = 0.5
-    proto_material.description = f"{fusion_material.name} exported from FUSION"
+    physicalMaterial.restitution = 0.5
+    physicalMaterial.description = f"{fusionMaterial.name} exported from FUSION"
 
     """
     Thermal Properties
@@ -138,7 +140,7 @@ def getPhysicalMaterialData(fusion_material, proto_material, options):
 
 
 def _MapAllAppearances(
-    appearances: list,
+    appearances: list[material_pb2.Appearance],
     materials: material_pb2.Materials,
     options: ExporterOptions,
     progressDialog: PDMessage,
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py
index ad441fc901..c157495a0f 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PDMessage.py
@@ -33,7 +33,7 @@ def __init__(
 
         self.progressDialog = progressDialog
 
-    def _format(self):
+    def _format(self) -> str:
         # USE FORMATTING TO CENTER THESE BAD BOIS
         # TABS DO NOTHING HALP
         out = f"{self.assemblyName} parsing:\n"
@@ -45,44 +45,44 @@ def _format(self):
 
         return out
 
-    def addComponent(self, name=None):
+    def addComponent(self, name: str | None = None) -> None:
         self.currentValue += 1
         self.currentCompCount += 1
         self.currentMessage = f"Exporting Component {name}"
         self.update()
 
-    def addOccurrence(self, name=None):
+    def addOccurrence(self, name: str | None = None) -> None:
         self.currentValue += 1
         self.currentOccCount += 1
         self.currentMessage = f"Exporting Occurrence {name}"
         self.update()
 
-    def addMaterial(self, name=None):
+    def addMaterial(self, name: str | None = None) -> None:
         self.currentValue += 1
         self.currentMatCount += 1
         self.currentMessage = f"Exporting Physical Material {name}"
         self.update()
 
-    def addAppearance(self, name=None):
+    def addAppearance(self, name: str | None = None) -> None:
         self.currentValue += 1
         self.currentAppCount += 1
         self.currentMessage = f"Exporting Appearance Material {name}"
         self.update()
 
-    def addJoint(self, name=None):
+    def addJoint(self, name: str | None = None) -> None:
         self.currentMessage = f"Connecting Joints {name}"
         self.update()
 
-    def update(self):
+    def update(self) -> None:
         self.progressDialog.message = self._format()
         self.progressDialog.progressValue = self.currentValue
         self.value = self.currentValue
 
     def wasCancelled(self) -> bool:
-        return self.progressDialog.wasCancelled
+        return self.progressDialog.wasCancelled  # type: ignore[no-any-return]
 
-    def __str__(self):
+    def __str__(self) -> str:
         return self._format()
 
-    def __repr__(self):
+    def __repr__(self) -> str:
         return self._format()
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index 37148fb622..a2df3ef8cb 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -179,8 +179,7 @@ def export(self) -> None:
             logger.debug("Uploading file to APS")
             project = app.data.activeProject
             if not project.isValid:
-                gm.ui.messageBox("Project is invalid", "")
-                return False  # add throw later
+                raise RuntimeError("Project is invalid")
             project_id = project.id
             folder_id = project.rootFolder.id
             file_name = f"{self.exporterOptions.fileLocation}.mira"
@@ -189,18 +188,17 @@ def export(self) -> None:
         else:
             assert self.exporterOptions.exportLocation == ExportLocation.DOWNLOAD
             # check if entire path exists and create if not since gzip doesn't do that.
-            path = pathlib.Path(self.exporterOptions.fileLocation).parent
+            path = pathlib.Path(str(self.exporterOptions.fileLocation)).parent
             path.mkdir(parents=True, exist_ok=True)
+            self.pdMessage.currentMessage = "Saving File..."
+            self.pdMessage.update()
             if self.exporterOptions.compressOutput:
                 logger.debug("Compressing file")
-                with gzip.open(self.exporterOptions.fileLocation, "wb", 9) as f:
-                    self.pdMessage.currentMessage = "Saving File..."
-                    self.pdMessage.update()
+                with gzip.open(str(self.exporterOptions.fileLocation), "wb", 9) as f:
                     f.write(assembly_out.SerializeToString())
             else:
-                f = open(self.exporterOptions.fileLocation, "wb")
-                f.write(assembly_out.SerializeToString())
-                f.close()
+                with open(str(self.exporterOptions.fileLocation), "wb") as f:
+                    f.write(assembly_out.SerializeToString())
 
         _ = progressDialog.hide()
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index 15e025f4c7..ad26c7719e 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -28,8 +28,8 @@
 def GetPhysicalProperties(
     fusionObject: Union[adsk.fusion.BRepBody, adsk.fusion.Occurrence, adsk.fusion.Component],
     physicalProperties: types_pb2.PhysicalProperties,
-    level=1,
-):
+    level: int = 1,
+) -> None:
     """Will populate a physical properties section of an exported file
 
     Args:
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
index b90a2167fe..d7e050a154 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
@@ -21,10 +21,13 @@
 from src.Logging import logFailure
 
 
+# Transition: AARD-1765
+# According to the type errors I'm getting here this code would have never compiled.
+# Should be removed later
 @logFailure
 def ExportRigidGroups(
     fus_occ: Union[adsk.fusion.Occurrence, adsk.fusion.Component],
-    hel_occ: assembly_pb2.Occurrence,
+    hel_occ: assembly_pb2.Occurrence,  # type: ignore[name-defined]
 ) -> None:
     """Takes a Fusion and Protobuf Occurrence and will assign Rigidbody data per the occurrence if any exist and are not surpressed.
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
index 0a5d277766..d61a84139d 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
@@ -1,15 +1,16 @@
 import math
 import uuid
+from typing import Any
 
-from adsk.core import Vector3D
-from adsk.fusion import Component, Occurrence
+import adsk.core
+import adsk.fusion
 
 
-def guid_component(comp: Component) -> str:
+def guid_component(comp: adsk.fusion.Component) -> str:
     return f"{comp.entityToken}_{comp.id}"
 
 
-def guid_occurrence(occ: Occurrence) -> str:
+def guid_occurrence(occ: adsk.fusion.Occurrence) -> str:
     return f"{occ.entityToken}_{guid_component(occ.component)}"
 
 
@@ -17,11 +18,17 @@ def guid_none(_: None) -> str:
     return str(uuid.uuid4())
 
 
-def fill_info(proto_obj, fus_object, override_guid=None) -> None:
+def fill_info(proto_obj: Any, fus_object: adsk.fusion.Component, override_guid: str | None = None) -> None:
     construct_info("", proto_obj, fus_object=fus_object, GUID=override_guid)
 
 
-def construct_info(name: str, proto_obj, version=5, fus_object=None, GUID=None) -> None:
+def construct_info(
+    name: str,
+    proto_obj: Any,
+    version: int = 5,
+    fus_object: adsk.fusion.Component | None = None,
+    GUID: str | None = None,
+) -> None:
     """Constructs a info object from either a name or a fus_object
 
     Args:
@@ -57,8 +64,10 @@ def construct_info(name: str, proto_obj, version=5, fus_object=None, GUID=None)
             proto_obj.info.GUID = str(uuid.uuid4())
 
 
+# Transition: AARD-1765
+# Will likely be removed later as this is no longer used. Avoiding adding typing for now.
 # My previous function was alot more optimized however now I realize the bug was this doesn't work well with degrees
-def euler_to_quaternion(r):
+def euler_to_quaternion(r):  # type: ignore
     (yaw, pitch, roll) = (r[0], r[1], r[2])
     qx = math.sin(roll / 2) * math.cos(pitch / 2) * math.cos(yaw / 2) - math.cos(roll / 2) * math.sin(
         pitch / 2
@@ -75,7 +84,7 @@ def euler_to_quaternion(r):
     return [qx, qy, qz, qw]
 
 
-def rad_to_deg(rad):
+def rad_to_deg(rad):  # type: ignore
     """Very simple method to convert Radians to degrees
 
     Args:
@@ -87,7 +96,7 @@ def rad_to_deg(rad):
     return (rad * 180) / math.pi
 
 
-def quaternion_to_euler(qx, qy, qz, qw):
+def quaternion_to_euler(qx, qy, qz, qw):  # type: ignore
     """Takes in quat values and converts to degrees
 
     - roll is x axis - atan2(2(qwqy + qzqw), 1-2(qy^2 + qz^2))
@@ -127,7 +136,7 @@ def quaternion_to_euler(qx, qy, qz, qw):
     return round(roll, 4), round(pitch, 4), round(yaw, 4)
 
 
-def throwZero():
+def throwZero():  # type: ignore
     """Simple function to report incorrect quat values
 
     Raises:
@@ -136,7 +145,7 @@ def throwZero():
     raise RuntimeError("While computing the quaternion the trace was reported as 0 which is invalid")
 
 
-def spatial_to_quaternion(mat):
+def spatial_to_quaternion(mat):  # type: ignore
     """Takes a 1D Spatial Transform Matrix and derives rotational quaternion
 
     I wrote this however it is difficult to extensibly test so use with caution
@@ -194,13 +203,13 @@ def spatial_to_quaternion(mat):
         raise RuntimeError("Supplied matrix to spatial_to_quaternion is not a 1D spatial matrix in size.")
 
 
-def normalize_quaternion(x, y, z, w):
+def normalize_quaternion(x, y, z, w):  # type: ignore
     f = 1.0 / math.sqrt((x * x) + (y * y) + (z * z) + (w * w))
     return x * f, y * f, z * f, w * f
 
 
-def _getAngleTo(vec_origin: list, vec_current: Vector3D) -> int:
-    origin = Vector3D.create(vec_origin[0], vec_origin[1], vec_origin[2])
+def _getAngleTo(vec_origin: list, vec_current: adsk.core.Vector3D) -> int:  # type: ignore
+    origin = adsk.core.Vector3D.create(vec_origin[0], vec_origin[1], vec_origin[2])
     val = origin.angleTo(vec_current)
     deg = val * (180 / math.pi)
-    return val
+    return val  # type: ignore
diff --git a/exporter/SynthesisFusionAddin/src/Types.py b/exporter/SynthesisFusionAddin/src/Types.py
index 1aca3a5162..1d6edeb0c2 100644
--- a/exporter/SynthesisFusionAddin/src/Types.py
+++ b/exporter/SynthesisFusionAddin/src/Types.py
@@ -1,9 +1,9 @@
 import os
 import pathlib
 import platform
-from dataclasses import dataclass, field, fields, is_dataclass
+from dataclasses import MISSING, dataclass, field, fields, is_dataclass
 from enum import Enum, EnumType
-from typing import Union, get_origin
+from typing import Any, TypeAlias, get_origin
 
 # Not 100% sure what this is for - Brandon
 JointParentType = Enum("JointParentType", ["ROOT", "END"])
@@ -17,18 +17,18 @@
 
 @dataclass
 class Wheel:
-    jointToken: str = field(default=None)
-    wheelType: WheelType = field(default=None)
-    signalType: SignalType = field(default=None)
+    jointToken: str = field(default="")
+    wheelType: WheelType = field(default=WheelType.STANDARD)
+    signalType: SignalType = field(default=SignalType.PWM)
 
 
 @dataclass
 class Joint:
-    jointToken: str = field(default=None)
-    parent: JointParentType = field(default=None)
-    signalType: SignalType = field(default=None)
-    speed: float = field(default=None)
-    force: float = field(default=None)
+    jointToken: str = field(default="")
+    parent: JointParentType = field(default=JointParentType.ROOT)
+    signalType: SignalType = field(default=SignalType.PWM)
+    speed: float = field(default=float("-inf"))
+    force: float = field(default=float("-inf"))
 
     # Transition: AARD-1865
     # Should consider changing how the parser handles wheels and joints as there is overlap between
@@ -39,9 +39,9 @@ class Joint:
 
 @dataclass
 class Gamepiece:
-    occurrenceToken: str = field(default=None)
-    weight: float = field(default=None)
-    friction: float = field(default=None)
+    occurrenceToken: str = field(default="")
+    weight: float = field(default=float("-inf"))
+    friction: float = field(default=float("-inf"))
 
 
 class PhysicalDepth(Enum):
@@ -72,26 +72,22 @@ class ModelHierarchy(Enum):
     SingleMesh = 3
 
 
-class LBS(float):
-    """Mass Unit in Pounds."""
+LBS: TypeAlias = float
+KG: TypeAlias = float
 
 
-class KG(float):
-    """Mass Unit in Kilograms."""
-
-
-def toLbs(kgs: float) -> LBS:
+def toLbs(kgs: KG) -> LBS:
     return LBS(round(kgs * 2.2062, 2))
 
 
-def toKg(pounds: float) -> KG:
+def toKg(pounds: LBS) -> KG:
     return KG(round(pounds / 2.2062, 2))
 
 
 PRIMITIVES = (bool, str, int, float, type(None))
 
 
-def encodeNestedObjects(obj: any) -> any:
+def encodeNestedObjects(obj: Any) -> Any:
     if isinstance(obj, Enum):
         return obj.value
     elif hasattr(obj, "__dict__"):
@@ -101,13 +97,13 @@ def encodeNestedObjects(obj: any) -> any:
         return obj
 
 
-def makeObjectFromJson(objType: type, data: any) -> any:
+def makeObjectFromJson(objType: type, data: Any) -> Any:
     if isinstance(objType, EnumType):
         return objType(data)
     elif isinstance(objType, PRIMITIVES) or isinstance(data, PRIMITIVES):
         return data
     elif get_origin(objType) is list:
-        return [makeObjectFromJson(objType.__args__[0], item) for item in data]
+        return [makeObjectFromJson(objType.__args__[0], item) for item in data]  # type: ignore[attr-defined]
 
     obj = objType()
     assert is_dataclass(obj) and isinstance(data, dict), "Found unsupported type to decode."
@@ -115,13 +111,13 @@ def makeObjectFromJson(objType: type, data: any) -> any:
         if field.name in data:
             setattr(obj, field.name, makeObjectFromJson(field.type, data[field.name]))
         else:
-            setattr(obj, field.name, field.default)
+            setattr(obj, field.name, field.default_factory if field.default_factory is not MISSING else field.default)
 
     return obj
 
 
 class OString:
-    def __init__(self, path: object, fileName: str):
+    def __init__(self, path: str | os.PathLike[str] | list[str], fileName: str):
         """Generate a string for the operating system that matches fusion requirements
 
         Args:
@@ -142,7 +138,7 @@ def __repr__(self) -> str:
             str: OString [ - ['test', 'test2]  - 'test.hell' ]
         """
         # return f"OString [\n-\t[{self.literals!r} \n-\t{self.fileName}\n]"
-        return f"{os.path.join(self.path, self.fileName)}"
+        return f"{os.path.join(str(self.path), self.fileName)}"
 
     def __eq__(self, value: object) -> bool:
         """Equals operator for this class
@@ -179,7 +175,7 @@ def _os() -> str:
         else:
             raise OSError(2, "No Operating System Recognized", f"{osName}")
 
-    def AssertEquals(self, comparing: object):
+    def AssertEquals(self, comparing: object) -> bool:
         """Compares the two OString objects
 
         Args:
@@ -190,21 +186,21 @@ def AssertEquals(self, comparing: object):
         """
         return comparing == self
 
-    def getPath(self) -> Union[str, object]:
+    def getPath(self) -> str | os.PathLike[str]:
         """Returns a OSPath from literals and filename
 
         Returns:
             Path | str: OsPath that is cross platform
         """
-        return os.path.join(self.path, self.fileName)
+        return os.path.join(str(self.path), self.fileName)
 
-    def getDirectory(self) -> Union[str, object]:
+    def getDirectory(self) -> str | os.PathLike[str]:
         """Returns a OSPath from literals and filename
 
         Returns:
             Path | str: OsPath that is cross platform
         """
-        return self.path
+        return self.path if not isinstance(self.path, list) else "".join(self.path)
 
     def exists(self) -> bool:
         """Check to see if Directory and File exist in the current system
@@ -216,7 +212,7 @@ def exists(self) -> bool:
             return True
         return False
 
-    def serialize(self) -> str:
+    def serialize(self) -> str | os.PathLike[str]:
         """Serialize the OString to be storred in a temp doc
 
         Returns:
@@ -225,7 +221,7 @@ def serialize(self) -> str:
         return self.getPath()
 
     @classmethod
-    def deserialize(cls, serialized) -> object:
+    def deserialize(cls, serialized: str | os.PathLike[str]) -> object:
         path, file = os.path.split(serialized)
         if path is None or file is None:
             raise RuntimeError(f"Can not parse OString Path supplied \n {serialized}")
@@ -273,7 +269,7 @@ def AppDataPath(cls, fileName: str) -> object:
         """
         if cls._os() == "Windows":
             if os.getenv("APPDATA") is not None:
-                path = os.path.join(os.getenv("APPDATA"), "..", "Local", "Temp")
+                path = os.path.join(os.getenv("APPDATA") or "", "..", "Local", "Temp")
                 return cls(path, fileName)
         return None
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Camera.py b/exporter/SynthesisFusionAddin/src/UI/Camera.py
index 02de04083a..6ebb33320c 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Camera.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Camera.py
@@ -7,7 +7,7 @@
 
 
 @logFailure
-def captureThumbnail(size=250):
+def captureThumbnail(size: int = 250) -> str | os.PathLike[str]:
     """
     ## Captures Thumbnail and saves it to a temporary path - needs to be cleared after or on startup
     - Size: int (Default: 200) : (width & height)
@@ -23,7 +23,9 @@ def captureThumbnail(size=250):
 
     path = OString.ThumbnailPath(name)
 
-    saveOptions = adsk.core.SaveImageFileOptions.create(str(path.getPath()))
+    # Transition: AARD-1765
+    # Will be addressed in the OString refactor
+    saveOptions = adsk.core.SaveImageFileOptions.create(str(path.getPath()))  # type: ignore[attr-defined]
     saveOptions.height = size
     saveOptions.width = size
     saveOptions.isAntiAliased = True
@@ -36,7 +38,7 @@ def captureThumbnail(size=250):
     app.activeViewport.saveAsImageFileWithOptions(saveOptions)
     app.activeViewport.camera = originalCamera
 
-    return str(path.getPath())
+    return str(path.getPath())  # type: ignore[attr-defined]
 
 
 def clearIconCache() -> None:
@@ -44,7 +46,7 @@ def clearIconCache() -> None:
 
     This is useful for now but should be cached in the event the app is closed and re-opened.
     """
-    path = OString.ThumbnailPath("Whatever.png").getDirectory()
+    path = OString.ThumbnailPath("Whatever.png").getDirectory()  # type: ignore[attr-defined]
 
     for _r, _d, f in os.walk(path):
         for file in f:
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index c50c7feed2..fae2ce41b4 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -5,6 +5,7 @@
 import os
 import pathlib
 from enum import Enum
+from typing import Any
 
 import adsk.core
 import adsk.fusion
@@ -36,7 +37,9 @@
 INPUTS_ROOT = None
 
 
-def GUID(arg):
+# Transition: AARD-1765
+# This should be removed in the config command refactor. Seemingly impossible to type.
+def GUID(arg: str | adsk.core.Base) -> str | adsk.core.Base:
     """### Will return command object when given a string GUID, or the string GUID of an object (depending on arg value)
 
     Args:
@@ -49,7 +52,7 @@ def GUID(arg):
         object = gm.app.activeDocument.design.findEntityByToken(arg)[0]
         return object
     else:  # type(obj)
-        return arg.entityToken
+        return arg.entityToken  # type: ignore[union-attr]
 
 
 class JointMotions(Enum):
@@ -76,14 +79,13 @@ class ConfigureCommandCreatedHandler(adsk.core.CommandCreatedEventHandler):
         - will be called from (@ref Events.py)
     """
 
-    def __init__(self, configure):
+    def __init__(self, configure: Any) -> None:
         super().__init__()
 
     @logFailure(messageBox=True)
-    def notify(self, args):
-        exporterOptions = ExporterOptions().readFromDesign()
-        eventArgs = adsk.core.CommandCreatedEventArgs.cast(args)
-        cmd = eventArgs.command  # adsk.core.Command
+    def notify(self, args: adsk.core.CommandCreatedEventArgs) -> None:
+        exporterOptions = ExporterOptions().readFromDesign() or ExporterOptions()
+        cmd = args.command
 
         # Set to false so won't automatically export on switch context
         cmd.isAutoExecute = False
@@ -284,16 +286,15 @@ class ConfigureCommandExecuteHandler(adsk.core.CommandEventHandler):
 
     """
 
-    def __init__(self):
+    def __init__(self) -> None:
         super().__init__()
         self.current = SerialCommand()
 
     @logFailure(messageBox=True)
-    def notify(self, args):
-        eventArgs = adsk.core.CommandEventArgs.cast(args)
+    def notify(self, args: adsk.core.CommandEventArgs) -> None:
         exporterOptions = ExporterOptions().readFromDesign()
 
-        if eventArgs.executeFailed:
+        if args.executeFailed:
             logger.error("Could not execute configuration due to failure")
             return
 
@@ -305,8 +306,8 @@ def notify(self, args):
                 # save was canceled
                 return
 
-            updatedPath = pathlib.Path(savepath).parent
-            if updatedPath != self.current.filePath:
+            updatedPath = pathlib.Path(str(savepath)).parent
+            if str(updatedPath) != self.current.filePath:
                 self.current.filePath = str(updatedPath)
         else:
             savepath = processedFileName
@@ -326,7 +327,7 @@ def notify(self, args):
             units = gamepieceConfigTab.selectedUnits
 
         exporterOptions = ExporterOptions(
-            savepath,
+            str(savepath),
             name,
             version,
             materials=0,
@@ -362,12 +363,12 @@ class CommandExecutePreviewHandler(adsk.core.CommandEventHandler):
         adsk (CommandEventHandler): Command event handler that a client derives from to handle events triggered by a CommandEvent.
     """
 
-    def __init__(self, cmd) -> None:
+    def __init__(self, cmd: adsk.core.Command) -> None:
         super().__init__()
         self.cmd = cmd
 
     @logFailure(messageBox=True)
-    def notify(self, args):
+    def notify(self, args: adsk.core.CommandEventArgs) -> None:
         """Notify member called when a command event is triggered
 
         Args:
@@ -386,22 +387,26 @@ class MySelectHandler(adsk.core.SelectionEventHandler):
 
     lastInputCmd = None
 
-    def __init__(self, cmd):
+    def __init__(self, cmd: adsk.core.Command) -> None:
         super().__init__()
         self.cmd = cmd
 
-        self.allWheelPreselections = []  # all child occurrences of selections
-        self.allGamepiecePreselections = []  # all child gamepiece occurrences of selections
+        # Transition: AARD-1765
+        # self.allWheelPreselections = []  # all child occurrences of selections
+        # self.allGamepiecePreselections = []  # all child gamepiece occurrences of selections
 
         self.selectedOcc = None  # selected occurrence (if there is one)
         self.selectedJoint = None  # selected joint (if there is one)
 
-        self.wheelJointList = []
+        # Transition: AARD-1765
+        # self.wheelJointList = []
         self.algorithmicSelection = True
 
     @logFailure(messageBox=True)
     def traverseAssembly(
-        self, child_occurrences: adsk.fusion.OccurrenceList, jointedOcc: dict
+        self, child_occurrences: adsk.fusion.OccurrenceList, jointedOcc: dict[adsk.fusion.Joint, adsk.fusion.Occurrence]
+    ) -> (
+        list[adsk.fusion.Joint | adsk.fusion.Occurrence] | None
     ):  # recursive traversal to check if children are jointed
         """### Traverses the entire occurrence hierarchy to find a match (jointed occurrence) in self.occurrence
 
@@ -422,7 +427,7 @@ def traverseAssembly(
         return None  # no jointed occurrence found
 
     @logFailure(messageBox=True)
-    def wheelParent(self, occ: adsk.fusion.Occurrence):
+    def wheelParent(self, occ: adsk.fusion.Occurrence) -> list[str | adsk.fusion.Occurrence | None]:
         """### Identify an occurrence that encompasses the entire wheel component.
 
         Process:
@@ -490,7 +495,7 @@ def wheelParent(self, occ: adsk.fusion.Occurrence):
         return [None, occ]  # no jointed occurrence found, return what is selected
 
     @logFailure(messageBox=True)
-    def notify(self, args: adsk.core.SelectionEventArgs):
+    def notify(self, args: adsk.core.SelectionEventArgs) -> None:
         """### Notify member is called when a selection event is triggered.
 
         Args:
@@ -512,12 +517,12 @@ class MyPreSelectHandler(adsk.core.SelectionEventHandler):
     Args: SelectionEventHandler
     """
 
-    def __init__(self, cmd):
+    def __init__(self, cmd: adsk.core.Command) -> None:
         super().__init__()
         self.cmd = cmd
 
     @logFailure(messageBox=True)
-    def notify(self, args):
+    def notify(self, args: adsk.core.SelectionEventArgs) -> None:
         design = adsk.fusion.Design.cast(gm.app.activeProduct)
         preSelectedOcc = adsk.fusion.Occurrence.cast(args.selection.entity)
         preSelectedJoint = adsk.fusion.Joint.cast(args.selection.entity)
@@ -539,12 +544,12 @@ class MyPreselectEndHandler(adsk.core.SelectionEventHandler):
     Args: SelectionEventArgs
     """
 
-    def __init__(self, cmd):
+    def __init__(self, cmd: adsk.core.Command) -> None:
         super().__init__()
         self.cmd = cmd
 
     @logFailure(messageBox=True)
-    def notify(self, args):
+    def notify(self, args: adsk.core.SelectionEventArgs) -> None:
         design = adsk.fusion.Design.cast(gm.app.activeProduct)
         preSelectedOcc = adsk.fusion.Occurrence.cast(args.selection.entity)
         preSelectedJoint = adsk.fusion.Joint.cast(args.selection.entity)
@@ -560,7 +565,7 @@ class ConfigureCommandInputChanged(adsk.core.InputChangedEventHandler):
     Args: InputChangedEventHandler
     """
 
-    def __init__(self, cmd):
+    def __init__(self, cmd: adsk.core.Command) -> None:
         super().__init__()
         self.cmd = cmd
         self.allWeights = [None, None]  # [lbs, kg]
@@ -568,7 +573,7 @@ def __init__(self, cmd):
         self.isLbs_f = True
 
     @logFailure
-    def reset(self):
+    def reset(self) -> None:
         """### Process:
         - Reset the mouse icon to default
         - Clear active selections
@@ -576,7 +581,7 @@ def reset(self):
         self.cmd.setCursor("", 0, 0)
         gm.ui.activeSelections.clear()
 
-    def notify(self, args):
+    def notify(self, args: adsk.core.InputChangedEventArgs) -> None:
         generalConfigTab.handleInputChanged(args)
 
         if jointConfigTab.isVisible:
@@ -593,11 +598,8 @@ class MyCommandDestroyHandler(adsk.core.CommandEventHandler):
     Args: CommandEventHandler
     """
 
-    def __init__(self):
-        super().__init__()
-
     @logFailure(messageBox=True)
-    def notify(self, args):
+    def notify(self, args: adsk.core.CommandEventArgs) -> None:
         jointConfigTab.reset()
         gamepieceConfigTab.reset()
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py b/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
index 663afe9337..8154517d78 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
@@ -10,6 +10,8 @@
 from src.Types import OString
 
 
+# Transition: AARD-1765
+# Will likely be removed later as this is no longer used. Avoiding adding typing for now.
 def generateFilePath() -> str:
     """Generates a temporary file path that can be used to save the file for exporting
 
@@ -19,21 +21,21 @@ def generateFilePath() -> str:
     Returns:
         str: file path
     """
-    tempPath = OString.TempPath("").getPath()
+    tempPath = OString.TempPath("").getPath()  # type: ignore
     return str(tempPath)
 
 
 class Struct:
     """For decoding the dict values into named values"""
 
-    def __init__(self, **entries):
+    def __init__(self, **entries):  # type: ignore
         self.__dict__.update(entries)
 
 
 class SerialCommand:
     """All of the command inputs combined"""
 
-    def __init__(self):
+    def __init__(self):  # type: ignore
         self.general = General()
         self.advanced = Advanced()
         self.filePath = generateFilePath()
@@ -50,7 +52,7 @@ def toJSON(self) -> str:
 class General:
     """General Options"""
 
-    def __init__(self):
+    def __init__(self):  # type: ignore
         # This is the overall export decision point
         self.exportMode = ExportMode.standard
         self.RenderType = RenderType.basic3D
@@ -64,7 +66,7 @@ def __init__(self):
 class Advanced:
     """Advanced settings in the command input"""
 
-    def __init__(self):
+    def __init__(self):  # type: ignore
         self.friction = BooleanInput("friction", True)
         self.density = BooleanInput("density", True)
         self.mass = BooleanInput("mass", True)
diff --git a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
index 3b6bd8e2c2..58a331a198 100644
--- a/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
+++ b/exporter/SynthesisFusionAddin/src/UI/CustomGraphics.py
@@ -6,7 +6,7 @@
 
 
 @logFailure
-def createTextGraphics(wheel: adsk.fusion.Occurrence, _wheels) -> None:
+def createTextGraphics(wheel: adsk.fusion.Occurrence, _wheels: list[adsk.fusion.Occurrence]) -> None:
     design = gm.app.activeDocument.design
 
     boundingBox = wheel.boundingBox  # occurrence bounding box
diff --git a/exporter/SynthesisFusionAddin/src/UI/Events.py b/exporter/SynthesisFusionAddin/src/UI/Events.py
index 64d0f1ea29..c8da4590a6 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Events.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Events.py
@@ -14,16 +14,12 @@
 logger = getLogger()
 
 
-def updateDocument(*argv: Sequence[str]):
-    pass
+def updateDocument(*argv: Sequence[str]) -> None: ...
 
 
-def updateConnection(_) -> str:
+def updateConnection() -> str:
     """Updates the JS side connection with the Network Manager connected()
 
-    Args:
-        _ (Any): Any
-
     Returns:
         str: Json formatted connected: true | false
     """
@@ -61,6 +57,8 @@ def openDocument(json_data: str) -> str:
     return ""
 
 
-def example(palette):
+def example(palette: adsk.core.Palette) -> None:
     app = adsk.core.Application.get()
-    app.userInterface(f"{Helper.getDocName()}")
+    # Transition: AARD-1765
+    # Many many things in this file can be removed, this is just the part that typing can not be added to
+    # app.userInterface(f"{Helper.getDocName()}")
diff --git a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
index d2465ae29b..d20442f56b 100644
--- a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
+++ b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
@@ -1,3 +1,5 @@
+from typing import cast
+
 import adsk.core
 import adsk.fusion
 
@@ -37,7 +39,7 @@ def saveFileDialog(defaultPath: str | None = None, defaultName: str | None = Non
     dialogResult = fileDialog.showSave()
 
     if dialogResult == adsk.core.DialogResults.DialogOK:
-        return fileDialog.filename
+        return cast(str, fileDialog.filename)
     else:
         return False
 
@@ -51,7 +53,9 @@ def generateFilePath() -> str:
     Returns:
         str: file path
     """
-    tempPath = OString.TempPath("").getPath()
+    # Transition: AARD-1765
+    # Ignoring the type for now, will revisit in the OString refactor
+    tempPath = OString.TempPath("").getPath()  # type: ignore
     return str(tempPath)
 
 
@@ -74,5 +78,4 @@ def generateFileName() -> str:
     return "{0}_{1}.mira".format(name, version)
 
 
-def OpenFileDialog():
-    pass
+def OpenFileDialog() -> None: ...
diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index 8eb4f80044..753b91890e 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -102,7 +102,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
 
     @property
     def isVisible(self) -> bool:
-        return self.gamepieceConfigTab.isVisible
+        return self.gamepieceConfigTab.isVisible or False
 
     @isVisible.setter
     def isVisible(self, value: bool) -> None:
@@ -117,7 +117,7 @@ def autoCalculateWeight(self) -> bool:
         autoCalcWeightButton: adsk.core.BoolValueCommandInput = self.gamepieceConfigTab.children.itemById(
             "autoCalcGamepieceWeight"
         )
-        return autoCalcWeightButton.value
+        return autoCalcWeightButton.value or False
 
     @logFailure
     def weightInputs(self) -> list[adsk.core.ValueCommandInput]:
@@ -252,6 +252,17 @@ def calcGamepieceWeights(self) -> None:
     def handleInputChanged(
         self, args: adsk.core.InputChangedEventArgs, globalCommandInputs: adsk.core.CommandInputs
     ) -> None:
+        gamepieceAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("gamepieceAddButton")
+        gamepieceTable: adsk.core.TableCommandInput = args.inputs.itemById("gamepieceTable")
+        gamepieceRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("gamepieceRemoveButton")
+        gamepieceSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
+            "gamepieceSelectCancelButton"
+        )
+        gamepieceSelection: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById(
+            "gamepieceSelect"
+        )
+        spacer: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById("gamepieceTabSpacer")
+
         commandInput = args.input
         if commandInput.id == "autoCalcGamepieceWeight":
             autoCalcWeightButton = adsk.core.BoolValueCommandInput.cast(commandInput)
@@ -283,18 +294,6 @@ def handleInputChanged(
             self.previousSelectedUnitDropdownIndex = weightUnitDropdown.selectedItem.index
 
         elif commandInput.id == "gamepieceAddButton":
-            gamepieceAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("gamepieceAddButton")
-            gamepieceRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
-                "gamepieceRemoveButton"
-            )
-            gamepieceSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
-                "gamepieceSelectCancelButton"
-            )
-            gamepieceSelection: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById(
-                "gamepieceSelect"
-            )
-            spacer: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById("gamepieceTabSpacer")
-
             gamepieceSelection.isVisible = gamepieceSelection.isEnabled = True
             gamepieceSelection.clearSelection()
             gamepieceAddButton.isEnabled = gamepieceRemoveButton.isEnabled = False
@@ -302,9 +301,6 @@ def handleInputChanged(
             spacer.isVisible = False
 
         elif commandInput.id == "gamepieceRemoveButton":
-            gamepieceAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("gamepieceAddButton")
-            gamepieceTable: adsk.core.TableCommandInput = args.inputs.itemById("gamepieceTable")
-
             gamepieceAddButton.isEnabled = True
             if gamepieceTable.selectedRow == -1 or gamepieceTable.selectedRow == 0:
                 ui = adsk.core.Application.get().userInterface
@@ -313,18 +309,6 @@ def handleInputChanged(
                 self.removeIndexedGamepiece(gamepieceTable.selectedRow - 1)  # selectedRow is 1 indexed
 
         elif commandInput.id == "gamepieceSelectCancelButton":
-            gamepieceAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("gamepieceAddButton")
-            gamepieceRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
-                "gamepieceRemoveButton"
-            )
-            gamepieceSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
-                "gamepieceSelectCancelButton"
-            )
-            gamepieceSelection: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById(
-                "gamepieceSelect"
-            )
-            spacer: adsk.core.SelectionCommandInput = self.gamepieceConfigTab.children.itemById("gamepieceTabSpacer")
-
             gamepieceSelection.isEnabled = gamepieceSelection.isVisible = False
             gamepieceSelectCancelButton.isEnabled = gamepieceSelectCancelButton.isVisible = False
             gamepieceAddButton.isEnabled = gamepieceRemoveButton.isEnabled = True
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index 40a602a406..a5c21c8e5f 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -2,13 +2,8 @@
 import adsk.fusion
 
 from src.Logging import logFailure
-from src.Parser.ExporterOptions import (
-    ExporterOptions,
-    ExportLocation,
-    ExportMode,
-    PreferredUnits,
-)
-from src.Types import KG, toKg, toLbs
+from src.Parser.ExporterOptions import ExporterOptions
+from src.Types import KG, ExportLocation, ExportMode, PreferredUnits, toKg, toLbs
 from src.UI import IconPaths
 from src.UI.CreateCommandInputsHelper import createBooleanInput, createTableInput
 from src.UI.GamepieceConfigTab import GamepieceConfigTab
@@ -49,7 +44,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
             "exportLocation", "Export Location", dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle
         )
 
-        upload: bool = exporterOptions.exportLocation == ExportLocation.UPLOAD
+        upload = exporterOptions.exportLocation == ExportLocation.UPLOAD
         dropdownExportLocation.listItems.add("Upload", upload)
         dropdownExportLocation.listItems.add("Download", not upload)
         dropdownExportLocation.tooltip = "Export Location"
@@ -176,14 +171,14 @@ def compress(self) -> bool:
         compressButton: adsk.core.BoolValueCommandInput = self.generalOptionsTab.children.itemById(
             "compressOutputButton"
         )
-        return compressButton.value
+        return compressButton.value or False
 
     @property
     def exportAsPart(self) -> bool:
         exportAsPartButton: adsk.core.BoolValueCommandInput = self.generalOptionsTab.children.itemById(
             "exportAsPartButton"
         )
-        return exportAsPartButton.value
+        return exportAsPartButton.value or False
 
     @property
     def selectedUnits(self) -> PreferredUnits:
@@ -205,7 +200,7 @@ def autoCalculateWeight(self) -> bool:
         autoCalcWeightButton: adsk.core.BoolValueCommandInput = self.generalOptionsTab.children.itemById(
             "autoCalcWeightButton"
         )
-        return autoCalcWeightButton.value
+        return autoCalcWeightButton.value or False
 
     @property
     def exportLocation(self) -> ExportLocation:
@@ -223,25 +218,27 @@ def overrideFriction(self) -> bool:
         overrideFrictionButton: adsk.core.BoolValueCommandInput = self.generalOptionsTab.children.itemById(
             "frictionOverride"
         )
-        return overrideFrictionButton.value
+        return overrideFrictionButton.value or False
 
     @property
     def frictionOverrideCoeff(self) -> float:
         frictionSlider: adsk.core.FloatSliderCommandInput = self.generalOptionsTab.children.itemById(
             "frictionCoefficient"
         )
-        return frictionSlider.valueOne
+        return frictionSlider.valueOne or -1.0
 
     @logFailure
     def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
+        autoCalcWeightButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("autoCalcWeightButton")
+        weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
+        weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)
+        exportAsPartButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("exportAsPartButton")
+        overrideFrictionButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("frictionOverride")
+        frictionSlider: adsk.core.FloatSliderCommandInput = args.inputs.itemById("frictionCoefficient")
         commandInput = args.input
         if commandInput.id == "exportModeDropdown":
             modeDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
-            autoCalcWeightButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("autoCalcWeightButton")
-            weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
-            exportAsPartButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("exportAsPartButton")
-            overrideFrictionButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("frictionOverride")
-            frictionSlider: adsk.core.FloatSliderCommandInput = args.inputs.itemById("frictionCoefficient")
+
             if modeDropdown.selectedItem.index == self.previousSelectedModeDropdownIndex:
                 return
 
@@ -268,8 +265,6 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
 
         elif commandInput.id == "weightUnitDropdown":
             weightUnitDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
-            weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
-            weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)
             if weightUnitDropdown.selectedItem.index == self.previousSelectedUnitDropdownIndex:
                 return
 
@@ -294,9 +289,6 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
             if autoCalcWeightButton.value == self.previousAutoCalcWeightCheckboxState:
                 return
 
-            weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
-            weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)
-
             if autoCalcWeightButton.value:
                 robotMass = designMassCalculation()
                 weightInput.value = robotMass if self.currentUnits is PreferredUnits.METRIC else toLbs(robotMass)
@@ -308,7 +300,6 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
 
         elif commandInput.id == "frictionOverride":
             frictionOverrideButton = adsk.core.BoolValueCommandInput.cast(commandInput)
-            frictionSlider: adsk.core.FloatSliderCommandInput = args.inputs.itemById("frictionCoefficient")
             if frictionOverrideButton.value == self.previousFrictionOverrideCheckboxState:
                 return
 
@@ -331,4 +322,4 @@ def designMassCalculation() -> KG:
             physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
             mass += physical.mass
 
-    return KG(round(mass, 2))
+    return round(mass, 2)
diff --git a/exporter/SynthesisFusionAddin/src/UI/HUI.py b/exporter/SynthesisFusionAddin/src/UI/HUI.py
index d1a968d642..d5be4473f7 100644
--- a/exporter/SynthesisFusionAddin/src/UI/HUI.py
+++ b/exporter/SynthesisFusionAddin/src/UI/HUI.py
@@ -1,3 +1,5 @@
+from typing import Any, Callable
+
 import adsk.core
 
 from src import INTERNAL_ID, gm
@@ -7,8 +9,8 @@
 
 # no longer used
 class HPalette:
-    handlers = []
-    events = []
+    handlers: list[Any] = []
+    events: list[adsk.core.Event] = []
 
     def __init__(
         self,
@@ -19,8 +21,8 @@ def __init__(
         resizeable: bool,
         width: int,
         height: int,
-        *argv,
-    ):
+        *argv: Any,
+    ) -> None:
         """#### Creates a HPalette Object with a number of function pointers that correspond to a action on the js side.
 
         Arguments:
@@ -69,9 +71,12 @@ def __init__(
 
             self.palette.dockingState = adsk.core.PaletteDockingStates.PaletteDockStateLeft
 
-            onHTML = Handlers.HPaletteHTMLEventHandler(self)
-            self.palette.incomingFromHTML.add(onHTML)
-            self.handlers.append(onHTML)
+            # Transition: AARD-1765
+            # Should be removed later as this is no longer used, would have been
+            # impossible to add typing for this block.
+            # onHTML = Handlers.HPaletteHTMLEventHandler(self)
+            # self.palette.incomingFromHTML.add(onHTML)
+            # self.handlers.append(onHTML)
 
         self.palette.isVisible = True
 
@@ -86,7 +91,7 @@ def deleteMe(self) -> None:
 
 
 class HButton:
-    handlers = []
+    handlers: list[Any] = []
     """ Keeps all handler classes alive which is essential apparently. - used in command events """
 
     @logFailure
@@ -94,11 +99,11 @@ def __init__(
         self,
         name: str,
         location: str,
-        check_func: object,
-        exec_func: object,
+        check_func: Callable[..., bool],
+        exec_func: Callable[..., Any],
         description: str = "No Description",
         command: bool = False,
-    ):
+    ) -> None:
         """# Creates a new HButton Class.
 
         Arguments:
@@ -170,7 +175,7 @@ def promote(self, flag: bool) -> None:
         self.buttonControl.isPromotedByDefault = flag
         self.buttonControl.isPromoted = flag
 
-    def deleteMe(self):
+    def deleteMe(self) -> None:
         """## Custom deleteMe method to easily deconstruct button data.
 
         This somehow doesn't work if I keep local references to all of these definitions.
@@ -186,7 +191,7 @@ def deleteMe(self):
         if ctrl:
             ctrl.deleteMe()
 
-    def scrub(self):
+    def scrub(self) -> None:
         """### In-case I make a mistake or a crash happens early it can scrub the command.
 
         It can only be called if the ID is not currently in the buttons list.
@@ -195,7 +200,7 @@ def scrub(self):
         """
         self.deleteMe()
 
-    def __str__(self):
+    def __str__(self) -> str:
         """### Retrieves the button unique ID and treats it as a string.
         Returns:
             *str* -- button unique ID.
diff --git a/exporter/SynthesisFusionAddin/src/UI/Handlers.py b/exporter/SynthesisFusionAddin/src/UI/Handlers.py
index 4529b861db..9033b6f0d5 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Handlers.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Handlers.py
@@ -1,5 +1,9 @@
+from typing import Any
+
 import adsk.core
 
+# from src.UI.HUI import HButton
+
 
 class HButtonCommandCreatedEvent(adsk.core.CommandCreatedEventHandler):
     """## Abstraction of CreatedEvent as its mostly useless in this context
@@ -8,17 +12,17 @@ class HButtonCommandCreatedEvent(adsk.core.CommandCreatedEventHandler):
     **adsk.core.CommandCreatedEventHandler** -- Parent abstract created event class
     """
 
-    def __init__(self, button):
+    def __init__(self, button: Any) -> None:
         super().__init__()
         self.button = button
 
-    def notify(self, args):
+    def notify(self, args: adsk.core.CommandCreatedEventArgs) -> None:
         """## Called when parent button object is created and links the execute function pointer.
 
         Arguments:
             **args** *args* -- List of arbitrary info given to fusion event handlers.
         """
-        cmd = adsk.core.CommandCreatedEventArgs.cast(args).command
+        cmd = args.command
 
         if self.button.check_func():
             onExecute = HButtonCommandExecuteHandler(self.button)
@@ -33,11 +37,11 @@ class HButtonCommandExecuteHandler(adsk.core.CommandEventHandler):
     **adsk.core.CommandEventHandler** -- Fusion CommandEventHandler Abstract parent to link notify to ui.
     """
 
-    def __init__(self, button):
+    def __init__(self, button: Any) -> None:
         super().__init__()
         self.button = button
 
-    def notify(self, _):
+    def notify(self, _: adsk.core.CommandEventArgs) -> None:
         self.button.exec_func()
 
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Helper.py b/exporter/SynthesisFusionAddin/src/UI/Helper.py
index ba8bf9b0e9..9253af0600 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Helper.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Helper.py
@@ -3,52 +3,52 @@
 import adsk.core
 
 from src import APP_NAME, APP_TITLE, INTERNAL_ID, gm
+from src.Logging import logFailure
 from src.UI import HUI, Events
 
 
-def getDocName() -> str or None:
+def check_solid_open() -> bool:
+    return True
+
+
+def getDocName() -> str | None:
     """### Gets the active Document Name
     - If it can't find one then it will return None
     """
     app = adsk.core.Application.get()
     if check_solid_open():
-        return app.activeDocument.design.rootComponent.name.rsplit(" ", 1)[0]
+        return app.activeDocument.design.rootComponent.name.rsplit(" ", 1)[0] or ""
     else:
         return None
 
 
+@logFailure(messageBox=True)
 def checkAttribute() -> bool:
     """### Will process the file and look for a flag that unity is already using it."""
     app = adsk.core.Application.get()
-    try:
-        connected = app.activeDocument.attributes.itemByName("UnityFile", "Connected")
-        if connected is not None:
-            return connected.value
-        return False
-    except:
-        app.userInterface.messageBox(f"Could not access the attributes of the file \n -- {traceback.format_exc()}.")
-        return False
+    connected = app.activeDocument.attributes.itemByName("UnityFile", "Connected")
+    if connected is not None:
+        return connected.value or False
+
+    return False
 
 
-def addUnityAttribute() -> bool or None:
+@logFailure
+def addUnityAttribute() -> bool | None:
     """#### Adds an attribute to the Fusion File
     - Initially intended to be used to add a marker for in use untiy files
     - No longer necessary
     """
     app = adsk.core.Application.get()
-    try:
-        current = app.activeDocument.attributes.itemByName("UnityFile", "Connected")
-
-        if check_solid_open and (current is None):
-            val = app.activeDocument.attributes.add("UnityFile", "Connected", "True")
-            return val
-        elif current is not None:
-            return current
-        return None
+    current = app.activeDocument.attributes.itemByName("UnityFile", "Connected")
+
+    if check_solid_open() and (current is None):
+        val = app.activeDocument.attributes.add("UnityFile", "Connected", "True")
+        return val or False
+    elif current is not None:
+        return current or False
 
-    except:
-        app.userInterface.messageBox(f"Could not access the attributes of the file \n -- {traceback.format_exc()}.")
-        return False
+    return None
 
 
 def openPanel() -> None:
@@ -70,5 +70,3 @@ def openPanel() -> None:
         func_list = [o for o in getmembers(Events, isfunction)]
         palette_new = HUI.HPalette(name, APP_TITLE, True, True, False, 400, 500, func_list)
         gm.elements.append(palette_new)
-
-    return
diff --git a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
index b06ae6f2af..bd13ea335a 100644
--- a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
@@ -104,7 +104,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs) -> None:
 
     @property
     def isVisible(self) -> bool:
-        return self.jointConfigTab.isVisible
+        return self.jointConfigTab.isVisible or False
 
     @isVisible.setter
     def isVisible(self, value: bool) -> None:
@@ -264,6 +264,7 @@ def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
         )
 
         self.previousWheelCheckboxState.append(isWheel)
+        return True
 
     @logFailure
     def addWheel(self, joint: adsk.fusion.Joint, wheel: Wheel | None = None) -> None:
@@ -403,6 +404,14 @@ def handleInputChanged(
         self, args: adsk.core.InputChangedEventArgs, globalCommandInputs: adsk.core.CommandInputs
     ) -> None:
         commandInput = args.input
+        jointAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointAddButton")
+        jointTable: adsk.core.TableCommandInput = args.inputs.itemById("jointTable")
+        jointRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointRemoveButton")
+        jointSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
+            "jointSelectCancelButton"
+        )
+        jointSelection: adsk.core.SelectionCommandInput = globalCommandInputs.itemById("jointSelection")
+
         if commandInput.id == "wheelType":
             wheelTypeDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
             position = self.wheelConfigTable.getPosition(wheelTypeDropdown)[1]
@@ -443,22 +452,12 @@ def handleInputChanged(
                 wheelSignalItems.listItems.item(signalTypeDropdown.selectedItem.index).isSelected = True
 
         elif commandInput.id == "jointAddButton":
-            jointAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointAddButton")
-            jointRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointRemoveButton")
-            jointSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
-                "jointSelectCancelButton"
-            )
-            jointSelection: adsk.core.SelectionCommandInput = globalCommandInputs.itemById("jointSelection")
-
             jointSelection.isVisible = jointSelection.isEnabled = True
             jointSelection.clearSelection()
             jointAddButton.isEnabled = jointRemoveButton.isEnabled = False
             jointSelectCancelButton.isVisible = jointSelectCancelButton.isEnabled = True
 
         elif commandInput.id == "jointRemoveButton":
-            jointAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointAddButton")
-            jointTable: adsk.core.TableCommandInput = args.inputs.itemById("jointTable")
-
             jointAddButton.isEnabled = True
 
             if jointTable.selectedRow == -1 or jointTable.selectedRow == 0:
@@ -468,12 +467,6 @@ def handleInputChanged(
                 self.removeIndexedJoint(jointTable.selectedRow - 1)  # selectedRow is 1 indexed
 
         elif commandInput.id == "jointSelectCancelButton":
-            jointAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointAddButton")
-            jointRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("jointRemoveButton")
-            jointSelectCancelButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
-                "jointSelectCancelButton"
-            )
-            jointSelection: adsk.core.SelectionCommandInput = globalCommandInputs.itemById("jointSelection")
             jointSelection.isEnabled = jointSelection.isVisible = False
             jointSelectCancelButton.isEnabled = jointSelectCancelButton.isVisible = False
             jointAddButton.isEnabled = jointRemoveButton.isEnabled = True
diff --git a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
index 5b90c1b671..dea2ad0a67 100644
--- a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
+++ b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
@@ -1,3 +1,5 @@
+from typing import Any, Callable
+
 import adsk.core
 import adsk.fusion
 
@@ -7,23 +9,20 @@
 
 # global mapping list of event handlers to keep them referenced for the duration of the command
 # handlers = {}
-handlers = []
-cmdDefs = []
-entities = []
-occurrencesOfComponents = {}
+handlers: list[Any] = []
+cmdDefs: list[adsk.core.CommandDefinition] = []
+entities: list[adsk.fusion.Occurrence] = []
 
 logger = getLogger()
 
 
 @logFailure(messageBox=True)
-def setupMarkingMenu(ui: adsk.core.UserInterface):
+def setupMarkingMenu(ui: adsk.core.UserInterface) -> None:
     handlers.clear()
 
     @logFailure(messageBox=True)
-    def setLinearMarkingMenu(args):
-        menuArgs = adsk.core.MarkingMenuEventArgs.cast(args)
-
-        linearMenu = menuArgs.linearMarkingMenu
+    def setLinearMarkingMenu(args: adsk.core.MarkingMenuEventArgs) -> None:
+        linearMenu = args.linearMarkingMenu
         linearMenu.controls.addSeparator("LinearSeparator")
 
         synthDropDown = linearMenu.controls.addDropDown("Synthesis", "", "synthesis")
@@ -49,14 +48,16 @@ def setLinearMarkingMenu(args):
                     cmdEnableCollision = ui.commandDefinitions.itemById("EnableCollision")
                     synthDropDown.controls.addCommand(cmdEnableCollision)
 
-    def setCollisionAttribute(occ: adsk.fusion.Occurrence, isEnabled: bool = True):
+    def setCollisionAttribute(occ: adsk.fusion.Occurrence, isEnabled: bool = True) -> None:
         attr = occ.attributes.itemByName("synthesis", "collision_off")
         if attr == None and not isEnabled:
             occ.attributes.add("synthesis", "collision_off", "true")
         elif attr != None and isEnabled:
             attr.deleteMe()
 
-    def applyToSelfAndAllChildren(occ: adsk.fusion.Occurrence, modFunc):
+    def applyToSelfAndAllChildren(
+        occ: adsk.fusion.Occurrence, modFunc: Callable[[adsk.fusion.Occurrence], None]
+    ) -> None:
         modFunc(occ)
         childLists = []
         childLists.append(occ.childOccurrences)
@@ -70,22 +71,16 @@ def applyToSelfAndAllChildren(occ: adsk.fusion.Occurrence, modFunc):
                     childLists.append(o.childOccurrences)
 
     class MyCommandCreatedEventHandler(adsk.core.CommandCreatedEventHandler):
-        def __init__(self):
-            super().__init__()
-
         @logFailure(messageBox=True)
-        def notify(self, args):
+        def notify(self, args: adsk.core.CommandCreatedEventArgs) -> None:
             command = args.command
             onCommandExcute = MyCommandExecuteHandler()
             handlers.append(onCommandExcute)
             command.execute.add(onCommandExcute)
 
     class MyCommandExecuteHandler(adsk.core.CommandEventHandler):
-        def __init__(self):
-            super().__init__()
-
         @logFailure(messageBox=True)
-        def notify(self, args):
+        def notify(self, args: adsk.core.CommandEventArgs) -> None:
             command = args.firingEvent.sender
             cmdDef = command.parentCommandDefinition
             if cmdDef:
@@ -128,15 +123,10 @@ def notify(self, args):
                 ui.messageBox("No CommandDefinition")
 
     class MyMarkingMenuHandler(adsk.core.MarkingMenuEventHandler):
-        def __init__(self):
-            super().__init__()
-
         @logFailure(messageBox=True)
-        def notify(self, args):
+        def notify(self, args: adsk.core.CommandEventArgs) -> None:
             setLinearMarkingMenu(args)
 
-            global occurrencesOfComponents
-
             # selected entities
             global entities
             entities.clear()
@@ -201,7 +191,7 @@ def notify(self, args):
 
 
 @logFailure(messageBox=True)
-def stopMarkingMenu(ui: adsk.core.UserInterface):
+def stopMarkingMenu(ui: adsk.core.UserInterface) -> None:
     for obj in cmdDefs:
         if obj.isValid:
             obj.deleteMe()
diff --git a/exporter/SynthesisFusionAddin/src/UI/OsHelper.py b/exporter/SynthesisFusionAddin/src/UI/OsHelper.py
index e338be5815..3b97a4b891 100644
--- a/exporter/SynthesisFusionAddin/src/UI/OsHelper.py
+++ b/exporter/SynthesisFusionAddin/src/UI/OsHelper.py
@@ -2,7 +2,7 @@
 import platform
 
 
-def getOSPath(*argv) -> str:
+def getOSPath(*argv: str) -> str:
     """Takes n strings and constructs a OS specific path
 
     Returns:
@@ -17,7 +17,7 @@ def getOSPath(*argv) -> str:
     return path
 
 
-def getOSPathPalette(*argv) -> str:
+def getOSPathPalette(*argv: str) -> str:
     """## This is a different delimeter than the resources path."""
     path = ""
     for arg in argv:
@@ -25,7 +25,7 @@ def getOSPathPalette(*argv) -> str:
     return path
 
 
-def getDesktop():
+def getDesktop() -> str:
     """Gets the Desktop Path.
 
     Returns:
@@ -37,7 +37,7 @@ def getDesktop():
         return os.path.join(os.path.join(os.environ["USERPROFILE"]), "Desktop/")
 
 
-def getOS():
+def getOS() -> str:
     """## Returns platform as a string
 
     - Darwin
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
index 999abd1176..abf6f7df32 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowAPSAuthCommand.py
@@ -3,6 +3,7 @@
 import traceback
 import urllib.parse
 import urllib.request
+from typing import Any
 
 import adsk.core
 
@@ -15,10 +16,7 @@
 
 
 class ShowAPSAuthCommandExecuteHandler(adsk.core.CommandEventHandler):
-    def __init__(self):
-        super().__init__()
-
-    def notify(self, args):
+    def notify(self, args: adsk.core.CommandEventArgs) -> None:
         try:
             global palette
             palette = gm.ui.palettes.itemById("authPalette")
@@ -60,10 +58,10 @@ def notify(self, args):
 
 
 class ShowAPSAuthCommandCreatedHandler(adsk.core.CommandCreatedEventHandler):
-    def __init__(self, configure):
+    def __init__(self, configure: Any) -> None:
         super().__init__()
 
-    def notify(self, args):
+    def notify(self, args: adsk.core.CommandCreatedEventArgs) -> None:
         try:
             command = args.command
             onExecute = ShowAPSAuthCommandExecuteHandler()
@@ -77,18 +75,11 @@ def notify(self, args):
 
 
 class SendInfoCommandExecuteHandler(adsk.core.CommandEventHandler):
-    def __init__(self):
-        super().__init__()
-
-    def notify(self, args):
-        pass
+    def notify(self, args: adsk.core.CommandEventArgs) -> None: ...
 
 
 class SendInfoCommandCreatedHandler(adsk.core.CommandCreatedEventHandler):
-    def __init__(self):
-        super().__init__()
-
-    def notify(self, args):
+    def notify(self, args: adsk.core.CommandCreatedEventArgs) -> None:
         try:
             command = args.command
             onExecute = SendInfoCommandExecuteHandler()
@@ -102,10 +93,7 @@ def notify(self, args):
 
 
 class MyCloseEventHandler(adsk.core.UserInterfaceGeneralEventHandler):
-    def __init__(self):
-        super().__init__()
-
-    def notify(self, args):
+    def notify(self, args: adsk.core.EventArgs) -> None:
         try:
             if palette:
                 palette.deleteMe()
@@ -118,13 +106,9 @@ def notify(self, args):
 
 
 class MyHTMLEventHandler(adsk.core.HTMLEventHandler):
-    def __init__(self):
-        super().__init__()
-
-    def notify(self, args):
+    def notify(self, args: adsk.core.HTMLEventArgs) -> None:
         try:
-            htmlArgs = adsk.core.HTMLEventArgs.cast(args)
-            data = json.loads(htmlArgs.data)
+            data = json.loads(args.data)
             # gm.ui.messageBox(msg)
 
             convertAuthToken(data["code"])
diff --git a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
index cc99cffb07..7441a071b4 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ShowWebsiteCommand.py
@@ -1,34 +1,31 @@
-import traceback
 import webbrowser
+from typing import Any
 
 import adsk.core
 
 from src import gm
+from src.Logging import logFailure
 
 
 class ShowWebsiteCommandExecuteHandler(adsk.core.CommandEventHandler):
     def __init__(self) -> None:
         super().__init__()
 
-    def notify(self, args):
-        try:
-            url = "https://synthesis.autodesk.com/tutorials.html"
-            res = webbrowser.open(url, new=2)
-            if not res:
-                gm.ui.messageBox("Failed\n{}".format(traceback.format_exc()))
-        except:
-            gm.ui.messageBox("Failed\n{}".format(traceback.format_exc()))
+    @logFailure
+    def notify(self, args: adsk.core.CommandEventArgs) -> None:
+        url = "https://synthesis.autodesk.com/tutorials.html"
+        res = webbrowser.open(url, new=2)
+        if not res:
+            raise BaseException("Could not open webbrowser")
 
 
 class ShowWebsiteCommandCreatedHandler(adsk.core.CommandCreatedEventHandler):
-    def __init__(self, configure) -> None:
+    def __init__(self, configure: Any) -> None:
         super().__init__()
 
-    def notify(self, args):
-        try:
-            command = args.command
-            onExecute = ShowWebsiteCommandExecuteHandler()
-            command.execute.add(onExecute)
-            gm.handlers.append(onExecute)
-        except:
-            gm.ui.messageBox("Failed\n{}".format(traceback.format_exc()))
+    @logFailure
+    def notify(self, args: adsk.core.CommandCreatedEventArgs) -> None:
+        command = args.command
+        onExecute = ShowWebsiteCommandExecuteHandler()
+        command.execute.add(onExecute)
+        gm.handlers.append(onExecute)
diff --git a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
index f9d150cc3c..93e6173502 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Toolbar.py
@@ -1,3 +1,5 @@
+import adsk.core
+
 from src import INTERNAL_ID, gm
 from src.Logging import logFailure
 
@@ -8,27 +10,23 @@ class Toolbar:
     - holds handlers
     """
 
-    uid = None
-    tab = None
-    panels = []
-    controls = []
+    uid: str
+    tab: adsk.core.ToolbarTab
+    panels: list[str] = []
+    controls: list[str] = []
 
     @logFailure
     def __init__(self, name: str):
         self.uid = f"{name}_{INTERNAL_ID}_toolbar"
         self.name = name
 
-        designWorkspace = gm.ui.workspaces.itemById("FusionSolidEnvironment")
-
-        if designWorkspace:
-            allDesignTabs = designWorkspace.toolbarTabs
-
-            self.tab = allDesignTabs.itemById(self.uid)
-
-            if self.tab is None:
-                self.tab = allDesignTabs.add(self.uid, name)
+        designWorkspace = gm.ui.workspaces.itemById("FusionSolidEnvironment") or adsk.core.Workspace()
+        allDesignTabs = designWorkspace.toolbarTabs
+        self.tab = allDesignTabs.itemById(self.uid)
+        if self.tab is None:
+            self.tab = allDesignTabs.add(self.uid, name)
 
-            self.tab.activate()
+        self.tab.activate()
 
     def getPanel(self, name: str, visibility: bool = True) -> str | None:
         """# Gets a control for a panel to the tabbed toolbar

From caee8eb51656f72f1ebdae7879c615791b2b1f09 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Tue, 13 Aug 2024 09:25:57 -0700
Subject: [PATCH 209/344] Forgot to stage this one

---
 fission/src/Synthesis.tsx | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 0e2fe2a29b..c1d33806ca 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -36,6 +36,7 @@ import ThemeEditorModal from "@/modals/configuring/theme-editor/ThemeEditorModal
 import MatchModeModal from "@/modals/spawning/MatchModeModal"
 import RobotSwitchPanel from "@/panels/RobotSwitchPanel"
 import SpawnLocationsPanel from "@/panels/SpawnLocationPanel"
+import ConfigureSubsystemsPanel from "@/ui/panels/configuring/ConfigureSubsystemsPanel.tsx"
 import ScoreboardPanel from "@/panels/information/ScoreboardPanel"
 import DriverStationPanel from "@/panels/simulation/DriverStationPanel"
 import PokerPanel from "@/panels/PokerPanel.tsx"
@@ -241,6 +242,7 @@ const initialPanels: ReactElement[] = [
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
     <ConfigurePanel key="configure" panelId="configure" />,
+    <ConfigureSubsystemsPanel key="subsystem-config" panelId="subsystem-config" openLocation="right" sidePadding={8} />,
 ]
 
 export default Synthesis

From b991c2b059c2899a684df6750a4aabb563d5eb2c Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Tue, 13 Aug 2024 09:28:51 -0700
Subject: [PATCH 210/344] Formatting

---
 .../systems/simulation/driver/HingeDriver.ts  |  4 +-
 .../systems/simulation/driver/SliderDriver.ts |  1 -
 .../configuring/ConfigureSubsystemsPanel.tsx  | 46 +++++++++----------
 3 files changed, 25 insertions(+), 26 deletions(-)

diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
index c2edf011a6..755994921d 100644
--- a/fission/src/systems/simulation/driver/HingeDriver.ts
+++ b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -19,7 +19,7 @@ class HingeDriver extends Driver {
     public get constraint(): Jolt.HingeConstraint {
         return this._constraint
     }
-    
+
     private _prevAng: number = 0.0
 
     private _gravityChange?: (event: PreferenceEvent) => void
@@ -82,7 +82,7 @@ class HingeDriver extends Driver {
         }
 
         this.controlMode = DriverControlMode.Velocity
-        
+
         this._gravityChange = (event: PreferenceEvent) => {
             if (event.prefName == "SubsystemGravity") {
                 const motorSettings = this._constraint.GetMotorSettings()
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index b880a097d3..eb80a871e6 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -24,7 +24,6 @@ class SliderDriver extends Driver {
 
     private _gravityChange?: (event: PreferenceEvent) => void
 
-
     public get targetPosition(): number {
         return this._targetPosition
     }
diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index 2e39295082..7e56fd27a0 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -107,27 +107,24 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                         }}
                         step={0.01}
                     />
-                    {(PreferencesSystem.getGlobalPreference("SubsystemGravity") || driver instanceof WheelDriver) ? (
-                    <Slider
-                        min={driverSwitch(driver, 100, 20, 0.1) as number}
-                        max={driverSwitch(driver, 800, 150, 15) as number}
-                        value={force}
-                        label={driverSwitch(driver, "Max Force", "Max Torque", "Max Acceleration") as string}
-                        format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
-                        onChange={(_, _force: number | number[]) => {
-                            setForce(_force as number)
-                            onChange(velocity, _force as number)
-                        }}
-                        step={0.01}
-                    />
+                    {PreferencesSystem.getGlobalPreference("SubsystemGravity") || driver instanceof WheelDriver ? (
+                        <Slider
+                            min={driverSwitch(driver, 100, 20, 0.1) as number}
+                            max={driverSwitch(driver, 800, 150, 15) as number}
+                            value={force}
+                            label={driverSwitch(driver, "Max Force", "Max Torque", "Max Acceleration") as string}
+                            format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
+                            onChange={(_, _force: number | number[]) => {
+                                setForce(_force as number)
+                                onChange(velocity, _force as number)
+                            }}
+                            step={0.01}
+                        />
+                    ) : driver instanceof HingeDriver ? (
+                        <Label>Select Realistic Gravity in Settings for torque config</Label>
                     ) : (
-                        (driver instanceof HingeDriver) ? (
-                            <Label>Select Realistic Gravity in Settings for torque config</Label>
-                        ) : (
-                            <Label>Select Realistic Gravity in Settings for force config</Label>
-                        )
-                    )
-                    }
+                        <Label>Select Realistic Gravity in Settings for force config</Label>
+                    )}
                 </Stack>
             </Box>
             <SectionDivider />
@@ -193,9 +190,12 @@ const ConfigureSubsystemsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
                         })[0]
                         if (motor) {
                             ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = motor.maxVelocity
-                            ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = PreferencesSystem.getGlobalPreference("SubsystemGravity")
-                                ? motor.maxForce 
-                                : ( driver instanceof SliderDriver ? 500 : 100)
+                            ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce =
+                                PreferencesSystem.getGlobalPreference("SubsystemGravity")
+                                    ? motor.maxForce
+                                    : driver instanceof SliderDriver
+                                      ? 500
+                                      : 100
                         }
                     }
                 }

From 7014c801558ca5a8c0719d7f1ed47e09d31ff81e Mon Sep 17 00:00:00 2001
From: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
Date: Tue, 13 Aug 2024 09:52:03 -0700
Subject: [PATCH 211/344] Update
 fission/src/systems/simulation/wpilib_brain/SimInput.ts

Co-authored-by: Brandon Pacewic <92102436+BrandonPacewic@users.noreply.github.com>
---
 fission/src/systems/simulation/wpilib_brain/SimInput.ts | 1 -
 1 file changed, 1 deletion(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 79c74f39ec..0a16e8ee4d 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -62,7 +62,6 @@ export class SimGyroInput implements SimInput {
         const x = this.GetX()
         const y = this.GetY()
         const z = this.GetZ()
-        // console.log(`${this._device}\n${x}\n${y}\n${z}`)
         SimGyro.SetAngleX(this._device, x)
         SimGyro.SetAngleY(this._device, y)
         SimGyro.SetAngleZ(this._device, z)

From ba5b8710ced87602f53e44ae9a77c7ce5c2fc113 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 13 Aug 2024 09:58:28 -0700
Subject: [PATCH 212/344] cleaned up wpilib brain

---
 fission/src/systems/simulation/wpilib_brain/SimInput.ts  | 5 ++---
 fission/src/systems/simulation/wpilib_brain/SimOutput.ts | 3 ++-
 .../src/systems/simulation/wpilib_brain/WPILibBrain.ts   | 9 ---------
 .../systems/simulation/wpilib_brain/WPILibWSWorker.ts    | 9 ++-------
 .../com/autodesk/synthesis/ctre/TalonFXConfigurator.java | 2 --
 .../com/autodesk/synthesis/revrobotics/CANSparkMax.java  | 1 -
 6 files changed, 6 insertions(+), 23 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 79c74f39ec..973f6b9c70 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -19,8 +19,8 @@ export class SimEncoderInput implements SimInput {
     }
 
     public Update(_deltaT: number) {
-        SimCANEncoder.SetPosition(`${this._device}`, this._stimulus.positionValue)
-        SimCANEncoder.SetVelocity(`${this._device}`, this._stimulus.velocityValue)
+        SimCANEncoder.SetPosition(this._device, this._stimulus.positionValue)
+        SimCANEncoder.SetVelocity(this._device, this._stimulus.velocityValue)
     }
 }
 
@@ -62,7 +62,6 @@ export class SimGyroInput implements SimInput {
         const x = this.GetX()
         const y = this.GetY()
         const z = this.GetZ()
-        // console.log(`${this._device}\n${x}\n${y}\n${z}`)
         SimGyro.SetAngleX(this._device, x)
         SimGyro.SetAngleY(this._device, y)
         SimGyro.SetAngleZ(this._device, z)
diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index 94e9498da5..98fbfa030b 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -4,6 +4,8 @@ import SliderDriver from "../driver/SliderDriver"
 import WheelDriver from "../driver/WheelDriver"
 import { SimCAN, SimPWM, SimType } from "./WPILibBrain"
 
+// TODO: Averaging is probably not the right solution
+// If we do average, we need a better ui for creating one to one output group pairings
 export abstract class SimOutputGroup {
     public name: string
     public ports: number[]
@@ -49,7 +51,6 @@ export class CANOutputGroup extends SimOutputGroup {
         super(name, ports, drivers, SimType.CANMotor)
     }
 
-    // Averaging is probably not the right solution
     public Update(deltaT: number): void {
         const average =
             this.ports.reduce((sum, port) => {
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index d484a4bee9..b142564a34 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -1,4 +1,3 @@
-/* eslint-disable @typescript-eslint/no-explicit-any */
 import Mechanism from "@/systems/physics/Mechanism"
 import Brain from "../Brain"
 
@@ -155,14 +154,6 @@ export class SimCAN {
 export class SimCANMotor {
     private constructor() {}
 
-    // public static GetDutyCycle(device: string): number | undefined {
-    //     return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0)
-    // }
-    //
-    // public static SetSupplyVoltage(device: string, voltage: number): boolean {
-    //     return SimGeneric.Set("CANMotor", device, CANMOTOR_SUPPLY_VOLTAGE, voltage)
-    // }
-
     public static GetPercentOutput(device: string): number | undefined {
         return SimGeneric.Get(SimType.CANMotor, device, CANMOTOR_PERCENT_OUTPUT, 0.0)
     }
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
index 836dbd0d4f..e95edb360e 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
@@ -29,9 +29,7 @@ async function tryConnect(port: number | undefined): Promise<void> {
 
 async function tryDisconnect(): Promise<void> {
     await connectMutex.runExclusive(() => {
-        if (!socket) {
-            return
-        }
+        if (!socket) return
 
         socket?.close()
         socket = undefined
@@ -39,7 +37,6 @@ async function tryDisconnect(): Promise<void> {
 }
 
 function onMessage(event: MessageEvent) {
-    // console.log(`${JSON.stringify(JSON.parse(event.data), null, '\t')}`)
     self.postMessage(event.data)
 }
 
@@ -52,9 +49,7 @@ self.addEventListener("message", e => {
             tryDisconnect()
             break
         case "update":
-            if (socket) {
-                socket.send(JSON.stringify(e.data.data))
-            }
+            if (socket) socket.send(JSON.stringify(e.data.data))
             break
         default:
             console.warn(`Unrecognized command '${e.data.command}'`)
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
index e934719df8..6cc33b28a8 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
@@ -4,8 +4,6 @@
 import com.ctre.phoenix6.configs.TorqueCurrentConfigs;
 import com.ctre.phoenix6.StatusCode;
 
-//import com.ctre.phoenix6.configs.TalonFXConfigurator
-
 public class TalonFXConfigurator extends com.ctre.phoenix6.configs.TalonFXConfigurator {
     private TalonFX devicePtr;
 
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index f61f91e0f0..560cc5bc79 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -4,7 +4,6 @@
 
 import com.autodesk.synthesis.CANEncoder;
 import com.autodesk.synthesis.CANMotor;
-// import com.autodesk.synthesis.revrobotics.SparkAbsoluteEncoder;
 import com.revrobotics.CANSparkBase;
 import com.revrobotics.REVLibError;
 

From 0c595e118cd4a730cfc28a0792d2fea04b5837e1 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 13 Aug 2024 10:08:28 -0700
Subject: [PATCH 213/344] elaborated on output averaging solution

---
 fission/src/systems/simulation/wpilib_brain/SimOutput.ts | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index 98fbfa030b..9a5c0b827a 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -4,8 +4,12 @@ import SliderDriver from "../driver/SliderDriver"
 import WheelDriver from "../driver/WheelDriver"
 import { SimCAN, SimPWM, SimType } from "./WPILibBrain"
 
-// TODO: Averaging is probably not the right solution
-// If we do average, we need a better ui for creating one to one output group pairings
+// TODO: Averaging is probably not the right solution (if we want large output groups)
+// We can keep averaging, but we need a better ui for creating one to one (or just small) output groups
+// The issue is that if a drivetrain is one output group, then each driver is given the average of all the motors
+// We instead want a system where every driver gets (a) unique motor(s) that control it
+// That way a single driver might get the average of two motors or something, if it has two motors to control it
+// A system where motors a drivers are visually "linked" with "threads" in the UI would work well in my opinion
 export abstract class SimOutputGroup {
     public name: string
     public ports: number[]

From f2c6bce6588a0a92aeed8831b24d21f9f06a2df1 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 13 Aug 2024 10:11:39 -0700
Subject: [PATCH 214/344] removed vite single file comment

---
 fission/vite.config.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/vite.config.ts b/fission/vite.config.ts
index 4f415481ef..967c978caa 100644
--- a/fission/vite.config.ts
+++ b/fission/vite.config.ts
@@ -13,7 +13,7 @@ const useLocal = true
 export default defineConfig({
     plugins: [
         react(),
-        /* viteSingleFile() */ glsl({
+        glsl({
             include: [
                 // Glob pattern, or array of glob patterns to import
                 "**/*.glsl",

From 6ffc408cd9318f4a0a52292b03991a66ddf2c6bb Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 10:20:37 -0700
Subject: [PATCH 215/344] Reprompt if folder is detected as readonly

---
 .../src/UI/ConfigCommand.py                   |  2 +-
 .../src/UI/FileDialogConfig.py                | 32 ++++++++++++++++---
 2 files changed, 28 insertions(+), 6 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index c50c7feed2..55ea23d2cb 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -301,7 +301,7 @@ def notify(self, args):
         if generalConfigTab.exportLocation == ExportLocation.DOWNLOAD:
             savepath = FileDialogConfig.saveFileDialog(defaultPath=exporterOptions.fileLocation)
 
-            if savepath == False:
+            if not savepath:
                 # save was canceled
                 return
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
index d2465ae29b..c7ea1b0e2a 100644
--- a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
+++ b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
@@ -1,3 +1,7 @@
+import os
+import tempfile
+from pathlib import Path
+
 import adsk.core
 import adsk.fusion
 
@@ -5,7 +9,7 @@
 from src.Types import OString
 
 
-def saveFileDialog(defaultPath: str | None = None, defaultName: str | None = None) -> str | bool:
+def saveFileDialog(defaultPath: str | None = None, defaultName: str | None = None) -> str | os.PathLike[str] | None:
     """Function to generate the Save File Dialog for the Hellion Data files
 
     Args:
@@ -13,7 +17,7 @@ def saveFileDialog(defaultPath: str | None = None, defaultName: str | None = Non
         defaultName (str): default name for the saving file
 
     Returns:
-        bool: False if canceled
+        None: if canceled
         str: full file path
     """
 
@@ -36,11 +40,29 @@ def saveFileDialog(defaultPath: str | None = None, defaultName: str | None = Non
     fileDialog.filterIndex = 0
     dialogResult = fileDialog.showSave()
 
-    if dialogResult == adsk.core.DialogResults.DialogOK:
-        return fileDialog.filename
-    else:
+    if dialogResult != adsk.core.DialogResults.DialogOK:
+        return None
+
+    canWrite = isWriteableDirectory(Path(fileDialog.filename).parent)
+    if not canWrite:
+        gm.ui.messageBox("Synthesis does not have the required permissions to write to this directory.")
+        return saveFileDialog(defaultPath, defaultName)
+
+    return fileDialog.filename
+
+
+def isWriteableDirectory(path: str | os.PathLike[str]) -> bool:
+    if not os.access(path, os.W_OK):
+        return False
+
+    try:
+        with tempfile.NamedTemporaryFile(dir=path, delete=True) as f:
+            f.write(b"test")
+    except OSError:
         return False
 
+    return True
+
 
 def generateFilePath() -> str:
     """Generates a temporary file path that can be used to save the file for exporting

From 355781959849e4a4dd576a3a0adc41415ea2bad2 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 13 Aug 2024 10:22:56 -0700
Subject: [PATCH 216/344] Input scheme bug, zoom bug, and 'debug panel' ->
 'debug tools'

---
 fission/index.html                              |  6 +++++-
 fission/src/systems/input/InputSystem.ts        | 12 ++++++++++++
 fission/src/ui/panels/DebugPanel.tsx            |  2 +-
 .../inputs/ConfigureSchemeInterface.tsx         |  1 +
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx    | 17 ++++++++++++++---
 5 files changed, 33 insertions(+), 5 deletions(-)

diff --git a/fission/index.html b/fission/index.html
index 5916fa6750..b3a5d0fd1c 100644
--- a/fission/index.html
+++ b/fission/index.html
@@ -12,7 +12,11 @@
             rel="stylesheet"
             href="https://fonts.googleapis.com/css2?family=Roboto:ital,wght@0,100;0,300;0,400;0,500;0,700;0,900;1,100;1,300;1,400;1,500;1,700;1,900&display=swap"
         />
-        <meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=no" />
+        <meta
+            name="viewport"
+            content="width=device-width, initial-scale=1.0, maximum-scale=1.0, minimum-scale=1.0, user-scalable=no"
+        />
+
         <title>Fission | Synthesis</title>
     </head>
     <body>
diff --git a/fission/src/systems/input/InputSystem.ts b/fission/src/systems/input/InputSystem.ts
index d56aadd692..cf7148552c 100644
--- a/fission/src/systems/input/InputSystem.ts
+++ b/fission/src/systems/input/InputSystem.ts
@@ -159,9 +159,21 @@ class InputSystem extends WorldSystem {
         this.gamepadDisconnected = this.gamepadDisconnected.bind(this)
         window.addEventListener("gamepaddisconnected", this.gamepadDisconnected)
 
+        // Detect when the user leaves the page to clear inputs
         document.addEventListener("visibilitychange", () => {
             if (document.hidden) this.clearKeyData()
         })
+
+        // Disable gesture inputs on track pad to zoom into UI
+        window.addEventListener(
+            "wheel",
+            function (e) {
+                if (e.ctrlKey) {
+                    e.preventDefault() // Prevent the zoom
+                }
+            },
+            { passive: false }
+        )
     }
 
     public Update(_: number): void {
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index 7f4d936edf..97359e90ce 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -60,7 +60,7 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     return (
         <Panel
             openLocation="center"
-            name={"Debug Panel"}
+            name={"Debug Tools"}
             icon={SynthesisIcons.BugLarge}
             panelId={panelId}
             acceptEnabled={false}
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
index f2a3721704..220191cab3 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
@@ -56,6 +56,7 @@ const ConfigureSchemeInterface: React.FC<ConfigSchemeProps> = ({ selectedScheme
                     setUseGamepad(val)
                     selectedScheme.usesGamepad = val
                 }}
+                tooltipText="Supported controllers: Xbox one, Xbox 360."
             />
             <SectionDivider />
 
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index 55461a60c9..3732b7e178 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -29,6 +29,8 @@ import {
 import { ProgressHandle } from "@/ui/components/ProgressNotificationData"
 import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 import Button from "@/ui/components/Button"
+import { setSelectedBrainIndexGlobal } from "../configuring/ChooseInputSchemePanel"
+import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 
 interface ItemCardProps {
     id: string
@@ -193,7 +195,10 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
             closePanel(panelId)
 
-            if (type == MiraType.ROBOT) openPanel("choose-scheme")
+            if (type == MiraType.ROBOT) {
+                setSelectedBrainIndexGlobal(SynthesisBrain.brainIndexMap.size)
+                openPanel("choose-scheme")
+            }
         },
         [showTooltip, closePanel, panelId, openPanel]
     )
@@ -216,7 +221,10 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
             closePanel(panelId)
 
-            if (type == MiraType.ROBOT) openPanel("choose-scheme")
+            if (type == MiraType.ROBOT) {
+                setSelectedBrainIndexGlobal(SynthesisBrain.brainIndexMap.size)
+                openPanel("choose-scheme")
+            }
         },
         [closePanel, panelId, openPanel]
     )
@@ -238,7 +246,10 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
             closePanel(panelId)
 
-            if (type == MiraType.ROBOT) openPanel("choose-scheme")
+            if (type == MiraType.ROBOT) {
+                setSelectedBrainIndexGlobal(SynthesisBrain.brainIndexMap.size)
+                openPanel("choose-scheme")
+            }
         },
         [closePanel, panelId, openPanel]
     )

From 38647d16eab78dbf581740e60e07c87d0572b27b Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 10:36:22 -0700
Subject: [PATCH 217/344] Remove redundant options

---
 exporter/SynthesisFusionAddin/mypy.ini | 2 --
 1 file changed, 2 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/mypy.ini b/exporter/SynthesisFusionAddin/mypy.ini
index 2023fd7d9b..057a1f78b5 100644
--- a/exporter/SynthesisFusionAddin/mypy.ini
+++ b/exporter/SynthesisFusionAddin/mypy.ini
@@ -7,8 +7,6 @@ warn_redundant_casts = True
 warn_unused_ignores = True
 warn_no_return = True
 warn_return_any = True
-strict_concatenate = True
-strict_equality = True
 strict = True
 ignore_missing_imports = True
 follow_imports = skip

From 11388543bd3efe08efb9be6429aa15cd8de5cbec Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 10:37:59 -0700
Subject: [PATCH 218/344] Consistent `fstring` over `str`

---
 exporter/SynthesisFusionAddin/src/Dependencies.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/Dependencies.py b/exporter/SynthesisFusionAddin/src/Dependencies.py
index 4e66d4ea7b..29ed016199 100644
--- a/exporter/SynthesisFusionAddin/src/Dependencies.py
+++ b/exporter/SynthesisFusionAddin/src/Dependencies.py
@@ -33,7 +33,7 @@ def getInternalFusionPythonInstillationFolder() -> str | os.PathLike[str]:
 
     # Depending on platform, adjust to folder to where the python executable binaries are stored.
     if SYSTEM == "Windows":
-        folder = str(Path(pythonStandardLibraryModulePath).parents[1])
+        folder = f"{Path(pythonStandardLibraryModulePath).parents[1]}"
     else:
         assert SYSTEM == "Darwin"
         folder = f"{Path(pythonStandardLibraryModulePath).parents[2]}/bin"

From 4c734c44ff74baf5d76728d900396ee47cbbb869 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 13 Aug 2024 13:01:34 -0700
Subject: [PATCH 219/344] type wsdata

---
 .../simulation/wpilib_brain/WPILibBrain.ts    | 44 +++++++++++++------
 .../rio-config/RCConfigCANGroupModal.tsx      |  2 +-
 .../rio-config/RCConfigPWMGroupModal.tsx      |  2 +-
 fission/src/ui/panels/WSViewPanel.tsx         | 18 +++++---
 4 files changed, 45 insertions(+), 21 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index b142564a34..91d2782619 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -53,7 +53,10 @@ function GetFieldType(field: string): FieldType {
     }
 }
 
-export const simMap = new Map<SimType, Map<string, any>>()
+type DeviceName = string
+type DeviceData = Map<string, number>
+
+export const simMap = new Map<SimType, Map<DeviceName, DeviceData>>()
 
 export class SimGeneric {
     private constructor() {}
@@ -77,10 +80,15 @@ export class SimGeneric {
             return undefined
         }
 
-        return (data[field] as T | undefined) ?? defaultValue
+        return (data.get(field) as T | undefined) ?? defaultValue
     }
 
-    public static Set<T>(simType: SimType, device: string, field: string, value: T): boolean {
+    public static Set<T extends string | boolean | number>(
+        simType: SimType,
+        device: string,
+        field: string,
+        value: T
+    ): boolean {
         const fieldType = GetFieldType(field)
         if (fieldType != FieldType.Write && fieldType != FieldType.Both) {
             console.warn(`Field '${field}' is not a write or both field type`)
@@ -99,10 +107,9 @@ export class SimGeneric {
             return false
         }
 
-        const selectedData: any = {}
-        selectedData[field] = value
-
-        data[field] = value
+        const selectedData: DeviceData = new Map<string, string | boolean | number>()
+        selectedData.set(field, value)
+        data.set(field, value)
 
         console.log("field " + field + " device " + device + " value " + value)
 
@@ -135,7 +142,7 @@ export class SimPWM {
 export class SimCAN {
     private constructor() {}
 
-    public static GetDeviceWithID(id: number, type: SimType): any {
+    public static GetDeviceWithID(id: number, type: SimType): DeviceData | undefined {
         const id_exp = /.*\[(\d+)\]/g
         const entries = [...simMap.entries()].filter(([simType, _data]) => simType == type)
         for (const [_simType, data] of entries) {
@@ -206,8 +213,14 @@ export class SimGyro {
     }
 }
 
+type WSMessage = {
+    type: string // might be a SimType
+    device: string // device name
+    data: Map<string, number>
+}
+
 worker.addEventListener("message", (eventData: MessageEvent) => {
-    let data: any | undefined
+    let data: WSMessage | undefined
 
     if (typeof eventData.data == "object") {
         data = eventData.data
@@ -220,12 +233,13 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
         }
     }
 
-    if (!data?.type || !Object.values(SimType).includes(data.type) || data.device.split(" ")[0] != "SYN") return
+    if (!data?.type || !(Object.values(SimType) as string[]).includes(data.type) || data.device.split(" ")[0] != "SYN")
+        return
 
-    UpdateSimMap(data.type, data.device, data.data)
+    UpdateSimMap(data.type as SimType, data.device, data.data)
 })
 
-function UpdateSimMap(type: SimType, device: string, updateData: any) {
+function UpdateSimMap(type: SimType, device: string, updateData: DeviceData) {
     let typeMap = simMap.get(type)
     if (!typeMap) {
         typeMap = new Map<string, any>()
@@ -234,11 +248,13 @@ function UpdateSimMap(type: SimType, device: string, updateData: any) {
 
     let currentData = typeMap.get(device)
     if (!currentData) {
-        currentData = {}
+        currentData = new Map<string, number>()
         typeMap.set(device, currentData)
     }
 
-    Object.entries(updateData).forEach(([key, value]) => (currentData[key] = value))
+    Object.entries(updateData).forEach(([key, value]) => currentData.set(key, value))
+
+    console.log("currentData " + [...currentData])
 
     window.dispatchEvent(new SimMapUpdateEvent(false))
 }
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index 2f81e76dc4..7f598dab69 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -35,7 +35,7 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     }
 
     const cans = simMap.get(SimType.CANMotor) ?? new Map<string, Map<string, number>>()
-    const devices: [string, Map<string, number>][] = [...cans.entries()].filter(([_, data]) => data["<init"]).reverse()
+    const devices: [string, Map<string, number>][] = [...cans.entries()].filter(([_, data]) => data.get("<init")).reverse()
 
     return (
         <Modal
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
index c603ed8d09..700094449c 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
@@ -36,7 +36,7 @@ const RCConfigPWMGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     let devices: [string, unknown][] = []
     const pwms = simMap.get(SimType.PWM)
     if (pwms) {
-        devices = [...pwms.entries()].filter(([_, data]) => data["<init"])
+        devices = [...pwms.entries()].filter(([_, data]) => data.get("<init"))
     }
 
     return (
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index bae96b224f..88a98e9d8d 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -26,12 +26,20 @@ const TypoStyled = styled(Typography)({
     color: "white",
 })
 
+function formatMap(map: Map<string, number>): string {
+    let entries: string = ""
+    map.forEach((value, key) => {
+        entries += `${key} : ${value}`
+    })
+    return entries
+}
+
 function generateTableBody() {
     return (
         <TableBody>
             {simMap.has(SimType.PWM) ? (
                 [...simMap.get(SimType.PWM)!.entries()]
-                    .filter(x => x[1]["<init"] == true)
+                    .filter(x => x[1].get("<init") == 1)
                     .map(x => {
                         return (
                             <TableRow key={x[0]}>
@@ -42,7 +50,7 @@ function generateTableBody() {
                                     <TypoStyled>{x[0]}</TypoStyled>
                                 </TableCell>
                                 <TableCell>
-                                    <TypoStyled>{JSON.stringify(x[1])}</TypoStyled>
+                                    <TypoStyled>{formatMap(x[1])}</TypoStyled>
                                 </TableCell>
                             </TableRow>
                         )
@@ -61,7 +69,7 @@ function generateTableBody() {
                                 <TypoStyled>{x[0]}</TypoStyled>
                             </TableCell>
                             <TableCell>
-                                <TypoStyled>{JSON.stringify(x[1])}</TypoStyled>
+                                <TypoStyled>{formatMap(x[1])}</TypoStyled>
                             </TableCell>
                         </TableRow>
                     )
@@ -80,7 +88,7 @@ function generateTableBody() {
                                 <TypoStyled>{x[0]}</TypoStyled>
                             </TableCell>
                             <TableCell>
-                                <TypoStyled>{JSON.stringify(x[1])}</TypoStyled>
+                                <TypoStyled>{formatMap(x[1])}</TypoStyled>
                             </TableCell>
                         </TableRow>
                     )
@@ -99,7 +107,7 @@ function generateTableBody() {
                                 <TypoStyled>{x[0]}</TypoStyled>
                             </TableCell>
                             <TableCell>
-                                <TypoStyled>{JSON.stringify(x[1])}</TypoStyled>
+                                <TypoStyled>{formatMap(x[1])}</TypoStyled>
                             </TableCell>
                         </TableRow>
                     )

From 0bfcfcc464712a2b17c1dc429de4dbd7db96e572 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 13 Aug 2024 13:13:14 -0700
Subject: [PATCH 220/344] ran formatter

---
 fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts    | 2 +-
 .../modals/configuring/rio-config/RCConfigCANGroupModal.tsx   | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 91d2782619..cc1603344e 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -242,7 +242,7 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
 function UpdateSimMap(type: SimType, device: string, updateData: DeviceData) {
     let typeMap = simMap.get(type)
     if (!typeMap) {
-        typeMap = new Map<string, any>()
+        typeMap = new Map<string, DeviceData>()
         simMap.set(type, typeMap)
     }
 
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index 7f598dab69..624e133708 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -35,7 +35,9 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     }
 
     const cans = simMap.get(SimType.CANMotor) ?? new Map<string, Map<string, number>>()
-    const devices: [string, Map<string, number>][] = [...cans.entries()].filter(([_, data]) => data.get("<init")).reverse()
+    const devices: [string, Map<string, number>][] = [...cans.entries()]
+        .filter(([_, data]) => data.get("<init"))
+        .reverse()
 
     return (
         <Modal

From 9899b6a63e8f68f507a2c46c08d1bc142cfb4785 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 13 Aug 2024 13:20:26 -0700
Subject: [PATCH 221/344] fix types for build

---
 fission/src/systems/simulation/wpilib_brain/SimOutput.ts | 2 +-
 .../src/systems/simulation/wpilib_brain/WPILibBrain.ts   | 9 ++-------
 fission/src/ui/panels/WSViewPanel.tsx                    | 4 ++--
 3 files changed, 5 insertions(+), 10 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index 9a5c0b827a..a3debbe7f7 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -59,7 +59,7 @@ export class CANOutputGroup extends SimOutputGroup {
         const average =
             this.ports.reduce((sum, port) => {
                 const device = SimCAN.GetDeviceWithID(port, SimType.CANMotor)
-                return sum + device["<percentOutput"] ?? 0
+                return sum + (device?.get("<percentOutput") ?? 0)
             }, 0) / this.ports.length
 
         this.drivers.forEach(d => {
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index cc1603344e..76a13c9610 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -83,12 +83,7 @@ export class SimGeneric {
         return (data.get(field) as T | undefined) ?? defaultValue
     }
 
-    public static Set<T extends string | boolean | number>(
-        simType: SimType,
-        device: string,
-        field: string,
-        value: T
-    ): boolean {
+    public static Set<T extends number>(simType: SimType, device: string, field: string, value: T): boolean {
         const fieldType = GetFieldType(field)
         if (fieldType != FieldType.Write && fieldType != FieldType.Both) {
             console.warn(`Field '${field}' is not a write or both field type`)
@@ -107,7 +102,7 @@ export class SimGeneric {
             return false
         }
 
-        const selectedData: DeviceData = new Map<string, string | boolean | number>()
+        const selectedData: DeviceData = new Map<string, number>()
         selectedData.set(field, value)
         data.set(field, value)
 
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index 88a98e9d8d..a481ceae71 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -128,10 +128,10 @@ function setGeneric(simType: SimType, device: string, field: string, value: stri
             SimGeneric.Set(simType, device, field, JSON.parse(value))
             break
         case "boolean":
-            SimGeneric.Set(simType, device, field, value.toLowerCase() == "true")
+            SimGeneric.Set(simType, device, field, parseInt(value)) // 1 or 0 (change to float if needed)
             break
         default:
-            SimGeneric.Set(simType, device, field, value)
+            SimGeneric.Set(simType, device, field, parseFloat(value))
             break
     }
 }

From 463bfd34ca4f1e80b9bc3f761e49a1751bb84ca7 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 13 Aug 2024 13:23:49 -0700
Subject: [PATCH 222/344] removed old logs

---
 fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 76a13c9610..d4dc23fd2b 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -106,8 +106,6 @@ export class SimGeneric {
         selectedData.set(field, value)
         data.set(field, value)
 
-        console.log("field " + field + " device " + device + " value " + value)
-
         worker.postMessage({
             command: "update",
             data: {
@@ -249,8 +247,6 @@ function UpdateSimMap(type: SimType, device: string, updateData: DeviceData) {
 
     Object.entries(updateData).forEach(([key, value]) => currentData.set(key, value))
 
-    console.log("currentData " + [...currentData])
-
     window.dispatchEvent(new SimMapUpdateEvent(false))
 }
 

From 4617fbea3cce4326cf032d548ae579472eeb28cc Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 13 Aug 2024 13:27:44 -0700
Subject: [PATCH 223/344] remove log in sample code

---
 simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java | 1 -
 1 file changed, 1 deletion(-)

diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 2369e7aea6..232b79aec1 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -84,7 +84,6 @@ public void robotPeriodic() {
     public void autonomousInit() {
         m_autoSelected = m_chooser.getSelected();
         //m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
-        System.out.println("Auto selected: " + m_autoSelected);
     }
 
     /** This function is called periodically during autonomous. */

From e6a76adddeec701533f898e84645b88df58b9d4f Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 13 Aug 2024 13:50:54 -0700
Subject: [PATCH 224/344] New open hud button, open spawn asset on start, and
 other suggestions

---
 fission/src/Synthesis.tsx                     |  2 ++
 fission/src/ui/components/MainHUD.tsx         | 27 ++++++++++++++-----
 .../src/ui/components/StyledComponents.tsx    |  4 ++-
 .../ui/modals/configuring/SettingsModal.tsx   |  5 ----
 4 files changed, 26 insertions(+), 12 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 0e2fe2a29b..3d72057149 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -127,6 +127,8 @@ function Synthesis() {
         if (PreferencesSystem.getGlobalPreference("RenderScoreboard") && !scoreboardExists) {
             openPanel("scoreboard")
         }
+
+        openPanel("import-mirabuf")
     })
 
     const onConsent = useCallback(() => {
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 2e6a9beb1c..a9123cb124 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -1,5 +1,4 @@
 import React, { useEffect, useState } from "react"
-import { BiMenuAltLeft } from "react-icons/bi"
 import { FaXmark } from "react-icons/fa6"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
@@ -10,6 +9,7 @@ import APS, { APS_USER_INFO_UPDATE_EVENT } from "@/aps/APS"
 import { UserIcon } from "./UserIcon"
 import { ButtonIcon, SynthesisIcons } from "./StyledComponents"
 import { Button } from "@mui/base"
+import { Box } from "@mui/material"
 
 type ButtonProps = {
     value: string
@@ -65,11 +65,26 @@ const MainHUD: React.FC = () => {
     return (
         <>
             {!isOpen && (
-                <ButtonIcon
-                    onClick={() => setIsOpen(!isOpen)}
-                    className="absolute left-6 top-6 focus:outline-0 focus-visible:outline-0"
-                    value={<BiMenuAltLeft size={65} className="text-main-hud-close-icon" />}
-                />
+                <Box
+                    display="flex"
+                    alignItems={"center"}
+                    height="100%"
+                    position={"absolute"}
+                    sx={{ top: "0", left: "0" }}
+                >
+                    <Box
+                        position="absolute"
+                        className="bg-gradient-to-b from-interactive-element-right to-interactive-element-left transform transition-transform hover:scale-[1.02] active:scale-[1.04]"
+                        sx={{
+                            borderTopRightRadius: "100px",
+                            borderBottomRightRadius: "100px",
+                            borderTopLeftRadius: "0",
+                            borderBottomLeftRadius: "0",
+                        }}
+                    >
+                        <ButtonIcon onClick={() => setIsOpen(!isOpen)} value={SynthesisIcons.OpenHudIcon} />
+                    </Box>
+                </Box>
             )}
             <motion.div
                 initial="closed"
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index 9a81475ca2..b1b35f5049 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -4,7 +4,7 @@ import Button, { ButtonProps, ButtonSize } from "./Button"
 import { IoCheckmark, IoPencil, IoPeople, IoTrashBin } from "react-icons/io5"
 import { HiDownload } from "react-icons/hi"
 import { AiOutlinePlus } from "react-icons/ai"
-import { BiRefresh } from "react-icons/bi"
+import { BiMenuAltLeft, BiRefresh } from "react-icons/bi"
 import { AiFillWarning } from "react-icons/ai"
 import { BsCodeSquare } from "react-icons/bs"
 import { GiSteeringWheel } from "react-icons/gi"
@@ -62,6 +62,8 @@ export class SynthesisIcons {
     public static EditLarge = (<IoPencil size={"1.25rem"} />)
     public static LeftArrowLarge = (<FaArrowLeft size={"1.25rem"} />)
     public static BugLarge = (<FaBug size={"1.25rem"} />)
+
+    public static OpenHudIcon = (<BiMenuAltLeft size={"3rem"} color="black" />)
 }
 
 export const SectionDivider = styled(Divider)({
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index 223242cff4..cf0ae2ccfc 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -71,11 +71,6 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         setQualitySettings(selected)
                     }}
                 />
-                {/** Theme editor disabled for now */}
-                {/* {Spacer(5)}
-                <Box alignSelf={"center"}>
-                    <Button value="Theme Editor" onClick={() => openModal("theme-editor")} />
-                </Box> */}
                 {Spacer(5)}
                 <Label size={LabelSize.Medium}>Camera Settings</Label>
                 <Slider

From d97e68b9f85b86d520e86e85c94b0a3e5936843e Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 13 Aug 2024 15:22:50 -0700
Subject: [PATCH 225/344] Panel fix

---
 fission/src/Synthesis.tsx | 2 --
 1 file changed, 2 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 3d72057149..0e2fe2a29b 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -127,8 +127,6 @@ function Synthesis() {
         if (PreferencesSystem.getGlobalPreference("RenderScoreboard") && !scoreboardExists) {
             openPanel("scoreboard")
         }
-
-        openPanel("import-mirabuf")
     })
 
     const onConsent = useCallback(() => {

From 1ec7e8ad47c186dc0095ec5a997d143632f849eb Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 15:24:10 -0700
Subject: [PATCH 226/344] Track proto typing files

---
 .../src/Proto/assembly_pb2.pyi                | 449 ++++++++++++++
 .../src/Proto/joint_pb2.pyi                   | 570 ++++++++++++++++++
 .../src/Proto/material_pb2.pyi                | 302 ++++++++++
 .../src/Proto/motor_pb2.pyi                   | 203 +++++++
 .../src/Proto/signal_pb2.pyi                  | 159 +++++
 .../src/Proto/types_pb2.pyi                   | 315 ++++++++++
 6 files changed, 1998 insertions(+)
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/assembly_pb2.pyi
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/joint_pb2.pyi
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/material_pb2.pyi
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/motor_pb2.pyi
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/signal_pb2.pyi
 create mode 100644 exporter/SynthesisFusionAddin/src/Proto/types_pb2.pyi

diff --git a/exporter/SynthesisFusionAddin/src/Proto/assembly_pb2.pyi b/exporter/SynthesisFusionAddin/src/Proto/assembly_pb2.pyi
new file mode 100644
index 0000000000..84548670b8
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/assembly_pb2.pyi
@@ -0,0 +1,449 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+
+import builtins
+import collections.abc
+import google.protobuf.descriptor
+import google.protobuf.internal.containers
+import google.protobuf.message
+import joint_pb2
+import material_pb2
+import signal_pb2
+import types_pb2
+import typing
+
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+@typing.final
+class Assembly(google.protobuf.message.Message):
+    """*
+    Assembly
+    Base Design to be interacted with
+    THIS IS THE CURRENT FILE EXPORTED
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    INFO_FIELD_NUMBER: builtins.int
+    DATA_FIELD_NUMBER: builtins.int
+    DYNAMIC_FIELD_NUMBER: builtins.int
+    PHYSICAL_DATA_FIELD_NUMBER: builtins.int
+    DESIGN_HIERARCHY_FIELD_NUMBER: builtins.int
+    JOINT_HIERARCHY_FIELD_NUMBER: builtins.int
+    TRANSFORM_FIELD_NUMBER: builtins.int
+    THUMBNAIL_FIELD_NUMBER: builtins.int
+    dynamic: builtins.bool
+    """/ Can it be effected by the simulation dynamically"""
+    @property
+    def info(self) -> types_pb2.Info:
+        """/ Basic information (name, Author, etc)"""
+
+    @property
+    def data(self) -> global___AssemblyData:
+        """/ All of the data in the assembly"""
+
+    @property
+    def physical_data(self) -> types_pb2.PhysicalProperties:
+        """/ Overall physical data of the assembly"""
+
+    @property
+    def design_hierarchy(self) -> types_pb2.GraphContainer:
+        """/ The Design hierarchy represented by Part Refs - The first object is a root container for all top level items"""
+
+    @property
+    def joint_hierarchy(self) -> types_pb2.GraphContainer:
+        """/ The Joint hierarchy for compound shapes"""
+
+    @property
+    def transform(self) -> types_pb2.Transform:
+        """/ The Transform in space currently"""
+
+    @property
+    def thumbnail(self) -> types_pb2.Thumbnail:
+        """/ Optional thumbnail saved from Fusion 360 or scraped from previous configuration"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        data: global___AssemblyData | None = ...,
+        dynamic: builtins.bool = ...,
+        physical_data: types_pb2.PhysicalProperties | None = ...,
+        design_hierarchy: types_pb2.GraphContainer | None = ...,
+        joint_hierarchy: types_pb2.GraphContainer | None = ...,
+        transform: types_pb2.Transform | None = ...,
+        thumbnail: types_pb2.Thumbnail | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["data", b"data", "design_hierarchy", b"design_hierarchy", "info", b"info", "joint_hierarchy", b"joint_hierarchy", "physical_data", b"physical_data", "thumbnail", b"thumbnail", "transform", b"transform"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["data", b"data", "design_hierarchy", b"design_hierarchy", "dynamic", b"dynamic", "info", b"info", "joint_hierarchy", b"joint_hierarchy", "physical_data", b"physical_data", "thumbnail", b"thumbnail", "transform", b"transform"]) -> None: ...
+
+global___Assembly = Assembly
+
+@typing.final
+class AssemblyData(google.protobuf.message.Message):
+    """*
+    Data used to construct the assembly
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    PARTS_FIELD_NUMBER: builtins.int
+    JOINTS_FIELD_NUMBER: builtins.int
+    MATERIALS_FIELD_NUMBER: builtins.int
+    SIGNALS_FIELD_NUMBER: builtins.int
+    @property
+    def parts(self) -> global___Parts:
+        """/ Meshes and Design Objects"""
+
+    @property
+    def joints(self) -> joint_pb2.Joints:
+        """/ Joint Definition Set"""
+
+    @property
+    def materials(self) -> material_pb2.Materials:
+        """/ Appearance and Physical Material Set"""
+
+    @property
+    def signals(self) -> signal_pb2.Signals:
+        """Contains table of all signals with ID reference"""
+
+    def __init__(
+        self,
+        *,
+        parts: global___Parts | None = ...,
+        joints: joint_pb2.Joints | None = ...,
+        materials: material_pb2.Materials | None = ...,
+        signals: signal_pb2.Signals | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["joints", b"joints", "materials", b"materials", "parts", b"parts", "signals", b"signals"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["joints", b"joints", "materials", b"materials", "parts", b"parts", "signals", b"signals"]) -> None: ...
+
+global___AssemblyData = AssemblyData
+
+@typing.final
+class Parts(google.protobuf.message.Message):
+    """Part file can be exported seperately in the future"""
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    @typing.final
+    class PartDefinitionsEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+        @property
+        def value(self) -> global___PartDefinition: ...
+        def __init__(
+            self,
+            *,
+            key: builtins.str = ...,
+            value: global___PartDefinition | None = ...,
+        ) -> None: ...
+        def HasField(self, field_name: typing.Literal["value", b"value"]) -> builtins.bool: ...
+        def ClearField(self, field_name: typing.Literal["key", b"key", "value", b"value"]) -> None: ...
+
+    @typing.final
+    class PartInstancesEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+        @property
+        def value(self) -> global___PartInstance: ...
+        def __init__(
+            self,
+            *,
+            key: builtins.str = ...,
+            value: global___PartInstance | None = ...,
+        ) -> None: ...
+        def HasField(self, field_name: typing.Literal["value", b"value"]) -> builtins.bool: ...
+        def ClearField(self, field_name: typing.Literal["key", b"key", "value", b"value"]) -> None: ...
+
+    INFO_FIELD_NUMBER: builtins.int
+    PART_DEFINITIONS_FIELD_NUMBER: builtins.int
+    PART_INSTANCES_FIELD_NUMBER: builtins.int
+    USER_DATA_FIELD_NUMBER: builtins.int
+    @property
+    def info(self) -> types_pb2.Info:
+        """/ Part name, version, GUID"""
+
+    @property
+    def part_definitions(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, global___PartDefinition]:
+        """/ Map of the Exported Part Definitions"""
+
+    @property
+    def part_instances(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, global___PartInstance]:
+        """/ Map of the Exported Parts that make up the object"""
+
+    @property
+    def user_data(self) -> types_pb2.UserData:
+        """/ other associated data that can be used
+        end effector, wheel, etc
+        """
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        part_definitions: collections.abc.Mapping[builtins.str, global___PartDefinition] | None = ...,
+        part_instances: collections.abc.Mapping[builtins.str, global___PartInstance] | None = ...,
+        user_data: types_pb2.UserData | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["info", b"info", "user_data", b"user_data"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["info", b"info", "part_definitions", b"part_definitions", "part_instances", b"part_instances", "user_data", b"user_data"]) -> None: ...
+
+global___Parts = Parts
+
+@typing.final
+class PartDefinition(google.protobuf.message.Message):
+    """*
+    Part Definition
+    Unique Definition of a part that can be replicated.
+    Useful for keeping the object counter down in the scene.
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    INFO_FIELD_NUMBER: builtins.int
+    PHYSICAL_DATA_FIELD_NUMBER: builtins.int
+    BASE_TRANSFORM_FIELD_NUMBER: builtins.int
+    BODIES_FIELD_NUMBER: builtins.int
+    DYNAMIC_FIELD_NUMBER: builtins.int
+    FRICTION_OVERRIDE_FIELD_NUMBER: builtins.int
+    MASS_OVERRIDE_FIELD_NUMBER: builtins.int
+    dynamic: builtins.bool
+    """/ Optional value to state whether an object is a dynamic object in a static assembly - all children are also considered overriden"""
+    friction_override: builtins.float
+    """/ Optional value for overriding the friction value 0-1"""
+    mass_override: builtins.float
+    """/ Optional value for overriding an indiviaul object's mass"""
+    @property
+    def info(self) -> types_pb2.Info:
+        """/ Information about version - id - name"""
+
+    @property
+    def physical_data(self) -> types_pb2.PhysicalProperties:
+        """/ Physical data associated with Part"""
+
+    @property
+    def base_transform(self) -> types_pb2.Transform:
+        """/ Base Transform applied - Most Likely Identity Matrix"""
+
+    @property
+    def bodies(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___Body]:
+        """/ Mesh Bodies to populate part"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        physical_data: types_pb2.PhysicalProperties | None = ...,
+        base_transform: types_pb2.Transform | None = ...,
+        bodies: collections.abc.Iterable[global___Body] | None = ...,
+        dynamic: builtins.bool = ...,
+        friction_override: builtins.float = ...,
+        mass_override: builtins.float = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["base_transform", b"base_transform", "info", b"info", "physical_data", b"physical_data"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["base_transform", b"base_transform", "bodies", b"bodies", "dynamic", b"dynamic", "friction_override", b"friction_override", "info", b"info", "mass_override", b"mass_override", "physical_data", b"physical_data"]) -> None: ...
+
+global___PartDefinition = PartDefinition
+
+@typing.final
+class PartInstance(google.protobuf.message.Message):
+    """
+    Part
+    Represents a object that does not have to be unique
+    Can be an override for an existing definition
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    INFO_FIELD_NUMBER: builtins.int
+    PART_DEFINITION_REFERENCE_FIELD_NUMBER: builtins.int
+    TRANSFORM_FIELD_NUMBER: builtins.int
+    GLOBAL_TRANSFORM_FIELD_NUMBER: builtins.int
+    JOINTS_FIELD_NUMBER: builtins.int
+    APPEARANCE_FIELD_NUMBER: builtins.int
+    PHYSICAL_MATERIAL_FIELD_NUMBER: builtins.int
+    SKIP_COLLIDER_FIELD_NUMBER: builtins.int
+    part_definition_reference: builtins.str
+    """/ Reference to the Part Definition defined in Assembly Data"""
+    appearance: builtins.str
+    """Appearance Reference to link to `Materials->Appearance->Info->id`"""
+    physical_material: builtins.str
+    """/ Physical Material Reference to link to `Materials->PhysicalMaterial->Info->id`"""
+    skip_collider: builtins.bool
+    """/ Flag that if enabled indicates we should skip generating a collider, defaults to FALSE or undefined"""
+    @property
+    def info(self) -> types_pb2.Info: ...
+    @property
+    def transform(self) -> types_pb2.Transform:
+        """/ Overriding the object transform (moves the part from the def) - in design hierarchy context"""
+
+    @property
+    def global_transform(self) -> types_pb2.Transform:
+        """/ Position transform from a global scope"""
+
+    @property
+    def joints(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.str]:
+        """/ Joints that interact with this element"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        part_definition_reference: builtins.str = ...,
+        transform: types_pb2.Transform | None = ...,
+        global_transform: types_pb2.Transform | None = ...,
+        joints: collections.abc.Iterable[builtins.str] | None = ...,
+        appearance: builtins.str = ...,
+        physical_material: builtins.str = ...,
+        skip_collider: builtins.bool = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["global_transform", b"global_transform", "info", b"info", "transform", b"transform"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["appearance", b"appearance", "global_transform", b"global_transform", "info", b"info", "joints", b"joints", "part_definition_reference", b"part_definition_reference", "physical_material", b"physical_material", "skip_collider", b"skip_collider", "transform", b"transform"]) -> None: ...
+
+global___PartInstance = PartInstance
+
+@typing.final
+class Body(google.protobuf.message.Message):
+    """
+    Body object
+    Can contain a TriangleMesh or Collection of Faces.
+    Must be unique in the context of the Assembly.
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    INFO_FIELD_NUMBER: builtins.int
+    PART_FIELD_NUMBER: builtins.int
+    TRIANGLE_MESH_FIELD_NUMBER: builtins.int
+    APPEARANCE_OVERRIDE_FIELD_NUMBER: builtins.int
+    part: builtins.str
+    """/ Reference to Part Definition"""
+    appearance_override: builtins.str
+    """/ Override Visual Appearance for the body"""
+    @property
+    def info(self) -> types_pb2.Info: ...
+    @property
+    def triangle_mesh(self) -> global___TriangleMesh:
+        """/ Triangle Mesh for rendering"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        part: builtins.str = ...,
+        triangle_mesh: global___TriangleMesh | None = ...,
+        appearance_override: builtins.str = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["info", b"info", "triangle_mesh", b"triangle_mesh"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["appearance_override", b"appearance_override", "info", b"info", "part", b"part", "triangle_mesh", b"triangle_mesh"]) -> None: ...
+
+global___Body = Body
+
+@typing.final
+class TriangleMesh(google.protobuf.message.Message):
+    """*
+    Traingle Mesh for Storing Display Mesh data
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    INFO_FIELD_NUMBER: builtins.int
+    HAS_VOLUME_FIELD_NUMBER: builtins.int
+    MATERIAL_REFERENCE_FIELD_NUMBER: builtins.int
+    MESH_FIELD_NUMBER: builtins.int
+    BMESH_FIELD_NUMBER: builtins.int
+    has_volume: builtins.bool
+    """/ Is this object a Plane ? (Does it have volume)"""
+    material_reference: builtins.str
+    """/ Rendered Appearance properties referenced from Assembly Data"""
+    @property
+    def info(self) -> types_pb2.Info: ...
+    @property
+    def mesh(self) -> global___Mesh:
+        """/ Stored as true types, inidicies, verts, uv"""
+
+    @property
+    def bmesh(self) -> global___BinaryMesh:
+        """/ Stored as binary data in bytes"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        has_volume: builtins.bool = ...,
+        material_reference: builtins.str = ...,
+        mesh: global___Mesh | None = ...,
+        bmesh: global___BinaryMesh | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["bmesh", b"bmesh", "info", b"info", "mesh", b"mesh", "mesh_type", b"mesh_type"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["bmesh", b"bmesh", "has_volume", b"has_volume", "info", b"info", "material_reference", b"material_reference", "mesh", b"mesh", "mesh_type", b"mesh_type"]) -> None: ...
+    def WhichOneof(self, oneof_group: typing.Literal["mesh_type", b"mesh_type"]) -> typing.Literal["mesh", "bmesh"] | None: ...
+
+global___TriangleMesh = TriangleMesh
+
+@typing.final
+class Mesh(google.protobuf.message.Message):
+    """*
+    Mesh Data stored as generic Data Structure
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    VERTS_FIELD_NUMBER: builtins.int
+    NORMALS_FIELD_NUMBER: builtins.int
+    UV_FIELD_NUMBER: builtins.int
+    INDICES_FIELD_NUMBER: builtins.int
+    @property
+    def verts(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
+        """/ Tri Mesh Verts vec3"""
+
+    @property
+    def normals(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
+        """/ Tri Mesh Normals vec3"""
+
+    @property
+    def uv(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
+        """/ Tri Mesh uv Mapping vec2"""
+
+    @property
+    def indices(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.int]:
+        """/ Tri Mesh indicies (Vert Map)"""
+
+    def __init__(
+        self,
+        *,
+        verts: collections.abc.Iterable[builtins.float] | None = ...,
+        normals: collections.abc.Iterable[builtins.float] | None = ...,
+        uv: collections.abc.Iterable[builtins.float] | None = ...,
+        indices: collections.abc.Iterable[builtins.int] | None = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["indices", b"indices", "normals", b"normals", "uv", b"uv", "verts", b"verts"]) -> None: ...
+
+global___Mesh = Mesh
+
+@typing.final
+class BinaryMesh(google.protobuf.message.Message):
+    """/ Mesh used for more effective file transfers"""
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    DATA_FIELD_NUMBER: builtins.int
+    data: builtins.bytes
+    """/ BEWARE of ENDIANESS"""
+    def __init__(
+        self,
+        *,
+        data: builtins.bytes = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["data", b"data"]) -> None: ...
+
+global___BinaryMesh = BinaryMesh
diff --git a/exporter/SynthesisFusionAddin/src/Proto/joint_pb2.pyi b/exporter/SynthesisFusionAddin/src/Proto/joint_pb2.pyi
new file mode 100644
index 0000000000..f716bc2705
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/joint_pb2.pyi
@@ -0,0 +1,570 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+
+import builtins
+import collections.abc
+import google.protobuf.descriptor
+import google.protobuf.internal.containers
+import google.protobuf.internal.enum_type_wrapper
+import google.protobuf.message
+import motor_pb2
+import sys
+import types_pb2
+import typing
+
+if sys.version_info >= (3, 10):
+    import typing as typing_extensions
+else:
+    import typing_extensions
+
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+class _JointMotion:
+    ValueType = typing.NewType("ValueType", builtins.int)
+    V: typing_extensions.TypeAlias = ValueType
+
+class _JointMotionEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTypeWrapper[_JointMotion.ValueType], builtins.type):
+    DESCRIPTOR: google.protobuf.descriptor.EnumDescriptor
+    RIGID: _JointMotion.ValueType  # 0
+    REVOLUTE: _JointMotion.ValueType  # 1
+    SLIDER: _JointMotion.ValueType  # 2
+    CYLINDRICAL: _JointMotion.ValueType  # 3
+    PINSLOT: _JointMotion.ValueType  # 4
+    PLANAR: _JointMotion.ValueType  # 5
+    BALL: _JointMotion.ValueType  # 6
+    CUSTOM: _JointMotion.ValueType  # 7
+
+class JointMotion(_JointMotion, metaclass=_JointMotionEnumTypeWrapper):
+    """Describes the joint - Not really sure what to do with this for now - TBD"""
+
+RIGID: JointMotion.ValueType  # 0
+REVOLUTE: JointMotion.ValueType  # 1
+SLIDER: JointMotion.ValueType  # 2
+CYLINDRICAL: JointMotion.ValueType  # 3
+PINSLOT: JointMotion.ValueType  # 4
+PLANAR: JointMotion.ValueType  # 5
+BALL: JointMotion.ValueType  # 6
+CUSTOM: JointMotion.ValueType  # 7
+global___JointMotion = JointMotion
+
+@typing.final
+class Joints(google.protobuf.message.Message):
+    """You can have an Open-Chain robot meaning a single path
+    You can have a closed chain mechanism or Four-bar (closed loop)
+    Or multiple paths with closed loop like a stewart platform
+
+    *
+    Joints
+    A way to define the motion between various group connections
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    @typing.final
+    class JointDefinitionsEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+        @property
+        def value(self) -> global___Joint: ...
+        def __init__(
+            self,
+            *,
+            key: builtins.str = ...,
+            value: global___Joint | None = ...,
+        ) -> None: ...
+        def HasField(self, field_name: typing.Literal["value", b"value"]) -> builtins.bool: ...
+        def ClearField(self, field_name: typing.Literal["key", b"key", "value", b"value"]) -> None: ...
+
+    @typing.final
+    class JointInstancesEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+        @property
+        def value(self) -> global___JointInstance: ...
+        def __init__(
+            self,
+            *,
+            key: builtins.str = ...,
+            value: global___JointInstance | None = ...,
+        ) -> None: ...
+        def HasField(self, field_name: typing.Literal["value", b"value"]) -> builtins.bool: ...
+        def ClearField(self, field_name: typing.Literal["key", b"key", "value", b"value"]) -> None: ...
+
+    @typing.final
+    class MotorDefinitionsEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+        @property
+        def value(self) -> motor_pb2.Motor: ...
+        def __init__(
+            self,
+            *,
+            key: builtins.str = ...,
+            value: motor_pb2.Motor | None = ...,
+        ) -> None: ...
+        def HasField(self, field_name: typing.Literal["value", b"value"]) -> builtins.bool: ...
+        def ClearField(self, field_name: typing.Literal["key", b"key", "value", b"value"]) -> None: ...
+
+    INFO_FIELD_NUMBER: builtins.int
+    JOINT_DEFINITIONS_FIELD_NUMBER: builtins.int
+    JOINT_INSTANCES_FIELD_NUMBER: builtins.int
+    RIGID_GROUPS_FIELD_NUMBER: builtins.int
+    MOTOR_DEFINITIONS_FIELD_NUMBER: builtins.int
+    @property
+    def info(self) -> types_pb2.Info:
+        """/ name, version, uid"""
+
+    @property
+    def joint_definitions(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, global___Joint]:
+        """/ Unique Joint Implementations"""
+
+    @property
+    def joint_instances(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, global___JointInstance]:
+        """/ Instances of the Joint Implementations"""
+
+    @property
+    def rigid_groups(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___RigidGroup]:
+        """/ Rigidgroups ?"""
+
+    @property
+    def motor_definitions(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, motor_pb2.Motor]:
+        """/ Collection of all Motors exported"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        joint_definitions: collections.abc.Mapping[builtins.str, global___Joint] | None = ...,
+        joint_instances: collections.abc.Mapping[builtins.str, global___JointInstance] | None = ...,
+        rigid_groups: collections.abc.Iterable[global___RigidGroup] | None = ...,
+        motor_definitions: collections.abc.Mapping[builtins.str, motor_pb2.Motor] | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["info", b"info"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["info", b"info", "joint_definitions", b"joint_definitions", "joint_instances", b"joint_instances", "motor_definitions", b"motor_definitions", "rigid_groups", b"rigid_groups"]) -> None: ...
+
+global___Joints = Joints
+
+@typing.final
+class JointInstance(google.protobuf.message.Message):
+    """*
+    Instance of a Joint that has a defined motion and limits.
+    Instancing helps with identifiy closed loop systems.
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    INFO_FIELD_NUMBER: builtins.int
+    ISENDEFFECTOR_FIELD_NUMBER: builtins.int
+    PARENT_PART_FIELD_NUMBER: builtins.int
+    CHILD_PART_FIELD_NUMBER: builtins.int
+    JOINT_REFERENCE_FIELD_NUMBER: builtins.int
+    OFFSET_FIELD_NUMBER: builtins.int
+    PARTS_FIELD_NUMBER: builtins.int
+    SIGNAL_REFERENCE_FIELD_NUMBER: builtins.int
+    MOTION_LINK_FIELD_NUMBER: builtins.int
+    isEndEffector: builtins.bool
+    """Is this joint the end effector in the tree ? - might remove this"""
+    parent_part: builtins.str
+    """Object that contains the joint - the ID - Part usually"""
+    child_part: builtins.str
+    """Object that is affected by the joint - the ID - Part usually"""
+    joint_reference: builtins.str
+    """Reference to the Joint Definition"""
+    signal_reference: builtins.str
+    """Reference to the Signals as Drivers - use for signal_map in Assembly Data"""
+    @property
+    def info(self) -> types_pb2.Info:
+        """Joint name, ID, version, etc"""
+
+    @property
+    def offset(self) -> types_pb2.Vector3:
+        """Offset from Joint Definition Origin"""
+
+    @property
+    def parts(self) -> types_pb2.GraphContainer:
+        """Part Instances all contained and affected by this joint directly - tree"""
+
+    @property
+    def motion_link(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___MotionLink]:
+        """Motion Links to other joints - ways to preserve motion between dynamic objects"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        isEndEffector: builtins.bool = ...,
+        parent_part: builtins.str = ...,
+        child_part: builtins.str = ...,
+        joint_reference: builtins.str = ...,
+        offset: types_pb2.Vector3 | None = ...,
+        parts: types_pb2.GraphContainer | None = ...,
+        signal_reference: builtins.str = ...,
+        motion_link: collections.abc.Iterable[global___MotionLink] | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["info", b"info", "offset", b"offset", "parts", b"parts"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["child_part", b"child_part", "info", b"info", "isEndEffector", b"isEndEffector", "joint_reference", b"joint_reference", "motion_link", b"motion_link", "offset", b"offset", "parent_part", b"parent_part", "parts", b"parts", "signal_reference", b"signal_reference"]) -> None: ...
+
+global___JointInstance = JointInstance
+
+@typing.final
+class MotionLink(google.protobuf.message.Message):
+    """*
+    Motion Link Feature
+    Enables the restriction on a joint to a certain range of motion as it is relative to another joint
+    This is useful for moving parts restricted by belts and gears
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    JOINT_INSTANCE_FIELD_NUMBER: builtins.int
+    RATIO_FIELD_NUMBER: builtins.int
+    REVERSED_FIELD_NUMBER: builtins.int
+    joint_instance: builtins.str
+    """The Joint that this is linked to"""
+    ratio: builtins.float
+    """Ratio of motion between joint 1 and joint 2, we assume this is in mm for linear and deg for rotational"""
+    reversed: builtins.bool
+    """Reverse the relationship - turn in the same or opposite directions - useful when moving axis arent both the same way."""
+    def __init__(
+        self,
+        *,
+        joint_instance: builtins.str = ...,
+        ratio: builtins.float = ...,
+        reversed: builtins.bool = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["joint_instance", b"joint_instance", "ratio", b"ratio", "reversed", b"reversed"]) -> None: ...
+
+global___MotionLink = MotionLink
+
+@typing.final
+class Joint(google.protobuf.message.Message):
+    """*
+    A unqiue implementation of a joint motion
+    Contains information about motion but not assembly relation
+    NOTE: A spring motion is a joint with no driver
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    INFO_FIELD_NUMBER: builtins.int
+    ORIGIN_FIELD_NUMBER: builtins.int
+    JOINT_MOTION_TYPE_FIELD_NUMBER: builtins.int
+    BREAK_MAGNITUDE_FIELD_NUMBER: builtins.int
+    ROTATIONAL_FIELD_NUMBER: builtins.int
+    PRISMATIC_FIELD_NUMBER: builtins.int
+    CUSTOM_FIELD_NUMBER: builtins.int
+    USER_DATA_FIELD_NUMBER: builtins.int
+    MOTOR_REFERENCE_FIELD_NUMBER: builtins.int
+    joint_motion_type: global___JointMotion.ValueType
+    """type of motion described by the joint"""
+    break_magnitude: builtins.float
+    """At what effort does it come apart at. - leave blank if it doesn't"""
+    motor_reference: builtins.str
+    """/ Motor definition reference to lookup in joints collection"""
+    @property
+    def info(self) -> types_pb2.Info:
+        """/ Joint name, ID, version, etc"""
+
+    @property
+    def origin(self) -> types_pb2.Vector3:
+        """Transform relative to the parent"""
+
+    @property
+    def rotational(self) -> global___RotationalJoint:
+        """/ ONEOF rotational joint"""
+
+    @property
+    def prismatic(self) -> global___PrismaticJoint:
+        """/ ONEOF prismatic joint"""
+
+    @property
+    def custom(self) -> global___CustomJoint:
+        """/ ONEOF custom joint"""
+
+    @property
+    def user_data(self) -> types_pb2.UserData:
+        """/ Additional information someone can query or store relative to your joint."""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        origin: types_pb2.Vector3 | None = ...,
+        joint_motion_type: global___JointMotion.ValueType = ...,
+        break_magnitude: builtins.float = ...,
+        rotational: global___RotationalJoint | None = ...,
+        prismatic: global___PrismaticJoint | None = ...,
+        custom: global___CustomJoint | None = ...,
+        user_data: types_pb2.UserData | None = ...,
+        motor_reference: builtins.str = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["JointMotion", b"JointMotion", "custom", b"custom", "info", b"info", "origin", b"origin", "prismatic", b"prismatic", "rotational", b"rotational", "user_data", b"user_data"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["JointMotion", b"JointMotion", "break_magnitude", b"break_magnitude", "custom", b"custom", "info", b"info", "joint_motion_type", b"joint_motion_type", "motor_reference", b"motor_reference", "origin", b"origin", "prismatic", b"prismatic", "rotational", b"rotational", "user_data", b"user_data"]) -> None: ...
+    def WhichOneof(self, oneof_group: typing.Literal["JointMotion", b"JointMotion"]) -> typing.Literal["rotational", "prismatic", "custom"] | None: ...
+
+global___Joint = Joint
+
+@typing.final
+class Dynamics(google.protobuf.message.Message):
+    """*
+    Dynamics specify the mechanical effects on the motion.
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    DAMPING_FIELD_NUMBER: builtins.int
+    FRICTION_FIELD_NUMBER: builtins.int
+    damping: builtins.float
+    """/ Damping effect on a given joint motion"""
+    friction: builtins.float
+    """/ Friction effect on a given joint motion"""
+    def __init__(
+        self,
+        *,
+        damping: builtins.float = ...,
+        friction: builtins.float = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["damping", b"damping", "friction", b"friction"]) -> None: ...
+
+global___Dynamics = Dynamics
+
+@typing.final
+class Limits(google.protobuf.message.Message):
+    """*
+    Limits specify the mechanical range of a given joint.
+
+    TODO: Add units
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    LOWER_FIELD_NUMBER: builtins.int
+    UPPER_FIELD_NUMBER: builtins.int
+    VELOCITY_FIELD_NUMBER: builtins.int
+    EFFORT_FIELD_NUMBER: builtins.int
+    lower: builtins.float
+    """/ Lower Limit corresponds to default displacement"""
+    upper: builtins.float
+    """/ Upper Limit is the joint extent"""
+    velocity: builtins.float
+    """/ Velocity Max in m/s^2 (angular for rotational)"""
+    effort: builtins.float
+    """/ Effort is the absolute force a joint can apply for a given instant - ROS has a great article on it http://wiki.ros.org/pr2_controller_manager/safety_limits"""
+    def __init__(
+        self,
+        *,
+        lower: builtins.float = ...,
+        upper: builtins.float = ...,
+        velocity: builtins.float = ...,
+        effort: builtins.float = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["effort", b"effort", "lower", b"lower", "upper", b"upper", "velocity", b"velocity"]) -> None: ...
+
+global___Limits = Limits
+
+@typing.final
+class Safety(google.protobuf.message.Message):
+    """*
+    Safety switch configuration for a given joint.
+    Can usefully indicate a bounds issue.
+    Inspired by the URDF implementation.
+
+    This should really just be created by the controller.
+    http://wiki.ros.org/pr2_controller_manager/safety_limits
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    LOWER_LIMIT_FIELD_NUMBER: builtins.int
+    UPPER_LIMIT_FIELD_NUMBER: builtins.int
+    K_POSITION_FIELD_NUMBER: builtins.int
+    K_VELOCITY_FIELD_NUMBER: builtins.int
+    lower_limit: builtins.float
+    """/ Lower software limit"""
+    upper_limit: builtins.float
+    """/ Upper Software limit"""
+    k_position: builtins.float
+    """/ Relation between position and velocity limit"""
+    k_velocity: builtins.float
+    """/ Relation between effort and velocity limit"""
+    def __init__(
+        self,
+        *,
+        lower_limit: builtins.float = ...,
+        upper_limit: builtins.float = ...,
+        k_position: builtins.float = ...,
+        k_velocity: builtins.float = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["k_position", b"k_position", "k_velocity", b"k_velocity", "lower_limit", b"lower_limit", "upper_limit", b"upper_limit"]) -> None: ...
+
+global___Safety = Safety
+
+@typing.final
+class DOF(google.protobuf.message.Message):
+    """*
+    DOF - representing the construction of a joint motion
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    NAME_FIELD_NUMBER: builtins.int
+    AXIS_FIELD_NUMBER: builtins.int
+    PIVOTDIRECTION_FIELD_NUMBER: builtins.int
+    DYNAMICS_FIELD_NUMBER: builtins.int
+    LIMITS_FIELD_NUMBER: builtins.int
+    VALUE_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    """/ In case you want to name this degree of freedom"""
+    pivotDirection: types_pb2.Axis.ValueType
+    """/ Direction the axis vector is offset from - this has an incorrect naming scheme"""
+    value: builtins.float
+    """/ Current value of the DOF"""
+    @property
+    def axis(self) -> types_pb2.Vector3:
+        """/ Axis the degree of freedom is pivoting by"""
+
+    @property
+    def dynamics(self) -> global___Dynamics:
+        """/ Dynamic properties of this joint pivot"""
+
+    @property
+    def limits(self) -> global___Limits:
+        """/ Limits of this freedom"""
+
+    def __init__(
+        self,
+        *,
+        name: builtins.str = ...,
+        axis: types_pb2.Vector3 | None = ...,
+        pivotDirection: types_pb2.Axis.ValueType = ...,
+        dynamics: global___Dynamics | None = ...,
+        limits: global___Limits | None = ...,
+        value: builtins.float = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["axis", b"axis", "dynamics", b"dynamics", "limits", b"limits"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["axis", b"axis", "dynamics", b"dynamics", "limits", b"limits", "name", b"name", "pivotDirection", b"pivotDirection", "value", b"value"]) -> None: ...
+
+global___DOF = DOF
+
+@typing.final
+class CustomJoint(google.protobuf.message.Message):
+    """*
+    CustomJoint is a joint with N degrees of freedom specified.
+    There should be input validation to handle max freedom case.
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    DOFS_FIELD_NUMBER: builtins.int
+    @property
+    def dofs(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___DOF]:
+        """/ A list of degrees of freedom that the joint can contain"""
+
+    def __init__(
+        self,
+        *,
+        dofs: collections.abc.Iterable[global___DOF] | None = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["dofs", b"dofs"]) -> None: ...
+
+global___CustomJoint = CustomJoint
+
+@typing.final
+class RotationalJoint(google.protobuf.message.Message):
+    """*
+    RotationalJoint describes a joint with rotational translation.
+    This is the exact same as prismatic for now.
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    ROTATIONAL_FREEDOM_FIELD_NUMBER: builtins.int
+    @property
+    def rotational_freedom(self) -> global___DOF: ...
+    def __init__(
+        self,
+        *,
+        rotational_freedom: global___DOF | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["rotational_freedom", b"rotational_freedom"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["rotational_freedom", b"rotational_freedom"]) -> None: ...
+
+global___RotationalJoint = RotationalJoint
+
+@typing.final
+class BallJoint(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    YAW_FIELD_NUMBER: builtins.int
+    PITCH_FIELD_NUMBER: builtins.int
+    ROTATION_FIELD_NUMBER: builtins.int
+    @property
+    def yaw(self) -> global___DOF: ...
+    @property
+    def pitch(self) -> global___DOF: ...
+    @property
+    def rotation(self) -> global___DOF: ...
+    def __init__(
+        self,
+        *,
+        yaw: global___DOF | None = ...,
+        pitch: global___DOF | None = ...,
+        rotation: global___DOF | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["pitch", b"pitch", "rotation", b"rotation", "yaw", b"yaw"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["pitch", b"pitch", "rotation", b"rotation", "yaw", b"yaw"]) -> None: ...
+
+global___BallJoint = BallJoint
+
+@typing.final
+class PrismaticJoint(google.protobuf.message.Message):
+    """*
+    Prismatic Joint describes a motion that translates the position in a single axis
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    PRISMATIC_FREEDOM_FIELD_NUMBER: builtins.int
+    @property
+    def prismatic_freedom(self) -> global___DOF: ...
+    def __init__(
+        self,
+        *,
+        prismatic_freedom: global___DOF | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["prismatic_freedom", b"prismatic_freedom"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["prismatic_freedom", b"prismatic_freedom"]) -> None: ...
+
+global___PrismaticJoint = PrismaticJoint
+
+@typing.final
+class RigidGroup(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    NAME_FIELD_NUMBER: builtins.int
+    OCCURRENCES_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    @property
+    def occurrences(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.str]:
+        """this could be the full path of the occurrence in order to make it easier to assembly them possibly - just parse on the unity side"""
+
+    def __init__(
+        self,
+        *,
+        name: builtins.str = ...,
+        occurrences: collections.abc.Iterable[builtins.str] | None = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["name", b"name", "occurrences", b"occurrences"]) -> None: ...
+
+global___RigidGroup = RigidGroup
diff --git a/exporter/SynthesisFusionAddin/src/Proto/material_pb2.pyi b/exporter/SynthesisFusionAddin/src/Proto/material_pb2.pyi
new file mode 100644
index 0000000000..8d81262376
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/material_pb2.pyi
@@ -0,0 +1,302 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+
+import builtins
+import collections.abc
+import google.protobuf.descriptor
+import google.protobuf.internal.containers
+import google.protobuf.internal.enum_type_wrapper
+import google.protobuf.message
+import sys
+import types_pb2
+import typing
+
+if sys.version_info >= (3, 10):
+    import typing as typing_extensions
+else:
+    import typing_extensions
+
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+@typing.final
+class Materials(google.protobuf.message.Message):
+    """*
+    Represents a File or Set of Materials with Appearances and Physical Data
+
+    Can be Stored in AssemblyData
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    @typing.final
+    class PhysicalMaterialsEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+        @property
+        def value(self) -> global___PhysicalMaterial: ...
+        def __init__(
+            self,
+            *,
+            key: builtins.str = ...,
+            value: global___PhysicalMaterial | None = ...,
+        ) -> None: ...
+        def HasField(self, field_name: typing.Literal["value", b"value"]) -> builtins.bool: ...
+        def ClearField(self, field_name: typing.Literal["key", b"key", "value", b"value"]) -> None: ...
+
+    @typing.final
+    class AppearancesEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+        @property
+        def value(self) -> global___Appearance: ...
+        def __init__(
+            self,
+            *,
+            key: builtins.str = ...,
+            value: global___Appearance | None = ...,
+        ) -> None: ...
+        def HasField(self, field_name: typing.Literal["value", b"value"]) -> builtins.bool: ...
+        def ClearField(self, field_name: typing.Literal["key", b"key", "value", b"value"]) -> None: ...
+
+    INFO_FIELD_NUMBER: builtins.int
+    PHYSICALMATERIALS_FIELD_NUMBER: builtins.int
+    APPEARANCES_FIELD_NUMBER: builtins.int
+    @property
+    def info(self) -> types_pb2.Info:
+        """/ Identifiable information (id, name, version)"""
+
+    @property
+    def physicalMaterials(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, global___PhysicalMaterial]:
+        """/ Map of Physical Materials"""
+
+    @property
+    def appearances(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, global___Appearance]:
+        """/ Map of Appearances that are purely visual"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        physicalMaterials: collections.abc.Mapping[builtins.str, global___PhysicalMaterial] | None = ...,
+        appearances: collections.abc.Mapping[builtins.str, global___Appearance] | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["info", b"info"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["appearances", b"appearances", "info", b"info", "physicalMaterials", b"physicalMaterials"]) -> None: ...
+
+global___Materials = Materials
+
+@typing.final
+class Appearance(google.protobuf.message.Message):
+    """*
+    Contains information on how a object looks
+    Limited to just color for now
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    INFO_FIELD_NUMBER: builtins.int
+    ALBEDO_FIELD_NUMBER: builtins.int
+    ROUGHNESS_FIELD_NUMBER: builtins.int
+    METALLIC_FIELD_NUMBER: builtins.int
+    SPECULAR_FIELD_NUMBER: builtins.int
+    roughness: builtins.float
+    """/ roughness value 0-1"""
+    metallic: builtins.float
+    """/ metallic value 0-1"""
+    specular: builtins.float
+    """/ specular value 0-1"""
+    @property
+    def info(self) -> types_pb2.Info:
+        """/ Identfiable information (id, name, version)"""
+
+    @property
+    def albedo(self) -> types_pb2.Color:
+        """/ albedo map RGBA 0-255"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        albedo: types_pb2.Color | None = ...,
+        roughness: builtins.float = ...,
+        metallic: builtins.float = ...,
+        specular: builtins.float = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["albedo", b"albedo", "info", b"info"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["albedo", b"albedo", "info", b"info", "metallic", b"metallic", "roughness", b"roughness", "specular", b"specular"]) -> None: ...
+
+global___Appearance = Appearance
+
+@typing.final
+class PhysicalMaterial(google.protobuf.message.Message):
+    """*
+    Data to represent any given Physical Material
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    class _MaterialType:
+        ValueType = typing.NewType("ValueType", builtins.int)
+        V: typing_extensions.TypeAlias = ValueType
+
+    class _MaterialTypeEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTypeWrapper[PhysicalMaterial._MaterialType.ValueType], builtins.type):
+        DESCRIPTOR: google.protobuf.descriptor.EnumDescriptor
+        METAL: PhysicalMaterial._MaterialType.ValueType  # 0
+        PLASTIC: PhysicalMaterial._MaterialType.ValueType  # 1
+
+    class MaterialType(_MaterialType, metaclass=_MaterialTypeEnumTypeWrapper): ...
+    METAL: PhysicalMaterial.MaterialType.ValueType  # 0
+    PLASTIC: PhysicalMaterial.MaterialType.ValueType  # 1
+
+    @typing.final
+    class Thermal(google.protobuf.message.Message):
+        """*
+        Thermal Properties Set Definition for Simulation.
+        """
+
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        THERMAL_CONDUCTIVITY_FIELD_NUMBER: builtins.int
+        SPECIFIC_HEAT_FIELD_NUMBER: builtins.int
+        THERMAL_EXPANSION_COEFFICIENT_FIELD_NUMBER: builtins.int
+        thermal_conductivity: builtins.float
+        """/ W/(m*K)"""
+        specific_heat: builtins.float
+        """/ J/(g*C)"""
+        thermal_expansion_coefficient: builtins.float
+        """/ um/(m*C)"""
+        def __init__(
+            self,
+            *,
+            thermal_conductivity: builtins.float = ...,
+            specific_heat: builtins.float = ...,
+            thermal_expansion_coefficient: builtins.float = ...,
+        ) -> None: ...
+        def ClearField(self, field_name: typing.Literal["specific_heat", b"specific_heat", "thermal_conductivity", b"thermal_conductivity", "thermal_expansion_coefficient", b"thermal_expansion_coefficient"]) -> None: ...
+
+    @typing.final
+    class Mechanical(google.protobuf.message.Message):
+        """*
+        Mechanical Properties Set Definition for Simulation.
+        """
+
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        YOUNG_MOD_FIELD_NUMBER: builtins.int
+        POISSON_RATIO_FIELD_NUMBER: builtins.int
+        SHEAR_MOD_FIELD_NUMBER: builtins.int
+        DENSITY_FIELD_NUMBER: builtins.int
+        DAMPING_COEFFICIENT_FIELD_NUMBER: builtins.int
+        young_mod: builtins.float
+        """naming scheme changes here
+        / GPa
+        """
+        poisson_ratio: builtins.float
+        """/ ?"""
+        shear_mod: builtins.float
+        """/ MPa"""
+        density: builtins.float
+        """/ g/cm^3"""
+        damping_coefficient: builtins.float
+        """/ ?"""
+        def __init__(
+            self,
+            *,
+            young_mod: builtins.float = ...,
+            poisson_ratio: builtins.float = ...,
+            shear_mod: builtins.float = ...,
+            density: builtins.float = ...,
+            damping_coefficient: builtins.float = ...,
+        ) -> None: ...
+        def ClearField(self, field_name: typing.Literal["damping_coefficient", b"damping_coefficient", "density", b"density", "poisson_ratio", b"poisson_ratio", "shear_mod", b"shear_mod", "young_mod", b"young_mod"]) -> None: ...
+
+    @typing.final
+    class Strength(google.protobuf.message.Message):
+        """*
+        Strength Properties Set Definition for Simulation.
+        """
+
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        YIELD_STRENGTH_FIELD_NUMBER: builtins.int
+        TENSILE_STRENGTH_FIELD_NUMBER: builtins.int
+        THERMAL_TREATMENT_FIELD_NUMBER: builtins.int
+        yield_strength: builtins.float
+        """/ MPa"""
+        tensile_strength: builtins.float
+        """/ MPa"""
+        thermal_treatment: builtins.bool
+        """/ yes / no"""
+        def __init__(
+            self,
+            *,
+            yield_strength: builtins.float = ...,
+            tensile_strength: builtins.float = ...,
+            thermal_treatment: builtins.bool = ...,
+        ) -> None: ...
+        def ClearField(self, field_name: typing.Literal["tensile_strength", b"tensile_strength", "thermal_treatment", b"thermal_treatment", "yield_strength", b"yield_strength"]) -> None: ...
+
+    INFO_FIELD_NUMBER: builtins.int
+    DESCRIPTION_FIELD_NUMBER: builtins.int
+    THERMAL_FIELD_NUMBER: builtins.int
+    MECHANICAL_FIELD_NUMBER: builtins.int
+    STRENGTH_FIELD_NUMBER: builtins.int
+    DYNAMIC_FRICTION_FIELD_NUMBER: builtins.int
+    STATIC_FRICTION_FIELD_NUMBER: builtins.int
+    RESTITUTION_FIELD_NUMBER: builtins.int
+    DEFORMABLE_FIELD_NUMBER: builtins.int
+    MATTYPE_FIELD_NUMBER: builtins.int
+    description: builtins.str
+    """/ short description of physical material"""
+    dynamic_friction: builtins.float
+    """/ Frictional force for dampening - Interpolate (0-1)"""
+    static_friction: builtins.float
+    """/ Frictional force override at stop - Interpolate (0-1)"""
+    restitution: builtins.float
+    """/ Restitution of the object - Interpolate (0-1)"""
+    deformable: builtins.bool
+    """/ should this object deform when encountering large forces - TODO: This needs a proper message and equation field"""
+    matType: global___PhysicalMaterial.MaterialType.ValueType
+    """/ generic type to assign some default params"""
+    @property
+    def info(self) -> types_pb2.Info:
+        """/ Identifiable information (id, name, version, etc)"""
+
+    @property
+    def thermal(self) -> global___PhysicalMaterial.Thermal:
+        """/ Thermal Physical properties of the model OPTIONAL"""
+
+    @property
+    def mechanical(self) -> global___PhysicalMaterial.Mechanical:
+        """/ Mechanical properties of the model OPTIONAL"""
+
+    @property
+    def strength(self) -> global___PhysicalMaterial.Strength:
+        """/ Physical Strength properties of the model OPTIONAL"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        description: builtins.str = ...,
+        thermal: global___PhysicalMaterial.Thermal | None = ...,
+        mechanical: global___PhysicalMaterial.Mechanical | None = ...,
+        strength: global___PhysicalMaterial.Strength | None = ...,
+        dynamic_friction: builtins.float = ...,
+        static_friction: builtins.float = ...,
+        restitution: builtins.float = ...,
+        deformable: builtins.bool = ...,
+        matType: global___PhysicalMaterial.MaterialType.ValueType = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["info", b"info", "mechanical", b"mechanical", "strength", b"strength", "thermal", b"thermal"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["deformable", b"deformable", "description", b"description", "dynamic_friction", b"dynamic_friction", "info", b"info", "matType", b"matType", "mechanical", b"mechanical", "restitution", b"restitution", "static_friction", b"static_friction", "strength", b"strength", "thermal", b"thermal"]) -> None: ...
+
+global___PhysicalMaterial = PhysicalMaterial
diff --git a/exporter/SynthesisFusionAddin/src/Proto/motor_pb2.pyi b/exporter/SynthesisFusionAddin/src/Proto/motor_pb2.pyi
new file mode 100644
index 0000000000..6131aeb69f
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/motor_pb2.pyi
@@ -0,0 +1,203 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+
+import builtins
+import google.protobuf.descriptor
+import google.protobuf.internal.enum_type_wrapper
+import google.protobuf.message
+import sys
+import types_pb2
+import typing
+
+if sys.version_info >= (3, 10):
+    import typing as typing_extensions
+else:
+    import typing_extensions
+
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+class _DutyCycles:
+    ValueType = typing.NewType("ValueType", builtins.int)
+    V: typing_extensions.TypeAlias = ValueType
+
+class _DutyCyclesEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTypeWrapper[_DutyCycles.ValueType], builtins.type):
+    DESCRIPTOR: google.protobuf.descriptor.EnumDescriptor
+    CONTINUOUS_RUNNING: _DutyCycles.ValueType  # 0
+    """/ S1"""
+    SHORT_TIME: _DutyCycles.ValueType  # 1
+    """/ S2"""
+    INTERMITTENT_PERIODIC: _DutyCycles.ValueType  # 2
+    """/ S3"""
+    CONTINUOUS_PERIODIC: _DutyCycles.ValueType  # 3
+    """/ S6 Continuous Operation with Periodic Duty"""
+
+class DutyCycles(_DutyCycles, metaclass=_DutyCyclesEnumTypeWrapper):
+    """*
+    Duty Cycles for electric motors
+    Affects the dynamic output of the motor
+    https://www.news.benevelli-group.com/index.php/en/88-what-motor-duty-cycle.html
+    These each have associated data we are not going to use right now
+    """
+
+CONTINUOUS_RUNNING: DutyCycles.ValueType  # 0
+"""/ S1"""
+SHORT_TIME: DutyCycles.ValueType  # 1
+"""/ S2"""
+INTERMITTENT_PERIODIC: DutyCycles.ValueType  # 2
+"""/ S3"""
+CONTINUOUS_PERIODIC: DutyCycles.ValueType  # 3
+"""/ S6 Continuous Operation with Periodic Duty"""
+global___DutyCycles = DutyCycles
+
+@typing.final
+class Motor(google.protobuf.message.Message):
+    """*
+    A Motor should determine the relationship between an input and joint motion
+    Could represent something like a DC Motor relationship
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    INFO_FIELD_NUMBER: builtins.int
+    DC_MOTOR_FIELD_NUMBER: builtins.int
+    SIMPLE_MOTOR_FIELD_NUMBER: builtins.int
+    @property
+    def info(self) -> types_pb2.Info: ...
+    @property
+    def dc_motor(self) -> global___DCMotor: ...
+    @property
+    def simple_motor(self) -> global___SimpleMotor: ...
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        dc_motor: global___DCMotor | None = ...,
+        simple_motor: global___SimpleMotor | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["dc_motor", b"dc_motor", "info", b"info", "motor_type", b"motor_type", "simple_motor", b"simple_motor"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["dc_motor", b"dc_motor", "info", b"info", "motor_type", b"motor_type", "simple_motor", b"simple_motor"]) -> None: ...
+    def WhichOneof(self, oneof_group: typing.Literal["motor_type", b"motor_type"]) -> typing.Literal["dc_motor", "simple_motor"] | None: ...
+
+global___Motor = Motor
+
+@typing.final
+class SimpleMotor(google.protobuf.message.Message):
+    """*
+    SimpleMotor Configuration
+    Very easy motor used to simulate joints without specifying a real motor
+    Can set braking_constant - stall_torque - and max_velocity
+    Assumes you are solving using a velocity constraint for a joint and not a acceleration constraint
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    STALL_TORQUE_FIELD_NUMBER: builtins.int
+    MAX_VELOCITY_FIELD_NUMBER: builtins.int
+    BRAKING_CONSTANT_FIELD_NUMBER: builtins.int
+    stall_torque: builtins.float
+    """/ Torque at 0 rpm with a inverse linear relationship to max_velocity"""
+    max_velocity: builtins.float
+    """/ The target velocity in RPM, will use stall_torque relationship to reach each step"""
+    braking_constant: builtins.float
+    """/ (Optional) 0 - 1, the relationship of stall_torque used to perserve the position of this motor"""
+    def __init__(
+        self,
+        *,
+        stall_torque: builtins.float = ...,
+        max_velocity: builtins.float = ...,
+        braking_constant: builtins.float = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["braking_constant", b"braking_constant", "max_velocity", b"max_velocity", "stall_torque", b"stall_torque"]) -> None: ...
+
+global___SimpleMotor = SimpleMotor
+
+@typing.final
+class DCMotor(google.protobuf.message.Message):
+    """*
+    DCMotor Configuration
+    Parameters to simulate a DC Electric Motor
+    Still needs some more but overall they are most of the parameters we can use
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    @typing.final
+    class Advanced(google.protobuf.message.Message):
+        """/ Information usually found on datasheet"""
+
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        FREE_CURRENT_FIELD_NUMBER: builtins.int
+        FREE_SPEED_FIELD_NUMBER: builtins.int
+        STALL_CURRENT_FIELD_NUMBER: builtins.int
+        STALL_TORQUE_FIELD_NUMBER: builtins.int
+        INPUT_VOLTAGE_FIELD_NUMBER: builtins.int
+        RESISTANCE_VARIATION_FIELD_NUMBER: builtins.int
+        free_current: builtins.float
+        """/ measured in AMPs"""
+        free_speed: builtins.int
+        """/ measured in RPM"""
+        stall_current: builtins.float
+        """/ measure in AMPs"""
+        stall_torque: builtins.float
+        """/ measured in Nm"""
+        input_voltage: builtins.int
+        """/ measured in Volts DC"""
+        resistance_variation: builtins.float
+        """/ between (K * (N / 4)) and (K * ((N-2) / 4)) where N is number of poles - leave at 0 if unknown"""
+        def __init__(
+            self,
+            *,
+            free_current: builtins.float = ...,
+            free_speed: builtins.int = ...,
+            stall_current: builtins.float = ...,
+            stall_torque: builtins.float = ...,
+            input_voltage: builtins.int = ...,
+            resistance_variation: builtins.float = ...,
+        ) -> None: ...
+        def ClearField(self, field_name: typing.Literal["free_current", b"free_current", "free_speed", b"free_speed", "input_voltage", b"input_voltage", "resistance_variation", b"resistance_variation", "stall_current", b"stall_current", "stall_torque", b"stall_torque"]) -> None: ...
+
+    REFERENCE_URL_FIELD_NUMBER: builtins.int
+    TORQUE_CONSTANT_FIELD_NUMBER: builtins.int
+    EMF_CONSTANT_FIELD_NUMBER: builtins.int
+    RESISTANCE_FIELD_NUMBER: builtins.int
+    MAXIMUM_EFFECIENCY_FIELD_NUMBER: builtins.int
+    MAXIMUM_POWER_FIELD_NUMBER: builtins.int
+    DUTY_CYCLE_FIELD_NUMBER: builtins.int
+    ADVANCED_FIELD_NUMBER: builtins.int
+    reference_url: builtins.str
+    """/ Reference for purchase page or spec sheet"""
+    torque_constant: builtins.float
+    """/ m-Nm/Amp"""
+    emf_constant: builtins.float
+    """/ mV/rad/sec"""
+    resistance: builtins.float
+    """/ Resistance of Motor - Optional if other values are known"""
+    maximum_effeciency: builtins.int
+    """/ measure in percentage of 100 - generally around 60 - measured under optimal load"""
+    maximum_power: builtins.int
+    """/ measured in Watts"""
+    duty_cycle: global___DutyCycles.ValueType
+    """/ Stated Duty Cycle of motor"""
+    @property
+    def advanced(self) -> global___DCMotor.Advanced:
+        """/ Optional data that can give a better relationship to the simulation"""
+
+    def __init__(
+        self,
+        *,
+        reference_url: builtins.str = ...,
+        torque_constant: builtins.float = ...,
+        emf_constant: builtins.float = ...,
+        resistance: builtins.float = ...,
+        maximum_effeciency: builtins.int = ...,
+        maximum_power: builtins.int = ...,
+        duty_cycle: global___DutyCycles.ValueType = ...,
+        advanced: global___DCMotor.Advanced | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["advanced", b"advanced"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["advanced", b"advanced", "duty_cycle", b"duty_cycle", "emf_constant", b"emf_constant", "maximum_effeciency", b"maximum_effeciency", "maximum_power", b"maximum_power", "reference_url", b"reference_url", "resistance", b"resistance", "torque_constant", b"torque_constant"]) -> None: ...
+
+global___DCMotor = DCMotor
diff --git a/exporter/SynthesisFusionAddin/src/Proto/signal_pb2.pyi b/exporter/SynthesisFusionAddin/src/Proto/signal_pb2.pyi
new file mode 100644
index 0000000000..0befac8035
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/signal_pb2.pyi
@@ -0,0 +1,159 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+
+import builtins
+import collections.abc
+import google.protobuf.descriptor
+import google.protobuf.internal.containers
+import google.protobuf.internal.enum_type_wrapper
+import google.protobuf.message
+import sys
+import types_pb2
+import typing
+
+if sys.version_info >= (3, 10):
+    import typing as typing_extensions
+else:
+    import typing_extensions
+
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+class _IOType:
+    ValueType = typing.NewType("ValueType", builtins.int)
+    V: typing_extensions.TypeAlias = ValueType
+
+class _IOTypeEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTypeWrapper[_IOType.ValueType], builtins.type):
+    DESCRIPTOR: google.protobuf.descriptor.EnumDescriptor
+    INPUT: _IOType.ValueType  # 0
+    """/ Input Signal"""
+    OUTPUT: _IOType.ValueType  # 1
+    """/ Output Signal"""
+
+class IOType(_IOType, metaclass=_IOTypeEnumTypeWrapper):
+    """*
+    IOType is a way to specify Input or Output.
+    """
+
+INPUT: IOType.ValueType  # 0
+"""/ Input Signal"""
+OUTPUT: IOType.ValueType  # 1
+"""/ Output Signal"""
+global___IOType = IOType
+
+class _DeviceType:
+    ValueType = typing.NewType("ValueType", builtins.int)
+    V: typing_extensions.TypeAlias = ValueType
+
+class _DeviceTypeEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTypeWrapper[_DeviceType.ValueType], builtins.type):
+    DESCRIPTOR: google.protobuf.descriptor.EnumDescriptor
+    PWM: _DeviceType.ValueType  # 0
+    Digital: _DeviceType.ValueType  # 1
+    Analog: _DeviceType.ValueType  # 2
+    I2C: _DeviceType.ValueType  # 3
+    CANBUS: _DeviceType.ValueType  # 4
+    CUSTOM: _DeviceType.ValueType  # 5
+
+class DeviceType(_DeviceType, metaclass=_DeviceTypeEnumTypeWrapper):
+    """*
+    DeviceType needs to be a type of device that has a supported connection
+    As well as a signal frmae but that can come later
+    """
+
+PWM: DeviceType.ValueType  # 0
+Digital: DeviceType.ValueType  # 1
+Analog: DeviceType.ValueType  # 2
+I2C: DeviceType.ValueType  # 3
+CANBUS: DeviceType.ValueType  # 4
+CUSTOM: DeviceType.ValueType  # 5
+global___DeviceType = DeviceType
+
+@typing.final
+class Signals(google.protobuf.message.Message):
+    """*
+    Signals is a container for all of the potential signals.
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    @typing.final
+    class SignalMapEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+        @property
+        def value(self) -> global___Signal: ...
+        def __init__(
+            self,
+            *,
+            key: builtins.str = ...,
+            value: global___Signal | None = ...,
+        ) -> None: ...
+        def HasField(self, field_name: typing.Literal["value", b"value"]) -> builtins.bool: ...
+        def ClearField(self, field_name: typing.Literal["key", b"key", "value", b"value"]) -> None: ...
+
+    INFO_FIELD_NUMBER: builtins.int
+    SIGNAL_MAP_FIELD_NUMBER: builtins.int
+    @property
+    def info(self) -> types_pb2.Info:
+        """/ Has identifiable data (id, name, version)"""
+
+    @property
+    def signal_map(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, global___Signal]:
+        """/ Contains a full collection of symbols"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        signal_map: collections.abc.Mapping[builtins.str, global___Signal] | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["info", b"info"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["info", b"info", "signal_map", b"signal_map"]) -> None: ...
+
+global___Signals = Signals
+
+@typing.final
+class Signal(google.protobuf.message.Message):
+    """*
+    Signal is a way to define a controlling signal.
+
+    TODO: Add Origin
+    TODO: Decide how this is linked to a exported object
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    INFO_FIELD_NUMBER: builtins.int
+    IO_FIELD_NUMBER: builtins.int
+    CUSTOM_TYPE_FIELD_NUMBER: builtins.int
+    SIGNAL_ID_FIELD_NUMBER: builtins.int
+    DEVICE_TYPE_FIELD_NUMBER: builtins.int
+    io: global___IOType.ValueType
+    """/ Is this a Input or Output"""
+    custom_type: builtins.str
+    """/ The name of a custom input type that is not listed as a device type"""
+    signal_id: builtins.int
+    """/ ID for a given signal that exists... PWM 2, CANBUS 4"""
+    device_type: global___DeviceType.ValueType
+    """/ Enum for device type that should always be set"""
+    @property
+    def info(self) -> types_pb2.Info:
+        """/ Has identifiable data (id, name, version)"""
+
+    def __init__(
+        self,
+        *,
+        info: types_pb2.Info | None = ...,
+        io: global___IOType.ValueType = ...,
+        custom_type: builtins.str = ...,
+        signal_id: builtins.int = ...,
+        device_type: global___DeviceType.ValueType = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["info", b"info"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["custom_type", b"custom_type", "device_type", b"device_type", "info", b"info", "io", b"io", "signal_id", b"signal_id"]) -> None: ...
+
+global___Signal = Signal
diff --git a/exporter/SynthesisFusionAddin/src/Proto/types_pb2.pyi b/exporter/SynthesisFusionAddin/src/Proto/types_pb2.pyi
new file mode 100644
index 0000000000..4463567347
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Proto/types_pb2.pyi
@@ -0,0 +1,315 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+Common data type implementations
+Intended to be re-used
+"""
+
+import builtins
+import collections.abc
+import google.protobuf.descriptor
+import google.protobuf.internal.containers
+import google.protobuf.internal.enum_type_wrapper
+import google.protobuf.message
+import sys
+import typing
+
+if sys.version_info >= (3, 10):
+    import typing as typing_extensions
+else:
+    import typing_extensions
+
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+class _Axis:
+    ValueType = typing.NewType("ValueType", builtins.int)
+    V: typing_extensions.TypeAlias = ValueType
+
+class _AxisEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTypeWrapper[_Axis.ValueType], builtins.type):
+    DESCRIPTOR: google.protobuf.descriptor.EnumDescriptor
+    X: _Axis.ValueType  # 0
+    Y: _Axis.ValueType  # 1
+    Z: _Axis.ValueType  # 2
+
+class Axis(_Axis, metaclass=_AxisEnumTypeWrapper):
+    """Axis Enum"""
+
+X: Axis.ValueType  # 0
+Y: Axis.ValueType  # 1
+Z: Axis.ValueType  # 2
+global___Axis = Axis
+
+@typing.final
+class Node(google.protobuf.message.Message):
+    """Each proper object within the Graph - First one is Root"""
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    VALUE_FIELD_NUMBER: builtins.int
+    CHILDREN_FIELD_NUMBER: builtins.int
+    USER_DATA_FIELD_NUMBER: builtins.int
+    value: builtins.str
+    """/ the reference ID for whatever kind of graph this is"""
+    @property
+    def children(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___Node]:
+        """/ the children for the given leaf"""
+
+    @property
+    def user_data(self) -> global___UserData:
+        """/ other associated data that can be used"""
+
+    def __init__(
+        self,
+        *,
+        value: builtins.str = ...,
+        children: collections.abc.Iterable[global___Node] | None = ...,
+        user_data: global___UserData | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["user_data", b"user_data"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["children", b"children", "user_data", b"user_data", "value", b"value"]) -> None: ...
+
+global___Node = Node
+
+@typing.final
+class GraphContainer(google.protobuf.message.Message):
+    """Top level GraphContainer
+    Contains all Graph element roots within
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    NODES_FIELD_NUMBER: builtins.int
+    @property
+    def nodes(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___Node]:
+        """represents the root of each seperate assembly - most of the time 1 node"""
+
+    def __init__(
+        self,
+        *,
+        nodes: collections.abc.Iterable[global___Node] | None = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["nodes", b"nodes"]) -> None: ...
+
+global___GraphContainer = GraphContainer
+
+@typing.final
+class UserData(google.protobuf.message.Message):
+    """*
+    UserData
+
+    Arbitrary data to append to a given message in map form
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    @typing.final
+    class DataEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+        value: builtins.str
+        def __init__(
+            self,
+            *,
+            key: builtins.str = ...,
+            value: builtins.str = ...,
+        ) -> None: ...
+        def ClearField(self, field_name: typing.Literal["key", b"key", "value", b"value"]) -> None: ...
+
+    DATA_FIELD_NUMBER: builtins.int
+    @property
+    def data(self) -> google.protobuf.internal.containers.ScalarMap[builtins.str, builtins.str]:
+        """/ e.g. data["wheel"] = "yes" """
+
+    def __init__(
+        self,
+        *,
+        data: collections.abc.Mapping[builtins.str, builtins.str] | None = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["data", b"data"]) -> None: ...
+
+global___UserData = UserData
+
+@typing.final
+class Vector3(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    X_FIELD_NUMBER: builtins.int
+    Y_FIELD_NUMBER: builtins.int
+    Z_FIELD_NUMBER: builtins.int
+    x: builtins.float
+    y: builtins.float
+    z: builtins.float
+    def __init__(
+        self,
+        *,
+        x: builtins.float = ...,
+        y: builtins.float = ...,
+        z: builtins.float = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["x", b"x", "y", b"y", "z", b"z"]) -> None: ...
+
+global___Vector3 = Vector3
+
+@typing.final
+class PhysicalProperties(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    DENSITY_FIELD_NUMBER: builtins.int
+    MASS_FIELD_NUMBER: builtins.int
+    VOLUME_FIELD_NUMBER: builtins.int
+    AREA_FIELD_NUMBER: builtins.int
+    COM_FIELD_NUMBER: builtins.int
+    density: builtins.float
+    """/ kg per cubic cm kg/(cm^3)"""
+    mass: builtins.float
+    """/ kg"""
+    volume: builtins.float
+    """/ cm^3"""
+    area: builtins.float
+    """/ cm^2"""
+    @property
+    def com(self) -> global___Vector3:
+        """/ non-negative? Vec3"""
+
+    def __init__(
+        self,
+        *,
+        density: builtins.float = ...,
+        mass: builtins.float = ...,
+        volume: builtins.float = ...,
+        area: builtins.float = ...,
+        com: global___Vector3 | None = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing.Literal["com", b"com"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing.Literal["area", b"area", "com", b"com", "density", b"density", "mass", b"mass", "volume", b"volume"]) -> None: ...
+
+global___PhysicalProperties = PhysicalProperties
+
+@typing.final
+class Transform(google.protobuf.message.Message):
+    """*
+    Transform
+
+    Data needed to apply scale, position, and rotational changes
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    SPATIAL_MATRIX_FIELD_NUMBER: builtins.int
+    @property
+    def spatial_matrix(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
+        """
+          flat map of 4x4 transform matrix 
+          [00][01][02][03][10][11][12][13][20][21][22][23]
+        """
+
+    def __init__(
+        self,
+        *,
+        spatial_matrix: collections.abc.Iterable[builtins.float] | None = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["spatial_matrix", b"spatial_matrix"]) -> None: ...
+
+global___Transform = Transform
+
+@typing.final
+class Color(google.protobuf.message.Message):
+    """RGBA in expanded form 0-255"""
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    R_FIELD_NUMBER: builtins.int
+    G_FIELD_NUMBER: builtins.int
+    B_FIELD_NUMBER: builtins.int
+    A_FIELD_NUMBER: builtins.int
+    R: builtins.int
+    """red"""
+    G: builtins.int
+    """green"""
+    B: builtins.int
+    """blue"""
+    A: builtins.int
+    """alpha"""
+    def __init__(
+        self,
+        *,
+        R: builtins.int = ...,
+        G: builtins.int = ...,
+        B: builtins.int = ...,
+        A: builtins.int = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["A", b"A", "B", b"B", "G", b"G", "R", b"R"]) -> None: ...
+
+global___Color = Color
+
+@typing.final
+class Info(google.protobuf.message.Message):
+    """*
+    Defines basic fields for almost all objects
+    The location where you can access the GUID for a reference
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    GUID_FIELD_NUMBER: builtins.int
+    NAME_FIELD_NUMBER: builtins.int
+    VERSION_FIELD_NUMBER: builtins.int
+    GUID: builtins.str
+    """GUID unique value - must always be defined
+    since guid's have exactly 128bits could be represented with bytes[]
+    however endian becomes an issue
+    """
+    name: builtins.str
+    """Generic readable name"""
+    version: builtins.int
+    """Version of object iteration"""
+    def __init__(
+        self,
+        *,
+        GUID: builtins.str = ...,
+        name: builtins.str = ...,
+        version: builtins.int = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["GUID", b"GUID", "name", b"name", "version", b"version"]) -> None: ...
+
+global___Info = Info
+
+@typing.final
+class Thumbnail(google.protobuf.message.Message):
+    """*
+    A basic Thumbnail to be encoded in the file
+    Most of the Time Fusion can encode the file with transparency as PNG not bitmap
+    """
+
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    WIDTH_FIELD_NUMBER: builtins.int
+    HEIGHT_FIELD_NUMBER: builtins.int
+    EXTENSION_FIELD_NUMBER: builtins.int
+    TRANSPARENT_FIELD_NUMBER: builtins.int
+    DATA_FIELD_NUMBER: builtins.int
+    width: builtins.int
+    """/ Image Width"""
+    height: builtins.int
+    """/ Image Height"""
+    extension: builtins.str
+    """/ Image Extension - ex. (.png, .bitmap, .jpeg)"""
+    transparent: builtins.bool
+    """/ Transparency - true from fusion when correctly configured"""
+    data: builtins.bytes
+    """/ Data as read from the file in bytes[] form"""
+    def __init__(
+        self,
+        *,
+        width: builtins.int = ...,
+        height: builtins.int = ...,
+        extension: builtins.str = ...,
+        transparent: builtins.bool = ...,
+        data: builtins.bytes = ...,
+    ) -> None: ...
+    def ClearField(self, field_name: typing.Literal["data", b"data", "extension", b"extension", "height", b"height", "transparent", b"transparent", "width", b"width"]) -> None: ...
+
+global___Thumbnail = Thumbnail

From 51ac2412833981a42109b7ff37ff031b68b9d430 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 15:33:58 -0700
Subject: [PATCH 227/344] Added workflow

---
 .github/workflows/FusionTyping.yml | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)
 create mode 100644 .github/workflows/FusionTyping.yml

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
new file mode 100644
index 0000000000..1141a6e21a
--- /dev/null
+++ b/.github/workflows/FusionTyping.yml
@@ -0,0 +1,28 @@
+name: Fusion - mypy Typing Validation
+
+on:
+  workflow_dispatch: {}
+  push:
+    branches: [ prod, dev ]
+  pull_request:
+    branches: [ prod, dev ]
+
+jobs:
+  mypy:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Setup Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.7.4
+          architecture: x64
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Install mypy
+        run: pip install mypy
+      - name: Run mypy
+        uses: sasanquaneuf/mypy-github-action@releases/v1
+        with:
+          checkName: 'mypy'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From 3b80456a2c1041c7e1d86b0b44ab9fbf6ae35b66 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 13 Aug 2024 15:35:23 -0700
Subject: [PATCH 228/344] basic method docs

---
 .../synthesis/ctre/TalonFXConfigurator.java   |  5 +-
 .../synthesis/revrobotics/CANSparkMax.java    | 25 +++++++--
 .../revrobotics/SparkAbsoluteEncoder.java     | 55 +++++++++++++++++--
 3 files changed, 73 insertions(+), 12 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
index e934719df8..06354626ef 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
@@ -15,7 +15,10 @@ public TalonFXConfigurator(DeviceIdentifier id, TalonFX device) {
         // if you know how to get a device from an id, let me know
         this.devicePtr = device;
     }
-
+    
+    /*
+     * Applies a torque configuration to a TalonFX motor and passes the new neutral deadband to the simulated motor in fission if applicable
+     */
     @Override
     public StatusCode apply(TorqueCurrentConfigs newTorqueCurrent) {
         StatusCode code = super.apply(newTorqueCurrent);
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index f61f91e0f0..76960435e1 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -23,6 +23,8 @@ public class CANSparkMax extends com.revrobotics.CANSparkMax {
      * @param deviceId  CAN Device ID.
      * @param motorType Motortype. For Simulation purposes, this is discarded at the
      *                  moment.
+     *
+     * See original documentation for more information https://codedocs.revrobotics.com/java/com/revrobotics/cansparkmax
      */
     public CANSparkMax(int deviceId, MotorType motorType) {
         super(deviceId, motorType);
@@ -32,7 +34,12 @@ public CANSparkMax(int deviceId, MotorType motorType) {
         this.followers = new ArrayList();
     }
 
-    // setting a follower doesn't break the simulated follower - leader relationship
+    /* 
+     * Sets the percent output of the motor
+     * Setting a follower doesn't break the simulated follower - leader relationship, which it does for exclusively non-simulated motors
+     *
+     * See the original documentation for more information 
+     */
     @Override
     public void set(double percent) {
         super.set(percent);
@@ -42,7 +49,7 @@ public void set(double percent) {
         }
     }
 
-    public void setNeutralDeadband(double n) {
+    void setNeutralDeadband(double n) {
         this.m_motor.setNeutralDeadband(n);
     }
 
@@ -55,16 +62,24 @@ public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) {
         return super.setIdleMode(mode);
     }
 
-    /// Use instead on getAbsoluteEncoder(), everything else works exactly the same in every way but name
+    /* 
+     * Returns a simulation-supported SparkAbsoluteEncoder containing the position and velocity of the motor in fission.
+     * All information returned by this class besides position and velocity is from the real motor
+     * Use instead on getAbsoluteEncoder(), everything except for the name of the method works exactly the same
+     */
     public com.autodesk.synthesis.revrobotics.SparkAbsoluteEncoder getAbsoluteEncoderSim() {
         return new SparkAbsoluteEncoder(super.getAbsoluteEncoder(), this.m_encoder);
     }
 
-    public void newFollower(CANSparkMax f) {
+    void newFollower(CANSparkMax f) {
         this.followers.add(f);
     }
 
-    // Must pass in a simulation-supported leader to have the simulated portion of this motor follow
+    /* 
+     * Causes a simulation-supported leader to follow another simulation-supported leader
+     * The real versions of these motors will also follow each other
+     *
+     */
     @Override
     public REVLibError follow(CANSparkBase leader) {
         REVLibError err = super.follow(leader);
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
index e99a73a6d6..c7ab6f5705 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
@@ -9,59 +9,102 @@ public class SparkAbsoluteEncoder implements AbsoluteEncoder {
     private CANEncoder simEncoder;
     private com.revrobotics.SparkAbsoluteEncoder realEncoder;
 
-    // We're prettys sure that it's impossible to make a child class of this parent class with a constructor, because the parent's constructor is private
-    // Reflection didn't work since a child constructor __needs__ a super() call at the top of the body
-    // Passing in the constuctor wouldn't work either, since it's just a function pointer and the child constructor would have no idea that it points to its super
+    /*
+     * A SparkAbsoluteEncoder class that returns the motors position and velocity from the simulated motor in fission, rather than the actual motor
+     * All other parameters are returned from the real motor, which likely won't exist, not sure what it does then but we'll just call it UB
+     */
     public SparkAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder realEncoder, CANEncoder simEncoder) {
         this.realEncoder = realEncoder;
         this.simEncoder = simEncoder;
     }
 
+    /*
+     * Get the average sampling depth for an absolute encoder
+     * Returns: The average sampling depth
+     */
     public int getAverageDepth() {
         return this.realEncoder.getAverageDepth();
     }
 
+    /*
+     * Get the phase of the AbsoluteEncoder
+     * Returns: The phase of the encoder
+    */
     public boolean getInverted() {
         return this.realEncoder.getInverted();
     }
 
+    /*
+     * Get the position of the motor. This returns the native units of 'rotations' by default, and can be changed by a scale factor using setPositionConversionFactor().
+     * Returns: Number of rotations of the motor
+    */
     public double getPosition() {
         return this.simEncoder.getPosition() * this.realEncoder.getPositionConversionFactor();
     }
 
-    // TODO: Remove conversion factors on the fission end
+    /*
+     * Set the conversion factor for position of the encoder. Multiplied by the native output units to give you position
+     * Returns: The conversion factor for position
+    */
     public double getPositionConversionFactor() {
         return this.getPositionConversionFactor();
     }
-
+    
+    
+    /*
+     * Get the velocity of the motor. This returns the native units of 'rotations per second' by default, and can be changed by a scale factor using setVelocityConversionFactor().
+     * Returns: Number of rotations per second of the motor
+    */
     public double getVelocity() {
         return this.simEncoder.getVelocity() * this.realEncoder.getVelocityConversionFactor();
     }
 
+
+    /*
+     * Get the conversion factor for velocity of the encoder.
+    */
     public double getVelocityConversionFactor() {
         return this.realEncoder.getVelocityConversionFactor();
     }
 
+    /*
+     * Gets the zero offset for an absolute encoder (the position that is reported as zero).
+    */
     public double getZeroOffset() {
         return this.realEncoder.getZeroOffset();
     }
-
+    
+    /*
+     * Set the average sampling depth for an absolute encoder.
+    */
     public REVLibError setAverageDepth(int depth) {
         return this.realEncoder.setAverageDepth(depth);
     }
 
+    /*
+     * Set the phase of the AbsoluteEncoder so that it is set to be in phase with the motor itself
+    */
     public REVLibError setInverted(boolean inverted) {
         return this.realEncoder.setInverted(inverted);
     }
 
+    /*
+    * Set the conversion factor for position of the encoder.
+    */
     public REVLibError setPositionConversionFactor(double factor) {
         return this.realEncoder.setPositionConversionFactor(factor);
     }
 
+    /*
+     * Set the conversion factor for velocity of the encoder.
+    */
     public REVLibError setVelocityConversionFactor(double factor) {
         return this.realEncoder.setVelocityConversionFactor(factor);
     }
 
+    /*
+     * Sets the zero offset of an absolute encoder (the position that is reported as zero).
+    */
     public REVLibError setZeroOffset(double factor) {
         return this.realEncoder.setZeroOffset(factor);
     }

From 8f50dd32e852d19ab97e2c41e3544cfbe322c4c0 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 15:35:29 -0700
Subject: [PATCH 229/344] Bump python version

---
 .github/workflows/FusionTyping.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index 1141a6e21a..f0fb4d4a05 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -14,7 +14,7 @@ jobs:
       - name: Setup Python
         uses: actions/setup-python@v4
         with:
-          python-version: 3.7.4
+          python-version: '3.9'
           architecture: x64
       - name: Checkout
         uses: actions/checkout@v3

From 04a4de5705e4ae9116027a9a05fc3ddaf8e52786 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 15:42:14 -0700
Subject: [PATCH 230/344] Convert to cpython workflow

---
 .github/workflows/FusionTyping.yml            | 25 ++++++++-----------
 .../SynthesisFusionAddin/requirements.txt     |  2 ++
 2 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index f0fb4d4a05..53102552d3 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -9,20 +9,17 @@ on:
 
 jobs:
   mypy:
+    strategy:
+      matrix:
+        target: [
+          "exporter/SynthesisFusionAddin",
+        ]
+    name: Run mypy on ${{ matrix.target }}
     runs-on: ubuntu-latest
     steps:
-      - name: Setup Python
-        uses: actions/setup-python@v4
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
         with:
-          python-version: '3.9'
-          architecture: x64
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Install mypy
-        run: pip install mypy
-      - name: Run mypy
-        uses: sasanquaneuf/mypy-github-action@releases/v1
-        with:
-          checkName: 'mypy'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          python-version: "3.11"
+      - run: pip install mypy
+      - run: mypy --config-file ${{ matrix.target }}/mypy.ini
diff --git a/exporter/SynthesisFusionAddin/requirements.txt b/exporter/SynthesisFusionAddin/requirements.txt
index 75a3dbe98a..080545156a 100644
--- a/exporter/SynthesisFusionAddin/requirements.txt
+++ b/exporter/SynthesisFusionAddin/requirements.txt
@@ -1,2 +1,4 @@
 black
+isort
+mypy
 pyminifier

From 2d8671d6463d78332956dbf384eda22b48d1f7a3 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 15:44:29 -0700
Subject: [PATCH 231/344] Refactor workflow

---
 .github/workflows/FusionTyping.yml | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index 53102552d3..8e230349b0 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -9,17 +9,12 @@ on:
 
 jobs:
   mypy:
-    strategy:
-      matrix:
-        target: [
-          "exporter/SynthesisFusionAddin",
-        ]
-    name: Run mypy on ${{ matrix.target }}
+    name: Run mypy
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v5
         with:
-          python-version: "3.11"
+          python-version: '3.11'
       - run: pip install mypy
-      - run: mypy --config-file ${{ matrix.target }}/mypy.ini
+      - run: mypy --config-file exporter/SynthesisFusionAddin/mypy.ini

From c3552c035849325437a1e429073e02b206167f8b Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 15:49:46 -0700
Subject: [PATCH 232/344] See if I can get anything to work

---
 .github/workflows/FusionTyping.yml | 37 +++++++++++++++++++++++++++---
 1 file changed, 34 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index 8e230349b0..b6b6a49fa9 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -7,14 +7,45 @@ on:
   pull_request:
     branches: [ prod, dev ]
 
+# jobs:
+#   mypy:
+#     name: Run mypy
+#     runs-on: ubuntu-latest
+#     steps:
+#       - uses: actions/checkout@v4
+#       - uses: actions/setup-python@v5
+#         with:
+#           python-version: '3.11'
+#       - run: pip install mypy
+#       - run: mypy --config-file exporter/SynthesisFusionAddin/mypy.ini
+
+permissions:
+  contents: read
+
+env:
+  PIP_DISABLE_PIP_VERSION_CHECK: 1
+  FORCE_COLOR: 1
+  TERM: xterm-256color  # needed for FORCE_COLOR to work on mypy on Ubuntu, see https://github.com/python/mypy/issues/13817
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   mypy:
-    name: Run mypy
+    strategy:
+      fail-fast: false
+      matrix:
+        target: [
+          "exporter/SynthesisFusionAddin"
+        ]
+    name: Run mypy on ${{ matrix.target }}
     runs-on: ubuntu-latest
+    timeout-minutes: 10
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v5
         with:
-          python-version: '3.11'
+          python-version: "3.11"
       - run: pip install mypy
-      - run: mypy --config-file exporter/SynthesisFusionAddin/mypy.ini
+      - run: mypy --config-file ${{ matrix.target }}/mypy.ini

From 58bad48eec0588696faf8e25974f3745ae460542 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 15:56:24 -0700
Subject: [PATCH 233/344] Workflow directory fix

---
 .github/workflows/FusionTyping.yml | 38 ++++--------------------------
 1 file changed, 4 insertions(+), 34 deletions(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index b6b6a49fa9..cdea3e68d4 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -7,45 +7,15 @@ on:
   pull_request:
     branches: [ prod, dev ]
 
-# jobs:
-#   mypy:
-#     name: Run mypy
-#     runs-on: ubuntu-latest
-#     steps:
-#       - uses: actions/checkout@v4
-#       - uses: actions/setup-python@v5
-#         with:
-#           python-version: '3.11'
-#       - run: pip install mypy
-#       - run: mypy --config-file exporter/SynthesisFusionAddin/mypy.ini
-
-permissions:
-  contents: read
-
-env:
-  PIP_DISABLE_PIP_VERSION_CHECK: 1
-  FORCE_COLOR: 1
-  TERM: xterm-256color  # needed for FORCE_COLOR to work on mypy on Ubuntu, see https://github.com/python/mypy/issues/13817
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
-  cancel-in-progress: true
-
 jobs:
   mypy:
-    strategy:
-      fail-fast: false
-      matrix:
-        target: [
-          "exporter/SynthesisFusionAddin"
-        ]
-    name: Run mypy on ${{ matrix.target }}
+    name: Run mypy
     runs-on: ubuntu-latest
-    timeout-minutes: 10
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v5
         with:
-          python-version: "3.11"
+          python-version: '3.11'
       - run: pip install mypy
-      - run: mypy --config-file ${{ matrix.target }}/mypy.ini
+      - run: cd exporter/SynthesisFusionAddin/
+      - run: mypy

From 540be8048d9bdd17a1dbbc7b2279e6cbb32d8292 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 15:57:31 -0700
Subject: [PATCH 234/344] Force run `mypy` in the current directory

---
 .github/workflows/FusionTyping.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index cdea3e68d4..17679d5a63 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -18,4 +18,4 @@ jobs:
           python-version: '3.11'
       - run: pip install mypy
       - run: cd exporter/SynthesisFusionAddin/
-      - run: mypy
+      - run: mypy .

From 80ae6db7a7351f58e3e99db591a514cc3f423a90 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 16:01:20 -0700
Subject: [PATCH 235/344] Added working directory

---
 .github/workflows/FusionTyping.yml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index 17679d5a63..f4038ed603 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -17,5 +17,6 @@ jobs:
         with:
           python-version: '3.11'
       - run: pip install mypy
-      - run: cd exporter/SynthesisFusionAddin/
-      - run: mypy .
+      - name: Test mypy
+        working-directory: ./exporter/SynthesisFusionAddin
+        run: mypy

From 46830c8aa509c30c420f4838a6b02262c39281da Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 16:03:29 -0700
Subject: [PATCH 236/344] Install types

---
 .github/workflows/FusionTyping.yml             | 2 +-
 exporter/SynthesisFusionAddin/requirements.txt | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index f4038ed603..d82b4a834b 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -16,7 +16,7 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: '3.11'
-      - run: pip install mypy
+      - run: pip install ./exporter/SynthesisFusionAddin/requirements.txt
       - name: Test mypy
         working-directory: ./exporter/SynthesisFusionAddin
         run: mypy
diff --git a/exporter/SynthesisFusionAddin/requirements.txt b/exporter/SynthesisFusionAddin/requirements.txt
index 080545156a..c1c45ba8ff 100644
--- a/exporter/SynthesisFusionAddin/requirements.txt
+++ b/exporter/SynthesisFusionAddin/requirements.txt
@@ -2,3 +2,5 @@ black
 isort
 mypy
 pyminifier
+types-protobuf
+types-request

From ac0790e68a865196f79ad60f3a73ccd7edc1629c Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 16:04:32 -0700
Subject: [PATCH 237/344] Add `-r` flag to pip install step

---
 .github/workflows/FusionTyping.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index d82b4a834b..00516e71d4 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -16,7 +16,7 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: '3.11'
-      - run: pip install ./exporter/SynthesisFusionAddin/requirements.txt
+      - run: pip install -r ./exporter/SynthesisFusionAddin/requirements.txt
       - name: Test mypy
         working-directory: ./exporter/SynthesisFusionAddin
         run: mypy

From 400885517a08c5e5402e2d3e130b780110a00264 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 16:09:16 -0700
Subject: [PATCH 238/344] Specifically install `mypy` requirements

---
 .github/workflows/FusionTyping.yml                             | 2 +-
 exporter/SynthesisFusionAddin/requirements-dev.txt             | 3 +++
 .../{requirements.txt => requirements-mypy.txt}                | 3 ---
 3 files changed, 4 insertions(+), 4 deletions(-)
 create mode 100644 exporter/SynthesisFusionAddin/requirements-dev.txt
 rename exporter/SynthesisFusionAddin/{requirements.txt => requirements-mypy.txt} (59%)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index 00516e71d4..59c5533ad6 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -16,7 +16,7 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: '3.11'
-      - run: pip install -r ./exporter/SynthesisFusionAddin/requirements.txt
+      - run: pip install -r ./exporter/SynthesisFusionAddin/requirements-mypy.txt
       - name: Test mypy
         working-directory: ./exporter/SynthesisFusionAddin
         run: mypy
diff --git a/exporter/SynthesisFusionAddin/requirements-dev.txt b/exporter/SynthesisFusionAddin/requirements-dev.txt
new file mode 100644
index 0000000000..89846d2e08
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/requirements-dev.txt
@@ -0,0 +1,3 @@
+black
+isort
+pyminifier
diff --git a/exporter/SynthesisFusionAddin/requirements.txt b/exporter/SynthesisFusionAddin/requirements-mypy.txt
similarity index 59%
rename from exporter/SynthesisFusionAddin/requirements.txt
rename to exporter/SynthesisFusionAddin/requirements-mypy.txt
index c1c45ba8ff..a0325e6f44 100644
--- a/exporter/SynthesisFusionAddin/requirements.txt
+++ b/exporter/SynthesisFusionAddin/requirements-mypy.txt
@@ -1,6 +1,3 @@
-black
-isort
 mypy
-pyminifier
 types-protobuf
 types-request

From a86560382c2f94a18166b349401c2a4e1352fb7b Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 16:12:00 -0700
Subject: [PATCH 239/344] Let `mypy` install its own types

---
 .github/workflows/FusionTyping.yml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index 59c5533ad6..c7134082ab 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -16,7 +16,9 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: '3.11'
-      - run: pip install -r ./exporter/SynthesisFusionAddin/requirements-mypy.txt
+      - run: pip install mypy
       - name: Test mypy
         working-directory: ./exporter/SynthesisFusionAddin
-        run: mypy
+        run: |
+          mypy --install-types
+          mypy

From 812f9a0ae8d13ba373057e6b9155c2b380ac5cd1 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 16:14:55 -0700
Subject: [PATCH 240/344] Install correct typing module

---
 .github/workflows/FusionTyping.yml                  | 6 ++----
 exporter/SynthesisFusionAddin/requirements-mypy.txt | 2 +-
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index c7134082ab..59c5533ad6 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -16,9 +16,7 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: '3.11'
-      - run: pip install mypy
+      - run: pip install -r ./exporter/SynthesisFusionAddin/requirements-mypy.txt
       - name: Test mypy
         working-directory: ./exporter/SynthesisFusionAddin
-        run: |
-          mypy --install-types
-          mypy
+        run: mypy
diff --git a/exporter/SynthesisFusionAddin/requirements-mypy.txt b/exporter/SynthesisFusionAddin/requirements-mypy.txt
index a0325e6f44..ef8b8dff85 100644
--- a/exporter/SynthesisFusionAddin/requirements-mypy.txt
+++ b/exporter/SynthesisFusionAddin/requirements-mypy.txt
@@ -1,3 +1,3 @@
 mypy
 types-protobuf
-types-request
+types-requests

From d4af9be2dd931983dbbeec059f012d8aac6bf1d1 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 16:16:03 -0700
Subject: [PATCH 241/344] Break `mypy` workflow

---
 exporter/SynthesisFusionAddin/Synthesis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index ee630a12ca..52deaaa5f9 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -44,7 +44,7 @@
 
 
 @logFailure
-def run(_context: dict[str, Any]) -> None:
+def run(_context: dict[str, Any]):
     """## Entry point to application from Fusion.
 
     Arguments:

From 0c698dbef38785435dbb37db68cff4f1489e754f Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 16:16:52 -0700
Subject: [PATCH 242/344] Fix `mypy` workflow error

---
 exporter/SynthesisFusionAddin/Synthesis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 52deaaa5f9..ee630a12ca 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -44,7 +44,7 @@
 
 
 @logFailure
-def run(_context: dict[str, Any]):
+def run(_context: dict[str, Any]) -> None:
     """## Entry point to application from Fusion.
 
     Arguments:

From ebc3cd6211a3b5d0f4465be3287407f7dff58ea4 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 16:20:17 -0700
Subject: [PATCH 243/344] Default working directory

---
 .github/workflows/FusionTyping.yml | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/FusionTyping.yml b/.github/workflows/FusionTyping.yml
index 59c5533ad6..13de49fc2f 100644
--- a/.github/workflows/FusionTyping.yml
+++ b/.github/workflows/FusionTyping.yml
@@ -11,12 +11,13 @@ jobs:
   mypy:
     name: Run mypy
     runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: ./exporter/SynthesisFusionAddin
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v5
         with:
           python-version: '3.11'
-      - run: pip install -r ./exporter/SynthesisFusionAddin/requirements-mypy.txt
-      - name: Test mypy
-        working-directory: ./exporter/SynthesisFusionAddin
-        run: mypy
+      - run: pip install -r requirements-mypy.txt
+      - run: mypy

From f075f43afdee5694422cb1ffd17e1061bb0b0e3e Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 16:37:57 -0700
Subject: [PATCH 244/344] Cleanup typing + fix attr error throwing during
 export

---
 .../src/Parser/SynthesisParser/Utilities.py   | 22 ++++++++-----------
 1 file changed, 9 insertions(+), 13 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
index d61a84139d..d8f38d921f 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Utilities.py
@@ -1,10 +1,11 @@
 import math
 import uuid
-from typing import Any
 
 import adsk.core
 import adsk.fusion
 
+from src.Proto import assembly_pb2
+
 
 def guid_component(comp: adsk.fusion.Component) -> str:
     return f"{comp.entityToken}_{comp.id}"
@@ -18,15 +19,15 @@ def guid_none(_: None) -> str:
     return str(uuid.uuid4())
 
 
-def fill_info(proto_obj: Any, fus_object: adsk.fusion.Component, override_guid: str | None = None) -> None:
+def fill_info(proto_obj: assembly_pb2.Assembly, fus_object: adsk.core.Base, override_guid: str | None = None) -> None:
     construct_info("", proto_obj, fus_object=fus_object, GUID=override_guid)
 
 
 def construct_info(
     name: str,
-    proto_obj: Any,
+    proto_obj: assembly_pb2.Assembly,
     version: int = 5,
-    fus_object: adsk.fusion.Component | None = None,
+    fus_object: adsk.core.Base | None = None,
     GUID: str | None = None,
 ) -> None:
     """Constructs a info object from either a name or a fus_object
@@ -48,20 +49,15 @@ def construct_info(
 
     if fus_object is not None:
         proto_obj.info.name = fus_object.name
-    elif name is not None:
-        proto_obj.info.name = name
     else:
-        raise ValueError("Cannot construct info from no name or fus_object")
+        proto_obj.info.name = name
 
     if GUID is not None:
         proto_obj.info.GUID = str(GUID)
+    elif fus_object is not None and hasattr(fus_object, "entityToken"):
+        proto_obj.info.GUID = fus_object.entityToken
     else:
-        try:
-            # attempt to get entity token
-            proto_obj.info.GUID = fus_object.entityToken
-        except AttributeError:
-            # fails and gets new uuid
-            proto_obj.info.GUID = str(uuid.uuid4())
+        proto_obj.info.GUID = str(uuid.uuid4())
 
 
 # Transition: AARD-1765

From f49f91abfafff9ae03c4d3656b4279a8b3343038 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 13 Aug 2024 16:41:56 -0700
Subject: [PATCH 245/344] Input system tests

---
 fission/src/test/InputSystem.test.ts | 55 ++++++++++++++++++++++++++++
 1 file changed, 55 insertions(+)
 create mode 100644 fission/src/test/InputSystem.test.ts

diff --git a/fission/src/test/InputSystem.test.ts b/fission/src/test/InputSystem.test.ts
new file mode 100644
index 0000000000..768ec5b930
--- /dev/null
+++ b/fission/src/test/InputSystem.test.ts
@@ -0,0 +1,55 @@
+import { test, describe, assert, expect } from "vitest"
+import InputSystem from "@/systems/input/InputSystem"
+import InputSchemeManager from "@/systems/input/InputSchemeManager"
+import DefaultInputs from "@/systems/input/DefaultInputs"
+
+describe("Input scheme manager checks", () => {
+    test("Available schemes", () => {
+        assert(InputSchemeManager.availableInputSchemes[0].schemeName == DefaultInputs.ernie().schemeName)
+        assert(InputSchemeManager.defaultInputSchemes.length >= 1)
+
+        const startingLength = InputSchemeManager.availableInputSchemes.length
+        InputSchemeManager.addCustomScheme(DefaultInputs.newBlankScheme)
+
+        expect(InputSchemeManager.availableInputSchemes.length).toBe(startingLength + 1)
+    })
+    test("Add a custom scheme", () => {
+        const startingLength = InputSchemeManager.availableInputSchemes.length
+        InputSchemeManager.addCustomScheme(DefaultInputs.newBlankScheme)
+
+        assert((InputSchemeManager.availableInputSchemes.length = startingLength + 1))
+    })
+    test("Get random names", () => {
+        const names: string[] = []
+        for (let i = 0; i < 20; i++) {
+            const name = InputSchemeManager.randomAvailableName
+            expect(names.includes(name)).toBe(false)
+            assert(name != undefined)
+            expect(name.length).toBeGreaterThan(0)
+
+            const scheme = DefaultInputs.newBlankScheme
+            scheme.schemeName = name
+
+            InputSchemeManager.addCustomScheme(scheme)
+
+            names.push(name)
+        }
+    })
+})
+
+describe("Input system checks", () => {
+    new InputSystem()
+
+    test("Brain map exists", () => {
+        assert(InputSystem.brainIndexSchemeMap != undefined)
+    })
+
+    test("Inputs are zero", () => {
+        expect(InputSystem.getInput("arcadeDrive", 0)).toBe(0)
+        expect(InputSystem.getGamepadAxis(0)).toBe(0)
+        expect(InputSystem.getInput("randomInputThatDoesNotExist", 1273)).toBe(0)
+        expect(InputSystem.isKeyPressed("keyA")).toBe(false)
+        expect(InputSystem.isKeyPressed("ajhsekff")).toBe(false)
+        expect(InputSystem.isGamepadButtonPressed(1)).toBe(false)
+    })
+})

From 98f0347d306cf7036589e90fcf27eda14fc5d286 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 16:48:01 -0700
Subject: [PATCH 246/344] Cleaned up fixable transition tag

---
 .../src/Parser/SynthesisParser/JointHierarchy.py              | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index 3f5c628971..0b5be182c2 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -104,9 +104,7 @@ def __init__(self, occurrence: adsk.fusion.Occurrence, isGround: bool = False, p
     def print(self) -> None:
         print(f"\n\t-------{self.data.name}-------")
         for edge in self.edges:
-            ...
-        # Transition: AARD-1765
-        # edge.print()
+            edge.print()
 
     def getConnectedAxis(self) -> list[Any]:
         """Gets all Axis with the NEXT relationship

From a20890398082de6fe7b429bf3e57e6570240d3ae Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 17:13:00 -0700
Subject: [PATCH 247/344] Handled ignore typing section

---
 exporter/SynthesisFusionAddin/src/Types.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/Types.py b/exporter/SynthesisFusionAddin/src/Types.py
index 1d6edeb0c2..5e2d7c967f 100644
--- a/exporter/SynthesisFusionAddin/src/Types.py
+++ b/exporter/SynthesisFusionAddin/src/Types.py
@@ -3,7 +3,7 @@
 import platform
 from dataclasses import MISSING, dataclass, field, fields, is_dataclass
 from enum import Enum, EnumType
-from typing import Any, TypeAlias, get_origin
+from typing import Any, TypeAlias, get_args, get_origin
 
 # Not 100% sure what this is for - Brandon
 JointParentType = Enum("JointParentType", ["ROOT", "END"])
@@ -103,7 +103,7 @@ def makeObjectFromJson(objType: type, data: Any) -> Any:
     elif isinstance(objType, PRIMITIVES) or isinstance(data, PRIMITIVES):
         return data
     elif get_origin(objType) is list:
-        return [makeObjectFromJson(objType.__args__[0], item) for item in data]  # type: ignore[attr-defined]
+        return [makeObjectFromJson(get_args(objType)[0], item) for item in data]
 
     obj = objType()
     assert is_dataclass(obj) and isinstance(data, dict), "Found unsupported type to decode."

From 1f1a2943bee4e478089b035943df591a1c5a4ff4 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 17:13:49 -0700
Subject: [PATCH 248/344] Explicit handling of event changed to account for new
 organization

---
 exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py      | 7 ++++---
 exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py | 4 ++++
 exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py   | 4 ++++
 exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py     | 4 ++++
 4 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index fae2ce41b4..5965081294 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -582,12 +582,13 @@ def reset(self) -> None:
         gm.ui.activeSelections.clear()
 
     def notify(self, args: adsk.core.InputChangedEventArgs) -> None:
-        generalConfigTab.handleInputChanged(args)
+        if generalConfigTab.isActive:
+            generalConfigTab.handleInputChanged(args)
 
-        if jointConfigTab.isVisible:
+        if jointConfigTab.isVisible and jointConfigTab.isActive:
             jointConfigTab.handleInputChanged(args, INPUTS_ROOT)
 
-        if gamepieceConfigTab.isVisible:
+        if gamepieceConfigTab.isVisible and gamepieceConfigTab.isActive:
             gamepieceConfigTab.handleInputChanged(args, INPUTS_ROOT)
 
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index 753b91890e..d3e26f1f99 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -108,6 +108,10 @@ def isVisible(self) -> bool:
     def isVisible(self, value: bool) -> None:
         self.gamepieceConfigTab.isVisible = value
 
+    @property
+    def isActive(self) -> bool:
+        return self.gamepieceConfigTab.isActive or False
+
     @property
     def selectedUnits(self) -> PreferredUnits:
         return self.currentUnits
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index a5c21c8e5f..673e56054b 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -155,6 +155,10 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
             weightInput.isVisible = weightTableInput.isVisible = False
             frictionOverrideButton.isVisible = frictionCoefficient.isVisible = False
 
+    @property
+    def isActive(self) -> bool:
+        return self.generalOptionsTab.isActive or False
+
     @property
     def exportMode(self) -> ExportMode:
         exportModeDropdown: adsk.core.DropDownCommandInput = self.generalOptionsTab.children.itemById(
diff --git a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
index bd13ea335a..217d409329 100644
--- a/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
@@ -110,6 +110,10 @@ def isVisible(self) -> bool:
     def isVisible(self, value: bool) -> None:
         self.jointConfigTab.isVisible = value
 
+    @property
+    def isActive(self) -> bool:
+        return self.jointConfigTab.isActive or False
+
     @logFailure
     def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None) -> bool:
         if fusionJoint in self.selectedJointList:

From b23a1e999a0576c1843b5af06a2f46d690e77641 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 17:17:04 -0700
Subject: [PATCH 249/344] Remove un-needed typing

---
 exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
index d20442f56b..da24f0db92 100644
--- a/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
+++ b/exporter/SynthesisFusionAddin/src/UI/FileDialogConfig.py
@@ -19,7 +19,7 @@ def saveFileDialog(defaultPath: str | None = None, defaultName: str | None = Non
         str: full file path
     """
 
-    fileDialog: adsk.core.FileDialog = gm.ui.createFileDialog()
+    fileDialog = gm.ui.createFileDialog()
     fileDialog.isMultiSelectEnabled = False
 
     fileDialog.title = "Save Export Result"

From e52f3c895871d31ae28595ba95b6ae9219505e2d Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 17:17:58 -0700
Subject: [PATCH 250/344] Remove left over `import`

---
 exporter/SynthesisFusionAddin/src/UI/Handlers.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/Handlers.py b/exporter/SynthesisFusionAddin/src/UI/Handlers.py
index 9033b6f0d5..0e60ba36f7 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Handlers.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Handlers.py
@@ -2,8 +2,6 @@
 
 import adsk.core
 
-# from src.UI.HUI import HButton
-
 
 class HButtonCommandCreatedEvent(adsk.core.CommandCreatedEventHandler):
     """## Abstraction of CreatedEvent as its mostly useless in this context

From 3668e2a3bee85e01e37e147b47c089baf6b41a3b Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 13 Aug 2024 17:19:25 -0700
Subject: [PATCH 251/344] Remove `Any` type

---
 exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
index dea2ad0a67..3e7315d6ed 100644
--- a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
+++ b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
@@ -1,4 +1,4 @@
-from typing import Any, Callable
+from typing import Callable
 
 import adsk.core
 import adsk.fusion
@@ -9,7 +9,7 @@
 
 # global mapping list of event handlers to keep them referenced for the duration of the command
 # handlers = {}
-handlers: list[Any] = []
+handlers: list[adsk.core.EventHandler] = []
 cmdDefs: list[adsk.core.CommandDefinition] = []
 entities: list[adsk.fusion.Occurrence] = []
 

From 187933236b999359ef907eceebd577d0ba9459f9 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 14 Aug 2024 09:26:35 -0700
Subject: [PATCH 252/344] New open hud icon and small ui fixes

---
 fission/src/main.tsx                                        | 4 ++--
 fission/src/ui/components/MainHUD.tsx                       | 5 ++++-
 fission/src/ui/components/StyledComponents.tsx              | 6 ++++--
 .../panels/configuring/assembly-config/ConfigurePanel.tsx   | 2 +-
 4 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/fission/src/main.tsx b/fission/src/main.tsx
index eddd94842e..167538c689 100644
--- a/fission/src/main.tsx
+++ b/fission/src/main.tsx
@@ -63,8 +63,8 @@ const defaultColors: Theme = {
     SkyboxTop: { color: { r: 255, g: 255, b: 255, a: 1 }, above: [] },
     SkyboxBottom: { color: { r: 255, g: 255, b: 255, a: 1 }, above: [] },
     FloorGrid: { color: { r: 93, g: 93, b: 93, a: 1 }, above: [] },
-    MatchRedAlliance: { color: { r: 255, g: 0, b: 0, a: 1 }, above: [] },
-    MatchBlueAlliance: { color: { r: 0, g: 0, b: 255, a: 1 }, above: [] },
+    MatchRedAlliance: { color: { r: 180, g: 20, b: 20, a: 1 }, above: [] },
+    MatchBlueAlliance: { color: { r: 20, g: 20, b: 180, a: 1 }, above: [] },
     ToastInfo: { color: { r: 126, g: 34, b: 206, a: 1 }, above: [] },
     ToastWarning: { color: { r: 234, g: 179, b: 8, a: 1 }, above: [] },
     ToastError: { color: { r: 239, g: 68, b: 68, a: 1 }, above: [] },
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index a9123cb124..e8d1003863 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -74,6 +74,7 @@ const MainHUD: React.FC = () => {
                 >
                     <Box
                         position="absolute"
+                        minWidth={"65px"}
                         className="bg-gradient-to-b from-interactive-element-right to-interactive-element-left transform transition-transform hover:scale-[1.02] active:scale-[1.04]"
                         sx={{
                             borderTopRightRadius: "100px",
@@ -82,7 +83,9 @@ const MainHUD: React.FC = () => {
                             borderBottomLeftRadius: "0",
                         }}
                     >
-                        <ButtonIcon onClick={() => setIsOpen(!isOpen)} value={SynthesisIcons.OpenHudIcon} />
+                        <Box sx={{ transform: "translateY(2.5px)" }}>
+                            <ButtonIcon onClick={() => setIsOpen(!isOpen)} value={SynthesisIcons.OpenHudIcon} />
+                        </Box>
                     </Box>
                 </Box>
             )}
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index b1b35f5049..4288008b13 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -4,7 +4,7 @@ import Button, { ButtonProps, ButtonSize } from "./Button"
 import { IoCheckmark, IoPencil, IoPeople, IoTrashBin } from "react-icons/io5"
 import { HiDownload } from "react-icons/hi"
 import { AiOutlinePlus } from "react-icons/ai"
-import { BiMenuAltLeft, BiRefresh } from "react-icons/bi"
+import { BiRefresh } from "react-icons/bi"
 import { AiFillWarning } from "react-icons/ai"
 import { BsCodeSquare } from "react-icons/bs"
 import { GiSteeringWheel } from "react-icons/gi"
@@ -28,7 +28,9 @@ import {
     FaArrowLeft,
     FaMinus,
     FaBug,
+    FaAngleRight,
 } from "react-icons/fa6"
+import { colorNameToVar } from "../ThemeContext"
 
 export class SynthesisIcons {
     /** Regular icons: used for panels, modals, and main hud buttons */
@@ -63,7 +65,7 @@ export class SynthesisIcons {
     public static LeftArrowLarge = (<FaArrowLeft size={"1.25rem"} />)
     public static BugLarge = (<FaBug size={"1.25rem"} />)
 
-    public static OpenHudIcon = (<BiMenuAltLeft size={"3rem"} color="black" />)
+    public static OpenHudIcon = (<FaAngleRight size={"3rem"} color={colorNameToVar("BackgroundSecondary")} />)
 }
 
 export const SectionDivider = styled(Divider)({
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index 3945f61d2f..aa5d5b7f2a 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -224,7 +224,7 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
     return (
         <Panel
-            name={"Configure Objects"}
+            name={"Configure Assets"}
             icon={SynthesisIcons.Wrench}
             panelId={panelId}
             cancelEnabled={false}

From 7cd781fca84d2c64f9472cac66c7a7b860faab19 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 14 Aug 2024 10:48:04 -0700
Subject: [PATCH 253/344] main hud button fix and lighter dividers

---
 fission/src/ui/components/MainHUD.tsx          | 12 ++++++++----
 fission/src/ui/components/StyledComponents.tsx |  2 +-
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index e8d1003863..e7bfca89f2 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -34,7 +34,7 @@ const MainHUDButton: React.FC<ButtonProps> = ({ value, icon, onClick, larger })
         >
             {larger && icon}
             {!larger && <span className="absolute left-3 text-main-hud-icon">{icon}</span>}
-            <span className={`px-2 ${larger ? "py-2" : "py-1 ml-6"} text-main-text cursor-pointer`}>{value}</span>
+            <span className={`px-2 ${larger ? "py-2" : "py-0.5 ml-6"} text-main-text cursor-pointer`}>{value}</span>
         </Button>
     )
 }
@@ -98,7 +98,7 @@ const MainHUD: React.FC = () => {
                 <div className="flex flex-row gap-2 w-60 h-10">
                     <img src={logo} className="w-[80%] h-[100%] object-contain" />
                     <ButtonIcon
-                        value={<FaXmark color="bg-icon" size={30} className="text-main-hud-close-icon" />}
+                        value={<FaXmark color="bg-icon" size={23} className="text-main-hud-close-icon" />}
                         onClick={() => setIsOpen(false)}
                     />
                 </div>
@@ -108,7 +108,11 @@ const MainHUD: React.FC = () => {
                     larger={true}
                     onClick={() => openPanel("import-mirabuf")}
                 />
-                <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
+                <Box
+                    display="flex"
+                    flexDirection={"column"}
+                    sx={{ backgroundColor: "black", borderRadius: "7px", padding: "3px" }}
+                >
                     <MainHUDButton
                         value={"General Settings"}
                         icon={SynthesisIcons.Gear}
@@ -131,7 +135,7 @@ const MainHUD: React.FC = () => {
                             openPanel("debug")
                         }}
                     />
-                </div>
+                </Box>
                 {userInfo ? (
                     <MainHUDButton
                         value={`Hi, ${userInfo.givenName}`}
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index 4288008b13..9b63b2ddfd 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -69,7 +69,7 @@ export class SynthesisIcons {
 }
 
 export const SectionDivider = styled(Divider)({
-    borderColor: "white",
+    borderColor: "grey",
 })
 
 export const SectionLabel = styled(Label)({

From a3daee68976e2018101a0b3162f5631b2afd8987 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 14 Aug 2024 11:05:02 -0700
Subject: [PATCH 254/344] removed vendordeps from git ignore

---
 simulation/SyntheSimJava/.gitignore           |   4 +-
 .../SyntheSimJava/vendordeps/Phoenix6.json    | 339 ++++++++++++++++++
 .../SyntheSimJava/vendordeps/REVLib.json      |  74 ++++
 simulation/samples/JavaSample/.gitignore      |   5 +-
 .../JavaSample/vendordeps/Phoenix6.json       | 339 ++++++++++++++++++
 .../samples/JavaSample/vendordeps/REVLib.json |  74 ++++
 6 files changed, 831 insertions(+), 4 deletions(-)
 create mode 100644 simulation/SyntheSimJava/vendordeps/Phoenix6.json
 create mode 100644 simulation/SyntheSimJava/vendordeps/REVLib.json
 create mode 100644 simulation/samples/JavaSample/vendordeps/Phoenix6.json
 create mode 100644 simulation/samples/JavaSample/vendordeps/REVLib.json

diff --git a/simulation/SyntheSimJava/.gitignore b/simulation/SyntheSimJava/.gitignore
index b7691f9c47..c73e0b2d0f 100644
--- a/simulation/SyntheSimJava/.gitignore
+++ b/simulation/SyntheSimJava/.gitignore
@@ -1,4 +1,3 @@
-*.json
 # Ignore Gradle project-specific cache directory
 .gradle
 .vscode
@@ -9,5 +8,4 @@ ctre-sil/
 bin/
 
 .settings/
-.classpath
-
+.classpath
\ No newline at end of file
diff --git a/simulation/SyntheSimJava/vendordeps/Phoenix6.json b/simulation/SyntheSimJava/vendordeps/Phoenix6.json
new file mode 100644
index 0000000000..032238505f
--- /dev/null
+++ b/simulation/SyntheSimJava/vendordeps/Phoenix6.json
@@ -0,0 +1,339 @@
+{
+    "fileName": "Phoenix6.json",
+    "name": "CTRE-Phoenix (v6)",
+    "version": "24.3.0",
+    "frcYear": 2024,
+    "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-java",
+            "version": "24.3.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonFX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simCANCoder",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-cpp",
+            "version": "24.3.0",
+            "libName": "CTRE_Phoenix6_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "24.3.0",
+            "libName": "CTRE_PhoenixTools",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "24.3.0",
+            "libName": "CTRE_Phoenix6_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "24.3.0",
+            "libName": "CTRE_PhoenixTools_Sim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonFX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "24.3.0",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simCANCoder",
+            "version": "24.3.0",
+            "libName": "CTRE_SimCANCoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProCANcoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProPigeon2",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/simulation/SyntheSimJava/vendordeps/REVLib.json b/simulation/SyntheSimJava/vendordeps/REVLib.json
new file mode 100644
index 0000000000..f85acd4054
--- /dev/null
+++ b/simulation/SyntheSimJava/vendordeps/REVLib.json
@@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.4",
+    "frcYear": "2024",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2024.2.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.4",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/simulation/samples/JavaSample/.gitignore b/simulation/samples/JavaSample/.gitignore
index 0a7cba8930..4a2a0df950 100644
--- a/simulation/samples/JavaSample/.gitignore
+++ b/simulation/samples/JavaSample/.gitignore
@@ -1,4 +1,7 @@
-*.json
+networktables.json
+simgui-ds.json
+simgui-window.json
+simgui.json
 
 .gradle/
 .vscode/
diff --git a/simulation/samples/JavaSample/vendordeps/Phoenix6.json b/simulation/samples/JavaSample/vendordeps/Phoenix6.json
new file mode 100644
index 0000000000..032238505f
--- /dev/null
+++ b/simulation/samples/JavaSample/vendordeps/Phoenix6.json
@@ -0,0 +1,339 @@
+{
+    "fileName": "Phoenix6.json",
+    "name": "CTRE-Phoenix (v6)",
+    "version": "24.3.0",
+    "frcYear": 2024,
+    "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-java",
+            "version": "24.3.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonFX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simCANCoder",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "24.3.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-cpp",
+            "version": "24.3.0",
+            "libName": "CTRE_Phoenix6_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "24.3.0",
+            "libName": "CTRE_PhoenixTools",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "24.3.0",
+            "libName": "CTRE_Phoenix6_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "24.3.0",
+            "libName": "CTRE_PhoenixTools_Sim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonFX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "24.3.0",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simCANCoder",
+            "version": "24.3.0",
+            "libName": "CTRE_SimCANCoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProCANcoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "24.3.0",
+            "libName": "CTRE_SimProPigeon2",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/simulation/samples/JavaSample/vendordeps/REVLib.json b/simulation/samples/JavaSample/vendordeps/REVLib.json
new file mode 100644
index 0000000000..f85acd4054
--- /dev/null
+++ b/simulation/samples/JavaSample/vendordeps/REVLib.json
@@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.4",
+    "frcYear": "2024",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2024.2.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.4",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}
\ No newline at end of file

From 9627c8aa765e0d443555cfce12db579e11999718 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 14 Aug 2024 11:57:28 -0700
Subject: [PATCH 255/344] Formatting?

---
 fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index 7e56fd27a0..b62db8debb 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -61,7 +61,7 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                 PreferencesSystem.getRobotPreferences(robot.assemblyName).driveVelocity = vel
                 PreferencesSystem.getRobotPreferences(robot.assemblyName).driveAcceleration = force
             } else {
-                ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
+                ;((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
                 ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
 
                 // Preferences

From e4997bc5ed852a7566da00b67a6b54a58a21694d Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 14 Aug 2024 12:02:47 -0700
Subject: [PATCH 256/344] Formatting? pt. 2

---
 fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index b62db8debb..f633b2e83f 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -61,7 +61,8 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                 PreferencesSystem.getRobotPreferences(robot.assemblyName).driveVelocity = vel
                 PreferencesSystem.getRobotPreferences(robot.assemblyName).driveAcceleration = force
             } else {
-                ;((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
+                // prettier-ignore
+                ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
                 ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
 
                 // Preferences

From 3f4ba0ba11333b5f6ee0ab9d1761c9a640dbc0c9 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 14 Aug 2024 12:35:53 -0700
Subject: [PATCH 257/344] Formatting :/  pt. 3

---
 .../ui/panels/configuring/ConfigureSubsystemsPanel.tsx    | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index f633b2e83f..2b44012616 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -61,10 +61,6 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                 PreferencesSystem.getRobotPreferences(robot.assemblyName).driveVelocity = vel
                 PreferencesSystem.getRobotPreferences(robot.assemblyName).driveAcceleration = force
             } else {
-                // prettier-ignore
-                ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
-                ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
-
                 // Preferences
                 if (driver.info && driver.info.name) {
                     const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
@@ -82,6 +78,10 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
 
                     PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
                 }
+
+                // Edit subsystems
+                ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
+                ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
             }
 
             PreferencesSystem.savePreferences()

From eea49af801a025fc6c8c8610d9415f8f6321c774 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 14 Aug 2024 12:39:39 -0700
Subject: [PATCH 258/344] Formatting -.- pt. 4

---
 .../panels/configuring/ConfigureSubsystemsPanel.tsx  | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index 2b44012616..6efdeff732 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -61,6 +61,14 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                 PreferencesSystem.getRobotPreferences(robot.assemblyName).driveVelocity = vel
                 PreferencesSystem.getRobotPreferences(robot.assemblyName).driveAcceleration = force
             } else {
+                // A function because ES Lint and Prettier are fighting over semicolon formatting
+                const editMotors = () => {
+                    ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
+                    ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
+                }
+
+                editMotors()
+
                 // Preferences
                 if (driver.info && driver.info.name) {
                     const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
@@ -79,9 +87,7 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                     PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
                 }
 
-                // Edit subsystems
-                ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
-                ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
+                
             }
 
             PreferencesSystem.savePreferences()

From 48c23f0e9501170dc3caf472ae53e01f50eb1b87 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 14 Aug 2024 12:45:51 -0700
Subject: [PATCH 259/344] Formatting :D pt. 5

---
 .../panels/configuring/ConfigureSubsystemsPanel.tsx  | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index 6efdeff732..18848c4a9d 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -61,14 +61,6 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                 PreferencesSystem.getRobotPreferences(robot.assemblyName).driveVelocity = vel
                 PreferencesSystem.getRobotPreferences(robot.assemblyName).driveAcceleration = force
             } else {
-                // A function because ES Lint and Prettier are fighting over semicolon formatting
-                const editMotors = () => {
-                    ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
-                    ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
-                }
-
-                editMotors()
-
                 // Preferences
                 if (driver.info && driver.info.name) {
                     const removedMotor = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
@@ -87,7 +79,9 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                     PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
                 }
 
-                
+                // eslint-disable-next-line no-extra-semi
+                ;((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
+                ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
             }
 
             PreferencesSystem.savePreferences()

From 84039e0f1f4d2997acac757ee78641cff0c0b1d9 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 14 Aug 2024 12:49:17 -0700
Subject: [PATCH 260/344] Formatting? pt. 6

---
 fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index 18848c4a9d..12e3f032ce 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -79,7 +79,7 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                     PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
                 }
 
-                // eslint-disable-next-line no-extra-semi
+                // eslint-disable-next-line
                 ;((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
                 ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
             }

From ef86b555a4a249da337d0e2b92e3f98412419334 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 14 Aug 2024 15:32:51 -0700
Subject: [PATCH 261/344] Formatting... pt. 7

---
 .../src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx    | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index 12e3f032ce..8ef674b3cf 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -79,7 +79,9 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                     PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
                 }
 
-                // eslint-disable-next-line
+                // This line is purely for ES Lint and Prettier to agree on formatting the semicolon below.
+                PreferencesSystem.savePreferences()
+
                 ;((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
                 ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
             }

From 6360df0e6c182d0be0cf49aec232eabdcefaa1ca Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 14 Aug 2024 15:38:33 -0700
Subject: [PATCH 262/344] Formatting :D pt. 8

---
 .../configuring/ConfigureSubsystemsPanel.tsx  | 19 +++++++++----------
 1 file changed, 9 insertions(+), 10 deletions(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index 8ef674b3cf..afa71cd9c0 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -79,9 +79,7 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
                     PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
                 }
 
-                // This line is purely for ES Lint and Prettier to agree on formatting the semicolon below.
-                PreferencesSystem.savePreferences()
-
+                // eslint-disable-next-line no-extra-semi
                 ;((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = vel
                 ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = force
             }
@@ -192,13 +190,14 @@ const ConfigureSubsystemsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
                             return false
                         })[0]
                         if (motor) {
-                            ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = motor.maxVelocity
-                            ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce =
-                                PreferencesSystem.getGlobalPreference("SubsystemGravity")
-                                    ? motor.maxForce
-                                    : driver instanceof SliderDriver
-                                      ? 500
-                                      : 100
+                            // This line is a separate variable to get ES Lint and Prettier to agree on formatting the semicolon below
+                            const forcePref = PreferencesSystem.getGlobalPreference("SubsystemGravity")
+                                ? motor.maxForce
+                                : driver instanceof SliderDriver
+                                ? 500
+                                : 100
+                            ;((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = motor.maxVelocity
+                            ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = forcePref
                         }
                     }
                 }

From a14ab94c51e44de1955d7fae4ac28d4327f551de Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 14 Aug 2024 15:40:55 -0700
Subject: [PATCH 263/344] Formatting ._. pt. 9

---
 .../src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx    | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
index afa71cd9c0..cf343f012f 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
@@ -194,8 +194,8 @@ const ConfigureSubsystemsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
                             const forcePref = PreferencesSystem.getGlobalPreference("SubsystemGravity")
                                 ? motor.maxForce
                                 : driver instanceof SliderDriver
-                                ? 500
-                                : 100
+                                  ? 500
+                                  : 100
                             ;((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = motor.maxVelocity
                             ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = forcePref
                         }

From f5f0d92beb9ea6d9d4b3c3bee5bcf6f24778b8e2 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 10:23:39 -0700
Subject: [PATCH 264/344] Moved Mac install location into `ApplicationPlugins`

---
 exporter/SynthesisFusionAddin/Synthesis.py    |  4 ++
 exporter/SynthesisFusionAddin/src/Logging.py  | 25 ++++++----
 .../src/Parser/SynthesisParser/Components.py  |  2 +-
 .../Parser/SynthesisParser/JointHierarchy.py  |  2 +-
 .../src/Parser/SynthesisParser/Joints.py      |  2 +-
 .../src/Parser/SynthesisParser/Materials.py   |  2 +-
 .../src/Parser/SynthesisParser/Parser.py      |  2 +-
 .../SynthesisParser/PhysicalProperties.py     |  2 +-
 .../src/Parser/SynthesisParser/RigidGroup.py  |  2 +-
 exporter/SynthesisFusionAddin/src/Types.py    |  4 +-
 .../SynthesisFusionAddin/src/UI/Camera.py     |  9 ++--
 .../src/UI/ConfigCommand.py                   | 10 ++--
 .../src/UI/Configuration/SerialCommand.py     |  7 ++-
 exporter/SynthesisFusionAddin/src/Util.py     |  7 +++
 exporter/SynthesisFusionAddin/src/__init__.py | 24 +++++++++-
 installer/OSX/Resources/LICENSE.txt           |  1 -
 installer/OSX/build.sh                        |  5 +-
 .../OSX/synthesis.bundle/Contents/Info.plist  | 46 +++++++++++++++++++
 .../OSX/synthesis.bundle/PackageContents.xml  | 24 ++++++++++
 19 files changed, 151 insertions(+), 29 deletions(-)
 create mode 100644 exporter/SynthesisFusionAddin/src/Util.py
 delete mode 100644 installer/OSX/Resources/LICENSE.txt
 create mode 100644 installer/OSX/synthesis.bundle/Contents/Info.plist
 create mode 100644 installer/OSX/synthesis.bundle/PackageContents.xml

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index deba3c9551..80e43b4e3e 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -15,6 +15,7 @@
 try:
     # Attempt to import required pip dependencies to verify their installation.
     import requests
+
     from proto.proto_out import (
         assembly_pb2,
         joint_pb2,
@@ -69,6 +70,9 @@ def stop(_):
     Arguments:
         **context** *context* -- Fusion Data.
     """
+    sys.path.remove(os.path.dirname(os.path.abspath(__file__)))
+    sys.path.remove(os.path.abspath(os.path.join(os.path.dirname(__file__), "proto", "proto_out")))
+
     unregister_all()
 
     app = adsk.core.Application.get()
diff --git a/exporter/SynthesisFusionAddin/src/Logging.py b/exporter/SynthesisFusionAddin/src/Logging.py
index e5f352f480..c2fbad7b9d 100644
--- a/exporter/SynthesisFusionAddin/src/Logging.py
+++ b/exporter/SynthesisFusionAddin/src/Logging.py
@@ -11,8 +11,9 @@
 
 import adsk.core
 
-from src import INTERNAL_ID
+from src import INTERNAL_ID, IS_RELEASE, SUPPORT_PATH
 from src.UI.OsHelper import getOSPath
+from src.Util import makeDirectories
 
 MAX_LOG_FILES_TO_KEEP = 10
 TIMING_LEVEL = 25
@@ -30,14 +31,19 @@ def cleanupHandlers(self) -> None:
 def setupLogger() -> SynthesisLogger:
     now = datetime.now().strftime("%H-%M-%S")
     today = date.today()
-    logFileFolder = getOSPath(f"{pathlib.Path(__file__).parent.parent}", "logs")
-    logFiles = [os.path.join(logFileFolder, file) for file in os.listdir(logFileFolder) if file.endswith(".log")]
-    logFiles.sort()
-    if len(logFiles) >= MAX_LOG_FILES_TO_KEEP:
-        for file in logFiles[: len(logFiles) - MAX_LOG_FILES_TO_KEEP]:
-            os.remove(file)
-
-    logFileName = f"{logFileFolder}{getOSPath(f'{INTERNAL_ID}-{today}-{now}.log')}"
+    if not IS_RELEASE:
+        logFileFolder = makeDirectories(getOSPath(f"{pathlib.Path(__file__).parent.parent}", "logs"))
+    else:
+        logFileFolder = makeDirectories(f"{SUPPORT_PATH}/Logs/")
+
+    if not IS_RELEASE:  # TODO: Decide if this is what I want to do or not
+        logFiles = [os.path.join(logFileFolder, file) for file in os.listdir(logFileFolder) if file.endswith(".log")]
+        logFiles.sort()
+        if len(logFiles) >= MAX_LOG_FILES_TO_KEEP:
+            for file in logFiles[: len(logFiles) - MAX_LOG_FILES_TO_KEEP]:
+                os.remove(file)
+
+    logFileName = f"{logFileFolder}{getOSPath(f'{today}-{now}.log')}"
     logHandler = logging.handlers.WatchedFileHandler(logFileName, mode="w")
     logHandler.setFormatter(logging.Formatter("%(name)s - %(levelname)s - %(message)s"))
 
@@ -46,6 +52,7 @@ def setupLogger() -> SynthesisLogger:
     logger = getLogger(INTERNAL_ID)
     logger.setLevel(10)  # Debug
     logger.addHandler(logHandler)
+
     return cast(SynthesisLogger, logger)
 
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index aea709f04a..fbdba1d891 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -1,8 +1,8 @@
 # Contains all of the logic for mapping the Components / Occurrences
 import adsk.core
 import adsk.fusion
-from proto.proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
 
+from proto.proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
 from src.Logging import logFailure
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser import PhysicalProperties
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index cf8c5e04b0..2bd563b489 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -3,8 +3,8 @@
 
 import adsk.core
 import adsk.fusion
-from proto.proto_out import joint_pb2, types_pb2
 
+from proto.proto_out import joint_pb2, types_pb2
 from src import gm
 from src.Logging import getLogger, logFailure
 from src.Parser.ExporterOptions import ExporterOptions
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index 6b1650b3f9..0d0cdea910 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -28,8 +28,8 @@
 
 import adsk.core
 import adsk.fusion
-from proto.proto_out import assembly_pb2, joint_pb2, signal_pb2, types_pb2
 
+from proto.proto_out import assembly_pb2, joint_pb2, signal_pb2, types_pb2
 from src.Logging import getLogger
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.PDMessage import PDMessage
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index a077c764b7..d8538b5d9b 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -1,6 +1,6 @@
 import adsk
-from proto.proto_out import material_pb2
 
+from proto.proto_out import material_pb2
 from src.Logging import logFailure
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.PDMessage import PDMessage
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index 338f5a300a..37148fb622 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -4,8 +4,8 @@
 import adsk.core
 import adsk.fusion
 from google.protobuf.json_format import MessageToJson
-from proto.proto_out import assembly_pb2, types_pb2
 
+from proto.proto_out import assembly_pb2, types_pb2
 from src import gm
 from src.APS.APS import getAuth, upload_mirabuf
 from src.Logging import getLogger, logFailure, timed
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index b178bcb3bb..15e025f4c7 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -19,8 +19,8 @@
 from typing import Union
 
 import adsk
-from proto.proto_out import types_pb2
 
+from proto.proto_out import types_pb2
 from src.Logging import logFailure
 
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
index 8516cefae6..b90a2167fe 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
@@ -16,8 +16,8 @@
 
 import adsk.core
 import adsk.fusion
-from proto.proto_out import assembly_pb2
 
+from proto.proto_out import assembly_pb2
 from src.Logging import logFailure
 
 
diff --git a/exporter/SynthesisFusionAddin/src/Types.py b/exporter/SynthesisFusionAddin/src/Types.py
index 1aca3a5162..d8215d33b2 100644
--- a/exporter/SynthesisFusionAddin/src/Types.py
+++ b/exporter/SynthesisFusionAddin/src/Types.py
@@ -3,7 +3,9 @@
 import platform
 from dataclasses import dataclass, field, fields, is_dataclass
 from enum import Enum, EnumType
-from typing import Union, get_origin
+from typing import Literal, TypeAlias, Union, get_origin
+
+OperatingSystemString: TypeAlias = Literal["Windows", "Darwin", "Linux"]
 
 # Not 100% sure what this is for - Brandon
 JointParentType = Enum("JointParentType", ["ROOT", "END"])
diff --git a/exporter/SynthesisFusionAddin/src/UI/Camera.py b/exporter/SynthesisFusionAddin/src/UI/Camera.py
index 02de04083a..d59b1c6e28 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Camera.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Camera.py
@@ -2,8 +2,10 @@
 
 import adsk.core
 
+from src import SUPPORT_PATH
 from src.Logging import logFailure
 from src.Types import OString
+from src.Util import makeDirectories
 
 
 @logFailure
@@ -21,9 +23,10 @@ def captureThumbnail(size=250):
         )  # remove whitespace from just the filename
     )
 
-    path = OString.ThumbnailPath(name)
+    path = makeDirectories(f"{SUPPORT_PATH}/Resources/Icons/")
+    path += name
 
-    saveOptions = adsk.core.SaveImageFileOptions.create(str(path.getPath()))
+    saveOptions = adsk.core.SaveImageFileOptions.create(path)
     saveOptions.height = size
     saveOptions.width = size
     saveOptions.isAntiAliased = True
@@ -36,7 +39,7 @@ def captureThumbnail(size=250):
     app.activeViewport.saveAsImageFileWithOptions(saveOptions)
     app.activeViewport.camera = originalCamera
 
-    return str(path.getPath())
+    return path
 
 
 def clearIconCache() -> None:
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index c50c7feed2..8cd9d31bad 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -305,9 +305,13 @@ def notify(self, args):
                 # save was canceled
                 return
 
-            updatedPath = pathlib.Path(savepath).parent
-            if updatedPath != self.current.filePath:
-                self.current.filePath = str(updatedPath)
+            # Transition: AARD-1742
+            # With the addition of a 'release' build the fusion exporter will not have permissions within the sourced
+            # folder. Because of this we cannot use this kind of tmp path anymore. This code was already unused and
+            # should be removed.
+            # updatedPath = pathlib.Path(savepath).parent
+            # if updatedPath != self.current.filePath:
+            #     self.current.filePath = str(updatedPath)
         else:
             savepath = processedFileName
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py b/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
index 663afe9337..3163dc03b2 100644
--- a/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/Configuration/SerialCommand.py
@@ -36,7 +36,12 @@ class SerialCommand:
     def __init__(self):
         self.general = General()
         self.advanced = Advanced()
-        self.filePath = generateFilePath()
+
+        # Transition: AARD-1742
+        # With the addition of a 'release' build the fusion exporter will not have permissions within the sourced
+        # folder. Because of this we cannot use this kind of tmp path anymore. This code was already unused and
+        # should be removed.
+        # self.filePath = generateFilePath()
 
     def toJSON(self) -> str:
         """Converts this class into a json object that can be written to the object data
diff --git a/exporter/SynthesisFusionAddin/src/Util.py b/exporter/SynthesisFusionAddin/src/Util.py
new file mode 100644
index 0000000000..3980e85975
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Util.py
@@ -0,0 +1,7 @@
+import os
+
+
+def makeDirectories(directory: str | os.PathLike[str]) -> str | os.PathLike[str]:
+    """Ensures than an input directory exists and attempts to create it if it doesn't."""
+    os.makedirs(directory, exist_ok=True)
+    return directory
diff --git a/exporter/SynthesisFusionAddin/src/__init__.py b/exporter/SynthesisFusionAddin/src/__init__.py
index 1e426279bb..ecfe620c72 100644
--- a/exporter/SynthesisFusionAddin/src/__init__.py
+++ b/exporter/SynthesisFusionAddin/src/__init__.py
@@ -1,17 +1,37 @@
 import os
 import platform
+from pathlib import Path
 
 from src.GlobalManager import GlobalManager
+from src.Types import OperatingSystemString
+from src.Util import makeDirectories
 
 APP_NAME = "Synthesis"
 APP_TITLE = "Synthesis Robot Exporter"
 DESCRIPTION = "Exports files from Fusion into the Synthesis Format"
 INTERNAL_ID = "Synthesis"
 ADDIN_PATH = os.path.dirname(os.path.realpath(__file__))
+IS_RELEASE = str(Path(os.path.abspath(__file__)).parent.parent.parent.parent).split("/")[-1] == "ApplicationPlugins"
 
-SYSTEM = platform.system()
+SYSTEM: OperatingSystemString = platform.system()
 assert SYSTEM != "Linux"
 
+if SYSTEM == "Windows":
+    SUPPORT_PATH = makeDirectories(f"{os.getenv('APPDATA')}\\Autodesk\\Synthesis\\")
+else:
+    assert SYSTEM == "Darwin"
+    SUPPORT_PATH = makeDirectories(f"{os.path.expanduser('~')}/.config/Autodesk/Synthesis/")
+
 gm = GlobalManager()
 
-__all__ = ["APP_NAME", "APP_TITLE", "DESCRIPTION", "INTERNAL_ID", "ADDIN_PATH", "SYSTEM", "gm"]
+__all__ = [
+    "APP_NAME",
+    "APP_TITLE",
+    "DESCRIPTION",
+    "INTERNAL_ID",
+    "ADDIN_PATH",
+    "IS_RELEASE",
+    "SYSTEM",
+    "SUPPORT_PATH",
+    "gm",
+]
diff --git a/installer/OSX/Resources/LICENSE.txt b/installer/OSX/Resources/LICENSE.txt
deleted file mode 100644
index b10760de2f..0000000000
--- a/installer/OSX/Resources/LICENSE.txt
+++ /dev/null
@@ -1 +0,0 @@
-../../../LICENSE.txt
diff --git a/installer/OSX/build.sh b/installer/OSX/build.sh
index 673c7c80a7..3be9807fa7 100755
--- a/installer/OSX/build.sh
+++ b/installer/OSX/build.sh
@@ -1,10 +1,11 @@
 #!/bin/bash
 
-FUSION_ADDIN_LOCATION=~/Library/Application\ Support/Autodesk/Autodesk\ Fusion\ 360/API/AddIns/
+FUSION_ADDIN_LOCATION=~/Library/Application\ Support/Autodesk/ApplicationPlugins/
 EXPORTER_SOURCE_DIR=../../exporter/SynthesisFusionAddin/
 
 mkdir -p tmp/
-cp -r "$EXPORTER_SOURCE_DIR"/* tmp/
+cp -r synthesis.bundle tmp/
+cp -r "$EXPORTER_SOURCE_DIR"/* tmp/synthesis.bundle/Contents/
 
 pkgbuild --root tmp/ --identifier com.Autodesk.Synthesis --version 2.0.0 --install-location "$FUSION_ADDIN_LOCATION" SynthesisExporter.pkg
 productbuild --distribution distribution.xml --package-path . SynthesisExporterInstaller.pkg
diff --git a/installer/OSX/synthesis.bundle/Contents/Info.plist b/installer/OSX/synthesis.bundle/Contents/Info.plist
new file mode 100644
index 0000000000..5c6c161002
--- /dev/null
+++ b/installer/OSX/synthesis.bundle/Contents/Info.plist
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>English</string>
+	<key>CFBundleGetInfoString</key>
+	<string>Synthesis addin for Fusion.</string>
+	<key>CFBundleIdentifier</key>
+	<string>Synthesis Exporter for Autodesk Fusion 360</string>
+	<key>CFBundleShortVersionString</key>
+	<string>2.0.0</string>
+	<key>IFMajorVersion</key>
+	<integer>1</integer>
+	<key>IFMinorVersion</key>
+	<integer>0</integer>
+	<key>IFPkgFlagAllowBackRev</key>
+	<false/>
+	<key>IFPkgFlagAuthorizationAction</key>
+	<string>AdminAuthorization</string>
+	<key>IFPkgFlagBackgroundAlignment</key>
+	<string>topleft</string>
+	<key>IFPkgFlagBackgroundScaling</key>
+	<string>none</string>
+	<key>IFPkgFlagDefaultLocation</key>
+	<string>/</string>
+	<key>IFPkgFlagFollowLinks</key>
+	<true/>
+	<key>IFPkgFlagInstallFat</key>
+	<false/>
+	<key>IFPkgFlagIsRequired</key>
+	<false/>
+	<key>IFPkgFlagOverwritePermissions</key>
+	<false/>
+	<key>IFPkgFlagRelocatable</key>
+	<false/>
+	<key>IFPkgFlagRestartAction</key>
+	<string>NoRestart</string>
+	<key>IFPkgFlagRootVolumeOnly</key>
+	<false/>
+	<key>IFPkgFlagUpdateInstalledLanguages</key>
+	<false/>
+	<key>IFPkgFormatVersion</key>
+	<real>0.1000000014901161</real>
+</dict>
+</plist>
diff --git a/installer/OSX/synthesis.bundle/PackageContents.xml b/installer/OSX/synthesis.bundle/PackageContents.xml
new file mode 100644
index 0000000000..7e3ffb9484
--- /dev/null
+++ b/installer/OSX/synthesis.bundle/PackageContents.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ApplicationPackage SchemaVersion="1.0"
+	ProductType="Application"
+
+	AutodeskProduct="Fusion360"
+	Name="Cadasio for Autodesk Fusion"
+	Description="Cadasio addin for Fusion."
+	AppVersion="2.0.0"
+	Author="Autodesk Synthesis"
+	AppNameSpace="com.autodesk.Synthesis for Autodesk Fusion 360"
+	OnlineDocumentation="https://synthesis.autodesk.com"
+
+	ProductCode="*"
+	UpgradeCode="{673306DD-9911-43AA-9216-491233544D18}" >
+	
+	<CompanyDetails Name="Synthesis"
+		Url="https://synthesis.autodesk.com/"
+		Email="frc@autodesk.com" />
+		<RuntimeRequirements OS="win64|mac" Platform="Fusion360" SeriesMin=""  />
+	<Components>
+		<RuntimeRequirements OS="win64|mac" Platform="Fusion360" SeriesMin="" />
+		    <ComponentEntry AppName="Synthesis Exporter for Autodesk Fusion" Version="2.0.0" ModuleName="./Contents/Synthesis.manifest" AppDescription="Synthesis exporter addin for Fusion." />
+	</Components>
+</ApplicationPackage>

From b801c9b7eb9d33038838231a7419946fb0b6e65c Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 10:28:29 -0700
Subject: [PATCH 265/344] Resolve merge conflicts

---
 .../src/Parser/SynthesisParser/Components.py                     | 1 -
 .../src/Parser/SynthesisParser/JointHierarchy.py                 | 1 -
 .../SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py    | 1 -
 .../SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py | 1 -
 .../SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py    | 1 -
 .../src/Parser/SynthesisParser/PhysicalProperties.py             | 1 -
 .../src/Parser/SynthesisParser/RigidGroup.py                     | 1 -
 7 files changed, 7 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index ba1212ca48..6190d55a99 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -2,7 +2,6 @@
 import adsk.core
 import adsk.fusion
 
-from proto.proto_out import assembly_pb2, joint_pb2, material_pb2, types_pb2
 from src.Logging import logFailure
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser import PhysicalProperties
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
index 61e2bf3a5e..26dae4f2a4 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/JointHierarchy.py
@@ -4,7 +4,6 @@
 import adsk.core
 import adsk.fusion
 
-from proto.proto_out import joint_pb2, types_pb2
 from src import gm
 from src.Logging import getLogger, logFailure
 from src.Parser.ExporterOptions import ExporterOptions
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index b10e23b2a0..7a3e0da3b9 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -29,7 +29,6 @@
 import adsk.core
 import adsk.fusion
 
-from proto.proto_out import assembly_pb2, joint_pb2, signal_pb2, types_pb2
 from src.Logging import getLogger
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.PDMessage import PDMessage
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index c3ce4d5229..22b42180a2 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -1,6 +1,5 @@
 import adsk
 
-from proto.proto_out import material_pb2
 from src.Logging import logFailure
 from src.Parser.ExporterOptions import ExporterOptions
 from src.Parser.SynthesisParser.PDMessage import PDMessage
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index 7a3a3ecf37..c44fd50fdb 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -5,7 +5,6 @@
 import adsk.fusion
 from google.protobuf.json_format import MessageToJson
 
-from proto.proto_out import assembly_pb2, types_pb2
 from src import gm
 from src.APS.APS import getAuth, upload_mirabuf
 from src.Logging import getLogger, logFailure, timed
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
index 23634cc156..c19b0bd6b3 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/PhysicalProperties.py
@@ -20,7 +20,6 @@
 
 import adsk
 
-from proto.proto_out import types_pb2
 from src.Logging import logFailure
 from src.Proto import types_pb2
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
index c59aab9f34..78da93ffec 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/RigidGroup.py
@@ -17,7 +17,6 @@
 import adsk.core
 import adsk.fusion
 
-from proto.proto_out import assembly_pb2
 from src.Logging import logFailure
 from src.Proto import assembly_pb2
 

From 6d3dfedaabb2622d90376556d55052bee87cd928 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 10:32:48 -0700
Subject: [PATCH 266/344] Added a step to make the application plugins folder
 if it does not already exist

---
 installer/OSX/Scripts/preinstall | 7 +++++++
 installer/OSX/build.sh           | 2 +-
 2 files changed, 8 insertions(+), 1 deletion(-)
 create mode 100755 installer/OSX/Scripts/preinstall

diff --git a/installer/OSX/Scripts/preinstall b/installer/OSX/Scripts/preinstall
new file mode 100755
index 0000000000..014f372637
--- /dev/null
+++ b/installer/OSX/Scripts/preinstall
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+FUSION_ADDIN_LOCATION=~/Library/Application\ Support/Autodesk/ApplicationPlugins/
+
+if [ ! -d "$FUSION_ADDIN_LOCATION" ]; then
+  mkdir -p "$FUSION_ADDIN_LOCATION"
+fi
diff --git a/installer/OSX/build.sh b/installer/OSX/build.sh
index 3be9807fa7..9c1b704fbd 100755
--- a/installer/OSX/build.sh
+++ b/installer/OSX/build.sh
@@ -7,7 +7,7 @@ mkdir -p tmp/
 cp -r synthesis.bundle tmp/
 cp -r "$EXPORTER_SOURCE_DIR"/* tmp/synthesis.bundle/Contents/
 
-pkgbuild --root tmp/ --identifier com.Autodesk.Synthesis --version 2.0.0 --install-location "$FUSION_ADDIN_LOCATION" SynthesisExporter.pkg
+pkgbuild --root tmp/ --identifier com.Autodesk.Synthesis --scripts Scripts/ --version 2.0.0 --install-location "$FUSION_ADDIN_LOCATION" SynthesisExporter.pkg
 productbuild --distribution distribution.xml --package-path . SynthesisExporterInstaller.pkg
 
 rm SynthesisExporter.pkg

From 44a2b135bfbed9fe634aed8a3c5be5c679565063 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Thu, 15 Aug 2024 11:45:39 -0600
Subject: [PATCH 267/344] Remove stats in top-left corner when built.

---
 fission/src/Synthesis.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 0e2fe2a29b..62c055c101 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -165,7 +165,7 @@ function Synthesis() {
                         closeAllPanels={closeAllPanels}
                     >
                         <ToastProvider key="toast-provider">
-                            <Scene useStats={true} key="scene-in-toast-provider" />
+                            <Scene useStats={import.meta.env.DEV} key="scene-in-toast-provider" />
                             <SceneOverlay />
                             <MainHUD key={"main-hud"} />
                             {panelElements.length > 0 && panelElements}

From fcac0cbd1b6ce3db07c11b18c8aa4c2f0237bf00 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 15 Aug 2024 10:51:51 -0700
Subject: [PATCH 268/344] Input system, prefs system, select menu, and button
 unit tests

---
 fission/package.json                          |  3 +
 fission/src/systems/input/InputSystem.ts      |  2 +-
 fission/src/test/InputSystem.test.ts          | 42 +++++++---
 fission/src/test/PreferencesSystem.test.ts    | 34 ++++++++
 fission/src/test/ui/Button.test.tsx           | 29 +++++++
 fission/src/test/ui/SelectMenu.test.tsx       | 81 +++++++++++++++++++
 fission/src/ui/components/Button.tsx          | 15 +++-
 fission/src/ui/components/Checkbox.tsx        |  1 +
 fission/src/ui/components/SelectMenu.tsx      |  7 +-
 .../src/ui/components/StyledComponents.tsx    | 14 ++--
 10 files changed, 209 insertions(+), 19 deletions(-)
 create mode 100644 fission/src/test/PreferencesSystem.test.ts
 create mode 100644 fission/src/test/ui/Button.test.tsx
 create mode 100644 fission/src/test/ui/SelectMenu.test.tsx

diff --git a/fission/package.json b/fission/package.json
index 6e1ae08b2b..e305e855a6 100644
--- a/fission/package.json
+++ b/fission/package.json
@@ -45,6 +45,9 @@
     "@emotion/react": "^11.11.3",
     "@emotion/styled": "^11.11.0",
     "@mui/material": "^5.15.6",
+    "@testing-library/dom": "^10.4.0",
+    "@testing-library/react": "^16.0.0",
+    "@testing-library/user-event": "^14.5.2",
     "@types/node": "^20.4.4",
     "@types/pako": "^2.0.3",
     "@types/react": "^18.2.47",
diff --git a/fission/src/systems/input/InputSystem.ts b/fission/src/systems/input/InputSystem.ts
index d56aadd692..3be39b564a 100644
--- a/fission/src/systems/input/InputSystem.ts
+++ b/fission/src/systems/input/InputSystem.ts
@@ -241,7 +241,7 @@ class InputSystem extends WorldSystem {
     }
 
     // Returns true if two modifier states are identical
-    private static compareModifiers(state1: ModifierState, state2: ModifierState): boolean {
+    public static compareModifiers(state1: ModifierState, state2: ModifierState): boolean {
         if (!state1 || !state2) return false
 
         return (
diff --git a/fission/src/test/InputSystem.test.ts b/fission/src/test/InputSystem.test.ts
index 768ec5b930..fc63f5e829 100644
--- a/fission/src/test/InputSystem.test.ts
+++ b/fission/src/test/InputSystem.test.ts
@@ -1,10 +1,10 @@
 import { test, describe, assert, expect } from "vitest"
-import InputSystem from "@/systems/input/InputSystem"
+import InputSystem, { EmptyModifierState, ModifierState } from "@/systems/input/InputSystem"
 import InputSchemeManager from "@/systems/input/InputSchemeManager"
 import DefaultInputs from "@/systems/input/DefaultInputs"
 
-describe("Input scheme manager checks", () => {
-    test("Available schemes", () => {
+describe("Input Scheme Manager Checks", () => {
+    test("Available Schemes", () => {
         assert(InputSchemeManager.availableInputSchemes[0].schemeName == DefaultInputs.ernie().schemeName)
         assert(InputSchemeManager.defaultInputSchemes.length >= 1)
 
@@ -13,13 +13,13 @@ describe("Input scheme manager checks", () => {
 
         expect(InputSchemeManager.availableInputSchemes.length).toBe(startingLength + 1)
     })
-    test("Add a custom scheme", () => {
+    test("Add a Custom Scheme", () => {
         const startingLength = InputSchemeManager.availableInputSchemes.length
         InputSchemeManager.addCustomScheme(DefaultInputs.newBlankScheme)
 
         assert((InputSchemeManager.availableInputSchemes.length = startingLength + 1))
     })
-    test("Get random names", () => {
+    test("Get Random Names", () => {
         const names: string[] = []
         for (let i = 0; i < 20; i++) {
             const name = InputSchemeManager.randomAvailableName
@@ -37,14 +37,14 @@ describe("Input scheme manager checks", () => {
     })
 })
 
-describe("Input system checks", () => {
-    new InputSystem()
+describe("Input System Checks", () => {
+    const inputSystem = new InputSystem()
 
-    test("Brain map exists", () => {
+    test("Brain Map Exists?", () => {
         assert(InputSystem.brainIndexSchemeMap != undefined)
     })
 
-    test("Inputs are zero", () => {
+    test("Inputs are Zero", () => {
         expect(InputSystem.getInput("arcadeDrive", 0)).toBe(0)
         expect(InputSystem.getGamepadAxis(0)).toBe(0)
         expect(InputSystem.getInput("randomInputThatDoesNotExist", 1273)).toBe(0)
@@ -52,4 +52,28 @@ describe("Input system checks", () => {
         expect(InputSystem.isKeyPressed("ajhsekff")).toBe(false)
         expect(InputSystem.isGamepadButtonPressed(1)).toBe(false)
     })
+
+    test("Modifier State Comparison", () => {
+        const allFalse: ModifierState = {
+            alt: false,
+            ctrl: false,
+            shift: false,
+            meta: false,
+        }
+
+        const differentState: ModifierState = {
+            alt: false,
+            ctrl: true,
+            shift: false,
+            meta: true,
+        }
+
+        inputSystem.Update(-1)
+
+        expect(InputSystem.compareModifiers(allFalse, EmptyModifierState)).toBe(true)
+        expect(InputSystem.compareModifiers(allFalse, InputSystem.currentModifierState)).toBe(true)
+        expect(InputSystem.compareModifiers(differentState, InputSystem.currentModifierState)).toBe(false)
+        expect(InputSystem.compareModifiers(differentState, differentState)).toBe(true)
+        expect(InputSystem.compareModifiers(differentState, allFalse)).toBe(false)
+    })
 })
diff --git a/fission/src/test/PreferencesSystem.test.ts b/fission/src/test/PreferencesSystem.test.ts
new file mode 100644
index 0000000000..34f8d73661
--- /dev/null
+++ b/fission/src/test/PreferencesSystem.test.ts
@@ -0,0 +1,34 @@
+import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import { test, describe, expect } from "vitest"
+
+describe("Preferences System", () => {
+    test("Settings without saving", () => {
+        PreferencesSystem.setGlobalPreference("ZoomSensitivity", 15)
+        PreferencesSystem.setGlobalPreference("RenderSceneTags", true)
+        PreferencesSystem.setGlobalPreference("RenderScoreboard", false)
+
+        expect(PreferencesSystem.getGlobalPreference("ZoomSensitivity")).toBe(15)
+        expect(PreferencesSystem.getGlobalPreference("RenderSceneTags")).toBe(true)
+        expect(PreferencesSystem.getGlobalPreference("RenderScoreboard")).toBe(false)
+    })
+    test("Reset to default if undefined", () => {
+        PreferencesSystem.setGlobalPreference("ZoomSensitivity", undefined)
+        PreferencesSystem.setGlobalPreference("RenderSceneTags", undefined)
+        PreferencesSystem.setGlobalPreference("RenderScoreboard", undefined)
+
+        expect(PreferencesSystem.getGlobalPreference("ZoomSensitivity")).toBe(15)
+        expect(PreferencesSystem.getGlobalPreference("RenderSceneTags")).toBe(true)
+        expect(PreferencesSystem.getGlobalPreference("RenderScoreboard")).toBe(true)
+    })
+    test("Settings then saving", () => {
+        PreferencesSystem.setGlobalPreference("ZoomSensitivity", 13)
+        PreferencesSystem.setGlobalPreference("RenderSceneTags", true)
+        PreferencesSystem.setGlobalPreference("RenderScoreboard", false)
+
+        PreferencesSystem.savePreferences()
+
+        expect(PreferencesSystem.getGlobalPreference("ZoomSensitivity")).toBe(13)
+        expect(PreferencesSystem.getGlobalPreference("RenderSceneTags")).toBe(true)
+        expect(PreferencesSystem.getGlobalPreference("RenderScoreboard")).toBe(false)
+    })
+})
diff --git a/fission/src/test/ui/Button.test.tsx b/fission/src/test/ui/Button.test.tsx
new file mode 100644
index 0000000000..6c831f313b
--- /dev/null
+++ b/fission/src/test/ui/Button.test.tsx
@@ -0,0 +1,29 @@
+import { render, fireEvent, getByText } from "@testing-library/react"
+import { assert, describe, expect, test } from "vitest"
+import Button from "@/ui/components/Button"
+
+describe("Button", () => {
+    test("Click Enabled Button", () => {
+        let buttonClicked = false
+        let container = render(<Button onClick={() => (buttonClicked = true)} value="Test Button" />).container
+
+        const button = getByText(container, "Test Button")
+        assert(button != undefined)
+
+        fireEvent.click(button)
+        expect(buttonClicked).toBe(true)
+    })
+
+    test("Click Disabled Button", () => {
+        let buttonClicked = false
+        let container = render(
+            <Button onClick={() => (buttonClicked = true)} value="Test Button" disabled={true} />
+        ).container
+
+        const button = getByText(container, "Test Button")
+        assert(button != undefined)
+
+        fireEvent.click(button)
+        expect(buttonClicked).toBe(false)
+    })
+})
diff --git a/fission/src/test/ui/SelectMenu.test.tsx b/fission/src/test/ui/SelectMenu.test.tsx
new file mode 100644
index 0000000000..da361139ec
--- /dev/null
+++ b/fission/src/test/ui/SelectMenu.test.tsx
@@ -0,0 +1,81 @@
+import { render, fireEvent } from "@testing-library/react"
+import { assert, describe, expect, test, beforeEach } from "vitest"
+import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
+
+enum ConfigMode {
+    INTAKE,
+    EJECTOR,
+    MOTORS,
+    CONTROLS,
+    SCORING_ZONES,
+}
+
+class ConfigModeSelectionOption extends SelectMenuOption {
+    configMode: ConfigMode
+
+    constructor(name: string, configMode: ConfigMode) {
+        super(name)
+        this.configMode = configMode
+    }
+}
+
+const robotModes = [
+    new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
+    new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
+    new ConfigModeSelectionOption("Sequential Joints", ConfigMode.MOTORS),
+    new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
+]
+
+let selectedOption: ConfigModeSelectionOption | undefined
+let itemDeleted: ConfigModeSelectionOption | undefined
+let addClicked: boolean
+
+let container: HTMLElement
+
+describe("Select Menu", () => {
+    // Re-render the select menu before each test
+    beforeEach(() => {
+        container = render(
+            <SelectMenu
+                options={robotModes}
+                onOptionSelected={o => (selectedOption = o as ConfigModeSelectionOption)}
+                onDelete={o => {
+                    itemDeleted = o as ConfigModeSelectionOption
+                }}
+                deleteCondition={o => o != robotModes[0]}
+                defaultHeaderText="Test Select Menu"
+                onAddClicked={() => (addClicked = true)}
+            />
+        ).container
+    })
+
+    test("Navigate Menu", () => {
+        const controlsButton = container.querySelector("#select-button-Controls")
+        assert(controlsButton != undefined)
+
+        fireEvent.click(controlsButton)
+        expect(selectedOption).toBe(robotModes[3])
+
+        const backButton = container.querySelector("#select-menu-back-button")
+        assert(backButton != undefined)
+
+        fireEvent.click(backButton)
+        expect(selectedOption).toBe(undefined)
+    })
+
+    test("Conditional Delete", () => {
+        const deleteButton = container.querySelector("#select-menu-delete-button")
+        assert(deleteButton != undefined)
+
+        fireEvent.click(deleteButton)
+        expect(itemDeleted).toBe(robotModes[1])
+    })
+
+    test("Add Item", async () => {
+        const addButton = container.querySelector("#select-menu-add-button")
+        assert(addButton != undefined)
+
+        fireEvent.click(addButton)
+        expect(addClicked).toBe(true)
+    })
+})
diff --git a/fission/src/ui/components/Button.tsx b/fission/src/ui/components/Button.tsx
index 997a2081af..a7a59a4a53 100644
--- a/fission/src/ui/components/Button.tsx
+++ b/fission/src/ui/components/Button.tsx
@@ -15,9 +15,20 @@ export type ButtonProps = {
     size?: ButtonSize
     onClick?: () => void
     className?: string
+    id?: string
+    disabled?: boolean
 }
 
-const Button: React.FC<ButtonProps> = ({ value, colorOverrideClass, sizeOverrideClass, size, onClick, className }) => {
+const Button: React.FC<ButtonProps> = ({
+    value,
+    colorOverrideClass,
+    sizeOverrideClass,
+    size,
+    onClick,
+    className,
+    id,
+    disabled,
+}) => {
     let sizeClassNames = sizeOverrideClass
 
     if (!size) size = ButtonSize.Medium as ButtonSize
@@ -49,6 +60,8 @@ const Button: React.FC<ButtonProps> = ({ value, colorOverrideClass, sizeOverride
             }  ${sizeClassNames} rounded-sm font-semibold cursor-pointer duration-200 border-none focus-visible:outline-0 focus:outline-0 ${
                 className || ""
             }`}
+            id={id}
+            disabled={disabled ?? false}
         >
             {value}
         </BaseButton>
diff --git a/fission/src/ui/components/Checkbox.tsx b/fission/src/ui/components/Checkbox.tsx
index 6ebdd578f8..e36056301f 100644
--- a/fission/src/ui/components/Checkbox.tsx
+++ b/fission/src/ui/components/Checkbox.tsx
@@ -40,6 +40,7 @@ const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, sta
                     },
                 }}
                 defaultChecked={stateOverride != null ? undefined : state}
+                id="checkbox-switch"
             />
         </Stack>
     )
diff --git a/fission/src/ui/components/SelectMenu.tsx b/fission/src/ui/components/SelectMenu.tsx
index efc1fe188d..c047a6e708 100644
--- a/fission/src/ui/components/SelectMenu.tsx
+++ b/fission/src/ui/components/SelectMenu.tsx
@@ -87,13 +87,15 @@ const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected, onDel
                 onClick={() => {
                     onSelected(value)
                 }}
+                className={value.name}
                 sx={{ borderColor: "#888888" }}
+                id={`select-button-${value.name}`}
             />
             {/** Delete button only if onDelete is defined */}
             {onDelete && includeDelete && (
                 <>
                     {Spacer(0, 10)}
-                    {DeleteButton(onDelete != undefined ? onDelete : () => {})}
+                    {DeleteButton(onDelete != undefined ? onDelete : () => {}, "select-menu-delete-button")}
                 </>
             )}
         </Box>
@@ -151,6 +153,7 @@ const SelectMenu: React.FC<SelectMenuProps> = ({
                             setSelectedOption(undefined)
                             onOptionSelected(undefined)
                         }}
+                        id="select-menu-back-button"
                     />
                 )}
 
@@ -190,7 +193,7 @@ const SelectMenu: React.FC<SelectMenuProps> = ({
                         </>
                     )}
                     {/** Add button */}
-                    {onAddClicked && AddButtonInteractiveColor(onAddClicked)}
+                    {onAddClicked && AddButtonInteractiveColor(onAddClicked, "select-menu-add-button")}
                 </>
             )}
         </>
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index 9bccc83a54..9b096ff2de 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -100,28 +100,30 @@ export const EditButton = (onClick: () => void) => {
     return <PositiveButton value={SynthesisIcons.EditLarge} onClick={onClick} />
 }
 
-export const NegativeButton: React.FC<ButtonProps> = ({ value, onClick }) => {
+export const NegativeButton: React.FC<ButtonProps> = ({ value, onClick, id }) => {
     return (
         <Button
             size={ButtonSize.Medium}
             value={value}
             onClick={onClick}
             colorOverrideClass="bg-cancel-button hover:brightness-90"
+            id={id}
         />
     )
 }
 
-export const DeleteButton = (onClick: () => void) => {
-    return <NegativeButton value={SynthesisIcons.DeleteLarge} onClick={onClick} />
+export const DeleteButton = (onClick: () => void, id?: string) => {
+    return <NegativeButton value={SynthesisIcons.DeleteLarge} onClick={onClick} id={id} />
 }
 
-export const ButtonIcon: React.FC<ButtonProps> = ({ value, onClick }) => {
+export const ButtonIcon: React.FC<ButtonProps> = ({ value, onClick, id }) => {
     return (
         <Button
             value={value}
             onClick={onClick}
             colorOverrideClass="bg-[#00000000] hover:brightness-90"
             sizeOverrideClass="p-[0.25rem]"
+            id={id}
         />
     )
 }
@@ -130,6 +132,6 @@ export const RefreshButton = (onClick: () => void) => {
     return <ButtonIcon value={SynthesisIcons.RefreshLarge} onClick={onClick} />
 }
 
-export const AddButtonInteractiveColor = (onClick: () => void) => {
-    return <Button value={SynthesisIcons.AddLarge} onClick={onClick} />
+export const AddButtonInteractiveColor = (onClick: () => void, id?: string) => {
+    return <Button value={SynthesisIcons.AddLarge} onClick={onClick} id={id} />
 }

From 20444933b7b3fba40bb857e9faad26deee61ded5 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 11:02:28 -0700
Subject: [PATCH 269/344] Update deposit location and request admin

---
 installer/Windows/installer.py | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/installer/Windows/installer.py b/installer/Windows/installer.py
index cce42320c0..ca4c3e4aad 100644
--- a/installer/Windows/installer.py
+++ b/installer/Windows/installer.py
@@ -3,6 +3,7 @@
 import sys
 import tempfile
 import zipfile
+import ctypes
 
 
 def resource_path(relative_path):
@@ -36,11 +37,14 @@ def move_folder(src_folder, dest_folder):
 
 
 def main():
-    destination_folder = r"%appdata%\Autodesk\Autodesk Fusion\API\AddIns"
+    if not ctypes.windll.shell32.IsUserAnAdmin():
+        ctypes.windll.shell32.ShellExecuteW(None, "runas", sys.executable, " ".join(sys.argv), None, 1)
 
+    destination_folder = r"%appdata%\Autodesk\ApplicationPlugins"
+    os.makedirs(destination_folder, exist_ok=True)
     with tempfile.TemporaryDirectory() as temp_dir:
-        extract_file("resources.zip", temp_dir)
-        with zipfile.ZipFile(os.path.join(temp_dir, "resources.zip"), "r") as zip_ref:
+        extract_file("SynthesisExporter.zip", temp_dir)
+        with zipfile.ZipFile(os.path.join(temp_dir, "SynthesisExporter.zip"), "r") as zip_ref:
             zip_ref.extractall(temp_dir)
 
         src_folder = os.path.join(temp_dir, "tmp")

From ad02a350d479a0a4ceb9f6c3ae8a68e92854534d Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 11:09:41 -0700
Subject: [PATCH 270/344] Update resolve path for Win

---
 exporter/SynthesisFusionAddin/src/__init__.py | 2 +-
 installer/Windows/installer.py                | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/__init__.py b/exporter/SynthesisFusionAddin/src/__init__.py
index ecfe620c72..d3f111b77f 100644
--- a/exporter/SynthesisFusionAddin/src/__init__.py
+++ b/exporter/SynthesisFusionAddin/src/__init__.py
@@ -17,7 +17,7 @@
 assert SYSTEM != "Linux"
 
 if SYSTEM == "Windows":
-    SUPPORT_PATH = makeDirectories(f"{os.getenv('APPDATA')}\\Autodesk\\Synthesis\\")
+    SUPPORT_PATH = makeDirectories(os.path.expandvars(r"%appdata%\Autodesk\Synthesis/"))
 else:
     assert SYSTEM == "Darwin"
     SUPPORT_PATH = makeDirectories(f"{os.path.expanduser('~')}/.config/Autodesk/Synthesis/")
diff --git a/installer/Windows/installer.py b/installer/Windows/installer.py
index ca4c3e4aad..ec7dd5865c 100644
--- a/installer/Windows/installer.py
+++ b/installer/Windows/installer.py
@@ -40,7 +40,7 @@ def main():
     if not ctypes.windll.shell32.IsUserAnAdmin():
         ctypes.windll.shell32.ShellExecuteW(None, "runas", sys.executable, " ".join(sys.argv), None, 1)
 
-    destination_folder = r"%appdata%\Autodesk\ApplicationPlugins"
+    destination_folder = os.path.expandvars(r"%appdata%\Autodesk\ApplicationPlugins")
     os.makedirs(destination_folder, exist_ok=True)
     with tempfile.TemporaryDirectory() as temp_dir:
         extract_file("SynthesisExporter.zip", temp_dir)

From bb5d03d46dffd5ecc8c327c39be12d3e693f79a6 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 15 Aug 2024 11:14:06 -0700
Subject: [PATCH 271/344] Linter fix

---
 fission/src/test/PreferencesSystem.test.ts | 4 ++--
 fission/src/test/ui/Button.test.tsx        | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/fission/src/test/PreferencesSystem.test.ts b/fission/src/test/PreferencesSystem.test.ts
index 34f8d73661..22828937d7 100644
--- a/fission/src/test/PreferencesSystem.test.ts
+++ b/fission/src/test/PreferencesSystem.test.ts
@@ -2,7 +2,7 @@ import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { test, describe, expect } from "vitest"
 
 describe("Preferences System", () => {
-    test("Settings without saving", () => {
+    test("Setting without saving", () => {
         PreferencesSystem.setGlobalPreference("ZoomSensitivity", 15)
         PreferencesSystem.setGlobalPreference("RenderSceneTags", true)
         PreferencesSystem.setGlobalPreference("RenderScoreboard", false)
@@ -20,7 +20,7 @@ describe("Preferences System", () => {
         expect(PreferencesSystem.getGlobalPreference("RenderSceneTags")).toBe(true)
         expect(PreferencesSystem.getGlobalPreference("RenderScoreboard")).toBe(true)
     })
-    test("Settings then saving", () => {
+    test("Setting then saving", () => {
         PreferencesSystem.setGlobalPreference("ZoomSensitivity", 13)
         PreferencesSystem.setGlobalPreference("RenderSceneTags", true)
         PreferencesSystem.setGlobalPreference("RenderScoreboard", false)
diff --git a/fission/src/test/ui/Button.test.tsx b/fission/src/test/ui/Button.test.tsx
index 6c831f313b..f911494d09 100644
--- a/fission/src/test/ui/Button.test.tsx
+++ b/fission/src/test/ui/Button.test.tsx
@@ -5,7 +5,7 @@ import Button from "@/ui/components/Button"
 describe("Button", () => {
     test("Click Enabled Button", () => {
         let buttonClicked = false
-        let container = render(<Button onClick={() => (buttonClicked = true)} value="Test Button" />).container
+        const container = render(<Button onClick={() => (buttonClicked = true)} value="Test Button" />).container
 
         const button = getByText(container, "Test Button")
         assert(button != undefined)
@@ -16,7 +16,7 @@ describe("Button", () => {
 
     test("Click Disabled Button", () => {
         let buttonClicked = false
-        let container = render(
+        const container = render(
             <Button onClick={() => (buttonClicked = true)} value="Test Button" disabled={true} />
         ).container
 

From 907f52734a8687efcba17513a3fd5b893c83c2bb Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 11:28:01 -0700
Subject: [PATCH 272/344] Restructure installer to avoid duplicate files

---
 installer/OSX/build.sh                                |  1 +
 installer/Windows/build.bat                           |  5 ++++-
 .../{OSX => }/synthesis.bundle/PackageContents.xml    | 11 +++--------
 3 files changed, 8 insertions(+), 9 deletions(-)
 rename installer/{OSX => }/synthesis.bundle/PackageContents.xml (78%)

diff --git a/installer/OSX/build.sh b/installer/OSX/build.sh
index 9c1b704fbd..15774fc9fd 100755
--- a/installer/OSX/build.sh
+++ b/installer/OSX/build.sh
@@ -5,6 +5,7 @@ EXPORTER_SOURCE_DIR=../../exporter/SynthesisFusionAddin/
 
 mkdir -p tmp/
 cp -r synthesis.bundle tmp/
+rsync -av ../synthesis.bundle tmp/
 cp -r "$EXPORTER_SOURCE_DIR"/* tmp/synthesis.bundle/Contents/
 
 pkgbuild --root tmp/ --identifier com.Autodesk.Synthesis --scripts Scripts/ --version 2.0.0 --install-location "$FUSION_ADDIN_LOCATION" SynthesisExporter.pkg
diff --git a/installer/Windows/build.bat b/installer/Windows/build.bat
index c09485cf51..4ccd1cbaa5 100644
--- a/installer/Windows/build.bat
+++ b/installer/Windows/build.bat
@@ -2,7 +2,6 @@
 setlocal enabledelayedexpansion
 setlocal
 
-set "FUSION_ADDIN_LOCATION=%USERPROFILE%\AppData\Local\Autodesk\Autodesk Fusion 360\API\AddIns\"
 set "EXPORTER_SOURCE_DIR=..\..\exporter\SynthesisFusionAddin\"
 
 mkdir tmp\
@@ -25,7 +24,11 @@ set executable=%executable:~0,-1%
 
 %executable% --onefile --add-data "SynthesisExporter.zip;." installer.py
 
+move .\dist\installer.exe .
 rmdir /s /q tmp
+rmdir /s /q build
+rmdir /s /q dist
 del SynthesisExporter.zip
+del installer.spec
 
 endlocal
diff --git a/installer/OSX/synthesis.bundle/PackageContents.xml b/installer/synthesis.bundle/PackageContents.xml
similarity index 78%
rename from installer/OSX/synthesis.bundle/PackageContents.xml
rename to installer/synthesis.bundle/PackageContents.xml
index 7e3ffb9484..462ba5ec04 100644
--- a/installer/OSX/synthesis.bundle/PackageContents.xml
+++ b/installer/synthesis.bundle/PackageContents.xml
@@ -1,18 +1,13 @@
 <?xml version="1.0" encoding="utf-8"?>
 <ApplicationPackage SchemaVersion="1.0"
 	ProductType="Application"
-
 	AutodeskProduct="Fusion360"
-	Name="Cadasio for Autodesk Fusion"
-	Description="Cadasio addin for Fusion."
+	Name="Synthesis for Autodesk Fusion"
+	Description="Synthesis addin for Fusion."
 	AppVersion="2.0.0"
 	Author="Autodesk Synthesis"
 	AppNameSpace="com.autodesk.Synthesis for Autodesk Fusion 360"
-	OnlineDocumentation="https://synthesis.autodesk.com"
-
-	ProductCode="*"
-	UpgradeCode="{673306DD-9911-43AA-9216-491233544D18}" >
-	
+	OnlineDocumentation="https://synthesis.autodesk.com" >
 	<CompanyDetails Name="Synthesis"
 		Url="https://synthesis.autodesk.com/"
 		Email="frc@autodesk.com" />

From 02caf0578d8ffe799d742c56df0d3b048fdc5d9a Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 11:49:44 -0700
Subject: [PATCH 273/344] A working windows installer, never thought I would
 see the day

---
 installer/Windows/build.bat    | 5 ++++-
 installer/Windows/installer.py | 2 +-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/installer/Windows/build.bat b/installer/Windows/build.bat
index 4ccd1cbaa5..3b059a334a 100644
--- a/installer/Windows/build.bat
+++ b/installer/Windows/build.bat
@@ -5,8 +5,11 @@ setlocal
 set "EXPORTER_SOURCE_DIR=..\..\exporter\SynthesisFusionAddin\"
 
 mkdir tmp\
+mkdir tmp\synthesis.bundle\
+mkdir tmp\synthesis.bundle\Contents\
+xcopy ..\synthesis.bundle .\tmp\synthesis.bundle
 xcopy /e /i "%EXPORTER_SOURCE_DIR%" tmp\
-tar -a -c -f SynthesisExporter.zip tmp\*
+tar -a -c -f SynthesisExporter.zip -C tmp synthesis.bundle\*
 
 @REM Find and run pyinstaller, this is a workaround that allows you to call pip packages as scripts without
 @REM them being added to the system PATH.
diff --git a/installer/Windows/installer.py b/installer/Windows/installer.py
index ec7dd5865c..7c327b265b 100644
--- a/installer/Windows/installer.py
+++ b/installer/Windows/installer.py
@@ -47,7 +47,7 @@ def main():
         with zipfile.ZipFile(os.path.join(temp_dir, "SynthesisExporter.zip"), "r") as zip_ref:
             zip_ref.extractall(temp_dir)
 
-        src_folder = os.path.join(temp_dir, "tmp")
+        src_folder = os.path.join(temp_dir, "synthesis.bundle")
         move_folder(src_folder, destination_folder)
 
 

From 783469dd4914a8471353c071e6213dde68c0cede Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 13:01:08 -0700
Subject: [PATCH 274/344] Fix a tmp directory source problem

---
 installer/Windows/build.bat | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/installer/Windows/build.bat b/installer/Windows/build.bat
index 3b059a334a..6dffacf9d4 100644
--- a/installer/Windows/build.bat
+++ b/installer/Windows/build.bat
@@ -8,7 +8,7 @@ mkdir tmp\
 mkdir tmp\synthesis.bundle\
 mkdir tmp\synthesis.bundle\Contents\
 xcopy ..\synthesis.bundle .\tmp\synthesis.bundle
-xcopy /e /i "%EXPORTER_SOURCE_DIR%" tmp\
+xcopy /e /i "%EXPORTER_SOURCE_DIR%" tmp\synthesis.bundle\
 tar -a -c -f SynthesisExporter.zip -C tmp synthesis.bundle\*
 
 @REM Find and run pyinstaller, this is a workaround that allows you to call pip packages as scripts without

From c94efa5733a61aba11e6d932aa0672ce9b5e0e20 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 13:20:05 -0700
Subject: [PATCH 275/344] Replace old version with new one

---
 installer/Windows/installer.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/installer/Windows/installer.py b/installer/Windows/installer.py
index 7c327b265b..f6c0846235 100644
--- a/installer/Windows/installer.py
+++ b/installer/Windows/installer.py
@@ -32,6 +32,11 @@ def move_folder(src_folder, dest_folder):
         print(f"Destination folder '{dest_folder}' does not exist. Creating it.")
         os.makedirs(dest_folder)
 
+    dest_path = os.path.join(dest_folder, os.path.basename(src_folder))
+    if os.path.exists(dest_path):
+        print("Path exists, removing it...")
+        shutil.rmtree(dest_path)
+
     shutil.move(src_folder, dest_folder)
     print(f"Successfully moved '{src_folder}' to '{dest_folder}'.")
 

From c02f491bf0d3b23f3cda6b0d0d28a2062035ee09 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 15 Aug 2024 14:06:16 -0700
Subject: [PATCH 276/344] Config panel flow & text is not longer highlightable

---
 fission/src/Synthesis.tsx                     |   4 -
 .../src/mirabuf/IntakeSensorSceneObject.ts    |   7 +-
 fission/src/ui/components/Button.tsx          |   1 +
 fission/src/ui/components/Label.tsx           |   7 +-
 fission/src/ui/components/MainHUD.tsx         |  22 +-
 fission/src/ui/components/Modal.tsx           |  12 +-
 fission/src/ui/components/Panel.tsx           |  12 +-
 .../mirabuf/ImportLocalMirabufModal.tsx       |   1 +
 .../src/ui/modals/spawning/SpawningModals.tsx | 246 ------------------
 .../ConfigureScoringZonesInterface.tsx        |  42 ++-
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  |   5 -
 11 files changed, 89 insertions(+), 270 deletions(-)
 delete mode 100644 fission/src/ui/modals/spawning/SpawningModals.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 62c055c101..031859ab0c 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -40,7 +40,6 @@ import ScoreboardPanel from "@/panels/information/ScoreboardPanel"
 import DriverStationPanel from "@/panels/simulation/DriverStationPanel"
 import PokerPanel from "@/panels/PokerPanel.tsx"
 import World from "@/systems/World.ts"
-import { AddRobotsModal, AddFieldsModal, SpawningModal } from "@/modals/spawning/SpawningModals.tsx"
 import ImportLocalMirabufModal from "@/modals/mirabuf/ImportLocalMirabufModal.tsx"
 import ImportMirabufPanel from "@/ui/panels/mirabuf/ImportMirabufPanel.tsx"
 import Skybox from "./ui/components/Skybox.tsx"
@@ -192,9 +191,6 @@ function Synthesis() {
 
 const initialModals = [
     <SettingsModal key="settings" modalId="settings" />,
-    <SpawningModal key="spawning" modalId="spawning" />,
-    <AddRobotsModal key="add-robot" modalId="add-robot" />,
-    <AddFieldsModal key="add-field" modalId="add-field" />,
     <ViewModal key="view" modalId="view" />,
     <DownloadAssetsModal key="download-assets" modalId="download-assets" />,
     <RoboRIOModal key="roborio" modalId="roborio" />,
diff --git a/fission/src/mirabuf/IntakeSensorSceneObject.ts b/fission/src/mirabuf/IntakeSensorSceneObject.ts
index 517ab86423..aaa8ebab5b 100644
--- a/fission/src/mirabuf/IntakeSensorSceneObject.ts
+++ b/fission/src/mirabuf/IntakeSensorSceneObject.ts
@@ -49,7 +49,12 @@ class IntakeSensorSceneObject extends SceneObject {
 
             this._mesh = World.SceneRenderer.CreateSphere(
                 this._parentAssembly.intakePreferences.zoneDiameter / 2.0,
-                World.SceneRenderer.CreateToonMaterial(0x5eeb67)
+                new THREE.MeshPhongMaterial({
+                    color: 0x33aa33,
+                    shininess: 0.0,
+                    opacity: 0.25,
+                    transparent: true,
+                })
             )
             World.SceneRenderer.scene.add(this._mesh)
 
diff --git a/fission/src/ui/components/Button.tsx b/fission/src/ui/components/Button.tsx
index c129f49516..c5fe2e115e 100644
--- a/fission/src/ui/components/Button.tsx
+++ b/fission/src/ui/components/Button.tsx
@@ -58,6 +58,7 @@ const Button: React.FC<ButtonProps> = ({ value, colorOverrideClass, sizeOverride
                 active:scale-[1.06] 
                 ${className || ""}
             `}
+            style={{ userSelect: "none", MozUserSelect: "none", msUserSelect: "none", WebkitUserSelect: "none" }}
         >
             {value}
         </BaseButton>
diff --git a/fission/src/ui/components/Label.tsx b/fission/src/ui/components/Label.tsx
index 1aa786aacd..96d569411f 100644
--- a/fission/src/ui/components/Label.tsx
+++ b/fission/src/ui/components/Label.tsx
@@ -29,7 +29,12 @@ type LabelProps = {
 }
 
 const Label: React.FC<LabelProps> = ({ children, size, className }) => (
-    <span className={`text-main-text h-min ${labelSizeToClassName(size)} ${className}`}>{children}</span>
+    <span
+        className={`text-main-text h-min ${labelSizeToClassName(size)} ${className}`}
+        style={{ userSelect: "none", MozUserSelect: "none", msUserSelect: "none", WebkitUserSelect: "none" }}
+    >
+        {children}
+    </span>
 )
 
 export default Label
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index e7bfca89f2..5475f3e9f2 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -34,7 +34,12 @@ const MainHUDButton: React.FC<ButtonProps> = ({ value, icon, onClick, larger })
         >
             {larger && icon}
             {!larger && <span className="absolute left-3 text-main-hud-icon">{icon}</span>}
-            <span className={`px-2 ${larger ? "py-2" : "py-0.5 ml-6"} text-main-text cursor-pointer`}>{value}</span>
+            <span
+                className={`px-2 ${larger ? "py-2" : "py-0.5 ml-6"} text-main-text cursor-pointer`}
+                style={{ userSelect: "none", MozUserSelect: "none", msUserSelect: "none", WebkitUserSelect: "none" }}
+            >
+                {value}
+            </span>
         </Button>
     )
 }
@@ -74,7 +79,7 @@ const MainHUD: React.FC = () => {
                 >
                     <Box
                         position="absolute"
-                        minWidth={"65px"}
+                        minWidth={"50px"}
                         className="bg-gradient-to-b from-interactive-element-right to-interactive-element-left transform transition-transform hover:scale-[1.02] active:scale-[1.04]"
                         sx={{
                             borderTopRightRadius: "100px",
@@ -83,7 +88,7 @@ const MainHUD: React.FC = () => {
                             borderBottomLeftRadius: "0",
                         }}
                     >
-                        <Box sx={{ transform: "translateY(2.5px)" }}>
+                        <Box sx={{ transform: "translateY(2.5px) translateX(-3px)" }}>
                             <ButtonIcon onClick={() => setIsOpen(!isOpen)} value={SynthesisIcons.OpenHudIcon} />
                         </Box>
                     </Box>
@@ -96,7 +101,16 @@ const MainHUD: React.FC = () => {
                 className="fixed flex flex-col gap-2 bg-gradient-to-b from-interactive-element-right to-interactive-element-left w-min p-4 rounded-3xl ml-4 top-1/2 -translate-y-1/2"
             >
                 <div className="flex flex-row gap-2 w-60 h-10">
-                    <img src={logo} className="w-[80%] h-[100%] object-contain" />
+                    <img
+                        src={logo}
+                        className="w-[80%] h-[100%] object-contain"
+                        style={{
+                            userSelect: "none",
+                            MozUserSelect: "none",
+                            msUserSelect: "none",
+                            WebkitUserSelect: "none",
+                        }}
+                    />
                     <ButtonIcon
                         value={<FaXmark color="bg-icon" size={23} className="text-main-hud-close-icon" />}
                         onClick={() => setIsOpen(false)}
diff --git a/fission/src/ui/components/Modal.tsx b/fission/src/ui/components/Modal.tsx
index 72457b6994..3b2041904e 100644
--- a/fission/src/ui/components/Modal.tsx
+++ b/fission/src/ui/components/Modal.tsx
@@ -61,7 +61,17 @@ const Modal: React.FC<ModalProps> = ({
                 {name && (
                     <div id="header" className="flex items-center gap-8 h-16">
                         <span className="flex justify-center align-center ml-8 text-icon">{iconEl && iconEl}</span>
-                        <h1 className="text-3xl inline-block align-middle whitespace-nowrap mr-10">{name}</h1>
+                        <h1
+                            className="text-3xl inline-block align-middle whitespace-nowrap mr-10"
+                            style={{
+                                userSelect: "none",
+                                MozUserSelect: "none",
+                                msUserSelect: "none",
+                                WebkitUserSelect: "none",
+                            }}
+                        >
+                            {name}
+                        </h1>
                     </div>
                 )}
                 <div
diff --git a/fission/src/ui/components/Panel.tsx b/fission/src/ui/components/Panel.tsx
index 212d0d1ce9..bed0ec4fa6 100644
--- a/fission/src/ui/components/Panel.tsx
+++ b/fission/src/ui/components/Panel.tsx
@@ -132,7 +132,17 @@ const Panel: React.FC<PanelProps> = ({
                 {name && (
                     <div id="header" className="flex items-center gap-8 h-16">
                         <span className="flex justify-center align-center ml-8 text-icon">{iconEl && iconEl}</span>
-                        <h1 className="text-3xl inline-block align-middle whitespace-nowrap mr-10">{name}</h1>
+                        <h1
+                            className="text-3xl inline-block align-middle whitespace-nowrap mr-10"
+                            style={{
+                                userSelect: "none",
+                                MozUserSelect: "none",
+                                msUserSelect: "none",
+                                WebkitUserSelect: "none",
+                            }}
+                        >
+                            {name}
+                        </h1>
                     </div>
                 )}
                 <div
diff --git a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
index 25858d94de..b02c36054e 100644
--- a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
+++ b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
@@ -39,6 +39,7 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             icon={SynthesisIcons.Import}
             modalId={modalId}
             acceptEnabled={selectedFile !== undefined && miraType !== undefined}
+            onCancel={() => openPanel("import-mirabuf")}
             onAccept={async () => {
                 if (selectedFile && miraType != undefined) {
                     showTooltip("controls", [
diff --git a/fission/src/ui/modals/spawning/SpawningModals.tsx b/fission/src/ui/modals/spawning/SpawningModals.tsx
deleted file mode 100644
index 158268e77f..0000000000
--- a/fission/src/ui/modals/spawning/SpawningModals.tsx
+++ /dev/null
@@ -1,246 +0,0 @@
-import React, { useEffect, useState } from "react"
-import Modal, { ModalPropsImpl } from "../../components/Modal"
-import Stack, { StackDirection } from "../../components/Stack"
-import Button, { ButtonSize } from "../../components/Button"
-import { useModalControlContext } from "@/ui/ModalContext"
-import Label, { LabelSize } from "@/components/Label"
-import World from "@/systems/World"
-import { useTooltipControlContext } from "@/ui/TooltipContext"
-import MirabufCachingService, { MirabufCacheInfo, MiraType } from "@/mirabuf/MirabufLoader"
-import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
-import { SynthesisIcons } from "@/ui/components/StyledComponents"
-
-interface MirabufRemoteInfo {
-    displayName: string
-    src: string
-}
-
-interface MirabufRemoteCardProps {
-    info: MirabufRemoteInfo
-    select: (info: MirabufRemoteInfo) => void
-}
-
-const MirabufRemoteCard: React.FC<MirabufRemoteCardProps> = ({ info, select }) => {
-    return (
-        <div
-            key={info.src}
-            className="flex flex-row align-middle justify-between items-center bg-background rounded-sm p-2 gap-2"
-        >
-            <Label className="text-wrap break-all">{info.displayName}</Label>
-            <Button value="Spawn" onClick={() => select(info)} />
-        </div>
-    )
-}
-
-interface MirabufCacheCardProps {
-    info: MirabufCacheInfo
-    select: (info: MirabufCacheInfo) => void
-}
-
-const MirabufCacheCard: React.FC<MirabufCacheCardProps> = ({ info, select }) => {
-    return (
-        <div
-            key={info.id}
-            className="flex flex-row align-middle justify-between items-center bg-background rounded-sm p-2 gap-2"
-        >
-            <Label className="text-wrap break-all">{info.name ?? info.cacheKey}</Label>
-            <Button value="Spawn" onClick={() => select(info)} />
-        </div>
-    )
-}
-
-export const AddRobotsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { showTooltip } = useTooltipControlContext()
-    const { closeModal } = useModalControlContext()
-
-    const [cachedRobots, setCachedRobots] = useState<MirabufCacheInfo[] | undefined>(undefined)
-
-    // prettier-ignore
-    useEffect(() => {
-        (async () => {
-            const map = MirabufCachingService.GetCacheMap(MiraType.ROBOT)
-            setCachedRobots(Object.values(map))
-        })()
-    }, [])
-
-    const [remoteRobots, setRemoteRobots] = useState<MirabufRemoteInfo[] | undefined>(undefined)
-
-    // prettier-ignore
-    useEffect(() => {
-        (async () => {
-            fetch("/api/mira/manifest.json")
-                .then(x => x.json())
-                .then(x => {
-                    const map = MirabufCachingService.GetCacheMap(MiraType.ROBOT)
-                    const robots: MirabufRemoteInfo[] = []
-                    for (const src of x["robots"]) {
-                        if (typeof src == "string") {
-                            const str = `/api/mira/Robots/${src}`
-                            if (!map[str]) robots.push({ displayName: src, src: str })
-                        } else {
-                            if (!map[src["src"]]) robots.push({ displayName: src["displayName"], src: src["src"] })
-                        }
-                    }
-                    setRemoteRobots(robots)
-                })
-        })()
-    }, [])
-
-    const selectCache = async (info: MirabufCacheInfo) => {
-        const assembly = await MirabufCachingService.Get(info.id, MiraType.ROBOT)
-
-        if (assembly) {
-            showTooltip("controls", [
-                { control: "WASD", description: "Drive" },
-                { control: "E", description: "Intake" },
-                { control: "Q", description: "Dispense" },
-            ])
-
-            CreateMirabuf(assembly).then(x => {
-                if (x) {
-                    World.SceneRenderer.RegisterSceneObject(x)
-                }
-            })
-
-            if (!info.name)
-                MirabufCachingService.CacheInfo(info.cacheKey, MiraType.ROBOT, assembly.info?.name ?? undefined)
-        } else {
-            console.error("Failed to spawn robot")
-        }
-
-        closeModal()
-    }
-
-    const selectRemote = async (info: MirabufRemoteInfo) => {
-        const cacheInfo = await MirabufCachingService.CacheRemote(info.src, MiraType.ROBOT)
-
-        if (!cacheInfo) {
-            console.error("Failed to cache robot")
-            closeModal()
-        } else {
-            selectCache(cacheInfo)
-        }
-    }
-
-    return (
-        <Modal name={"Robot Selection"} icon={SynthesisIcons.Add} modalId={modalId} acceptEnabled={false}>
-            <div className="flex overflow-y-auto flex-col gap-2 min-w-[50vw] max-h-[60vh] bg-background-secondary rounded-md p-2">
-                <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
-                    {cachedRobots ? `${cachedRobots.length} Saved Robots` : "No Saved Robots"}
-                </Label>
-                {cachedRobots ? cachedRobots!.map(x => MirabufCacheCard({ info: x, select: selectCache })) : <></>}
-                <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
-                    {remoteRobots ? `${remoteRobots.length} Default Robots` : "No Default Robots"}
-                </Label>
-                {remoteRobots ? remoteRobots!.map(x => MirabufRemoteCard({ info: x, select: selectRemote })) : <></>}
-            </div>
-        </Modal>
-    )
-}
-
-export const AddFieldsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { closeModal } = useModalControlContext()
-
-    const [cachedFields, setCachedFields] = useState<MirabufCacheInfo[] | undefined>(undefined)
-
-    // prettier-ignore
-    useEffect(() => {
-        (async () => {
-            const map = MirabufCachingService.GetCacheMap(MiraType.FIELD)
-            setCachedFields(Object.values(map))
-        })()
-    }, [])
-
-    const [remoteFields, setRemoteFields] = useState<MirabufRemoteInfo[] | undefined>(undefined)
-
-    // prettier-ignore
-    useEffect(() => {
-        (async () => {
-            fetch("/api/mira/manifest.json")
-                .then(x => x.json())
-                .then(x => {
-                    // TODO: Skip already cached fields
-                    const map = MirabufCachingService.GetCacheMap(MiraType.FIELD)
-                    const fields: MirabufRemoteInfo[] = []
-                    for (const src of x["fields"]) {
-                        if (typeof src == "string") {
-                            const newSrc = `/api/mira/Fields/${src}`
-                            if (!map[newSrc]) fields.push({ displayName: src, src: newSrc })
-                        } else {
-                            if (!map[src["src"]])
-                            fields.push({ displayName: src["displayName"], src: src["src"] })
-                        }
-                    }
-                    setRemoteFields(fields)
-                })
-        })()
-    }, [])
-
-    const selectCache = async (info: MirabufCacheInfo) => {
-        const assembly = await MirabufCachingService.Get(info.id, MiraType.FIELD)
-
-        if (assembly) {
-            CreateMirabuf(assembly).then(x => {
-                if (x) {
-                    World.SceneRenderer.RegisterSceneObject(x)
-                }
-            })
-
-            if (!info.name)
-                MirabufCachingService.CacheInfo(info.cacheKey, MiraType.FIELD, assembly.info?.name ?? undefined)
-        } else {
-            console.error("Failed to spawn field")
-        }
-
-        closeModal()
-    }
-
-    const selectRemote = async (info: MirabufRemoteInfo) => {
-        const cacheInfo = await MirabufCachingService.CacheRemote(info.src, MiraType.FIELD)
-
-        if (!cacheInfo) {
-            console.error("Failed to cache field")
-            closeModal()
-        } else {
-            selectCache(cacheInfo)
-        }
-    }
-
-    return (
-        <Modal name={"Field Selection"} icon={SynthesisIcons.Add} modalId={modalId} acceptEnabled={false}>
-            <div className="flex overflow-y-auto flex-col gap-2 min-w-[50vw] max-h-[60vh] bg-background-secondary rounded-md p-2">
-                <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
-                    {cachedFields ? `${cachedFields.length} Saved Fields` : "No Saved Fields"}
-                </Label>
-                {cachedFields ? cachedFields!.map(x => MirabufCacheCard({ info: x, select: selectCache })) : <></>}
-                <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
-                    {remoteFields ? `${remoteFields.length} Default Fields` : "No Default Fields"}
-                </Label>
-                {remoteFields ? remoteFields!.map(x => MirabufRemoteCard({ info: x, select: selectRemote })) : <></>}
-            </div>
-        </Modal>
-    )
-}
-
-export const SpawningModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { openModal } = useModalControlContext()
-
-    return (
-        <Modal name={"Spawning"} icon={SynthesisIcons.Add} modalId={modalId}>
-            <Stack direction={StackDirection.Vertical}>
-                <Button
-                    value={"Robots"}
-                    onClick={() => openModal("add-robot")}
-                    size={ButtonSize.Large}
-                    className="m-auto"
-                />
-                <Button
-                    value={"Fields"}
-                    onClick={() => openModal("add-field")}
-                    size={ButtonSize.Large}
-                    className="m-auto"
-                />
-            </Stack>
-        </Modal>
-    )
-}
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
index ff48d4f917..069c287f7d 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
@@ -4,6 +4,10 @@ import React, { useState } from "react"
 import ManageZonesInterface from "./ManageZonesInterface"
 import ZoneConfigInterface from "./ZoneConfigInterface"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import { Box } from "@mui/material"
+import { ButtonIcon, SectionDivider, SectionLabel, SynthesisIcons } from "@/ui/components/StyledComponents"
+import { LabelSize } from "@/ui/components/Label"
+import { ConfigurationSavedEvent } from "../../ConfigurePanel"
 
 const saveZones = (zones: ScoringZonePreferences[] | undefined, field: MirabufSceneObject | undefined) => {
     if (!zones || !field) return
@@ -32,13 +36,37 @@ const ConfigureScoringZonesInterface: React.FC<ConfigureZonesProps> = ({ selecte
                     selectZone={setSelectedZone}
                 />
             ) : (
-                <ZoneConfigInterface
-                    selectedField={selectedField}
-                    selectedZone={selectedZone}
-                    saveAllZones={() => {
-                        saveZones(selectedField.fieldPreferences?.scoringZones, selectedField)
-                    }}
-                />
+                <>
+                    <Box display="flex" textAlign={"center"} minHeight={"30px"} key="selected-item">
+                        <Box width={`60px`} />
+
+                        {/** Back arrow button when an option is selected */}
+                        <ButtonIcon
+                            value={SynthesisIcons.LeftArrowLarge}
+                            onClick={() => {
+                                new ConfigurationSavedEvent()
+                                setSelectedZone(undefined)
+                                //onOptionSelected(undefined)
+                            }}
+                        />
+
+                        {/** Label with either the header text, or the name of the selected option if an option is selected */}
+                        <Box alignSelf={"center"} display="flex">
+                            <Box width="8px" />
+                            <SectionLabel size={LabelSize.Small} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                {`Configuring Zone`}
+                            </SectionLabel>
+                        </Box>
+                    </Box>
+                    <SectionDivider />
+                    <ZoneConfigInterface
+                        selectedField={selectedField}
+                        selectedZone={selectedZone}
+                        saveAllZones={() => {
+                            saveZones(selectedField.fieldPreferences?.scoringZones, selectedField)
+                        }}
+                    />
+                </>
             )}
         </>
     )
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index 3732b7e178..351b5085f9 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -24,7 +24,6 @@ import {
     DeleteButton,
     RefreshButton,
     SynthesisIcons,
-    Spacer,
 } from "@/ui/components/StyledComponents"
 import { ProgressHandle } from "@/ui/components/ProgressNotificationData"
 import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
@@ -393,10 +392,6 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         </SectionLabel>
                         <SectionDivider />
                         {cachedFieldElements}
-                        {Spacer(5)}
-                        <Box alignSelf={"center"}>
-                            <Button value="Import from File" onClick={() => openModal("import-local-mirabuf")} />
-                        </Box>
                     </>
                 )}
                 <Box

From b158799ee336787a093c942026fa91d5d5fa16df Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 15 Aug 2024 14:25:08 -0700
Subject: [PATCH 277/344] Bye bye ugly green blobs (intake zones)

---
 .../src/mirabuf/IntakeSensorSceneObject.ts    | 30 -------------------
 1 file changed, 30 deletions(-)

diff --git a/fission/src/mirabuf/IntakeSensorSceneObject.ts b/fission/src/mirabuf/IntakeSensorSceneObject.ts
index aaa8ebab5b..bd8986afbe 100644
--- a/fission/src/mirabuf/IntakeSensorSceneObject.ts
+++ b/fission/src/mirabuf/IntakeSensorSceneObject.ts
@@ -20,14 +20,10 @@ class IntakeSensorSceneObject extends SceneObject {
     private _deltaTransformation?: THREE.Matrix4
 
     private _joltBodyId?: Jolt.BodyID
-    private _mesh?: THREE.Mesh
     private _collision?: (e: OnContactPersistedEvent) => void
 
     public constructor(parentAssembly: MirabufSceneObject) {
         super()
-
-        console.debug("Trying to create intake sensor...")
-
         this._parentAssembly = parentAssembly
     }
 
@@ -47,17 +43,6 @@ class IntakeSensorSceneObject extends SceneObject {
                 return
             }
 
-            this._mesh = World.SceneRenderer.CreateSphere(
-                this._parentAssembly.intakePreferences.zoneDiameter / 2.0,
-                new THREE.MeshPhongMaterial({
-                    color: 0x33aa33,
-                    shininess: 0.0,
-                    opacity: 0.25,
-                    transparent: true,
-                })
-            )
-            World.SceneRenderer.scene.add(this._mesh)
-
             this._collision = (event: OnContactPersistedEvent) => {
                 const brain = this._parentAssembly.brain
                 const brainIndex = brain instanceof SynthesisBrain ? brain.brainIndex ?? -1 : -1
@@ -76,8 +61,6 @@ class IntakeSensorSceneObject extends SceneObject {
             }
 
             OnContactPersistedEvent.AddListener(this._collision)
-
-            console.debug("Intake sensor created successfully!")
         }
     }
 
@@ -93,25 +76,12 @@ class IntakeSensorSceneObject extends SceneObject {
 
             World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltVec3(position))
             World.PhysicsSystem.SetBodyRotation(this._joltBodyId, ThreeQuaternion_JoltQuat(rotation))
-
-            if (this._mesh) {
-                this._mesh.position.setFromMatrixPosition(bodyTransform)
-                this._mesh.rotation.setFromRotationMatrix(bodyTransform)
-            }
         }
     }
 
     public Dispose(): void {
-        console.debug("Destroying intake sensor")
-
         if (this._joltBodyId) {
             World.PhysicsSystem.DestroyBodyIds(this._joltBodyId)
-
-            if (this._mesh) {
-                this._mesh.geometry.dispose()
-                ;(this._mesh.material as THREE.Material).dispose()
-                World.SceneRenderer.scene.remove(this._mesh)
-            }
         }
 
         if (this._collision) OnContactPersistedEvent.RemoveListener(this._collision)

From d546c972926e7c731dae9bf27343c8edebd51b1a Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 15 Aug 2024 14:51:51 -0700
Subject: [PATCH 278/344] Choose scheme panel spacing issue

---
 fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx | 2 --
 1 file changed, 2 deletions(-)

diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index 2b61340430..551f22207b 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -150,8 +150,6 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 InputSystem.brainIndexSchemeMap.set(getBrainIndex(), DefaultInputs.newBlankScheme)
                 openModal("assign-new-scheme")
             })}
-
-            <Box height="12px"></Box>
         </Panel>
     )
 }

From a2ed9bdbf8006e1b031bd86ebcf7575a1090cdf1 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 15 Aug 2024 15:12:18 -0700
Subject: [PATCH 279/344] Integrated subsystem config into the global config
 panel

---
 fission/index.html                            |   6 +-
 fission/src/Synthesis.tsx                     |   8 +-
 fission/src/main.tsx                          |  16 +-
 .../src/mirabuf/IntakeSensorSceneObject.ts    |  25 --
 fission/src/systems/input/InputSystem.ts      |  12 +
 fission/src/ui/components/Button.tsx          |  24 +-
 fission/src/ui/components/Checkbox.tsx        |  32 ++-
 fission/src/ui/components/Dropdown.tsx        |  21 +-
 fission/src/ui/components/Label.tsx           |   7 +-
 fission/src/ui/components/MainHUD.tsx         |  83 ++++--
 fission/src/ui/components/Modal.tsx           | 105 +++++---
 fission/src/ui/components/Panel.tsx           |  24 +-
 fission/src/ui/components/SelectButton.tsx    |   7 +-
 fission/src/ui/components/Slider.tsx          |  24 +-
 .../src/ui/components/StyledComponents.tsx    |  60 ++++-
 .../src/ui/components/ToggleButtonGroup.tsx   |  14 +-
 fission/src/ui/modals/ViewModal.tsx           |   2 +-
 .../ui/modals/configuring/SettingsModal.tsx   |  29 +--
 .../mirabuf/ImportLocalMirabufModal.tsx       |  42 ++-
 .../src/ui/modals/spawning/SpawningModals.tsx | 246 ------------------
 fission/src/ui/panels/DebugPanel.tsx          | 149 ++++++-----
 .../configuring/ChooseInputSchemePanel.tsx    |   2 -
 ...l.tsx => ConfigureSubsystemsInterface.tsx} | 108 ++++----
 .../assembly-config/ConfigurePanel.tsx        |   9 +-
 .../ConfigureGamepiecePickupInterface.tsx     |   2 +-
 .../inputs/ConfigureSchemeInterface.tsx       |   1 +
 .../interfaces/inputs/EditInputInterface.tsx  |  29 ++-
 .../ConfigureScoringZonesInterface.tsx        |  42 ++-
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  |  24 +-
 29 files changed, 566 insertions(+), 587 deletions(-)
 delete mode 100644 fission/src/ui/modals/spawning/SpawningModals.tsx
 rename fission/src/ui/panels/configuring/{ConfigureSubsystemsPanel.tsx => ConfigureSubsystemsInterface.tsx} (76%)

diff --git a/fission/index.html b/fission/index.html
index 5916fa6750..b3a5d0fd1c 100644
--- a/fission/index.html
+++ b/fission/index.html
@@ -12,7 +12,11 @@
             rel="stylesheet"
             href="https://fonts.googleapis.com/css2?family=Roboto:ital,wght@0,100;0,300;0,400;0,500;0,700;0,900;1,100;1,300;1,400;1,500;1,700;1,900&display=swap"
         />
-        <meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=no" />
+        <meta
+            name="viewport"
+            content="width=device-width, initial-scale=1.0, maximum-scale=1.0, minimum-scale=1.0, user-scalable=no"
+        />
+
         <title>Fission | Synthesis</title>
     </head>
     <body>
diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index c1d33806ca..031859ab0c 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -36,12 +36,10 @@ import ThemeEditorModal from "@/modals/configuring/theme-editor/ThemeEditorModal
 import MatchModeModal from "@/modals/spawning/MatchModeModal"
 import RobotSwitchPanel from "@/panels/RobotSwitchPanel"
 import SpawnLocationsPanel from "@/panels/SpawnLocationPanel"
-import ConfigureSubsystemsPanel from "@/ui/panels/configuring/ConfigureSubsystemsPanel.tsx"
 import ScoreboardPanel from "@/panels/information/ScoreboardPanel"
 import DriverStationPanel from "@/panels/simulation/DriverStationPanel"
 import PokerPanel from "@/panels/PokerPanel.tsx"
 import World from "@/systems/World.ts"
-import { AddRobotsModal, AddFieldsModal, SpawningModal } from "@/modals/spawning/SpawningModals.tsx"
 import ImportLocalMirabufModal from "@/modals/mirabuf/ImportLocalMirabufModal.tsx"
 import ImportMirabufPanel from "@/ui/panels/mirabuf/ImportMirabufPanel.tsx"
 import Skybox from "./ui/components/Skybox.tsx"
@@ -166,7 +164,7 @@ function Synthesis() {
                         closeAllPanels={closeAllPanels}
                     >
                         <ToastProvider key="toast-provider">
-                            <Scene useStats={true} key="scene-in-toast-provider" />
+                            <Scene useStats={import.meta.env.DEV} key="scene-in-toast-provider" />
                             <SceneOverlay />
                             <MainHUD key={"main-hud"} />
                             {panelElements.length > 0 && panelElements}
@@ -193,9 +191,6 @@ function Synthesis() {
 
 const initialModals = [
     <SettingsModal key="settings" modalId="settings" />,
-    <SpawningModal key="spawning" modalId="spawning" />,
-    <AddRobotsModal key="add-robot" modalId="add-robot" />,
-    <AddFieldsModal key="add-field" modalId="add-field" />,
     <ViewModal key="view" modalId="view" />,
     <DownloadAssetsModal key="download-assets" modalId="download-assets" />,
     <RoboRIOModal key="roborio" modalId="roborio" />,
@@ -242,7 +237,6 @@ const initialPanels: ReactElement[] = [
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
     <ConfigurePanel key="configure" panelId="configure" />,
-    <ConfigureSubsystemsPanel key="subsystem-config" panelId="subsystem-config" openLocation="right" sidePadding={8} />,
 ]
 
 export default Synthesis
diff --git a/fission/src/main.tsx b/fission/src/main.tsx
index 3b761d8ab3..167538c689 100644
--- a/fission/src/main.tsx
+++ b/fission/src/main.tsx
@@ -11,16 +11,16 @@ const defaultColors: Theme = {
         above: [],
     },
     InteractiveElementLeft: {
-        color: { r: 224, g: 130, b: 65, a: 1 },
+        color: { r: 207, g: 114, b: 57, a: 1 },
         above: ["Background", "BackgroundSecondary"],
     },
     InteractiveElementRight: {
-        color: { r: 218, g: 102, b: 89, a: 1 },
+        color: { r: 212, g: 75, b: 62, a: 1 },
         above: ["Background", "BackgroundSecondary"],
     },
     Background: { color: { r: 0, g: 0, b: 0, a: 1 }, above: [] },
-    BackgroundSecondary: { color: { r: 30, g: 30, b: 30, a: 1 }, above: [] },
-    InteractiveBackground: { color: { r: 52, g: 58, b: 64, a: 1 }, above: [] },
+    BackgroundSecondary: { color: { r: 18, g: 18, b: 18, a: 1 }, above: [] },
+    InteractiveBackground: { color: { r: 40, g: 44, b: 47, a: 1 }, above: [] },
     MainText: {
         color: { r: 255, g: 255, b: 255, a: 1 },
         above: [
@@ -33,8 +33,8 @@ const defaultColors: Theme = {
         ],
     },
     Scrollbar: { color: { r: 170, g: 170, b: 170, a: 1 }, above: [] },
-    AcceptButton: { color: { r: 71, g: 138, b: 226, a: 1 }, above: [] },
-    CancelButton: { color: { r: 231, g: 85, b: 81, a: 1 }, above: [] },
+    AcceptButton: { color: { r: 33, g: 137, b: 228, a: 1 }, above: [] },
+    CancelButton: { color: { r: 248, g: 78, b: 78, a: 1 }, above: [] },
     InteractiveElementText: {
         color: { r: 255, g: 255, b: 255, a: 1 },
         above: [],
@@ -63,8 +63,8 @@ const defaultColors: Theme = {
     SkyboxTop: { color: { r: 255, g: 255, b: 255, a: 1 }, above: [] },
     SkyboxBottom: { color: { r: 255, g: 255, b: 255, a: 1 }, above: [] },
     FloorGrid: { color: { r: 93, g: 93, b: 93, a: 1 }, above: [] },
-    MatchRedAlliance: { color: { r: 255, g: 0, b: 0, a: 1 }, above: [] },
-    MatchBlueAlliance: { color: { r: 0, g: 0, b: 255, a: 1 }, above: [] },
+    MatchRedAlliance: { color: { r: 180, g: 20, b: 20, a: 1 }, above: [] },
+    MatchBlueAlliance: { color: { r: 20, g: 20, b: 180, a: 1 }, above: [] },
     ToastInfo: { color: { r: 126, g: 34, b: 206, a: 1 }, above: [] },
     ToastWarning: { color: { r: 234, g: 179, b: 8, a: 1 }, above: [] },
     ToastError: { color: { r: 239, g: 68, b: 68, a: 1 }, above: [] },
diff --git a/fission/src/mirabuf/IntakeSensorSceneObject.ts b/fission/src/mirabuf/IntakeSensorSceneObject.ts
index 517ab86423..bd8986afbe 100644
--- a/fission/src/mirabuf/IntakeSensorSceneObject.ts
+++ b/fission/src/mirabuf/IntakeSensorSceneObject.ts
@@ -20,14 +20,10 @@ class IntakeSensorSceneObject extends SceneObject {
     private _deltaTransformation?: THREE.Matrix4
 
     private _joltBodyId?: Jolt.BodyID
-    private _mesh?: THREE.Mesh
     private _collision?: (e: OnContactPersistedEvent) => void
 
     public constructor(parentAssembly: MirabufSceneObject) {
         super()
-
-        console.debug("Trying to create intake sensor...")
-
         this._parentAssembly = parentAssembly
     }
 
@@ -47,12 +43,6 @@ class IntakeSensorSceneObject extends SceneObject {
                 return
             }
 
-            this._mesh = World.SceneRenderer.CreateSphere(
-                this._parentAssembly.intakePreferences.zoneDiameter / 2.0,
-                World.SceneRenderer.CreateToonMaterial(0x5eeb67)
-            )
-            World.SceneRenderer.scene.add(this._mesh)
-
             this._collision = (event: OnContactPersistedEvent) => {
                 const brain = this._parentAssembly.brain
                 const brainIndex = brain instanceof SynthesisBrain ? brain.brainIndex ?? -1 : -1
@@ -71,8 +61,6 @@ class IntakeSensorSceneObject extends SceneObject {
             }
 
             OnContactPersistedEvent.AddListener(this._collision)
-
-            console.debug("Intake sensor created successfully!")
         }
     }
 
@@ -88,25 +76,12 @@ class IntakeSensorSceneObject extends SceneObject {
 
             World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltVec3(position))
             World.PhysicsSystem.SetBodyRotation(this._joltBodyId, ThreeQuaternion_JoltQuat(rotation))
-
-            if (this._mesh) {
-                this._mesh.position.setFromMatrixPosition(bodyTransform)
-                this._mesh.rotation.setFromRotationMatrix(bodyTransform)
-            }
         }
     }
 
     public Dispose(): void {
-        console.debug("Destroying intake sensor")
-
         if (this._joltBodyId) {
             World.PhysicsSystem.DestroyBodyIds(this._joltBodyId)
-
-            if (this._mesh) {
-                this._mesh.geometry.dispose()
-                ;(this._mesh.material as THREE.Material).dispose()
-                World.SceneRenderer.scene.remove(this._mesh)
-            }
         }
 
         if (this._collision) OnContactPersistedEvent.RemoveListener(this._collision)
diff --git a/fission/src/systems/input/InputSystem.ts b/fission/src/systems/input/InputSystem.ts
index d56aadd692..cf7148552c 100644
--- a/fission/src/systems/input/InputSystem.ts
+++ b/fission/src/systems/input/InputSystem.ts
@@ -159,9 +159,21 @@ class InputSystem extends WorldSystem {
         this.gamepadDisconnected = this.gamepadDisconnected.bind(this)
         window.addEventListener("gamepaddisconnected", this.gamepadDisconnected)
 
+        // Detect when the user leaves the page to clear inputs
         document.addEventListener("visibilitychange", () => {
             if (document.hidden) this.clearKeyData()
         })
+
+        // Disable gesture inputs on track pad to zoom into UI
+        window.addEventListener(
+            "wheel",
+            function (e) {
+                if (e.ctrlKey) {
+                    e.preventDefault() // Prevent the zoom
+                }
+            },
+            { passive: false }
+        )
     }
 
     public Update(_: number): void {
diff --git a/fission/src/ui/components/Button.tsx b/fission/src/ui/components/Button.tsx
index 997a2081af..c5fe2e115e 100644
--- a/fission/src/ui/components/Button.tsx
+++ b/fission/src/ui/components/Button.tsx
@@ -42,13 +42,23 @@ const Button: React.FC<ButtonProps> = ({ value, colorOverrideClass, sizeOverride
     return (
         <BaseButton
             onClick={onClick}
-            className={`${
-                colorOverrideClass
-                    ? colorOverrideClass
-                    : "bg-gradient-to-r from-interactive-element-left via-interactive-element-right to-interactive-element-left bg-[length:200%_100%] active:bg-right"
-            }  ${sizeClassNames} rounded-sm font-semibold cursor-pointer duration-200 border-none focus-visible:outline-0 focus:outline-0 ${
-                className || ""
-            }`}
+            className={`
+                ${colorOverrideClass || "bg-gradient-to-r from-interactive-element-left via-interactive-element-right to-interactive-element-left bg-[length:200%_100%] active:bg-right"}  
+                ${sizeClassNames} 
+                rounded-sm 
+                font-semibold 
+                cursor-pointer 
+                duration-200 
+                border-none 
+                focus-visible:outline-0 
+                focus:outline-0 
+                transform 
+                transition-transform 
+                hover:scale-[1.03] 
+                active:scale-[1.06] 
+                ${className || ""}
+            `}
+            style={{ userSelect: "none", MozUserSelect: "none", msUserSelect: "none", WebkitUserSelect: "none" }}
         >
             {value}
         </BaseButton>
diff --git a/fission/src/ui/components/Checkbox.tsx b/fission/src/ui/components/Checkbox.tsx
index 6ebdd578f8..48cbcddf31 100644
--- a/fission/src/ui/components/Checkbox.tsx
+++ b/fission/src/ui/components/Checkbox.tsx
@@ -1,7 +1,8 @@
 import React, { useState } from "react"
-import Stack, { StackDirection } from "./Stack"
 import Label, { LabelSize } from "./Label"
 import { Switch } from "@mui/base/Switch"
+import { Box } from "@mui/material"
+import { LabelWithTooltip } from "./StyledComponents"
 
 type CheckboxProps = {
     label: string
@@ -10,13 +11,30 @@ type CheckboxProps = {
     stateOverride?: boolean
     hideLabel?: boolean
     onClick?: (checked: boolean) => void
+    tooltipText?: string
 }
 
-const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, stateOverride, hideLabel, onClick }) => {
+const Checkbox: React.FC<CheckboxProps> = ({
+    label,
+    className,
+    defaultState,
+    stateOverride,
+    hideLabel,
+    onClick,
+    tooltipText,
+}) => {
     const [state] = useState(defaultState)
     return (
-        <Stack direction={StackDirection.Horizontal} className="items-center">
-            {hideLabel ? null : (
+        <Box
+            display="flex"
+            flexDirection={"row"}
+            justifyContent={"space-between"}
+            alignItems={"center"}
+            textAlign={"center"}
+        >
+            {hideLabel ? null : tooltipText ? (
+                LabelWithTooltip(label, tooltipText)
+            ) : (
                 <Label size={LabelSize.Small} className={`mr-12 ${className} whitespace-nowrap`}>
                     {label}
                 </Label>
@@ -25,14 +43,14 @@ const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, sta
                 onChange={(e: React.ChangeEvent<HTMLInputElement>) => onClick && onClick(e.target.checked)}
                 slotProps={{
                     root: {
-                        className: `group relative inline-block w-[24px] h-[24px] m-2.5 cursor-pointer`,
+                        className: `group relative inline-block w-[24px] h-[24px] m-2.5 cursor-pointer transform transition-transform hover:scale-[1.03] active:scale-[1.06]`,
                     },
                     input: {
                         className: `cursor-inherit absolute w-full h-full top-0 left-0 opacity-0 z-10 border-none`,
                     },
                     track: ownerState => {
                         return {
-                            className: `absolute block w-full h-full transition rounded-full border border-solid outline-none border-interactive-element-right dark:border-interactive-element-right group-[.base--focusVisible]:shadow-outline-switch ${ownerState.checked ? "bg-gradient-to-br from-interactive-element-left to-interactive-element-right" : "bg-background-secondary"}`,
+                            className: `absolute block w-full h-full transition rounded-full border border-solid outline-none border-interactive-element-right dark:border-interactive-element-right group-[.base--focusVisible]:shadow-outline-switch ${ownerState.checked ? "bg-gradient-to-br from-interactive-element-left to-interactive-element-right" : "bg-background-secondary"} transform transition-transform group-hover:scale-[1.03] group-active:scale-[1.06]`,
                         }
                     },
                     thumb: {
@@ -41,7 +59,7 @@ const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, sta
                 }}
                 defaultChecked={stateOverride != null ? undefined : state}
             />
-        </Stack>
+        </Box>
     )
 }
 
diff --git a/fission/src/ui/components/Dropdown.tsx b/fission/src/ui/components/Dropdown.tsx
index d5ba480505..378a4aa040 100644
--- a/fission/src/ui/components/Dropdown.tsx
+++ b/fission/src/ui/components/Dropdown.tsx
@@ -1,5 +1,5 @@
 import React, { useEffect, useRef, useState } from "react"
-import { styled } from "@mui/system"
+import { alpha, styled } from "@mui/system"
 import { Menu, MenuItem, Button, Tooltip } from "@mui/material"
 import { colorNameToVar } from "../ThemeContext"
 
@@ -35,6 +35,9 @@ const CustomButton = styled(Button)({
         border: "0 !important",
         backgroundColor: colorNameToVar("BackgroundSecondary"),
     },
+    "& .MuiTouchRipple-root": {
+        color: "#ffffff30",
+    },
 })
 
 const CustomMenu = styled(Menu)({
@@ -45,9 +48,17 @@ const CustomMenu = styled(Menu)({
         minWidth: "unset",
     },
     "& .MuiMenuItem-root": {
-        "transition": "background-color 0.3s ease, color 0.3s ease",
+        "transition": "background-color 0.3s ease, color 0.3s ease, transform 0.2s ease",
+        "transform": "scale(1.06)",
         "&:hover": {
             color: "#da6659",
+            transform: "scale(1.05)",
+        },
+        "&:active": {
+            transform: "scale(1.03)",
+        },
+        "& .MuiTouchRipple-root": {
+            color: alpha("#d44a3e", 0.3),
         },
     },
 })
@@ -102,7 +113,11 @@ const Dropdown: React.FC<DropdownProps> = ({ options, defaultValue, onSelect, la
             )}
             <Tooltip title={label || ""}>
                 <div>
-                    <CustomButton onClick={handleClick} ref={buttonRef}>
+                    <CustomButton
+                        onClick={handleClick}
+                        ref={buttonRef}
+                        className={`transform transition-transform hover:scale-[1.012] active:scale-[1.024]`}
+                    >
                         {selectedValue || "Select an option"}
                     </CustomButton>
                 </div>
diff --git a/fission/src/ui/components/Label.tsx b/fission/src/ui/components/Label.tsx
index 1aa786aacd..96d569411f 100644
--- a/fission/src/ui/components/Label.tsx
+++ b/fission/src/ui/components/Label.tsx
@@ -29,7 +29,12 @@ type LabelProps = {
 }
 
 const Label: React.FC<LabelProps> = ({ children, size, className }) => (
-    <span className={`text-main-text h-min ${labelSizeToClassName(size)} ${className}`}>{children}</span>
+    <span
+        className={`text-main-text h-min ${labelSizeToClassName(size)} ${className}`}
+        style={{ userSelect: "none", MozUserSelect: "none", msUserSelect: "none", WebkitUserSelect: "none" }}
+    >
+        {children}
+    </span>
 )
 
 export default Label
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index e42c0f00c9..5475f3e9f2 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -1,5 +1,4 @@
 import React, { useEffect, useState } from "react"
-import { BiMenuAltLeft } from "react-icons/bi"
 import { FaXmark } from "react-icons/fa6"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
@@ -8,8 +7,9 @@ import logo from "@/assets/autodesk_logo.png"
 import { ToastType, useToastContext } from "@/ui/ToastContext"
 import APS, { APS_USER_INFO_UPDATE_EVENT } from "@/aps/APS"
 import { UserIcon } from "./UserIcon"
-import { Button } from "@mui/base/Button"
 import { ButtonIcon, SynthesisIcons } from "./StyledComponents"
+import { Button } from "@mui/base"
+import { Box } from "@mui/material"
 
 type ButtonProps = {
     value: string
@@ -23,11 +23,23 @@ const MainHUDButton: React.FC<ButtonProps> = ({ value, icon, onClick, larger })
     return (
         <Button
             onClick={onClick}
-            className={`relative flex flex-row cursor-pointer bg-background w-full m-auto px-2 py-1 text-main-text border-none rounded-md ${larger ? "justify-center" : ""} items-center hover:brightness-105 focus:outline-0 focus-visible:outline-0`}
+            className={`relative flex flex-row 
+                cursor-pointer 
+                bg-background w-full m-auto px-2 py-1 text-main-text border-none rounded-md ${larger ? "justify-center" : ""} 
+                items-center hover:brightness-105 focus:outline-0 focus-visible:outline-0 
+                transform 
+                transition-transform 
+                hover:scale-[1.015] 
+                active:scale-[1.03]`}
         >
             {larger && icon}
             {!larger && <span className="absolute left-3 text-main-hud-icon">{icon}</span>}
-            <span className={`px-2 ${larger ? "py-2" : "py-1 ml-6"} text-main-text cursor-pointer`}>{value}</span>
+            <span
+                className={`px-2 ${larger ? "py-2" : "py-0.5 ml-6"} text-main-text cursor-pointer`}
+                style={{ userSelect: "none", MozUserSelect: "none", msUserSelect: "none", WebkitUserSelect: "none" }}
+            >
+                {value}
+            </span>
         </Button>
     )
 }
@@ -58,12 +70,29 @@ const MainHUD: React.FC = () => {
     return (
         <>
             {!isOpen && (
-                <button
-                    onClick={() => setIsOpen(!isOpen)}
-                    className="absolute left-6 top-6 focus:outline-0 focus-visible:outline-0"
+                <Box
+                    display="flex"
+                    alignItems={"center"}
+                    height="100%"
+                    position={"absolute"}
+                    sx={{ top: "0", left: "0" }}
                 >
-                    <BiMenuAltLeft size={40} className="text-main-hud-close-icon" />
-                </button>
+                    <Box
+                        position="absolute"
+                        minWidth={"50px"}
+                        className="bg-gradient-to-b from-interactive-element-right to-interactive-element-left transform transition-transform hover:scale-[1.02] active:scale-[1.04]"
+                        sx={{
+                            borderTopRightRadius: "100px",
+                            borderBottomRightRadius: "100px",
+                            borderTopLeftRadius: "0",
+                            borderBottomLeftRadius: "0",
+                        }}
+                    >
+                        <Box sx={{ transform: "translateY(2.5px) translateX(-3px)" }}>
+                            <ButtonIcon onClick={() => setIsOpen(!isOpen)} value={SynthesisIcons.OpenHudIcon} />
+                        </Box>
+                    </Box>
+                </Box>
             )}
             <motion.div
                 initial="closed"
@@ -72,9 +101,18 @@ const MainHUD: React.FC = () => {
                 className="fixed flex flex-col gap-2 bg-gradient-to-b from-interactive-element-right to-interactive-element-left w-min p-4 rounded-3xl ml-4 top-1/2 -translate-y-1/2"
             >
                 <div className="flex flex-row gap-2 w-60 h-10">
-                    <img src={logo} className="w-[80%] h-[100%] object-contain" />
+                    <img
+                        src={logo}
+                        className="w-[80%] h-[100%] object-contain"
+                        style={{
+                            userSelect: "none",
+                            MozUserSelect: "none",
+                            msUserSelect: "none",
+                            WebkitUserSelect: "none",
+                        }}
+                    />
                     <ButtonIcon
-                        value={<FaXmark color="bg-icon" size={20} className="text-main-hud-close-icon" />}
+                        value={<FaXmark color="bg-icon" size={23} className="text-main-hud-close-icon" />}
                         onClick={() => setIsOpen(false)}
                     />
                 </div>
@@ -84,35 +122,34 @@ const MainHUD: React.FC = () => {
                     larger={true}
                     onClick={() => openPanel("import-mirabuf")}
                 />
-                <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
+                <Box
+                    display="flex"
+                    flexDirection={"column"}
+                    sx={{ backgroundColor: "black", borderRadius: "7px", padding: "3px" }}
+                >
                     <MainHUDButton
-                        value={"Settings"}
+                        value={"General Settings"}
                         icon={SynthesisIcons.Gear}
                         onClick={() => openModal("settings")}
                     />
-                    {/* <MainHUDButton
+                    {/*                     <MainHUDButton
                         value={"View"}
                         icon={SynthesisIcons.MagnifyingGlass}
                         onClick={() => openModal("view")}
                     /> */}
                     <MainHUDButton
-                        value={"Subsystems"}
-                        icon={SynthesisIcons.Gear}
-                        onClick={() => openPanel("subsystem-config")}
-                    />
-                    <MainHUDButton
-                        value={"Configure"}
-                        icon={SynthesisIcons.Gear}
+                        value={"Configure Assets"}
+                        icon={SynthesisIcons.Wrench}
                         onClick={() => openPanel("configure")}
                     />
                     <MainHUDButton
                         value={"Debug Tools"}
-                        icon={SynthesisIcons.ScrewdriverWrench}
+                        icon={SynthesisIcons.Bug}
                         onClick={() => {
                             openPanel("debug")
                         }}
                     />
-                </div>
+                </Box>
                 {userInfo ? (
                     <MainHUDButton
                         value={`Hi, ${userInfo.givenName}`}
diff --git a/fission/src/ui/components/Modal.tsx b/fission/src/ui/components/Modal.tsx
index a0570db82e..3b2041904e 100644
--- a/fission/src/ui/components/Modal.tsx
+++ b/fission/src/ui/components/Modal.tsx
@@ -61,59 +61,78 @@ const Modal: React.FC<ModalProps> = ({
                 {name && (
                     <div id="header" className="flex items-center gap-8 h-16">
                         <span className="flex justify-center align-center ml-8 text-icon">{iconEl && iconEl}</span>
-                        <h1 className="text-3xl font-medium inline-block align-middle whitespace-nowrap mr-10">
+                        <h1
+                            className="text-3xl inline-block align-middle whitespace-nowrap mr-10"
+                            style={{
+                                userSelect: "none",
+                                MozUserSelect: "none",
+                                msUserSelect: "none",
+                                WebkitUserSelect: "none",
+                            }}
+                        >
                             {name}
                         </h1>
                     </div>
                 )}
                 <div
                     id="content"
-                    className={`${contentClassName} ${
+                    className={`${contentClassName || ""} ${
                         !contentClassName?.includes("mx") ? "mx-[2rem]" : ""
-                    } flex flex-col gap-4 max-h-75vh overflow-y-auto p-4`}
+                    } flex flex-col gap-4 max-h-[75vh]`}
                 >
                     {children}
                 </div>
-                <div id="footer" className="flex justify-between px-8 py-6 gap-4 text-accept-cancel-button-text">
-                    {cancelEnabled && (
-                        <input
-                            type="button"
-                            value={cancelName || "Cancel"}
-                            onClick={() => {
-                                closeModal()
-                                if (!cancelBlocked && onCancel) onCancel()
-                            }}
-                            className={`${
-                                cancelBlocked ? "bg-interactive-background" : "bg-cancel-button"
-                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
-                        />
-                    )}
-                    {middleEnabled && (
-                        <input
-                            type="button"
-                            value={middleName || ""}
-                            onClick={() => {
-                                if (!middleBlocked && onMiddle) onMiddle()
-                            }}
-                            className={`${
-                                middleBlocked ? "bg-interactive-background" : "bg-accept-button"
-                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
-                        />
-                    )}
-                    {acceptEnabled && (
-                        <input
-                            type="button"
-                            value={acceptName || "Accept"}
-                            onClick={() => {
-                                closeModal()
-                                if (!acceptBlocked && onAccept) onAccept()
-                            }}
-                            className={`${
-                                acceptBlocked ? "bg-interactive-background" : "bg-accept-button"
-                            } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
-                        />
-                    )}
-                </div>
+                {(cancelEnabled || middleEnabled || acceptEnabled) && (
+                    <div
+                        id="footer"
+                        className="flex justify-between mx-[2rem] py-[1rem] text-accept-cancel-button-text"
+                    >
+                        {cancelEnabled && (
+                            <input
+                                type="button"
+                                value={cancelName || "Cancel"}
+                                onClick={() => {
+                                    closeModal()
+                                    if (!cancelBlocked && onCancel) onCancel()
+                                }}
+                                className={`${
+                                    cancelBlocked ? "bg-interactive-background" : "bg-cancel-button"
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
+                            />
+                        )}
+                        {middleEnabled && (
+                            <input
+                                type="button"
+                                value={middleName || ""}
+                                onClick={() => {
+                                    if (!middleBlocked && onMiddle) onMiddle()
+                                }}
+                                className={`${
+                                    middleBlocked ? "bg-interactive-background" : "bg-accept-button"
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90 
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
+                            />
+                        )}
+                        {acceptEnabled && (
+                            <input
+                                type="button"
+                                value={acceptName || "Accept"}
+                                onClick={() => {
+                                    closeModal()
+                                    if (!acceptBlocked && onAccept) onAccept()
+                                }}
+                                className={`${
+                                    acceptBlocked ? "bg-interactive-background" : "bg-accept-button"
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
+                            />
+                        )}
+                    </div>
+                )}
             </div>
         </ClickAwayListener>
     )
diff --git a/fission/src/ui/components/Panel.tsx b/fission/src/ui/components/Panel.tsx
index b8faee4977..bed0ec4fa6 100644
--- a/fission/src/ui/components/Panel.tsx
+++ b/fission/src/ui/components/Panel.tsx
@@ -132,7 +132,17 @@ const Panel: React.FC<PanelProps> = ({
                 {name && (
                     <div id="header" className="flex items-center gap-8 h-16">
                         <span className="flex justify-center align-center ml-8 text-icon">{iconEl && iconEl}</span>
-                        <h1 className="text-3xl inline-block align-middle whitespace-nowrap mr-10">{name}</h1>
+                        <h1
+                            className="text-3xl inline-block align-middle whitespace-nowrap mr-10"
+                            style={{
+                                userSelect: "none",
+                                MozUserSelect: "none",
+                                msUserSelect: "none",
+                                WebkitUserSelect: "none",
+                            }}
+                        >
+                            {name}
+                        </h1>
                     </div>
                 )}
                 <div
@@ -158,7 +168,9 @@ const Panel: React.FC<PanelProps> = ({
                                 }}
                                 className={`${
                                     cancelBlocked ? "bg-interactive-background" : "bg-cancel-button"
-                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
                             />
                         )}
                         {middleEnabled && (
@@ -170,7 +182,9 @@ const Panel: React.FC<PanelProps> = ({
                                 }}
                                 className={`${
                                     middleBlocked ? "bg-interactive-background" : "bg-accept-button"
-                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
                             />
                         )}
                         {acceptEnabled && (
@@ -183,7 +197,9 @@ const Panel: React.FC<PanelProps> = ({
                                 }}
                                 className={`${
                                     acceptBlocked ? "bg-interactive-background" : "bg-accept-button"
-                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90`}
+                                } rounded-md cursor-pointer px-4 py-1 font-bold duration-100 hover:brightness-90
+                                transform transition-transform hover:scale-[1.03] active:scale-[1.06]`}
+                                style={{ fontWeight: "bold" }}
                             />
                         )}
                     </div>
diff --git a/fission/src/ui/components/SelectButton.tsx b/fission/src/ui/components/SelectButton.tsx
index 3d7e018669..65e277dbb5 100644
--- a/fission/src/ui/components/SelectButton.tsx
+++ b/fission/src/ui/components/SelectButton.tsx
@@ -1,10 +1,10 @@
 import React, { useCallback, useEffect, useRef, useState } from "react"
 import Button, { ButtonSize } from "./Button"
-import Label, { LabelSize } from "./Label"
 import Stack, { StackDirection } from "./Stack"
 import World from "@/systems/World"
 import { ThreeVector3_JoltVec3 } from "@/util/TypeConversions"
 import Jolt from "@barclah/jolt-physics"
+import { LabelWithTooltip } from "./StyledComponents"
 
 // raycasting constants
 const RAY_MAX_LENGTH = 20.0
@@ -70,7 +70,10 @@ const SelectButton: React.FC<SelectButtonProps> = ({ colorClass, size, value, pl
 
     return (
         <Stack direction={StackDirection.Vertical}>
-            <Label size={LabelSize.Small}>{"Select parent node"}</Label>
+            {LabelWithTooltip(
+                "Select parent node",
+                "Select the parent node for this object to follow. Click the button below, then click a part of the robot or field."
+            )}
             <Button
                 value={selecting ? "..." : value || placeholder || "Click to select"}
                 colorOverrideClass={selecting ? "bg-background-secondary" : colorClass}
diff --git a/fission/src/ui/components/Slider.tsx b/fission/src/ui/components/Slider.tsx
index b64b894d94..aa9de6d6d6 100644
--- a/fission/src/ui/components/Slider.tsx
+++ b/fission/src/ui/components/Slider.tsx
@@ -2,6 +2,7 @@ import React from "react"
 import { Slider as BaseSlider } from "@mui/base/Slider"
 import { Mark } from "@mui/base/useSlider"
 import Label, { LabelSize } from "./Label"
+import { LabelWithTooltip } from "./StyledComponents"
 
 type CustomFormatOptions = {
     prefix?: string
@@ -9,7 +10,7 @@ type CustomFormatOptions = {
 }
 
 type SliderProps = {
-    label?: string
+    label: string
     min: number
     max: number
     value: number
@@ -18,9 +19,21 @@ type SliderProps = {
     step?: number
     locale?: string
     format?: Intl.NumberFormatOptions & CustomFormatOptions
+    tooltipText?: string
 }
 
-const Slider: React.FC<SliderProps> = ({ label, min, max, value, onChange, step, marks, locale, format }) => {
+const Slider: React.FC<SliderProps> = ({
+    label,
+    min,
+    max,
+    value,
+    onChange,
+    step,
+    marks,
+    locale,
+    format,
+    tooltipText,
+}) => {
     locale ||= "en-us"
     format ||= {
         maximumFractionDigits: (1.0 / (step == 0 ? 1 : step ?? 1)).toString().length - 1,
@@ -33,7 +46,7 @@ const Slider: React.FC<SliderProps> = ({ label, min, max, value, onChange, step,
     return (
         <>
             <div className="flex flex-row justify-between w-full">
-                <Label size={LabelSize.Small}>{label}</Label>
+                {tooltipText ? LabelWithTooltip(label, tooltipText) : <Label size={LabelSize.Small}>{label}</Label>}
                 <Label size={LabelSize.Small}>
                     {format.prefix + value.toLocaleString(locale, format) + format.suffix}
                 </Label>
@@ -48,11 +61,12 @@ const Slider: React.FC<SliderProps> = ({ label, min, max, value, onChange, step,
                 slotProps={{
                     root: ownerState => {
                         return {
-                            className: `h-1 w-full inline-flex items-center relative touch-none ${ownerState.disabled ? "text-slate-200 dark:text-slate-200" : "cursor-pointer text-[#343A40] dark:text-[#343A40]"}`,
+                            className: `h-1 w-full inline-flex items-center relative touch-none ${ownerState.disabled ? "text-slate-200 dark:text-slate-200" : "cursor-pointer text-[#343A40] dark:text-[#343A40]"}
+                            transform transition-transform hover:scale-[1.01] active:scale-[1.02]`,
                         }
                     },
                     rail: {
-                        className: `block absolute w-full h-[12px] rounded-full bg-current`,
+                        className: `block absolute w-full h-[12px] rounded-full bg-interactive-background`,
                     },
                     track: {
                         className: `block absolute h-[12px] rounded-full bg-gradient-to-r from-interactive-element-left to-interactive-element-right`,
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index 9bccc83a54..9b63b2ddfd 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -1,5 +1,5 @@
-import { Box, Divider, styled } from "@mui/material"
-import Label from "./Label"
+import { Box, Divider, styled, IconButton, Tooltip } from "@mui/material"
+import Label, { LabelSize } from "./Label"
 import Button, { ButtonProps, ButtonSize } from "./Button"
 import { IoCheckmark, IoPencil, IoPeople, IoTrashBin } from "react-icons/io5"
 import { HiDownload } from "react-icons/hi"
@@ -10,6 +10,7 @@ import { BsCodeSquare } from "react-icons/bs"
 import { GiSteeringWheel } from "react-icons/gi"
 import { AiOutlineDoubleRight } from "react-icons/ai"
 import { GrConnect } from "react-icons/gr"
+import InfoIcon from "@mui/icons-material/Info"
 
 import {
     FaGear,
@@ -26,7 +27,10 @@ import {
     FaCar,
     FaArrowLeft,
     FaMinus,
+    FaBug,
+    FaAngleRight,
 } from "react-icons/fa6"
+import { colorNameToVar } from "../ThemeContext"
 
 export class SynthesisIcons {
     /** Regular icons: used for panels, modals, and main hud buttons */
@@ -49,6 +53,7 @@ export class SynthesisIcons {
     public static SteeringWheel = (<GiSteeringWheel />)
     public static OutlineDoubleRight = (<AiOutlineDoubleRight />)
     public static Connect = (<GrConnect />)
+    public static Bug = (<FaBug />)
 
     /** Large icons: used for icon buttons */
     public static DeleteLarge = (<IoTrashBin size={"1.25rem"} />)
@@ -58,10 +63,13 @@ export class SynthesisIcons {
     public static SelectLarge = (<IoCheckmark size={"1.25rem"} />)
     public static EditLarge = (<IoPencil size={"1.25rem"} />)
     public static LeftArrowLarge = (<FaArrowLeft size={"1.25rem"} />)
+    public static BugLarge = (<FaBug size={"1.25rem"} />)
+
+    public static OpenHudIcon = (<FaAngleRight size={"3rem"} color={colorNameToVar("BackgroundSecondary")} />)
 }
 
 export const SectionDivider = styled(Divider)({
-    borderColor: "white",
+    borderColor: "grey",
 })
 
 export const SectionLabel = styled(Label)({
@@ -133,3 +141,49 @@ export const RefreshButton = (onClick: () => void) => {
 export const AddButtonInteractiveColor = (onClick: () => void) => {
     return <Button value={SynthesisIcons.AddLarge} onClick={onClick} />
 }
+
+export const CustomTooltip = (text: string) => {
+    return (
+        <Tooltip title={text}>
+            <IconButton
+                size="small"
+                disableRipple
+                sx={{
+                    "color": "#ffffff77",
+                    "&:hover": {
+                        borderStyle: "solid",
+                        borderColor: "grey",
+                        backgroundColor: "transparent",
+                    },
+                    "position": "relative",
+                    "overflow": "hidden",
+                    "& .MuiTouchRipple-root span": {
+                        backgroundColor: "#ffffffaa",
+                        animationDuration: "300ms",
+                    },
+                    "&:focus": {
+                        borderColor: "grey",
+                        backgroundColor: "transparent",
+                        outline: "none",
+                    },
+                    "&:selected": {
+                        outline: "none",
+                        backgroundColor: "transparent",
+                        borderColor: "none",
+                    },
+                }}
+            >
+                <InfoIcon fontSize="small" />
+            </IconButton>
+        </Tooltip>
+    )
+}
+
+export const LabelWithTooltip = (labelText: string, tooltipText: string, size?: LabelSize) => {
+    return (
+        <Box display={"flex"} flexDirection={"row"} alignItems={"center"} textAlign={"center"}>
+            <Label size={size ?? LabelSize.Small}>{labelText}</Label>
+            {CustomTooltip(tooltipText)}
+        </Box>
+    )
+}
diff --git a/fission/src/ui/components/ToggleButtonGroup.tsx b/fission/src/ui/components/ToggleButtonGroup.tsx
index 8159c97b97..a87d1bdf83 100644
--- a/fission/src/ui/components/ToggleButtonGroup.tsx
+++ b/fission/src/ui/components/ToggleButtonGroup.tsx
@@ -3,16 +3,20 @@ import { styled } from "@mui/system"
 import { colorNameToVar } from "../ThemeContext"
 
 export const ToggleButton = styled(ToggleButtonMUI)({
-    // backgroundColor: "white"
     "borderColor": "transparent",
     "fontFamily": "Artifakt",
     "fontWeight": 700,
-    "color": "white",
+    "color": colorNameToVar("MainText"),
+    /*     "transition": "transform 0.2s ease",
+    "transform": "scale(1)", */
     "&.Mui-selected": {
-        color: "white",
+        color: colorNameToVar("MainText"),
         backgroundImage: `linear-gradient(to right, ${colorNameToVar("InteractiveElementLeft")}, ${colorNameToVar("InteractiveElementRight")})`,
         borderColor: "transparent",
     },
+    ".MuiTouchRipple-ripple": {
+        color: "#ffffff30",
+    },
     "&:focus": {
         borderColor: "transparent !important",
         outline: "none",
@@ -24,6 +28,9 @@ export const ToggleButton = styled(ToggleButtonMUI)({
     "&:hover": {
         outline: "none",
         borderColor: "transparent",
+        backgroundColor: "#ffffff20",
+
+        // transform: "scale(1.03)",
     },
     "&:focus-visible": {
         outline: "none",
@@ -32,6 +39,7 @@ export const ToggleButton = styled(ToggleButtonMUI)({
     "&:active": {
         outline: "none",
         borderColor: "transparent",
+        // transform: "scale(1.06)",
     },
     "&::-moz-focus-inner": {
         outline: "none",
diff --git a/fission/src/ui/modals/ViewModal.tsx b/fission/src/ui/modals/ViewModal.tsx
index 4a68dc8299..e9d9ff42c5 100644
--- a/fission/src/ui/modals/ViewModal.tsx
+++ b/fission/src/ui/modals/ViewModal.tsx
@@ -41,7 +41,7 @@ const ViewModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 onSelect={val => {
                     setView(val as ViewType)
                 }}
-                label={"View"}
+                label={"Camera View"}
             />
         </Modal>
     )
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index e1d6e1b38f..1eaaa39cf3 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -1,10 +1,8 @@
 import React, { useState } from "react"
-import { useModalControlContext } from "@/ui/ModalContext"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { FaGear } from "react-icons/fa6"
 import Label, { LabelSize } from "@/components/Label"
 import Dropdown from "@/components/Dropdown"
-import Button from "@/components/Button"
 import Slider from "@/components/Slider"
 import Checkbox from "@/components/Checkbox"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
@@ -15,8 +13,6 @@ import { Spacer } from "@/ui/components/StyledComponents"
 import World from "@/systems/World"
 
 const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { openModal } = useModalControlContext()
-
     const [qualitySettings, setQualitySettings] = useState<string>(
         PreferencesSystem.getGlobalPreference<string>("QualitySettings")
     )
@@ -70,7 +66,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 saveSettings()
             }}
         >
-            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 min-w-[22vw]">
+            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 min-w-[380px]">
                 <Label size={LabelSize.Medium}>Screen Settings</Label>
                 <Dropdown
                     label="Quality Settings"
@@ -82,34 +78,34 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                     }}
                 />
                 {Spacer(5)}
-                <Box alignSelf={"center"}>
-                    <Button value="Theme Editor" onClick={() => openModal("theme-editor")} />
-                </Box>
-                {Spacer(5)}
                 <Label size={LabelSize.Medium}>Camera Settings</Label>
                 <Slider
                     min={1}
                     max={15}
-                    value={PreferencesSystem.getGlobalPreference<number>("ZoomSensitivity")}
+                    value={zoomSensitivity}
                     label={"Zoom Sensitivity"}
                     format={{ maximumFractionDigits: 2 }}
                     onChange={(_, value) => setZoomSensitivity(value as number)}
                 />
+                {Spacer(2)}
                 <Slider
                     min={1}
                     max={15}
-                    value={PreferencesSystem.getGlobalPreference<number>("PitchSensitivity")}
+                    value={pitchSensitivity}
                     label={"Pitch Sensitivity"}
                     format={{ maximumFractionDigits: 2 }}
                     onChange={(_, value) => setPitchSensitivity(value as number)}
+                    tooltipText="Moving the camera up and down."
                 />
+                {Spacer(2)}
                 <Slider
                     min={1}
                     max={15}
-                    value={PreferencesSystem.getGlobalPreference<number>("YawSensitivity")}
+                    value={yawSensitivity}
                     label={"Yaw Sensitivity"}
                     format={{ maximumFractionDigits: 2 }}
                     onChange={(_, value) => setYawSensitivity(value as number)}
+                    tooltipText="Moving the camera left and right."
                 />
                 {Spacer(20)}
                 <Label size={LabelSize.Medium}>Preferences</Label>
@@ -120,6 +116,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         onClick={checked => {
                             setReportAnalytics(checked)
                         }}
+                        tooltipText="Record user data such as what robots are spawned and how they are configured. No personal data will be collected."
                     />
                     <Checkbox
                         label="Use Metric"
@@ -136,23 +133,25 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         }}
                     />
                     <Checkbox
-                        label="Render Score Zones"
+                        label="Show Score Zones"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderScoringZones")}
                         onClick={checked => {
                             setRenderScoringZones(checked)
                         }}
+                        tooltipText="If disabled, scoring zones will not be visible but will continue to function the same."
                     />
                     <Checkbox
-                        label="Render Scene Tags"
+                        label="Show Scene Tags"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderSceneTags")}
                         onClick={checked => {
                             setRenderSceneTags(checked)
                             if (!checked) new SceneOverlayEvent(SceneOverlayEventKey.DISABLE)
                             else new SceneOverlayEvent(SceneOverlayEventKey.ENABLE)
                         }}
+                        tooltipText="Name tags above robot."
                     />
                     <Checkbox
-                        label="Render Scoreboard"
+                        label="Show Scoreboard"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("RenderScoreboard")}
                         onClick={checked => {
                             setRenderScoreboard(checked)
diff --git a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
index 98188234ae..b02c36054e 100644
--- a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
+++ b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
@@ -5,9 +5,9 @@ import Label, { LabelSize } from "@/components/Label"
 import { useTooltipControlContext } from "@/ui/TooltipContext"
 import World from "@/systems/World"
 import MirabufCachingService, { MiraType } from "@/mirabuf/MirabufLoader"
-import Dropdown from "@/ui/components/Dropdown"
 import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
+import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
 import { usePanelControlContext } from "@/ui/PanelContext"
 
 const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
@@ -18,7 +18,7 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const fileUploadRef = useRef<HTMLInputElement>(null)
 
     const [selectedFile, setSelectedFile] = useState<File | undefined>(undefined)
-    const [miraType, setSelectedType] = useState<MiraType | undefined>(undefined)
+    const [miraType, setSelectedType] = useState<MiraType | undefined>(MiraType.ROBOT)
 
     const uploadClicked = () => {
         if (fileUploadRef.current) {
@@ -33,23 +33,13 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         }
     }
 
-    const typeSelected = (type: string) => {
-        switch (type) {
-            case "Robot":
-                setSelectedType(MiraType.ROBOT)
-                break
-            case "Field":
-                setSelectedType(MiraType.FIELD)
-                break
-        }
-    }
-
     return (
         <Modal
             name={"Import From File"}
             icon={SynthesisIcons.Import}
             modalId={modalId}
             acceptEnabled={selectedFile !== undefined && miraType !== undefined}
+            onCancel={() => openPanel("import-mirabuf")}
             onAccept={async () => {
                 if (selectedFile && miraType != undefined) {
                     showTooltip("controls", [
@@ -73,22 +63,28 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         >
             <div className="flex flex-col items-center gap-5">
                 <input ref={fileUploadRef} onChange={onInputChanged} type="file" hidden={true} />
+
+                <ToggleButtonGroup
+                    value={miraType}
+                    exclusive
+                    onChange={(_, v) => {
+                        if (v == null) return
+                        setSelectedType(v)
+                    }}
+                    sx={{
+                        alignSelf: "center",
+                    }}
+                >
+                    <ToggleButton value={MiraType.ROBOT}>Robot</ToggleButton>
+                    <ToggleButton value={MiraType.FIELD}>Field</ToggleButton>
+                </ToggleButtonGroup>
                 <Button value="Upload File" size={ButtonSize.Large} onClick={uploadClicked} />
-                {selectedFile ? (
+                {selectedFile && (
                     <Label
                         className="text-center"
                         size={LabelSize.Medium}
                     >{`Selected File: ${selectedFile.name}`}</Label>
-                ) : (
-                    <></>
                 )}
-                <Dropdown
-                    label="File Type"
-                    options={["None", "Robot", "Field"]}
-                    onSelect={(selected: string) => {
-                        typeSelected(selected)
-                    }}
-                />
             </div>
         </Modal>
     )
diff --git a/fission/src/ui/modals/spawning/SpawningModals.tsx b/fission/src/ui/modals/spawning/SpawningModals.tsx
deleted file mode 100644
index 158268e77f..0000000000
--- a/fission/src/ui/modals/spawning/SpawningModals.tsx
+++ /dev/null
@@ -1,246 +0,0 @@
-import React, { useEffect, useState } from "react"
-import Modal, { ModalPropsImpl } from "../../components/Modal"
-import Stack, { StackDirection } from "../../components/Stack"
-import Button, { ButtonSize } from "../../components/Button"
-import { useModalControlContext } from "@/ui/ModalContext"
-import Label, { LabelSize } from "@/components/Label"
-import World from "@/systems/World"
-import { useTooltipControlContext } from "@/ui/TooltipContext"
-import MirabufCachingService, { MirabufCacheInfo, MiraType } from "@/mirabuf/MirabufLoader"
-import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
-import { SynthesisIcons } from "@/ui/components/StyledComponents"
-
-interface MirabufRemoteInfo {
-    displayName: string
-    src: string
-}
-
-interface MirabufRemoteCardProps {
-    info: MirabufRemoteInfo
-    select: (info: MirabufRemoteInfo) => void
-}
-
-const MirabufRemoteCard: React.FC<MirabufRemoteCardProps> = ({ info, select }) => {
-    return (
-        <div
-            key={info.src}
-            className="flex flex-row align-middle justify-between items-center bg-background rounded-sm p-2 gap-2"
-        >
-            <Label className="text-wrap break-all">{info.displayName}</Label>
-            <Button value="Spawn" onClick={() => select(info)} />
-        </div>
-    )
-}
-
-interface MirabufCacheCardProps {
-    info: MirabufCacheInfo
-    select: (info: MirabufCacheInfo) => void
-}
-
-const MirabufCacheCard: React.FC<MirabufCacheCardProps> = ({ info, select }) => {
-    return (
-        <div
-            key={info.id}
-            className="flex flex-row align-middle justify-between items-center bg-background rounded-sm p-2 gap-2"
-        >
-            <Label className="text-wrap break-all">{info.name ?? info.cacheKey}</Label>
-            <Button value="Spawn" onClick={() => select(info)} />
-        </div>
-    )
-}
-
-export const AddRobotsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { showTooltip } = useTooltipControlContext()
-    const { closeModal } = useModalControlContext()
-
-    const [cachedRobots, setCachedRobots] = useState<MirabufCacheInfo[] | undefined>(undefined)
-
-    // prettier-ignore
-    useEffect(() => {
-        (async () => {
-            const map = MirabufCachingService.GetCacheMap(MiraType.ROBOT)
-            setCachedRobots(Object.values(map))
-        })()
-    }, [])
-
-    const [remoteRobots, setRemoteRobots] = useState<MirabufRemoteInfo[] | undefined>(undefined)
-
-    // prettier-ignore
-    useEffect(() => {
-        (async () => {
-            fetch("/api/mira/manifest.json")
-                .then(x => x.json())
-                .then(x => {
-                    const map = MirabufCachingService.GetCacheMap(MiraType.ROBOT)
-                    const robots: MirabufRemoteInfo[] = []
-                    for (const src of x["robots"]) {
-                        if (typeof src == "string") {
-                            const str = `/api/mira/Robots/${src}`
-                            if (!map[str]) robots.push({ displayName: src, src: str })
-                        } else {
-                            if (!map[src["src"]]) robots.push({ displayName: src["displayName"], src: src["src"] })
-                        }
-                    }
-                    setRemoteRobots(robots)
-                })
-        })()
-    }, [])
-
-    const selectCache = async (info: MirabufCacheInfo) => {
-        const assembly = await MirabufCachingService.Get(info.id, MiraType.ROBOT)
-
-        if (assembly) {
-            showTooltip("controls", [
-                { control: "WASD", description: "Drive" },
-                { control: "E", description: "Intake" },
-                { control: "Q", description: "Dispense" },
-            ])
-
-            CreateMirabuf(assembly).then(x => {
-                if (x) {
-                    World.SceneRenderer.RegisterSceneObject(x)
-                }
-            })
-
-            if (!info.name)
-                MirabufCachingService.CacheInfo(info.cacheKey, MiraType.ROBOT, assembly.info?.name ?? undefined)
-        } else {
-            console.error("Failed to spawn robot")
-        }
-
-        closeModal()
-    }
-
-    const selectRemote = async (info: MirabufRemoteInfo) => {
-        const cacheInfo = await MirabufCachingService.CacheRemote(info.src, MiraType.ROBOT)
-
-        if (!cacheInfo) {
-            console.error("Failed to cache robot")
-            closeModal()
-        } else {
-            selectCache(cacheInfo)
-        }
-    }
-
-    return (
-        <Modal name={"Robot Selection"} icon={SynthesisIcons.Add} modalId={modalId} acceptEnabled={false}>
-            <div className="flex overflow-y-auto flex-col gap-2 min-w-[50vw] max-h-[60vh] bg-background-secondary rounded-md p-2">
-                <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
-                    {cachedRobots ? `${cachedRobots.length} Saved Robots` : "No Saved Robots"}
-                </Label>
-                {cachedRobots ? cachedRobots!.map(x => MirabufCacheCard({ info: x, select: selectCache })) : <></>}
-                <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
-                    {remoteRobots ? `${remoteRobots.length} Default Robots` : "No Default Robots"}
-                </Label>
-                {remoteRobots ? remoteRobots!.map(x => MirabufRemoteCard({ info: x, select: selectRemote })) : <></>}
-            </div>
-        </Modal>
-    )
-}
-
-export const AddFieldsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { closeModal } = useModalControlContext()
-
-    const [cachedFields, setCachedFields] = useState<MirabufCacheInfo[] | undefined>(undefined)
-
-    // prettier-ignore
-    useEffect(() => {
-        (async () => {
-            const map = MirabufCachingService.GetCacheMap(MiraType.FIELD)
-            setCachedFields(Object.values(map))
-        })()
-    }, [])
-
-    const [remoteFields, setRemoteFields] = useState<MirabufRemoteInfo[] | undefined>(undefined)
-
-    // prettier-ignore
-    useEffect(() => {
-        (async () => {
-            fetch("/api/mira/manifest.json")
-                .then(x => x.json())
-                .then(x => {
-                    // TODO: Skip already cached fields
-                    const map = MirabufCachingService.GetCacheMap(MiraType.FIELD)
-                    const fields: MirabufRemoteInfo[] = []
-                    for (const src of x["fields"]) {
-                        if (typeof src == "string") {
-                            const newSrc = `/api/mira/Fields/${src}`
-                            if (!map[newSrc]) fields.push({ displayName: src, src: newSrc })
-                        } else {
-                            if (!map[src["src"]])
-                            fields.push({ displayName: src["displayName"], src: src["src"] })
-                        }
-                    }
-                    setRemoteFields(fields)
-                })
-        })()
-    }, [])
-
-    const selectCache = async (info: MirabufCacheInfo) => {
-        const assembly = await MirabufCachingService.Get(info.id, MiraType.FIELD)
-
-        if (assembly) {
-            CreateMirabuf(assembly).then(x => {
-                if (x) {
-                    World.SceneRenderer.RegisterSceneObject(x)
-                }
-            })
-
-            if (!info.name)
-                MirabufCachingService.CacheInfo(info.cacheKey, MiraType.FIELD, assembly.info?.name ?? undefined)
-        } else {
-            console.error("Failed to spawn field")
-        }
-
-        closeModal()
-    }
-
-    const selectRemote = async (info: MirabufRemoteInfo) => {
-        const cacheInfo = await MirabufCachingService.CacheRemote(info.src, MiraType.FIELD)
-
-        if (!cacheInfo) {
-            console.error("Failed to cache field")
-            closeModal()
-        } else {
-            selectCache(cacheInfo)
-        }
-    }
-
-    return (
-        <Modal name={"Field Selection"} icon={SynthesisIcons.Add} modalId={modalId} acceptEnabled={false}>
-            <div className="flex overflow-y-auto flex-col gap-2 min-w-[50vw] max-h-[60vh] bg-background-secondary rounded-md p-2">
-                <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
-                    {cachedFields ? `${cachedFields.length} Saved Fields` : "No Saved Fields"}
-                </Label>
-                {cachedFields ? cachedFields!.map(x => MirabufCacheCard({ info: x, select: selectCache })) : <></>}
-                <Label size={LabelSize.Medium} className="text-center border-b-[1pt] mt-[4pt] mb-[2pt] mx-[5%]">
-                    {remoteFields ? `${remoteFields.length} Default Fields` : "No Default Fields"}
-                </Label>
-                {remoteFields ? remoteFields!.map(x => MirabufRemoteCard({ info: x, select: selectRemote })) : <></>}
-            </div>
-        </Modal>
-    )
-}
-
-export const SpawningModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { openModal } = useModalControlContext()
-
-    return (
-        <Modal name={"Spawning"} icon={SynthesisIcons.Add} modalId={modalId}>
-            <Stack direction={StackDirection.Vertical}>
-                <Button
-                    value={"Robots"}
-                    onClick={() => openModal("add-robot")}
-                    size={ButtonSize.Large}
-                    className="m-auto"
-                />
-                <Button
-                    value={"Fields"}
-                    onClick={() => openModal("add-field")}
-                    size={ButtonSize.Large}
-                    className="m-auto"
-                />
-            </Stack>
-        </Modal>
-    )
-}
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index e94cdedd03..97359e90ce 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -60,17 +60,14 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     return (
         <Panel
             openLocation="center"
-            name={"Debug Panel"}
-            icon={SynthesisIcons.ScrewdriverWrench}
+            name={"Debug Tools"}
+            icon={SynthesisIcons.BugLarge}
             panelId={panelId}
             acceptEnabled={false}
             cancelName="Close"
         >
             <Box
                 component="div"
-                display="flex"
-                flexDirection="column"
-                gap="0.25rem"
                 alignItems="center"
                 sx={{
                     padding: "0.25rem",
@@ -78,68 +75,90 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     borderRadius: "0.5rem",
                     backgroundColor: colorNameToVar("BackgroundSecondary"),
                 }}
+                justifyContent={"center"}
+                textAlign={"center"}
+                minWidth={"290px"}
             >
-                <LabelStyled>Generic</LabelStyled>
-                <Button
-                    value={"Toasts"}
-                    onClick={() => {
-                        const type: ToastType = ["info", "warning", "error"][Math.floor(Random() * 3)] as ToastType
-                        MainHUD_AddToast(type, type, "This is a test toast to test the toast system")
-                    }}
-                />
-                <Button
-                    value={"The Poker"}
-                    onClick={() => {
-                        openPanel("poker")
-                    }}
-                />
-                <Button value={"Test God Mode"} onClick={TestGodMode} />
-                <Button value={"Clear Prefs"} onClick={() => PreferencesSystem.clearPreferences()} />
-                <LabelStyled>Autodesk Platform Services</LabelStyled>
-                <Button
-                    value={"Refresh APS Token"}
-                    onClick={async () =>
-                        APS.isSignedIn() && APS.refreshAuthToken((await APS.getAuth())!.refresh_token, true)
-                    }
-                />
-                <Button
-                    value={"Expire APS Token"}
-                    onClick={() => {
-                        if (APS.isSignedIn()) {
-                            APS.setExpiresAt(Date.now())
-                            APS.getAuthOrLogin()
-                        }
-                    }}
-                />
-                <LabelStyled>Caching Service</LabelStyled>
-                <Button
-                    value={"Print Mira Maps"}
-                    onClick={() => {
-                        console.log(MirabufCachingService.GetCacheMap(MiraType.ROBOT))
-                        console.log(MirabufCachingService.GetCacheMap(MiraType.FIELD))
-                        console.log(hashedMiraRobots)
-                        console.log(hashedMiraFields)
-                    }}
-                />
-                <Button value={"Clear Mira Cache"} onClick={() => MirabufCachingService.RemoveAll()} />
-                <LabelStyled>Code Simulation</LabelStyled>
-                <Button
-                    value={"WS Test"}
-                    onClick={() => {
-                        // worker?.postMessage({ command: 'connect' });
-                        const miraObjs = [...World.SceneRenderer.sceneObjects.entries()].filter(
-                            x => x[1] instanceof MirabufSceneObject
-                        )
-                        console.log(`Number of mirabuf scene objects: ${miraObjs.length}`)
-                        if (miraObjs.length > 0) {
-                            const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism
-                            const simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)
-                            simLayer?.SetBrain(new WPILibBrain(mechanism))
+                <Box display="flex" flexDirection={"column"} gap="0.25rem" width={"80%"} margin={"auto"}>
+                    <LabelStyled>Generic</LabelStyled>
+                    <Button
+                        value={"Toasts"}
+                        onClick={() => {
+                            const type: ToastType = ["info", "warning", "error"][Math.floor(Random() * 3)] as ToastType
+                            MainHUD_AddToast(type, type, "This is a test toast to test the toast system")
+                        }}
+                        className="w-full"
+                    />
+                    <Button
+                        value={"The Poker"}
+                        onClick={() => {
+                            openPanel("poker")
+                        }}
+                        className="w-full"
+                    />
+                    <Button value={"Test God Mode"} onClick={TestGodMode} className="w-full" />
+                    <Button
+                        value={"Clear Preferences"}
+                        onClick={() => PreferencesSystem.clearPreferences()}
+                        className="w-full"
+                    />
+
+                    <LabelStyled>Autodesk Platform Services</LabelStyled>
+                    <Button
+                        value={"Refresh APS Token"}
+                        onClick={async () =>
+                            APS.isSignedIn() && APS.refreshAuthToken((await APS.getAuth())!.refresh_token, true)
                         }
-                    }}
-                />
-                <Button value={"WS Viewer"} onClick={() => openPanel("ws-view")} />
-                <Button value={"RoboRIO"} onClick={() => openModal("roborio")} />
+                        className="w-full"
+                    />
+                    <Button
+                        value={"Expire APS Token"}
+                        onClick={() => {
+                            if (APS.isSignedIn()) {
+                                APS.setExpiresAt(Date.now())
+                                APS.getAuthOrLogin()
+                            }
+                        }}
+                        className="w-full"
+                    />
+
+                    <LabelStyled>Caching Service</LabelStyled>
+                    <Button
+                        value={"Print Mira Maps"}
+                        onClick={() => {
+                            console.log(MirabufCachingService.GetCacheMap(MiraType.ROBOT))
+                            console.log(MirabufCachingService.GetCacheMap(MiraType.FIELD))
+                            console.log(hashedMiraRobots)
+                            console.log(hashedMiraFields)
+                        }}
+                        className="w-full"
+                    />
+                    <Button
+                        value={"Clear Mira Cache"}
+                        onClick={() => MirabufCachingService.RemoveAll()}
+                        className="w-full"
+                    />
+
+                    <LabelStyled>Code Simulation</LabelStyled>
+                    <Button
+                        value={"WS Test"}
+                        onClick={() => {
+                            // worker?.postMessage({ command: 'connect' });
+                            const miraObjs = [...World.SceneRenderer.sceneObjects.entries()].filter(
+                                x => x[1] instanceof MirabufSceneObject
+                            )
+                            console.log(`Number of mirabuf scene objects: ${miraObjs.length}`)
+                            if (miraObjs.length > 0) {
+                                const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism
+                                const simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)
+                                simLayer?.SetBrain(new WPILibBrain(mechanism))
+                            }
+                        }}
+                        className="w-full"
+                    />
+                    <Button value={"WS Viewer"} onClick={() => openPanel("ws-view")} className="w-full" />
+                    <Button value={"RoboRIO"} onClick={() => openModal("roborio")} className="w-full" />
+                </Box>
             </Box>
         </Panel>
     )
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index 2b61340430..551f22207b 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -150,8 +150,6 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 InputSystem.brainIndexSchemeMap.set(getBrainIndex(), DefaultInputs.newBlankScheme)
                 openModal("assign-new-scheme")
             })}
-
-            <Box height="12px"></Box>
         </Panel>
     )
 }
diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx b/fission/src/ui/panels/configuring/ConfigureSubsystemsInterface.tsx
similarity index 76%
rename from fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
rename to fission/src/ui/panels/configuring/ConfigureSubsystemsInterface.tsx
index cf343f012f..44b0a6f650 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsPanel.tsx
+++ b/fission/src/ui/panels/configuring/ConfigureSubsystemsInterface.tsx
@@ -9,14 +9,14 @@ import WheelDriver from "@/systems/simulation/driver/WheelDriver"
 import World from "@/systems/World"
 import Button from "@/ui/components/Button"
 import Label, { LabelSize } from "@/ui/components/Label"
-import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
+import { PanelPropsImpl } from "@/ui/components/Panel"
 import ScrollView from "@/ui/components/ScrollView"
 import Slider from "@/ui/components/Slider"
 import Stack, { StackDirection } from "@/ui/components/Stack"
 import { SectionDivider } from "@/ui/components/StyledComponents"
 import { Box } from "@mui/material"
-import { useCallback, useMemo, useState } from "react"
-import { FaGear } from "react-icons/fa6"
+import { useCallback, useEffect, useMemo, useState } from "react"
+import { ConfigurationSavedEvent } from "./assembly-config/ConfigurePanel"
 
 type SubsystemRowProps = {
     robot: MirabufSceneObject
@@ -133,8 +133,11 @@ const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
     )
 }
 
-const ConfigureSubsystemsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
-    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
+interface ConfigureSubsystemsProps {
+    selectedRobot: MirabufSceneObject
+}
+
+const ConfigureSubsystemsInterface: React.FC<ConfigureSubsystemsProps> = ({ selectedRobot }) => {
     const [origPref, setOrigPref] = useState<RobotPreferences | undefined>(undefined)
 
     const robots = useMemo(() => {
@@ -153,6 +156,18 @@ const ConfigureSubsystemsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
             : undefined
     }, [selectedRobot])
 
+    const saveEvent = useCallback(() => {
+        PreferencesSystem.savePreferences()
+    }, [])
+
+    useEffect(() => {
+        ConfigurationSavedEvent.Listen(saveEvent)
+
+        return () => {
+            ConfigurationSavedEvent.RemoveListener(saveEvent)
+        }
+    }, [saveEvent])
+
     // Gets motors in preferences for ease of saving into origPrefs which can be used to revert on Cancel()
     function saveOrigMotors(robot: MirabufSceneObject) {
         drivers?.forEach(driver => {
@@ -177,6 +192,7 @@ const ConfigureSubsystemsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
         setOrigPref({ ...PreferencesSystem.getRobotPreferences(robot.assemblyName) }) // clone
     }
 
+    // TODO
     function Cancel() {
         if (selectedRobot && origPref) {
             drivers?.forEach(driver => {
@@ -208,72 +224,38 @@ const ConfigureSubsystemsPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocat
     }
 
     return (
-        <Panel
-            name="Configure Subsystems"
-            icon={<FaGear />}
-            panelId={panelId}
-            openLocation={openLocation}
-            sidePadding={sidePadding}
-            onAccept={() => {
-                PreferencesSystem.savePreferences()
-            }}
-            onCancel={Cancel}
-            acceptEnabled={true}
-        >
-            {selectedRobot?.ejectorPreferences == undefined ? (
-                <>
-                    <Label>Select a robot</Label>
-                    {/** Scroll view for selecting a robot to configure */}
-                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
-                        {robots.map(mirabufSceneObject => {
-                            return (
-                                <Button
-                                    value={mirabufSceneObject.assemblyName}
-                                    onClick={() => {
-                                        setSelectedRobot(mirabufSceneObject)
-                                        saveOrigMotors(mirabufSceneObject)
-                                    }}
-                                    key={mirabufSceneObject.id}
-                                ></Button>
-                            )
-                        })}
-                    </div>
-                </>
-            ) : (
-                <>
-                    {drivers ? (
-                        <ScrollView className="flex flex-col gap-4">
-                            {/** Drivetrain row. Then other SliderDrivers and HingeDrivers */}
+        <>
+            {drivers ? (
+                <ScrollView className="flex flex-col gap-4">
+                    {/** Drivetrain row. Then other SliderDrivers and HingeDrivers */}
+                    <SubsystemRow
+                        key={0}
+                        robot={(() => {
+                            return selectedRobot
+                        })()}
+                        driver={(() => {
+                            return drivers.filter(x => x instanceof WheelDriver)[0]
+                        })()}
+                    />
+                    {drivers
+                        .filter(x => x instanceof SliderDriver || x instanceof HingeDriver)
+                        .map((driver: Driver, i: number) => (
                             <SubsystemRow
-                                key={0}
+                                key={i + 1}
                                 robot={(() => {
                                     return selectedRobot
                                 })()}
                                 driver={(() => {
-                                    return drivers.filter(x => x instanceof WheelDriver)[0]
+                                    return driver
                                 })()}
                             />
-                            {drivers
-                                .filter(x => x instanceof SliderDriver || x instanceof HingeDriver)
-                                .map((driver: Driver, i: number) => (
-                                    <SubsystemRow
-                                        key={i + 1}
-                                        robot={(() => {
-                                            return selectedRobot
-                                        })()}
-                                        driver={(() => {
-                                            return driver
-                                        })()}
-                                    />
-                                ))}
-                        </ScrollView>
-                    ) : (
-                        <Label>No Subsystems</Label>
-                    )}
-                </>
+                        ))}
+                </ScrollView>
+            ) : (
+                <Label>No Subsystems</Label>
             )}
-        </Panel>
+        </>
     )
 }
 
-export default ConfigureSubsystemsPanel
+export default ConfigureSubsystemsInterface
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index 245ad48311..ec527ac26d 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -18,11 +18,13 @@ import Button from "@/ui/components/Button"
 import { setSelectedBrainIndexGlobal } from "../ChooseInputSchemePanel"
 import ConfigureSchemeInterface from "./interfaces/inputs/ConfigureSchemeInterface"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
+import ConfigureSubsystemsInterface from "../ConfigureSubsystemsInterface"
 
 enum ConfigMode {
     INTAKE,
     EJECTOR,
     MOTORS,
+    SUBSYSTEMS,
     CONTROLS,
     SCORING_ZONES,
 }
@@ -127,6 +129,7 @@ const robotModes = [
     new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
     new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
     new ConfigModeSelectionOption("Sequential Joints", ConfigMode.MOTORS),
+    new ConfigModeSelectionOption("Subsystems", ConfigMode.SUBSYSTEMS),
     new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
 ]
 const fieldModes = [new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES)]
@@ -164,6 +167,8 @@ const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly,
             return <ConfigureShotTrajectoryInterface selectedRobot={assembly} />
         case ConfigMode.MOTORS:
             return <SequentialBehaviorsInterface selectedRobot={assembly} />
+        case ConfigMode.SUBSYSTEMS:
+            return <ConfigureSubsystemsInterface selectedRobot={assembly} />
         case ConfigMode.CONTROLS: {
             const brainIndex = (assembly.brain as SynthesisBrain).brainIndex
             const scheme = InputSystem.brainIndexSchemeMap.get(brainIndex)
@@ -224,8 +229,8 @@ const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
     return (
         <Panel
-            name={"Configure Objects"}
-            icon={SynthesisIcons.Gear}
+            name={"Configure Assets"}
+            icon={SynthesisIcons.Wrench}
             panelId={panelId}
             cancelEnabled={false}
             openLocation="right"
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
index 4981082dfe..0e7dea833e 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
@@ -202,7 +202,7 @@ const ConfigureGamepiecePickupInterface: React.FC<ConfigPickupProps> = ({ select
                 min={MIN_ZONE_SIZE}
                 max={MAX_ZONE_SIZE}
                 value={zoneSize}
-                label="Size"
+                label="Zone Size"
                 format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
                 onChange={(_, vel: number | number[]) => {
                     setZoneSize(vel as number)
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
index f2a3721704..220191cab3 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
@@ -56,6 +56,7 @@ const ConfigureSchemeInterface: React.FC<ConfigSchemeProps> = ({ selectedScheme
                     setUseGamepad(val)
                     selectedScheme.usesGamepad = val
                 }}
+                tooltipText="Supported controllers: Xbox one, Xbox 360."
             />
             <SectionDivider />
 
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx
index d351551a86..33ef12b7ab 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/EditInputInterface.tsx
@@ -112,20 +112,23 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
                     gap="10px"
                     alignItems={"center"}
                     justifyContent={"space-between"}
+                    width={"98%"}
                 >
                     <Label>{toTitleCase(input.inputName)}</Label>
 
-                    <Button
-                        key={input.inputName}
-                        value={
-                            input.inputName == selectedInput
-                                ? "Press anything"
-                                : transformKeyName(input.keyCode, input.keyModifiers)
-                        }
-                        onClick={() => {
-                            setSelectedInput(input.inputName)
-                        }}
-                    />
+                    <Box>
+                        <Button
+                            key={input.inputName}
+                            value={
+                                input.inputName == selectedInput
+                                    ? "Press anything"
+                                    : transformKeyName(input.keyCode, input.keyModifiers)
+                            }
+                            onClick={() => {
+                                setSelectedInput(input.inputName)
+                            }}
+                        />
+                    </Box>
                 </Box>
                 {Spacer(8, 0)}
                 <SectionDivider />
@@ -145,6 +148,7 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
                     gap="10px"
                     alignItems={"center"}
                     justifyContent={"space-between"}
+                    width={"98%"}
                 >
                     <Label>{toTitleCase(input.inputName)}</Label>
 
@@ -195,6 +199,7 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
                     gap="10px"
                     alignItems={"center"}
                     justifyContent={"space-between"}
+                    width={"98%"}
                 >
                     <Label>{toTitleCase(input.inputName)}</Label>
                     <Button
@@ -229,6 +234,7 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
                     gap="10px"
                     alignItems={"center"}
                     justifyContent={"space-between"}
+                    width={"98%"}
                 >
                     <Label>{toTitleCase(input.inputName)}</Label>
                     <Dropdown
@@ -257,6 +263,7 @@ const EditInputInterface: React.FC<EditInputProps> = ({ input, useGamepad, onInp
                     gap="10px"
                     alignItems={"center"}
                     justifyContent={"space-between"}
+                    width={"98%"}
                 >
                     <Label>{toTitleCase(input.inputName)}</Label>
 
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
index ff48d4f917..069c287f7d 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
@@ -4,6 +4,10 @@ import React, { useState } from "react"
 import ManageZonesInterface from "./ManageZonesInterface"
 import ZoneConfigInterface from "./ZoneConfigInterface"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import { Box } from "@mui/material"
+import { ButtonIcon, SectionDivider, SectionLabel, SynthesisIcons } from "@/ui/components/StyledComponents"
+import { LabelSize } from "@/ui/components/Label"
+import { ConfigurationSavedEvent } from "../../ConfigurePanel"
 
 const saveZones = (zones: ScoringZonePreferences[] | undefined, field: MirabufSceneObject | undefined) => {
     if (!zones || !field) return
@@ -32,13 +36,37 @@ const ConfigureScoringZonesInterface: React.FC<ConfigureZonesProps> = ({ selecte
                     selectZone={setSelectedZone}
                 />
             ) : (
-                <ZoneConfigInterface
-                    selectedField={selectedField}
-                    selectedZone={selectedZone}
-                    saveAllZones={() => {
-                        saveZones(selectedField.fieldPreferences?.scoringZones, selectedField)
-                    }}
-                />
+                <>
+                    <Box display="flex" textAlign={"center"} minHeight={"30px"} key="selected-item">
+                        <Box width={`60px`} />
+
+                        {/** Back arrow button when an option is selected */}
+                        <ButtonIcon
+                            value={SynthesisIcons.LeftArrowLarge}
+                            onClick={() => {
+                                new ConfigurationSavedEvent()
+                                setSelectedZone(undefined)
+                                //onOptionSelected(undefined)
+                            }}
+                        />
+
+                        {/** Label with either the header text, or the name of the selected option if an option is selected */}
+                        <Box alignSelf={"center"} display="flex">
+                            <Box width="8px" />
+                            <SectionLabel size={LabelSize.Small} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                {`Configuring Zone`}
+                            </SectionLabel>
+                        </Box>
+                    </Box>
+                    <SectionDivider />
+                    <ZoneConfigInterface
+                        selectedField={selectedField}
+                        selectedZone={selectedZone}
+                        saveAllZones={() => {
+                            saveZones(selectedField.fieldPreferences?.scoringZones, selectedField)
+                        }}
+                    />
+                </>
             )}
         </>
     )
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index aa3f37b2f8..351b5085f9 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -24,11 +24,12 @@ import {
     DeleteButton,
     RefreshButton,
     SynthesisIcons,
-    Spacer,
 } from "@/ui/components/StyledComponents"
 import { ProgressHandle } from "@/ui/components/ProgressNotificationData"
 import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 import Button from "@/ui/components/Button"
+import { setSelectedBrainIndexGlobal } from "../configuring/ChooseInputSchemePanel"
+import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 
 interface ItemCardProps {
     id: string
@@ -193,7 +194,10 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
             closePanel(panelId)
 
-            if (type == MiraType.ROBOT) openPanel("choose-scheme")
+            if (type == MiraType.ROBOT) {
+                setSelectedBrainIndexGlobal(SynthesisBrain.brainIndexMap.size)
+                openPanel("choose-scheme")
+            }
         },
         [showTooltip, closePanel, panelId, openPanel]
     )
@@ -216,7 +220,10 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
             closePanel(panelId)
 
-            if (type == MiraType.ROBOT) openPanel("choose-scheme")
+            if (type == MiraType.ROBOT) {
+                setSelectedBrainIndexGlobal(SynthesisBrain.brainIndexMap.size)
+                openPanel("choose-scheme")
+            }
         },
         [closePanel, panelId, openPanel]
     )
@@ -238,7 +245,10 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
             closePanel(panelId)
 
-            if (type == MiraType.ROBOT) openPanel("choose-scheme")
+            if (type == MiraType.ROBOT) {
+                setSelectedBrainIndexGlobal(SynthesisBrain.brainIndexMap.size)
+                openPanel("choose-scheme")
+            }
         },
         [closePanel, panelId, openPanel]
     )
@@ -344,7 +354,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
     return (
         <Panel
-            name={"Select Asset"}
+            name={"Spawn Asset"}
             icon={SynthesisIcons.AddLarge}
             panelId={panelId}
             acceptEnabled={false}
@@ -382,10 +392,6 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         </SectionLabel>
                         <SectionDivider />
                         {cachedFieldElements}
-                        {Spacer(5)}
-                        <Box alignSelf={"center"}>
-                            <Button value="Import from File" onClick={() => openModal("import-local-mirabuf")} />
-                        </Box>
                     </>
                 )}
                 <Box

From 371951d671e93a82eb10bb2066ab434bcc7bedf0 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 15:20:28 -0700
Subject: [PATCH 280/344] Windows fixups and tests

---
 exporter/SynthesisFusionAddin/Synthesis.py    | 3 ---
 exporter/SynthesisFusionAddin/src/Logging.py  | 4 ++--
 exporter/SynthesisFusionAddin/src/__init__.py | 6 ++++--
 installer/Windows/build.bat                   | 4 +---
 installer/Windows/installer.py                | 3 ---
 5 files changed, 7 insertions(+), 13 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index 09cb90b26e..c5befeddde 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -69,9 +69,6 @@ def stop(_):
     Arguments:
         **context** *context* -- Fusion Data.
     """
-    sys.path.remove(os.path.dirname(os.path.abspath(__file__)))
-    sys.path.remove(os.path.abspath(os.path.join(os.path.dirname(__file__), "proto", "proto_out")))
-
     unregister_all()
 
     app = adsk.core.Application.get()
diff --git a/exporter/SynthesisFusionAddin/src/Logging.py b/exporter/SynthesisFusionAddin/src/Logging.py
index c2fbad7b9d..49ba620fd0 100644
--- a/exporter/SynthesisFusionAddin/src/Logging.py
+++ b/exporter/SynthesisFusionAddin/src/Logging.py
@@ -11,7 +11,7 @@
 
 import adsk.core
 
-from src import INTERNAL_ID, IS_RELEASE, SUPPORT_PATH
+from src import INTERNAL_ID, IS_RELEASE, SUPPORT_PATH, gm
 from src.UI.OsHelper import getOSPath
 from src.Util import makeDirectories
 
@@ -36,6 +36,7 @@ def setupLogger() -> SynthesisLogger:
     else:
         logFileFolder = makeDirectories(f"{SUPPORT_PATH}/Logs/")
 
+    gm.ui.messageBox(logFileFolder)
     if not IS_RELEASE:  # TODO: Decide if this is what I want to do or not
         logFiles = [os.path.join(logFileFolder, file) for file in os.listdir(logFileFolder) if file.endswith(".log")]
         logFiles.sort()
@@ -52,7 +53,6 @@ def setupLogger() -> SynthesisLogger:
     logger = getLogger(INTERNAL_ID)
     logger.setLevel(10)  # Debug
     logger.addHandler(logHandler)
-
     return cast(SynthesisLogger, logger)
 
 
diff --git a/exporter/SynthesisFusionAddin/src/__init__.py b/exporter/SynthesisFusionAddin/src/__init__.py
index d3f111b77f..f47adb4ab3 100644
--- a/exporter/SynthesisFusionAddin/src/__init__.py
+++ b/exporter/SynthesisFusionAddin/src/__init__.py
@@ -17,12 +17,14 @@
 assert SYSTEM != "Linux"
 
 if SYSTEM == "Windows":
-    SUPPORT_PATH = makeDirectories(os.path.expandvars(r"%appdata%\Autodesk\Synthesis/"))
+    SUPPORT_PATH = makeDirectories(os.path.expandvars(r"%appdata%\Autodesk\Synthesis"))
 else:
     assert SYSTEM == "Darwin"
-    SUPPORT_PATH = makeDirectories(f"{os.path.expanduser('~')}/.config/Autodesk/Synthesis/")
+    SUPPORT_PATH = makeDirectories(f"{os.path.expanduser('~')}/.config/Autodesk/Synthesis")
 
 gm = GlobalManager()
+gm.ui.messageBox(f"Release: {IS_RELEASE}")
+gm.ui.messageBox(f"Support Path: {SUPPORT_PATH}")
 
 __all__ = [
     "APP_NAME",
diff --git a/installer/Windows/build.bat b/installer/Windows/build.bat
index 6dffacf9d4..143d357471 100644
--- a/installer/Windows/build.bat
+++ b/installer/Windows/build.bat
@@ -4,12 +4,10 @@ setlocal
 
 set "EXPORTER_SOURCE_DIR=..\..\exporter\SynthesisFusionAddin\"
 
-mkdir tmp\
-mkdir tmp\synthesis.bundle\
 mkdir tmp\synthesis.bundle\Contents\
 xcopy ..\synthesis.bundle .\tmp\synthesis.bundle
 xcopy /e /i "%EXPORTER_SOURCE_DIR%" tmp\synthesis.bundle\
-tar -a -c -f SynthesisExporter.zip -C tmp synthesis.bundle\*
+tar -a -c -f SynthesisExporter.zip -C tmp synthesis.bundle\Contents\*
 
 @REM Find and run pyinstaller, this is a workaround that allows you to call pip packages as scripts without
 @REM them being added to the system PATH.
diff --git a/installer/Windows/installer.py b/installer/Windows/installer.py
index f6c0846235..8247fe8912 100644
--- a/installer/Windows/installer.py
+++ b/installer/Windows/installer.py
@@ -42,9 +42,6 @@ def move_folder(src_folder, dest_folder):
 
 
 def main():
-    if not ctypes.windll.shell32.IsUserAnAdmin():
-        ctypes.windll.shell32.ShellExecuteW(None, "runas", sys.executable, " ".join(sys.argv), None, 1)
-
     destination_folder = os.path.expandvars(r"%appdata%\Autodesk\ApplicationPlugins")
     os.makedirs(destination_folder, exist_ok=True)
     with tempfile.TemporaryDirectory() as temp_dir:

From a29084f80c2568fdab2d88c08812c0d71f7b9135 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 15:28:30 -0700
Subject: [PATCH 281/344] Windows fixes

---
 exporter/SynthesisFusionAddin/src/__init__.py | 2 +-
 installer/Windows/build.bat                   | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/__init__.py b/exporter/SynthesisFusionAddin/src/__init__.py
index f47adb4ab3..031b0d1f10 100644
--- a/exporter/SynthesisFusionAddin/src/__init__.py
+++ b/exporter/SynthesisFusionAddin/src/__init__.py
@@ -11,7 +11,7 @@
 DESCRIPTION = "Exports files from Fusion into the Synthesis Format"
 INTERNAL_ID = "Synthesis"
 ADDIN_PATH = os.path.dirname(os.path.realpath(__file__))
-IS_RELEASE = str(Path(os.path.abspath(__file__)).parent.parent.parent.parent).split("/")[-1] == "ApplicationPlugins"
+IS_RELEASE = str(Path(os.path.abspath(__file__)).parent.parent.parent.parent).split(os.sep)[-1] == "ApplicationPlugins"
 
 SYSTEM: OperatingSystemString = platform.system()
 assert SYSTEM != "Linux"
diff --git a/installer/Windows/build.bat b/installer/Windows/build.bat
index 143d357471..a438c60e1e 100644
--- a/installer/Windows/build.bat
+++ b/installer/Windows/build.bat
@@ -6,8 +6,8 @@ set "EXPORTER_SOURCE_DIR=..\..\exporter\SynthesisFusionAddin\"
 
 mkdir tmp\synthesis.bundle\Contents\
 xcopy ..\synthesis.bundle .\tmp\synthesis.bundle
-xcopy /e /i "%EXPORTER_SOURCE_DIR%" tmp\synthesis.bundle\
-tar -a -c -f SynthesisExporter.zip -C tmp synthesis.bundle\Contents\*
+xcopy /e /i "%EXPORTER_SOURCE_DIR%" tmp\synthesis.bundle\Contents
+tar -a -c -f SynthesisExporter.zip -C tmp synthesis.bundle\*
 
 @REM Find and run pyinstaller, this is a workaround that allows you to call pip packages as scripts without
 @REM them being added to the system PATH.

From 9c777d6415619f901384d8d3d4a1aff7e4dd14b8 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 15 Aug 2024 15:56:06 -0700
Subject: [PATCH 282/344] fix encoder issue maybe

---
 .../simulation/wpilib_brain/WPILibBrain.ts        |  6 ++++--
 .../simulation/wpilib_brain/WPILibWSWorker.ts     |  7 ++++---
 .../rio-config/RCConfigEncoderModal.tsx           | 15 ++++++---------
 3 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index d4dc23fd2b..fb50d8feb3 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -102,10 +102,12 @@ export class SimGeneric {
             return false
         }
 
-        const selectedData: DeviceData = new Map<string, number>()
-        selectedData.set(field, value)
+        const selectedData: { [key: string]: number } = {}
+        selectedData[field] = value
         data.set(field, value)
 
+        console.log(`encoder update: ${JSON.stringify(selectedData)}`)
+
         worker.postMessage({
             command: "update",
             data: {
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
index e95edb360e..8079f2b257 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
@@ -31,15 +31,17 @@ async function tryDisconnect(): Promise<void> {
     await connectMutex.runExclusive(() => {
         if (!socket) return
 
-        socket?.close()
+        socket.close()
         socket = undefined
     })
 }
 
+// Posts incoming messages
 function onMessage(event: MessageEvent) {
     self.postMessage(event.data)
 }
 
+// Sends outgoing messages
 self.addEventListener("message", e => {
     switch (e.data.command) {
         case "connect":
@@ -49,6 +51,7 @@ self.addEventListener("message", e => {
             tryDisconnect()
             break
         case "update":
+            console.log(`update in worker ${JSON.stringify(e.data)}`)
             if (socket) socket.send(JSON.stringify(e.data.data))
             break
         default:
@@ -56,5 +59,3 @@ self.addEventListener("message", e => {
             break
     }
 })
-
-console.log("Worker started")
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
index e0f452cda7..ff0449fa2f 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
@@ -21,24 +21,21 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
 
     const miraObjs = [...World.SceneRenderer.sceneObjects.entries()].filter(x => x[1] instanceof MirabufSceneObject)
     if (miraObjs.length > 0) {
+        // TODO: make the object selectable
         const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism
         simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)
         stimuli = simLayer?.stimuli.filter(s => s instanceof EncoderStimulus) ?? []
         brain = simLayer?.brain as WPILibBrain
     }
 
-    let devices: [string, unknown][] = []
+    const devices: [string, unknown][] = [...simMap.get(SimType.CANEncoder)?.entries() ?? []] // ugly
 
-    const encoders = simMap.get(SimType.CANEncoder)
-    if (encoders) {
-        devices = [...encoders.entries()]
-    }
-
-    const stimMap: { [key: string]: EncoderStimulus } = {}
+    const stimMap = new Map<string, EncoderStimulus>()
 
     stimuli.forEach(stim => {
         const label = `${stim.constructor.name} ${stim.info?.name && "(" + stim.info!.name + ")"}`
-        stimMap[label] = stim
+        console.log("stim: " + label)
+        stimMap.set(label, stim)
     })
 
     const [selectedDevice, setSelectedDevice] = useState<string>(devices[0] && devices[0][0])
@@ -61,7 +58,7 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             <Label size={LabelSize.Small}>Name</Label>
             <Input placeholder="..." className="w-full" onInput={setName} />
             <Dropdown label="Encoders" options={devices.map(n => n[0])} onSelect={s => setSelectedDevice(s)} />
-            <Dropdown label="Stimuli" options={Object.keys(stimMap)} onSelect={s => setSelectedStimulus(stimMap[s])} />
+            <Dropdown label="Stimuli" options={[...stimMap.keys()]} onSelect={s => setSelectedStimulus(stimMap.get(s))} />
         </Modal>
     )
 }

From c40a5e4cfddde85276dca008590a0e8cc688dcd1 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 16:02:35 -0700
Subject: [PATCH 283/344] Windows fixes

---
 exporter/SynthesisFusionAddin/src/Logging.py  | 12 +++++-------
 exporter/SynthesisFusionAddin/src/__init__.py |  2 --
 2 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/Logging.py b/exporter/SynthesisFusionAddin/src/Logging.py
index 49ba620fd0..6379a92125 100644
--- a/exporter/SynthesisFusionAddin/src/Logging.py
+++ b/exporter/SynthesisFusionAddin/src/Logging.py
@@ -11,8 +11,7 @@
 
 import adsk.core
 
-from src import INTERNAL_ID, IS_RELEASE, SUPPORT_PATH, gm
-from src.UI.OsHelper import getOSPath
+from src import INTERNAL_ID, IS_RELEASE, SUPPORT_PATH
 from src.Util import makeDirectories
 
 MAX_LOG_FILES_TO_KEEP = 10
@@ -32,19 +31,18 @@ def setupLogger() -> SynthesisLogger:
     now = datetime.now().strftime("%H-%M-%S")
     today = date.today()
     if not IS_RELEASE:
-        logFileFolder = makeDirectories(getOSPath(f"{pathlib.Path(__file__).parent.parent}", "logs"))
+        logFileFolder = makeDirectories(os.path.join(f"{pathlib.Path(__file__).parent.parent}", "logs"))
     else:
-        logFileFolder = makeDirectories(f"{SUPPORT_PATH}/Logs/")
+        logFileFolder = makeDirectories(os.path.join(SUPPORT_PATH, "Logs"))
 
-    gm.ui.messageBox(logFileFolder)
-    if not IS_RELEASE:  # TODO: Decide if this is what I want to do or not
+    if not IS_RELEASE:
         logFiles = [os.path.join(logFileFolder, file) for file in os.listdir(logFileFolder) if file.endswith(".log")]
         logFiles.sort()
         if len(logFiles) >= MAX_LOG_FILES_TO_KEEP:
             for file in logFiles[: len(logFiles) - MAX_LOG_FILES_TO_KEEP]:
                 os.remove(file)
 
-    logFileName = f"{logFileFolder}{getOSPath(f'{today}-{now}.log')}"
+    logFileName = os.path.join(logFileFolder, f"{today}-{now}.log")
     logHandler = logging.handlers.WatchedFileHandler(logFileName, mode="w")
     logHandler.setFormatter(logging.Formatter("%(name)s - %(levelname)s - %(message)s"))
 
diff --git a/exporter/SynthesisFusionAddin/src/__init__.py b/exporter/SynthesisFusionAddin/src/__init__.py
index 031b0d1f10..ac2bea477d 100644
--- a/exporter/SynthesisFusionAddin/src/__init__.py
+++ b/exporter/SynthesisFusionAddin/src/__init__.py
@@ -23,8 +23,6 @@
     SUPPORT_PATH = makeDirectories(f"{os.path.expanduser('~')}/.config/Autodesk/Synthesis")
 
 gm = GlobalManager()
-gm.ui.messageBox(f"Release: {IS_RELEASE}")
-gm.ui.messageBox(f"Support Path: {SUPPORT_PATH}")
 
 __all__ = [
     "APP_NAME",

From f5f79e0946b6dbc669fa5fa68b543735ab54278a Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 16:04:49 -0700
Subject: [PATCH 284/344] Update installer directory

---
 installer/{ => exporter}/OSX/Scripts/preinstall                 | 0
 installer/{ => exporter}/OSX/build.sh                           | 2 +-
 installer/{ => exporter}/OSX/distribution.xml                   | 0
 .../{ => exporter}/OSX/synthesis.bundle/Contents/Info.plist     | 0
 installer/{ => exporter}/Windows/build.bat                      | 2 +-
 installer/{ => exporter}/Windows/installer.py                   | 0
 installer/{ => exporter}/synthesis.bundle/PackageContents.xml   | 0
 7 files changed, 2 insertions(+), 2 deletions(-)
 rename installer/{ => exporter}/OSX/Scripts/preinstall (100%)
 rename installer/{ => exporter}/OSX/build.sh (89%)
 rename installer/{ => exporter}/OSX/distribution.xml (100%)
 rename installer/{ => exporter}/OSX/synthesis.bundle/Contents/Info.plist (100%)
 rename installer/{ => exporter}/Windows/build.bat (93%)
 rename installer/{ => exporter}/Windows/installer.py (100%)
 rename installer/{ => exporter}/synthesis.bundle/PackageContents.xml (100%)

diff --git a/installer/OSX/Scripts/preinstall b/installer/exporter/OSX/Scripts/preinstall
similarity index 100%
rename from installer/OSX/Scripts/preinstall
rename to installer/exporter/OSX/Scripts/preinstall
diff --git a/installer/OSX/build.sh b/installer/exporter/OSX/build.sh
similarity index 89%
rename from installer/OSX/build.sh
rename to installer/exporter/OSX/build.sh
index 15774fc9fd..9b13e2d29a 100755
--- a/installer/OSX/build.sh
+++ b/installer/exporter/OSX/build.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 FUSION_ADDIN_LOCATION=~/Library/Application\ Support/Autodesk/ApplicationPlugins/
-EXPORTER_SOURCE_DIR=../../exporter/SynthesisFusionAddin/
+EXPORTER_SOURCE_DIR=../../../exporter/SynthesisFusionAddin/
 
 mkdir -p tmp/
 cp -r synthesis.bundle tmp/
diff --git a/installer/OSX/distribution.xml b/installer/exporter/OSX/distribution.xml
similarity index 100%
rename from installer/OSX/distribution.xml
rename to installer/exporter/OSX/distribution.xml
diff --git a/installer/OSX/synthesis.bundle/Contents/Info.plist b/installer/exporter/OSX/synthesis.bundle/Contents/Info.plist
similarity index 100%
rename from installer/OSX/synthesis.bundle/Contents/Info.plist
rename to installer/exporter/OSX/synthesis.bundle/Contents/Info.plist
diff --git a/installer/Windows/build.bat b/installer/exporter/Windows/build.bat
similarity index 93%
rename from installer/Windows/build.bat
rename to installer/exporter/Windows/build.bat
index a438c60e1e..22a66e430b 100644
--- a/installer/Windows/build.bat
+++ b/installer/exporter/Windows/build.bat
@@ -2,7 +2,7 @@
 setlocal enabledelayedexpansion
 setlocal
 
-set "EXPORTER_SOURCE_DIR=..\..\exporter\SynthesisFusionAddin\"
+set "EXPORTER_SOURCE_DIR=..\..\..\exporter\SynthesisFusionAddin\"
 
 mkdir tmp\synthesis.bundle\Contents\
 xcopy ..\synthesis.bundle .\tmp\synthesis.bundle
diff --git a/installer/Windows/installer.py b/installer/exporter/Windows/installer.py
similarity index 100%
rename from installer/Windows/installer.py
rename to installer/exporter/Windows/installer.py
diff --git a/installer/synthesis.bundle/PackageContents.xml b/installer/exporter/synthesis.bundle/PackageContents.xml
similarity index 100%
rename from installer/synthesis.bundle/PackageContents.xml
rename to installer/exporter/synthesis.bundle/PackageContents.xml

From f31daeb792d98c7ed965cc4066a39bdf2d90f9a5 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 16:08:23 -0700
Subject: [PATCH 285/344] Add request admin back

---
 installer/exporter/Windows/installer.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/installer/exporter/Windows/installer.py b/installer/exporter/Windows/installer.py
index 8247fe8912..f6c0846235 100644
--- a/installer/exporter/Windows/installer.py
+++ b/installer/exporter/Windows/installer.py
@@ -42,6 +42,9 @@ def move_folder(src_folder, dest_folder):
 
 
 def main():
+    if not ctypes.windll.shell32.IsUserAnAdmin():
+        ctypes.windll.shell32.ShellExecuteW(None, "runas", sys.executable, " ".join(sys.argv), None, 1)
+
     destination_folder = os.path.expandvars(r"%appdata%\Autodesk\ApplicationPlugins")
     os.makedirs(destination_folder, exist_ok=True)
     with tempfile.TemporaryDirectory() as temp_dir:

From aa89027a408feb1d3929f199795273e282add51a Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 16:20:46 -0700
Subject: [PATCH 286/344] Windows qol

---
 installer/exporter/Windows/build.bat    | 17 ++++++++
 installer/exporter/Windows/installer.py | 53 +++++++++++--------------
 2 files changed, 41 insertions(+), 29 deletions(-)

diff --git a/installer/exporter/Windows/build.bat b/installer/exporter/Windows/build.bat
index 22a66e430b..7dab1aca5e 100644
--- a/installer/exporter/Windows/build.bat
+++ b/installer/exporter/Windows/build.bat
@@ -2,6 +2,23 @@
 setlocal enabledelayedexpansion
 setlocal
 
+where python >nul 2>&1
+IF %ERRORLEVEL% NEQ 0 (
+    echo Python not found. Installing Python...
+    curl -o python-installer.exe https://www.python.org/ftp/python/3.11.0/python-3.11.0-amd64.exe
+    python-installer.exe /quiet InstallAllUsers=1 PrependPath=1
+    del python-installer.exe
+)
+
+python -m pip --version >nul 2>&1
+if %ERRORLEVEL% NEQ 0 (
+    echo pip not found. Installing pip...
+    python -m ensurepip
+    python -m pip install --upgrade pip
+)
+
+python -m pip install -r requirements.txt
+
 set "EXPORTER_SOURCE_DIR=..\..\..\exporter\SynthesisFusionAddin\"
 
 mkdir tmp\synthesis.bundle\Contents\
diff --git a/installer/exporter/Windows/installer.py b/installer/exporter/Windows/installer.py
index f6c0846235..ab09ec1e77 100644
--- a/installer/exporter/Windows/installer.py
+++ b/installer/exporter/Windows/installer.py
@@ -6,54 +6,49 @@
 import ctypes
 
 
-def resource_path(relative_path):
+def getResourcePath(relativePath: str | os.PathLike[str]) -> None:
     if getattr(sys, "frozen", False) and hasattr(sys, "_MEIPASS"):
-        base_path = sys._MEIPASS
+        basePath = sys._MEIPASS
     else:
-        base_path = os.path.dirname(__file__)
+        basePath = os.path.dirname(__file__)
 
-    return os.path.join(base_path, relative_path)
+    return os.path.join(basePath, relativePath)
 
 
-def extract_file(resource_name, dest_folder):
-    resource_full_path = resource_path(resource_name)
-    if not os.path.exists(resource_full_path):
-        raise FileNotFoundError(f"Resource '{resource_name}' not found.")
+def extractFile(resourceName: str | os.PathLike[str], destinationFolder: str | os.PathLike[str]) -> None:
+    fullResourcePath = getResourcePath(resourceName)
+    if not os.path.exists(fullResourcePath):
+        raise FileNotFoundError(f"Resource '{resourceName}' not found.")
 
-    shutil.copy(resource_full_path, os.path.join(dest_folder, resource_name))
+    shutil.copy(fullResourcePath, os.path.join(destinationFolder, resourceName))
 
 
-def move_folder(src_folder, dest_folder):
-    if not os.path.exists(src_folder):
-        print(f"Source folder '{src_folder}' does not exist.")
-        return
+def move_folder(sourceFolder: str | os.PathLike[str], destinationFolder: str | os.PathLike[str]) -> None:
+    if not os.path.exists(sourceFolder):
+        raise FileNotFoundError(f"Source folder '{sourceFolder}' not found.")
 
-    if not os.path.exists(dest_folder):
-        print(f"Destination folder '{dest_folder}' does not exist. Creating it.")
-        os.makedirs(dest_folder)
-
-    dest_path = os.path.join(dest_folder, os.path.basename(src_folder))
+    dest_path = os.path.join(destinationFolder, os.path.basename(sourceFolder))
     if os.path.exists(dest_path):
         print("Path exists, removing it...")
         shutil.rmtree(dest_path)
 
-    shutil.move(src_folder, dest_folder)
-    print(f"Successfully moved '{src_folder}' to '{dest_folder}'.")
+    shutil.move(sourceFolder, destinationFolder)
+    print(f"Successfully moved '{sourceFolder}' to '{destinationFolder}'.")
 
 
-def main():
+def main() -> None:
     if not ctypes.windll.shell32.IsUserAnAdmin():
         ctypes.windll.shell32.ShellExecuteW(None, "runas", sys.executable, " ".join(sys.argv), None, 1)
 
-    destination_folder = os.path.expandvars(r"%appdata%\Autodesk\ApplicationPlugins")
-    os.makedirs(destination_folder, exist_ok=True)
-    with tempfile.TemporaryDirectory() as temp_dir:
-        extract_file("SynthesisExporter.zip", temp_dir)
-        with zipfile.ZipFile(os.path.join(temp_dir, "SynthesisExporter.zip"), "r") as zip_ref:
-            zip_ref.extractall(temp_dir)
+    destinationFolder = os.path.expandvars(r"%appdata%\Autodesk\ApplicationPlugins")
+    os.makedirs(destinationFolder, exist_ok=True)
+    with tempfile.TemporaryDirectory() as tempDir:
+        extractFile("SynthesisExporter.zip", tempDir)
+        with zipfile.ZipFile(os.path.join(tempDir, "SynthesisExporter.zip"), "r") as zip:
+            zip.extractall(tempDir)
 
-        src_folder = os.path.join(temp_dir, "synthesis.bundle")
-        move_folder(src_folder, destination_folder)
+        sourceFolder = os.path.join(tempDir, "synthesis.bundle")
+        move_folder(sourceFolder, destinationFolder)
 
 
 if __name__ == "__main__":

From c77cd5a1e3abd0e434e3ef51f50a00cb00f61e3d Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 16:20:59 -0700
Subject: [PATCH 287/344] Track pip requirements

---
 installer/exporter/Windows/requirements.txt | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 installer/exporter/Windows/requirements.txt

diff --git a/installer/exporter/Windows/requirements.txt b/installer/exporter/Windows/requirements.txt
new file mode 100644
index 0000000000..ef376ca83a
--- /dev/null
+++ b/installer/exporter/Windows/requirements.txt
@@ -0,0 +1 @@
+pyinstaller

From 60e7297f080a1207f4f505a44f3236e27d5673a0 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Thu, 15 Aug 2024 17:20:46 -0700
Subject: [PATCH 288/344] Pretty sure this is a pip bug

Co-authored-by: a-crowell <a-crowell@users.noreply.github.com>
---
 installer/exporter/Windows/build.bat | 17 +----------------
 1 file changed, 1 insertion(+), 16 deletions(-)

diff --git a/installer/exporter/Windows/build.bat b/installer/exporter/Windows/build.bat
index 7dab1aca5e..a44de1a285 100644
--- a/installer/exporter/Windows/build.bat
+++ b/installer/exporter/Windows/build.bat
@@ -2,22 +2,7 @@
 setlocal enabledelayedexpansion
 setlocal
 
-where python >nul 2>&1
-IF %ERRORLEVEL% NEQ 0 (
-    echo Python not found. Installing Python...
-    curl -o python-installer.exe https://www.python.org/ftp/python/3.11.0/python-3.11.0-amd64.exe
-    python-installer.exe /quiet InstallAllUsers=1 PrependPath=1
-    del python-installer.exe
-)
-
-python -m pip --version >nul 2>&1
-if %ERRORLEVEL% NEQ 0 (
-    echo pip not found. Installing pip...
-    python -m ensurepip
-    python -m pip install --upgrade pip
-)
-
-python -m pip install -r requirements.txt
+python -m pip install -r requirements.txt --user
 
 set "EXPORTER_SOURCE_DIR=..\..\..\exporter\SynthesisFusionAddin\"
 

From 85124e8c04a0382698037c971dc2fb982a76b254 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Fri, 16 Aug 2024 13:46:50 -0700
Subject: [PATCH 289/344] Working subsystem config through the global panel

---
 .../assembly-config/ConfigurePanel.tsx        |  17 +--
 .../ConfigureSubsystemsInterface.tsx          | 113 ++++++++++++++++++
 .../ConfigureSubsystemsInterfaceOLD.tsx}      |  35 ++----
 3 files changed, 127 insertions(+), 38 deletions(-)
 create mode 100644 fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
 rename fission/src/ui/panels/configuring/{ConfigureSubsystemsInterface.tsx => assembly-config/interfaces/ConfigureSubsystemsInterfaceOLD.tsx} (91%)

diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index ec527ac26d..3bcc27676f 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -6,10 +6,7 @@ import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
 import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
 import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
 import { useEffect, useMemo, useReducer, useState } from "react"
-import ConfigureGamepiecePickupInterface from "./interfaces/ConfigureGamepiecePickupInterface"
-import ConfigureShotTrajectoryInterface from "./interfaces/ConfigureShotTrajectoryInterface"
 import ConfigureScoringZonesInterface from "./interfaces/scoring/ConfigureScoringZonesInterface"
-import SequentialBehaviorsInterface from "./interfaces/SequentialBehaviorsInterface"
 import ChangeInputsInterface from "./interfaces/inputs/ConfigureInputsInterface"
 import InputSystem from "@/systems/input/InputSystem"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
@@ -18,12 +15,9 @@ import Button from "@/ui/components/Button"
 import { setSelectedBrainIndexGlobal } from "../ChooseInputSchemePanel"
 import ConfigureSchemeInterface from "./interfaces/inputs/ConfigureSchemeInterface"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
-import ConfigureSubsystemsInterface from "../ConfigureSubsystemsInterface"
+import ConfigureSubsystemsInterface from "./interfaces/ConfigureSubsystemsInterface"
 
 enum ConfigMode {
-    INTAKE,
-    EJECTOR,
-    MOTORS,
     SUBSYSTEMS,
     CONTROLS,
     SCORING_ZONES,
@@ -126,9 +120,6 @@ class ConfigModeSelectionOption extends SelectMenuOption {
 }
 
 const robotModes = [
-    new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
-    new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
-    new ConfigModeSelectionOption("Sequential Joints", ConfigMode.MOTORS),
     new ConfigModeSelectionOption("Subsystems", ConfigMode.SUBSYSTEMS),
     new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
 ]
@@ -161,12 +152,6 @@ interface ConfigInterfaceProps {
 /** The interface for the actual configuration */
 const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly, openPanel }) => {
     switch (configMode) {
-        case ConfigMode.INTAKE:
-            return <ConfigureGamepiecePickupInterface selectedRobot={assembly} />
-        case ConfigMode.EJECTOR:
-            return <ConfigureShotTrajectoryInterface selectedRobot={assembly} />
-        case ConfigMode.MOTORS:
-            return <SequentialBehaviorsInterface selectedRobot={assembly} />
         case ConfigMode.SUBSYSTEMS:
             return <ConfigureSubsystemsInterface selectedRobot={assembly} />
         case ConfigMode.CONTROLS: {
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
new file mode 100644
index 0000000000..6779e5d61c
--- /dev/null
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
@@ -0,0 +1,113 @@
+import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
+import React, { useMemo, useState } from "react"
+import ConfigureGamepiecePickupInterface from "./ConfigureGamepiecePickupInterface"
+import ConfigureShotTrajectoryInterface from "./ConfigureShotTrajectoryInterface"
+import SequentialBehaviorsInterface from "./SequentialBehaviorsInterface"
+import { ConfigurationSavedEvent } from "../ConfigurePanel"
+import World from "@/systems/World"
+import SliderDriver from "@/systems/simulation/driver/SliderDriver"
+import HingeDriver from "@/systems/simulation/driver/HingeDriver"
+import Driver from "@/systems/simulation/driver/Driver"
+import WheelDriver from "@/systems/simulation/driver/WheelDriver"
+import { SubsystemRow } from "./ConfigureSubsystemsInterfaceOLD"
+
+enum ConfigMode {
+    NONE,
+    INTAKE,
+    EJECTOR,
+    SUBSYSTEMS,
+    SEQUENTIAL,
+}
+
+class ConfigModeSelectionOption extends SelectMenuOption {
+    configMode: ConfigMode
+    driver?: Driver
+
+    constructor(name: string, configMode: ConfigMode, driver?: Driver) {
+        super(name)
+        this.configMode = configMode
+        this.driver = driver
+    }
+}
+
+interface ConfigSubsystemProps {
+    selectedRobot: MirabufSceneObject
+}
+
+interface ConfigInterfaceProps {
+    configModeOption: ConfigModeSelectionOption
+    selectedRobot: MirabufSceneObject
+}
+
+const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configModeOption, selectedRobot }) => {
+    switch (configModeOption.configMode) {
+        case ConfigMode.INTAKE:
+            return <ConfigureGamepiecePickupInterface selectedRobot={selectedRobot} />
+        case ConfigMode.EJECTOR:
+            return <ConfigureShotTrajectoryInterface selectedRobot={selectedRobot} />
+        case ConfigMode.SEQUENTIAL:
+            return <SequentialBehaviorsInterface selectedRobot={selectedRobot} />
+        case ConfigMode.SUBSYSTEMS:
+            return <ConfigureSubsystemsInterface selectedRobot={selectedRobot} />
+        case ConfigMode.NONE:
+            return <SubsystemRow driver={configModeOption.driver!} robot={selectedRobot} />
+        default:
+            throw new Error(`Config mode ${configModeOption.configMode} has no associated interface`)
+    }
+}
+
+const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selectedRobot }) => {
+    const [selectedConfigMode, setSelectedConfigMode] = useState<ConfigModeSelectionOption | undefined>(undefined)
+
+    const drivers = useMemo(() => {
+        return World.SimulationSystem.GetSimulationLayer(selectedRobot.mechanism)?.drivers
+    }, [selectedRobot])
+
+    const getConfigModes = () => {
+        const modes = [
+            new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
+            new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
+            //new ConfigModeSelectionOption("Subsystems", ConfigMode.SUBSYSTEMS),
+        ]
+
+        if (drivers == undefined) return modes
+
+        modes.push(
+            new ConfigModeSelectionOption(
+                "Drivetrain",
+                ConfigMode.NONE,
+                drivers.filter(x => x instanceof WheelDriver)[0]
+            )
+        )
+
+        drivers
+            .filter(x => x instanceof SliderDriver || x instanceof HingeDriver)
+            .forEach(d => {
+                modes.push(new ConfigModeSelectionOption(d.info?.name ?? "UnnamedMotor", ConfigMode.NONE, d))
+            })
+
+        modes.push(new ConfigModeSelectionOption("Sequence Joints", ConfigMode.SEQUENTIAL))
+
+        return modes
+    }
+
+    return (
+        <>
+            <SelectMenu
+                options={getConfigModes()}
+                onOptionSelected={val => {
+                    if (val != undefined) new ConfigurationSavedEvent()
+                    setSelectedConfigMode(val as ConfigModeSelectionOption)
+                }}
+                defaultHeaderText="Select a Configuration Mode"
+                indentation={2}
+            />
+            {selectedConfigMode != undefined && (
+                <ConfigInterface configModeOption={selectedConfigMode} selectedRobot={selectedRobot} />
+            )}
+        </>
+    )
+}
+
+export default ConfigureSubsystemsInterface
diff --git a/fission/src/ui/panels/configuring/ConfigureSubsystemsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterfaceOLD.tsx
similarity index 91%
rename from fission/src/ui/panels/configuring/ConfigureSubsystemsInterface.tsx
rename to fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterfaceOLD.tsx
index 44b0a6f650..83bd76369b 100644
--- a/fission/src/ui/panels/configuring/ConfigureSubsystemsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterfaceOLD.tsx
@@ -1,29 +1,25 @@
-import { MiraType } from "@/mirabuf/MirabufLoader"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
-import { RobotPreferences } from "@/systems/preferences/PreferenceTypes"
 import Driver from "@/systems/simulation/driver/Driver"
 import HingeDriver from "@/systems/simulation/driver/HingeDriver"
 import SliderDriver from "@/systems/simulation/driver/SliderDriver"
 import WheelDriver from "@/systems/simulation/driver/WheelDriver"
 import World from "@/systems/World"
-import Button from "@/ui/components/Button"
 import Label, { LabelSize } from "@/ui/components/Label"
-import { PanelPropsImpl } from "@/ui/components/Panel"
 import ScrollView from "@/ui/components/ScrollView"
 import Slider from "@/ui/components/Slider"
 import Stack, { StackDirection } from "@/ui/components/Stack"
 import { SectionDivider } from "@/ui/components/StyledComponents"
 import { Box } from "@mui/material"
 import { useCallback, useEffect, useMemo, useState } from "react"
-import { ConfigurationSavedEvent } from "./assembly-config/ConfigurePanel"
+import { ConfigurationSavedEvent } from "../ConfigurePanel"
 
 type SubsystemRowProps = {
     robot: MirabufSceneObject
     driver: Driver
 }
 
-const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
+export const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
     const driverSwitch = (driver: Driver, slider: unknown, hinge: unknown, drivetrain: unknown) => {
         switch (driver.constructor) {
             case SliderDriver:
@@ -137,18 +133,9 @@ interface ConfigureSubsystemsProps {
     selectedRobot: MirabufSceneObject
 }
 
-const ConfigureSubsystemsInterface: React.FC<ConfigureSubsystemsProps> = ({ selectedRobot }) => {
-    const [origPref, setOrigPref] = useState<RobotPreferences | undefined>(undefined)
-
-    const robots = useMemo(() => {
-        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
-            if (x instanceof MirabufSceneObject) {
-                return x.miraType === MiraType.ROBOT
-            }
-            return false
-        }) as MirabufSceneObject[]
-        return assemblies
-    }, [])
+const ConfigureSubsystemsInterfaceOLD: React.FC<ConfigureSubsystemsProps> = ({ selectedRobot }) => {
+    // This is disabled for now, but will be added back when merged with Aylas cancel functionality branch
+    //const [origPref, setOrigPref] = useState<RobotPreferences | undefined>(undefined)
 
     const drivers = useMemo(() => {
         return selectedRobot?.mechanism
@@ -168,8 +155,13 @@ const ConfigureSubsystemsInterface: React.FC<ConfigureSubsystemsProps> = ({ sele
         }
     }, [saveEvent])
 
+    /**
+     *
+     * This is disabled for now, but will be added back when merged with Aylas cancel functionality branch
+     *
+     */
     // Gets motors in preferences for ease of saving into origPrefs which can be used to revert on Cancel()
-    function saveOrigMotors(robot: MirabufSceneObject) {
+    /*     function saveOrigMotors(robot: MirabufSceneObject) {
         drivers?.forEach(driver => {
             if (driver.info && driver.info.name && !(driver instanceof WheelDriver)) {
                 const motors = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
@@ -192,7 +184,6 @@ const ConfigureSubsystemsInterface: React.FC<ConfigureSubsystemsProps> = ({ sele
         setOrigPref({ ...PreferencesSystem.getRobotPreferences(robot.assemblyName) }) // clone
     }
 
-    // TODO
     function Cancel() {
         if (selectedRobot && origPref) {
             drivers?.forEach(driver => {
@@ -221,7 +212,7 @@ const ConfigureSubsystemsInterface: React.FC<ConfigureSubsystemsProps> = ({ sele
             PreferencesSystem.setRobotPreferences(selectedRobot.assemblyName, origPref)
         }
         PreferencesSystem.savePreferences()
-    }
+    } */
 
     return (
         <>
@@ -258,4 +249,4 @@ const ConfigureSubsystemsInterface: React.FC<ConfigureSubsystemsProps> = ({ sele
     )
 }
 
-export default ConfigureSubsystemsInterface
+export default ConfigureSubsystemsInterfaceOLD

From 37b65dd06c5a21429866e8a5fea025f407287e70 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Fri, 16 Aug 2024 20:58:22 -0700
Subject: [PATCH 290/344] fix and cleanup code sim

---
 fission/src/systems/simulation/driver/WheelDriver.ts      | 2 +-
 fission/src/systems/simulation/wpilib_brain/SimOutput.ts  | 8 ++++----
 .../src/systems/simulation/wpilib_brain/WPILibBrain.ts    | 5 ++---
 .../src/systems/simulation/wpilib_brain/WPILibWSWorker.ts | 1 -
 .../configuring/rio-config/RCConfigEncoderModal.tsx       | 1 -
 5 files changed, 7 insertions(+), 10 deletions(-)

diff --git a/fission/src/systems/simulation/driver/WheelDriver.ts b/fission/src/systems/simulation/driver/WheelDriver.ts
index 916a6c6a28..13b0420c8e 100644
--- a/fission/src/systems/simulation/driver/WheelDriver.ts
+++ b/fission/src/systems/simulation/driver/WheelDriver.ts
@@ -19,7 +19,7 @@ class WheelDriver extends Driver {
     public maxVelocity = 30.0
     private _maxAcceleration = 1.5
 
-    private _targetVelocity = () => {
+    public _targetVelocity = () => {
         let vel = this.accelerationDirection * (this._reversed ? -1 : 1) * this.maxVelocity
 
         if (vel - this._prevVel < -this._maxAcceleration) vel = this._prevVel - this._maxAcceleration
diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index a3debbe7f7..40fe5494e9 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -41,9 +41,9 @@ export class PWMOutputGroup extends SimOutputGroup {
 
         this.drivers.forEach(d => {
             if (d instanceof WheelDriver) {
-                d.targetWheelSpeed = average * 40
+                d.accelerationDirection = average
             } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
-                d.targetVelocity = average * 40
+                d.accelerationDirection = average
             }
             d.Update(_deltaT)
         })
@@ -64,9 +64,9 @@ export class CANOutputGroup extends SimOutputGroup {
 
         this.drivers.forEach(d => {
             if (d instanceof WheelDriver) {
-                d.targetWheelSpeed = average * 40
+                d.accelerationDirection = average
             } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
-                d.targetVelocity = average * 40
+                d.accelerationDirection = average
             }
             d.Update(deltaT)
         })
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index ce71c8800a..deb9b08407 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -106,8 +106,6 @@ export class SimGeneric {
         selectedData[field] = value
         data.set(field, value)
 
-        console.log(`encoder update: ${JSON.stringify(selectedData)}`)
-
         worker.postMessage({
             command: "update",
             data: {
@@ -307,4 +305,5 @@ export class SimMapUpdateEvent extends Event {
     }
 }
 
-export default WPILibBrain
\ No newline at end of file
+export default WPILibBrain
+
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
index 8079f2b257..1da08a1b75 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts
@@ -51,7 +51,6 @@ self.addEventListener("message", e => {
             tryDisconnect()
             break
         case "update":
-            console.log(`update in worker ${JSON.stringify(e.data)}`)
             if (socket) socket.send(JSON.stringify(e.data.data))
             break
         default:
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
index ff0449fa2f..d8189f4b96 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
@@ -34,7 +34,6 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
 
     stimuli.forEach(stim => {
         const label = `${stim.constructor.name} ${stim.info?.name && "(" + stim.info!.name + ")"}`
-        console.log("stim: " + label)
         stimMap.set(label, stim)
     })
 

From 3d0e24f991b52329d1c9a55aea528384d636526e Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Fri, 16 Aug 2024 23:41:01 -0600
Subject: [PATCH 291/344] Formatted

---
 .../src/systems/simulation/wpilib_brain/WPILibBrain.ts    | 1 -
 .../configuring/rio-config/RCConfigEncoderModal.tsx       | 8 ++++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index deb9b08407..a00034d1a4 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -306,4 +306,3 @@ export class SimMapUpdateEvent extends Event {
 }
 
 export default WPILibBrain
-
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
index d8189f4b96..c60af762f7 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
@@ -28,7 +28,7 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         brain = simLayer?.brain as WPILibBrain
     }
 
-    const devices: [string, unknown][] = [...simMap.get(SimType.CANEncoder)?.entries() ?? []] // ugly
+    const devices: [string, unknown][] = [...(simMap.get(SimType.CANEncoder)?.entries() ?? [])] // ugly
 
     const stimMap = new Map<string, EncoderStimulus>()
 
@@ -57,7 +57,11 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             <Label size={LabelSize.Small}>Name</Label>
             <Input placeholder="..." className="w-full" onInput={setName} />
             <Dropdown label="Encoders" options={devices.map(n => n[0])} onSelect={s => setSelectedDevice(s)} />
-            <Dropdown label="Stimuli" options={[...stimMap.keys()]} onSelect={s => setSelectedStimulus(stimMap.get(s))} />
+            <Dropdown
+                label="Stimuli"
+                options={[...stimMap.keys()]}
+                onSelect={s => setSelectedStimulus(stimMap.get(s))}
+            />
         </Modal>
     )
 }

From ed2a1dfb4be0f06cc73809073441f485a4f03657 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Mon, 19 Aug 2024 14:14:41 -0700
Subject: [PATCH 292/344] Update exporter readmes for installer

---
 installer/README.md          | 22 ++++++++++++++++------
 installer/exporter/README.md | 29 +++++++++++++++++++++++++++++
 tutorials/FusionExporter.md  | 17 +++++++++++------
 3 files changed, 56 insertions(+), 12 deletions(-)
 create mode 100644 installer/exporter/README.md

diff --git a/installer/README.md b/installer/README.md
index 7234c7cec8..598f6b8ae6 100644
--- a/installer/README.md
+++ b/installer/README.md
@@ -1,6 +1,20 @@
-# Installing the Synthesis Fusion Exporter
+# Installers
 
-## Manual Install
+We recently transitioned to a platform independent, web-based application. As such, we no longer maintain a installer for the core simulator. We do, however, still have one for our Fusion Exporter.
+
+## Installing the Synthesis Fusion Exporter
+
+### Using an Installer
+
+- Visit [synthesis.autodesk.com/download](https://synthesis.autodesk.com/download.html) and select the installer for your operating system.
+  - Note that there is no installer for Linux since Fusion is only supported on Windows and Mac.
+- Once you have downloaded the installer for your operating system (`.exe` for Windows and `.pkg` for Mac) go ahead and run the executable.
+  - Since we do not code sign our installers (as interns of Autodesk we have very little control over this) you may get a warning from your operating system.
+  - For Mac to get around this see [this](https://support.apple.com/en-tm/guide/mac-help/mh40616/mac) guide for more information.
+- If you are at all concerned that we are doing something nefarious please feel free to [install the exporter manually.](#manual-install)
+  - Alternatively, you can even inspect how we build our installers [here](./exporter/) and build them yourself.
+
+### <a name="manual-install"></a> Manual Install
 
 - Navigate to [`synthesis.autodesk.com/download`](https://synthesis.autodesk.com/download.html).
 - Find the Exporter source code zip download.
@@ -25,7 +39,3 @@ under the `Utilities` tab.
 ![image_caption](../tutorials/img/fusion/fusion-utilities-with-synthesis.png)
 
 Thanks for installing the Synthesis Fusion Exporter! For any additional help visit our [Synthesis Community Discord Server](https://www.discord.gg/hHcF9AVgZA) where you can talk directly to our developers.
-
-## Using an Installer
-
-Our automatic installer is still in development, visit the [Synthesis Discord Server](https://www.discord.gg/hHcF9AVgZA) for updates and any manual installing help.
diff --git a/installer/exporter/README.md b/installer/exporter/README.md
new file mode 100644
index 0000000000..aa5871ce16
--- /dev/null
+++ b/installer/exporter/README.md
@@ -0,0 +1,29 @@
+# Synthesis Exporter Installers
+
+This `readme` is for developers of Synthesis or those looking to build the installers themselves, if you are just looking for how to install our Fusion Exporter please navigate to [`/installer/`](../).
+
+## Windows
+
+The windows installer has the following prerequisites:
+- Python `3.9` or newer and pip.
+- And that's it!
+
+### To Build:
+
+Once you have verified that python and pip are installed on your computer:
+- Open a powershell window and navigate to [`/installer/exporter/Windows/`]
+- Run `./build.bat` in powershell.
+- After some time you should see `installer.exe` in your current directory.
+- And that's it! You have now built the Synthesis Exporter Installer for Windows!
+- You can then run the `.exe` from file explorer or alternatively, for debugging purposes, run `./installer.exe` from the terminal.
+
+## MacOS
+
+The Mac installer has zero prerequisites. Hooray!
+
+### To Build:
+
+- Navigate to [`/installer/exporter/OSX/`](./OSX/).
+- Run `./build.sh` in your terminal.
+- You should then find `SynthesisExporterInstaller.pkg` in your current directory.
+- And that's it! You now have built the Synthesis Exporter Installer for MacOS!
diff --git a/tutorials/FusionExporter.md b/tutorials/FusionExporter.md
index a4072b65b4..28140ec5c6 100644
--- a/tutorials/FusionExporter.md
+++ b/tutorials/FusionExporter.md
@@ -17,7 +17,17 @@ For information regarding the manual install process visit the [Synthesis Fusion
 
 ## Getting Started
 
-### Manual Install
+### Using an Installer
+
+- Visit [synthesis.autodesk.com/download](https://synthesis.autodesk.com/download.html) and select the installer for your operating system.
+  - Note that there is no installer for Linux since Fusion is only supported on Windows and Mac.
+- Once you have downloaded the installer for your operating system (`.exe` for Windows and `.pkg` for Mac) go ahead and run the executable.
+  - Since we do not code sign our installers (as interns of Autodesk we have very little control over this) you may get a warning from your operating system.
+  - For Mac to get around this see [this](https://support.apple.com/en-tm/guide/mac-help/mh40616/mac) guide for more information.
+- If you are at all concerned that we are doing something nefarious please feel free to [install the exporter manually.](#manual-install)
+  - Alternatively, you can even inspect how we build our installers [here](./exporter/) and build them yourself.
+
+### <a name="manual-install"></a> Manual Install
 
 - Navigate to [`synthesis.autodesk.com/download`](https://synthesis.autodesk.com/download.html).
 - Find the Exporter source code zip download.
@@ -43,11 +53,6 @@ under the `Utilities` tab.
 
 Thanks for installing the Synthesis Fusion Exporter! For any additional help visit our [Synthesis Community Discord Server](https://www.discord.gg/hHcF9AVgZA) where you can talk directly to our developers.
 
-### Using an Installer
-
-Our automatic installer is still in development, visit the [Synthesis Discord Server](https://www.discord.gg/hHcF9AVgZA) for updates and any manual installing help.
-
-
 ### Launching the Exporter
 
 After clicking the button, a panel will open up. This is the exporter. In this panel, you can provide us with most of the extra data we need to properly simulate your robot or field in Synthesis.

From 4d28c3154fadda0ff3b745c1bfe92cd52f5d5996 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Mon, 19 Aug 2024 14:22:53 -0700
Subject: [PATCH 293/344] Fixed

---
 fission/src/mirabuf/MirabufLoader.ts          |  31 ++-
 .../configuring/ConfigureRobotBrainPanel.tsx  | 247 ------------------
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  |   5 +-
 3 files changed, 23 insertions(+), 260 deletions(-)
 delete mode 100644 fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx

diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index 1355d9e38c..2f1389698f 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -10,8 +10,9 @@ export type MirabufCacheID = string
 
 export interface MirabufCacheInfo {
     id: MirabufCacheID
-    cacheKey: string
     miraType: MiraType
+    cacheKey: string
+    buffer?: ArrayBuffer
     name?: string
     thumbnailStorageID?: string
 }
@@ -29,12 +30,12 @@ const root = await navigator.storage.getDirectory()
 const robotFolderHandle = await root.getDirectoryHandle(robotsDirName, { create: true })
 const fieldFolderHandle = await root.getDirectoryHandle(fieldsDirName, { create: true })
 
-export const backUpRobots: Map<MirabufCacheID, ArrayBuffer> = new Map<MirabufCacheID, ArrayBuffer>()
-export const backUpFields: Map<MirabufCacheID, ArrayBuffer> = new Map<MirabufCacheID, ArrayBuffer>()
+export let backUpRobots: MapCache = {}
+export let backUpFields: MapCache = {}
 
-const canOPFS = await (async () => {
+export const canOPFS = await (async () => {
     try {
-        if (robotFolderHandle.name == robotsDirName) {
+        if (robotFolderHandle.name == fieldsDirName ) { // robotsDirName) {
             robotFolderHandle.entries
             robotFolderHandle.keys
 
@@ -52,6 +53,7 @@ const canOPFS = await (async () => {
         }
     } catch (e) {
         console.log(`No access to OPFS`)
+        MirabufCachingService.RemoveAll()
         return false
     }
 })()
@@ -243,7 +245,7 @@ class MirabufCachingService {
             // Get buffer from hashMap. If not in hashMap, check OPFS. Otherwise, buff is undefined
             const cache = miraType == MiraType.ROBOT ? backUpRobots : backUpFields
             const buff =
-                cache.get(id) ??
+                (cache[id])?.buffer ??
                 (await (async () => {
                     const fileHandle = canOPFS
                         ? await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(id, {
@@ -299,7 +301,7 @@ class MirabufCachingService {
 
             const backUpCache = miraType == MiraType.ROBOT ? backUpRobots : backUpFields
             if (backUpCache) {
-                backUpCache.delete(id)
+                delete backUpCache[id]
             }
 
             World.AnalyticsSystem?.Event("Cache Remove", {
@@ -328,8 +330,8 @@ class MirabufCachingService {
         window.localStorage.removeItem(robotsDirName)
         window.localStorage.removeItem(fieldsDirName)
 
-        backUpRobots.clear()
-        backUpFields.clear()
+        backUpRobots = {}
+        backUpFields = {}
     }
 
     // Optional name for when assembly is being decoded anyway like in CacheAndGetLocal()
@@ -350,8 +352,8 @@ class MirabufCachingService {
             const map: MapCache = this.GetCacheMap(miraType)
             const info: MirabufCacheInfo = {
                 id: backupID,
-                cacheKey: key,
                 miraType: miraType,
+                cacheKey: key,
                 name: name,
             }
             map[key] = info
@@ -377,7 +379,14 @@ class MirabufCachingService {
 
             // Store in hash
             const cache = miraType == MiraType.ROBOT ? backUpRobots : backUpFields
-            cache.set(backupID, miraBuff)
+            const mapInfo: MirabufCacheInfo = {
+                id: backupID,
+                miraType: miraType,
+                cacheKey: key,
+                buffer: miraBuff,
+                name: name,
+            }
+            cache[backupID] = mapInfo
 
             return info
         } catch (e) {
diff --git a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
deleted file mode 100644
index ffbd9b9373..0000000000
--- a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
+++ /dev/null
@@ -1,247 +0,0 @@
-import { MiraType } from "@/mirabuf/MirabufLoader"
-import MirabufSceneObject, { RigidNodeAssociate } from "@/mirabuf/MirabufSceneObject"
-import World from "@/systems/World"
-import Label, { LabelSize } from "@/ui/components/Label"
-import Button from "@/ui/components/Button"
-import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
-import { useMemo, useState } from "react"
-import { FaGear } from "react-icons/fa6"
-import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
-import { Divider, styled } from "@mui/material"
-import GenericElevatorBehavior from "@/systems/simulation/behavior/synthesis/GenericElevatorBehavior"
-import Stack, { StackDirection } from "@/ui/components/Stack"
-import { JSX } from "react/jsx-runtime"
-import ArcadeDriveBehavior from "@/systems/simulation/behavior/synthesis/ArcadeDriveBehavior"
-import GenericArmBehavior from "@/systems/simulation/behavior/synthesis/GenericArmBehavior"
-import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
-
-// eslint-disable-next-line react-refresh/only-export-components
-export enum ConfigureRobotBrainTypes {
-    SYNTHESIS = 0,
-    WIPLIB = 1,
-}
-
-const LabelStyled = styled(Label)({
-    fontWeight: 700,
-    margin: "0pt",
-})
-
-const DividerStyled = styled(Divider)({
-    borderColor: "white",
-})
-
-/**
- * Retrieves the joints of a robot and generates JSX elements for each joint.
- * @param robot The MirabufSceneObject representing the robot.
- * @returns An array of JSX elements representing the joints of the robot.
- */
-function GetJoints(robot: MirabufSceneObject): JSX.Element[] {
-    const output: JSX.Element[] = []
-    let elementKey = 0
-
-    /* Iterate through each behavior of the robot */
-    const brain = robot.brain as SynthesisBrain
-    brain.behaviors.forEach(behavior => {
-        /* Adds the joints that the wheels are associated with */
-        if (behavior instanceof ArcadeDriveBehavior) {
-            behavior.wheels.forEach(wheel => {
-                const assoc = World.PhysicsSystem.GetBodyAssociation(
-                    wheel.constraint.GetVehicleBody().GetID()
-                ) as RigidNodeAssociate
-
-                if (!assoc || assoc.sceneObject !== robot) {
-                    return
-                }
-
-                output.push(
-                    <Stack
-                        key={`Behavior ${elementKey}`}
-                        direction={StackDirection.Horizontal}
-                        className="items-center"
-                    >
-                        <LabelStyled
-                            key={`wheel-node-notation ${elementKey}`}
-                            size={LabelSize.Small}
-                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                        >
-                            Wheel Node {elementKey}
-                        </LabelStyled>
-                        <LabelStyled
-                            key={`wheel-node-number ${elementKey}`}
-                            size={LabelSize.Small}
-                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                        >
-                            {assoc.rigidNodeId}
-                        </LabelStyled>
-                    </Stack>
-                )
-                elementKey++
-            })
-            output.push(<DividerStyled key={`divider-${elementKey}`} />)
-        } else if (behavior instanceof GenericArmBehavior) {
-            /* Adds the joints that the arm is associated with */
-            // Get the rigid node associates for the two bodies
-            const assoc1 = World.PhysicsSystem.GetBodyAssociation(
-                behavior.hingeDriver.constraint.GetBody1().GetID()
-            ) as RigidNodeAssociate
-            const assoc2 = World.PhysicsSystem.GetBodyAssociation(
-                behavior.hingeDriver.constraint.GetBody2().GetID()
-            ) as RigidNodeAssociate
-
-            if (!assoc1 || assoc1.sceneObject !== robot || !assoc2 || assoc2.sceneObject !== robot) {
-                return
-            }
-
-            output.push(
-                <Stack key={`Behavior ${elementKey}`} direction={StackDirection.Horizontal} className="items-center">
-                    <LabelStyled
-                        key={`arm-nodes-notation ${elementKey}`}
-                        size={LabelSize.Small}
-                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                    >
-                        Arm Nodes
-                    </LabelStyled>
-                    <LabelStyled
-                        key={`arm-nodes ${elementKey}`}
-                        size={LabelSize.Small}
-                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                    >
-                        {assoc1.rigidNodeId + " " + assoc2.rigidNodeId}
-                    </LabelStyled>
-                </Stack>
-            )
-            elementKey++
-        } else if (behavior instanceof GenericElevatorBehavior) {
-            /* Adds the joints that the elevator is associated with */
-            // Get the rigid node associates for the two bodies
-            const assoc1 = World.PhysicsSystem.GetBodyAssociation(
-                behavior.sliderDriver.constraint.GetBody1().GetID()
-            ) as RigidNodeAssociate
-            const assoc2 = World.PhysicsSystem.GetBodyAssociation(
-                behavior.sliderDriver.constraint.GetBody2().GetID()
-            ) as RigidNodeAssociate
-
-            if (!assoc1 || assoc1.sceneObject !== robot || !assoc2 || assoc2.sceneObject !== robot) {
-                return
-            }
-
-            output.push(
-                <Stack key={`Behavior ${elementKey}`} direction={StackDirection.Horizontal} className="items-center">
-                    <LabelStyled
-                        key={`elevator-nodes-notation ${elementKey}`}
-                        size={LabelSize.Small}
-                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                    >
-                        Elevator Nodes
-                    </LabelStyled>
-                    <LabelStyled
-                        key={`elevator-nodes ${elementKey}`}
-                        size={LabelSize.Small}
-                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                    >
-                        {assoc1.rigidNodeId + " " + assoc2.rigidNodeId}
-                    </LabelStyled>
-                </Stack>
-            )
-            elementKey++
-        }
-    })
-
-    return output
-}
-
-const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
-    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
-    const [viewType, setViewType] = useState<ConfigureRobotBrainTypes>(ConfigureRobotBrainTypes.SYNTHESIS)
-    const robots = useMemo(() => {
-        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
-            if (x instanceof MirabufSceneObject) {
-                return x.miraType === MiraType.ROBOT
-            }
-            return false
-        }) as MirabufSceneObject[]
-        return assemblies
-    }, [])
-
-    return (
-        <Panel
-            name="Configure Robot Brain"
-            icon={<FaGear />}
-            panelId={panelId}
-            openLocation={openLocation}
-            sidePadding={sidePadding}
-            onAccept={() => {}}
-            onCancel={() => {}}
-        >
-            {selectedRobot?.ejectorPreferences == undefined ? (
-                <>
-                    <Label>Select a robot</Label>
-                    {/** Scroll view for selecting a robot to configure */}
-                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
-                        {robots.map(mirabufSceneObject => {
-                            return (
-                                <Button
-                                    value={mirabufSceneObject.assemblyName}
-                                    onClick={() => {
-                                        setSelectedRobot(mirabufSceneObject)
-                                    }}
-                                    key={mirabufSceneObject.id}
-                                ></Button>
-                            )
-                        })}
-                    </div>
-                    {/* TODO: remove the accept button on this version */}
-                </>
-            ) : (
-                <>
-                    <div className="flex flex-col gap-2 bg-background-secondary rounded-md p-2">
-                        <ToggleButtonGroup
-                            value={viewType}
-                            exclusive
-                            onChange={(_, v) => v != null && setViewType(v)}
-                            sx={{
-                                alignSelf: "center",
-                            }}
-                        >
-                            <ToggleButton value={ConfigureRobotBrainTypes.SYNTHESIS}>SynthesisBrain</ToggleButton>
-                            <ToggleButton value={ConfigureRobotBrainTypes.WIPLIB}>WIPLIBBrain</ToggleButton>
-                        </ToggleButtonGroup>
-                        {viewType === ConfigureRobotBrainTypes.SYNTHESIS ? (
-                            <>
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Behaviors
-                                </LabelStyled>
-                                <DividerStyled />
-                                {GetJoints(selectedRobot)}
-                            </>
-                        ) : (
-                            <>
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Example WIPLIB Brain
-                                </LabelStyled>
-                                <DividerStyled />
-
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Example 2
-                                </LabelStyled>
-                                <DividerStyled />
-
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Example 3
-                                </LabelStyled>
-                                <DividerStyled />
-
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Example 4
-                                </LabelStyled>
-                                <DividerStyled />
-                            </>
-                        )}
-                    </div>
-                </>
-            )}
-        </Panel>
-    )
-}
-
-export default ConfigureRobotBrainPanel
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index aa3f37b2f8..2fbd12231c 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -8,7 +8,7 @@ import {
     MirabufFilesUpdateEvent,
     RequestMirabufFiles,
 } from "@/aps/APSDataManagement"
-import MirabufCachingService, { MirabufCacheInfo, MirabufRemoteInfo, MiraType } from "@/mirabuf/MirabufLoader"
+import MirabufCachingService, { backUpFields, backUpRobots, MirabufCacheInfo, MirabufRemoteInfo, MiraType } from "@/mirabuf/MirabufLoader"
 import World from "@/systems/World"
 import { useTooltipControlContext } from "@/ui/TooltipContext"
 import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
@@ -71,7 +71,8 @@ export type MiraManifest = {
 }
 
 function GetCacheInfo(miraType: MiraType): MirabufCacheInfo[] {
-    return Object.values(MirabufCachingService.GetCacheMap(miraType))
+    // return canOPFS ?
+        return Object.values(MirabufCachingService.GetCacheMap(miraType))// : (miraType == MiraType.ROBOT ? backUpRobots : backUpFields)
 }
 
 function SpawnCachedMira(info: MirabufCacheInfo, type: MiraType, progressHandle?: ProgressHandle) {

From 7cfae204589ed4086754bdca8261357b40ae5581 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Mon, 19 Aug 2024 14:38:04 -0700
Subject: [PATCH 294/344] full subsystem config integration with the main
 config menu

---
 .../src/ui/components/StyledComponents.tsx    |   1 +
 .../assembly-config/ConfigurePanel.tsx        |   5 +
 .../ConfigureSubsystemsInterface.tsx          |  78 ++++++++--
 .../SequentialBehaviorsInterface.tsx          |  27 +---
 ...rfaceOLD.tsx => SubsystemRowInterface.tsx} | 142 +++---------------
 5 files changed, 91 insertions(+), 162 deletions(-)
 rename fission/src/ui/panels/configuring/assembly-config/interfaces/{ConfigureSubsystemsInterfaceOLD.tsx => SubsystemRowInterface.tsx} (51%)

diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index 9b63b2ddfd..c8c23f7ea3 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -64,6 +64,7 @@ export class SynthesisIcons {
     public static EditLarge = (<IoPencil size={"1.25rem"} />)
     public static LeftArrowLarge = (<FaArrowLeft size={"1.25rem"} />)
     public static BugLarge = (<FaBug size={"1.25rem"} />)
+    public static XmarkLarge = (<FaXmark size={"1.25rem"} />)
 
     public static OpenHudIcon = (<FaAngleRight size={"3rem"} color={colorNameToVar("BackgroundSecondary")} />)
 }
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index 3bcc27676f..27c9d7faea 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -16,10 +16,12 @@ import { setSelectedBrainIndexGlobal } from "../ChooseInputSchemePanel"
 import ConfigureSchemeInterface from "./interfaces/inputs/ConfigureSchemeInterface"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
 import ConfigureSubsystemsInterface from "./interfaces/ConfigureSubsystemsInterface"
+import SequentialBehaviorsInterface from "./interfaces/SequentialBehaviorsInterface"
 
 enum ConfigMode {
     SUBSYSTEMS,
     CONTROLS,
+    SEQUENTIAL,
     SCORING_ZONES,
 }
 
@@ -122,6 +124,7 @@ class ConfigModeSelectionOption extends SelectMenuOption {
 const robotModes = [
     new ConfigModeSelectionOption("Subsystems", ConfigMode.SUBSYSTEMS),
     new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
+    new ConfigModeSelectionOption("Sequence Joints", ConfigMode.SEQUENTIAL),
 ]
 const fieldModes = [new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES)]
 
@@ -171,6 +174,8 @@ const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly,
                 </>
             )
         }
+        case ConfigMode.SEQUENTIAL:
+            return <SequentialBehaviorsInterface selectedRobot={assembly} />
         case ConfigMode.SCORING_ZONES: {
             const zones = assembly.fieldPreferences?.scoringZones
             if (zones == undefined) {
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
index 6779e5d61c..b7269f55e7 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
@@ -3,31 +3,35 @@ import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
 import React, { useMemo, useState } from "react"
 import ConfigureGamepiecePickupInterface from "./ConfigureGamepiecePickupInterface"
 import ConfigureShotTrajectoryInterface from "./ConfigureShotTrajectoryInterface"
-import SequentialBehaviorsInterface from "./SequentialBehaviorsInterface"
 import { ConfigurationSavedEvent } from "../ConfigurePanel"
 import World from "@/systems/World"
 import SliderDriver from "@/systems/simulation/driver/SliderDriver"
 import HingeDriver from "@/systems/simulation/driver/HingeDriver"
 import Driver from "@/systems/simulation/driver/Driver"
 import WheelDriver from "@/systems/simulation/driver/WheelDriver"
-import { SubsystemRow } from "./ConfigureSubsystemsInterfaceOLD"
+import SubsystemRowInterface from "./SubsystemRowInterface"
+import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
+import SequenceableBehavior from "@/systems/simulation/behavior/synthesis/SequenceableBehavior"
+import { DefaultSequentialConfig, SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
+import GenericArmBehavior from "@/systems/simulation/behavior/synthesis/GenericArmBehavior"
 
 enum ConfigMode {
     NONE,
     INTAKE,
     EJECTOR,
-    SUBSYSTEMS,
-    SEQUENTIAL,
 }
 
 class ConfigModeSelectionOption extends SelectMenuOption {
     configMode: ConfigMode
     driver?: Driver
+    sequential?: SequentialBehaviorPreferences
 
-    constructor(name: string, configMode: ConfigMode, driver?: Driver) {
+    constructor(name: string, configMode: ConfigMode, driver?: Driver, sequential?: SequentialBehaviorPreferences) {
         super(name)
         this.configMode = configMode
         this.driver = driver
+        this.sequential = sequential
     }
 }
 
@@ -38,20 +42,24 @@ interface ConfigSubsystemProps {
 interface ConfigInterfaceProps {
     configModeOption: ConfigModeSelectionOption
     selectedRobot: MirabufSceneObject
+    saveBehaviors: () => void
 }
 
-const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configModeOption, selectedRobot }) => {
+const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configModeOption, selectedRobot, saveBehaviors }) => {
     switch (configModeOption.configMode) {
         case ConfigMode.INTAKE:
             return <ConfigureGamepiecePickupInterface selectedRobot={selectedRobot} />
         case ConfigMode.EJECTOR:
             return <ConfigureShotTrajectoryInterface selectedRobot={selectedRobot} />
-        case ConfigMode.SEQUENTIAL:
-            return <SequentialBehaviorsInterface selectedRobot={selectedRobot} />
-        case ConfigMode.SUBSYSTEMS:
-            return <ConfigureSubsystemsInterface selectedRobot={selectedRobot} />
         case ConfigMode.NONE:
-            return <SubsystemRow driver={configModeOption.driver!} robot={selectedRobot} />
+            return (
+                <SubsystemRowInterface
+                    driver={configModeOption.driver!}
+                    robot={selectedRobot}
+                    sequentialBehavior={configModeOption.sequential}
+                    saveBehaviors={saveBehaviors}
+                />
+            )
         default:
             throw new Error(`Config mode ${configModeOption.configMode} has no associated interface`)
     }
@@ -60,6 +68,15 @@ const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configModeOption, sel
 const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selectedRobot }) => {
     const [selectedConfigMode, setSelectedConfigMode] = useState<ConfigModeSelectionOption | undefined>(undefined)
 
+    const behaviors = useMemo<SequentialBehaviorPreferences[]>(
+        () =>
+            PreferencesSystem.getRobotPreferences(selectedRobot.assemblyName)?.sequentialConfig ??
+            (selectedRobot.brain as SynthesisBrain).behaviors
+                .filter(b => b instanceof SequenceableBehavior)
+                .map(b => DefaultSequentialConfig(b.jointIndex, b instanceof GenericArmBehavior ? "Arm" : "Elevator")),
+        []
+    )
+
     const drivers = useMemo(() => {
         return World.SimulationSystem.GetSimulationLayer(selectedRobot.mechanism)?.drivers
     }, [selectedRobot])
@@ -68,7 +85,6 @@ const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selected
         const modes = [
             new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
             new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
-            //new ConfigModeSelectionOption("Subsystems", ConfigMode.SUBSYSTEMS),
         ]
 
         if (drivers == undefined) return modes
@@ -81,13 +97,35 @@ const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selected
             )
         )
 
+        let jointIndex = 0
+
         drivers
-            .filter(x => x instanceof SliderDriver || x instanceof HingeDriver)
+            .filter(x => x instanceof HingeDriver)
             .forEach(d => {
-                modes.push(new ConfigModeSelectionOption(d.info?.name ?? "UnnamedMotor", ConfigMode.NONE, d))
+                modes.push(
+                    new ConfigModeSelectionOption(
+                        d.info?.name ?? "UnnamedMotor",
+                        ConfigMode.NONE,
+                        d,
+                        behaviors[jointIndex]
+                    )
+                )
+                jointIndex++
             })
 
-        modes.push(new ConfigModeSelectionOption("Sequence Joints", ConfigMode.SEQUENTIAL))
+        drivers
+            .filter(x => x instanceof SliderDriver)
+            .forEach(d => {
+                modes.push(
+                    new ConfigModeSelectionOption(
+                        d.info?.name ?? "UnnamedMotor",
+                        ConfigMode.NONE,
+                        d,
+                        behaviors[jointIndex]
+                    )
+                )
+                jointIndex++
+            })
 
         return modes
     }
@@ -104,7 +142,15 @@ const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selected
                 indentation={2}
             />
             {selectedConfigMode != undefined && (
-                <ConfigInterface configModeOption={selectedConfigMode} selectedRobot={selectedRobot} />
+                <ConfigInterface
+                    configModeOption={selectedConfigMode}
+                    selectedRobot={selectedRobot}
+                    saveBehaviors={() => {
+                        PreferencesSystem.getRobotPreferences(selectedRobot.assemblyName).sequentialConfig = behaviors
+                        PreferencesSystem.savePreferences()
+                        console.log("behaviors saved!")
+                    }}
+                />
             )}
         </>
     )
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
index 0b97b14d38..e22a8e141f 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
@@ -1,20 +1,15 @@
 import React, { useCallback, useEffect, useReducer, useState } from "react"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import Label, { LabelSize } from "@/ui/components/Label"
-import { FaArrowRightArrowLeft, FaXmark } from "react-icons/fa6"
-import { Box, Button as MUIButton, styled, alpha, Icon } from "@mui/material"
+import { Box, Button as MUIButton, styled, alpha } from "@mui/material"
 import Button, { ButtonSize } from "@/ui/components/Button"
 import { DefaultSequentialConfig, SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import SequenceableBehavior from "@/systems/simulation/behavior/synthesis/SequenceableBehavior"
-import Checkbox from "@/ui/components/Checkbox"
 import GenericArmBehavior from "@/systems/simulation/behavior/synthesis/GenericArmBehavior"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 import { ConfigurationSavedEvent } from "../ConfigurePanel"
-import { SectionLabel } from "@/ui/components/StyledComponents"
-
-const UnselectParentIcon = <FaXmark size={"1.25rem"} />
-const InvertIcon = <FaArrowRightArrowLeft size={"1.25rem"} style={{ transform: "rotate(90deg)" }} />
+import { SectionLabel, SynthesisIcons } from "@/ui/components/StyledComponents"
 
 /** Grey label for a child behavior name */
 const ChildLabelStyled = styled(Label)({
@@ -113,19 +108,8 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
             />
 
             {/* Spacer between the CustomButton and invert button */}
-            <Box width={"16px"} />
-
-            <Box display="flex" position="relative" alignSelf={"center"} alignItems={"center"}>
-                {/* Invert joint icon & checkbox */}
-                <Icon>{InvertIcon}</Icon>
-                <Checkbox
-                    label={""}
-                    defaultState={behavior.inverted}
-                    onClick={val => (behavior.inverted = val)}
-                    hideLabel={true}
-                />
-            </Box>
-
+            {/*             <Box width={"16px"} />
+             */}
             <Box display="flex" position="relative" alignSelf={"center"} alignItems={"center"}>
                 {/* Button to set the parent of this behavior */}
                 <Button
@@ -133,7 +117,7 @@ const BehaviorCard: React.FC<BehaviorCardProps> = ({
                     size={ButtonSize.Small}
                     value={
                         lookingForParent == behavior || behavior.parentJointIndex != undefined
-                            ? UnselectParentIcon
+                            ? SynthesisIcons.XmarkLarge
                             : "follow"
                     }
                     onClick={() => {
@@ -213,6 +197,7 @@ const SequentialBehaviorsInterface: React.FC<SequentialBehaviorProps> = ({ selec
 
     const saveEvent = useCallback(() => {
         if (selectedRobot == undefined || behaviors == undefined) return
+
         PreferencesSystem.getRobotPreferences(selectedRobot.assemblyName).sequentialConfig = behaviors
         PreferencesSystem.savePreferences()
     }, [behaviors, selectedRobot])
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterfaceOLD.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/SubsystemRowInterface.tsx
similarity index 51%
rename from fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterfaceOLD.tsx
rename to fission/src/ui/panels/configuring/assembly-config/interfaces/SubsystemRowInterface.tsx
index 83bd76369b..cf07631cf5 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterfaceOLD.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/SubsystemRowInterface.tsx
@@ -1,25 +1,27 @@
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import { SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
 import Driver from "@/systems/simulation/driver/Driver"
 import HingeDriver from "@/systems/simulation/driver/HingeDriver"
 import SliderDriver from "@/systems/simulation/driver/SliderDriver"
 import WheelDriver from "@/systems/simulation/driver/WheelDriver"
 import World from "@/systems/World"
+import Checkbox from "@/ui/components/Checkbox"
 import Label, { LabelSize } from "@/ui/components/Label"
-import ScrollView from "@/ui/components/ScrollView"
 import Slider from "@/ui/components/Slider"
 import Stack, { StackDirection } from "@/ui/components/Stack"
 import { SectionDivider } from "@/ui/components/StyledComponents"
 import { Box } from "@mui/material"
-import { useCallback, useEffect, useMemo, useState } from "react"
-import { ConfigurationSavedEvent } from "../ConfigurePanel"
+import { useCallback, useState } from "react"
 
 type SubsystemRowProps = {
     robot: MirabufSceneObject
     driver: Driver
+    sequentialBehavior?: SequentialBehaviorPreferences
+    saveBehaviors?: () => void
 }
 
-export const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) => {
+const SubsystemRowInterface: React.FC<SubsystemRowProps> = ({ robot, driver, sequentialBehavior, saveBehaviors }) => {
     const driverSwitch = (driver: Driver, slider: unknown, hinge: unknown, drivetrain: unknown) => {
         switch (driver.constructor) {
             case SliderDriver:
@@ -122,6 +124,16 @@ export const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) =>
                     ) : (
                         <Label>Select Realistic Gravity in Settings for force config</Label>
                     )}
+                    {sequentialBehavior && (
+                        <Checkbox
+                            defaultState={sequentialBehavior.inverted}
+                            label={"Invert Motor"}
+                            onClick={val => {
+                                sequentialBehavior.inverted = val
+                                saveBehaviors?.()
+                            }}
+                        />
+                    )}
                 </Stack>
             </Box>
             <SectionDivider />
@@ -129,124 +141,4 @@ export const SubsystemRow: React.FC<SubsystemRowProps> = ({ robot, driver }) =>
     )
 }
 
-interface ConfigureSubsystemsProps {
-    selectedRobot: MirabufSceneObject
-}
-
-const ConfigureSubsystemsInterfaceOLD: React.FC<ConfigureSubsystemsProps> = ({ selectedRobot }) => {
-    // This is disabled for now, but will be added back when merged with Aylas cancel functionality branch
-    //const [origPref, setOrigPref] = useState<RobotPreferences | undefined>(undefined)
-
-    const drivers = useMemo(() => {
-        return selectedRobot?.mechanism
-            ? World.SimulationSystem.GetSimulationLayer(selectedRobot.mechanism)?.drivers
-            : undefined
-    }, [selectedRobot])
-
-    const saveEvent = useCallback(() => {
-        PreferencesSystem.savePreferences()
-    }, [])
-
-    useEffect(() => {
-        ConfigurationSavedEvent.Listen(saveEvent)
-
-        return () => {
-            ConfigurationSavedEvent.RemoveListener(saveEvent)
-        }
-    }, [saveEvent])
-
-    /**
-     *
-     * This is disabled for now, but will be added back when merged with Aylas cancel functionality branch
-     *
-     */
-    // Gets motors in preferences for ease of saving into origPrefs which can be used to revert on Cancel()
-    /*     function saveOrigMotors(robot: MirabufSceneObject) {
-        drivers?.forEach(driver => {
-            if (driver.info && driver.info.name && !(driver instanceof WheelDriver)) {
-                const motors = PreferencesSystem.getRobotPreferences(robot.assemblyName).motors
-                const removedMotor = motors.filter(x => {
-                    if (x.name) return x.name != driver.info?.name
-                    return false
-                })
-
-                if (removedMotor.length == drivers.length) {
-                    removedMotor.push({
-                        name: driver.info?.name ?? "",
-                        maxVelocity: ((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity,
-                        maxForce: ((driver as SliderDriver) || (driver as HingeDriver)).maxForce,
-                    })
-                    PreferencesSystem.getRobotPreferences(robot.assemblyName).motors = removedMotor
-                }
-            }
-        })
-        PreferencesSystem.savePreferences()
-        setOrigPref({ ...PreferencesSystem.getRobotPreferences(robot.assemblyName) }) // clone
-    }
-
-    function Cancel() {
-        if (selectedRobot && origPref) {
-            drivers?.forEach(driver => {
-                if (driver instanceof WheelDriver) {
-                    driver.maxVelocity = origPref.driveVelocity
-                    driver.maxForce = origPref.driveAcceleration
-                } else {
-                    if (driver.info && driver.info.name) {
-                        const motor = origPref.motors.filter(x => {
-                            if (x.name) return x.name == driver.info?.name
-                            return false
-                        })[0]
-                        if (motor) {
-                            // This line is a separate variable to get ES Lint and Prettier to agree on formatting the semicolon below
-                            const forcePref = PreferencesSystem.getGlobalPreference("SubsystemGravity")
-                                ? motor.maxForce
-                                : driver instanceof SliderDriver
-                                  ? 500
-                                  : 100
-                            ;((driver as SliderDriver) || (driver as HingeDriver)).maxVelocity = motor.maxVelocity
-                            ;((driver as SliderDriver) || (driver as HingeDriver)).maxForce = forcePref
-                        }
-                    }
-                }
-            })
-            PreferencesSystem.setRobotPreferences(selectedRobot.assemblyName, origPref)
-        }
-        PreferencesSystem.savePreferences()
-    } */
-
-    return (
-        <>
-            {drivers ? (
-                <ScrollView className="flex flex-col gap-4">
-                    {/** Drivetrain row. Then other SliderDrivers and HingeDrivers */}
-                    <SubsystemRow
-                        key={0}
-                        robot={(() => {
-                            return selectedRobot
-                        })()}
-                        driver={(() => {
-                            return drivers.filter(x => x instanceof WheelDriver)[0]
-                        })()}
-                    />
-                    {drivers
-                        .filter(x => x instanceof SliderDriver || x instanceof HingeDriver)
-                        .map((driver: Driver, i: number) => (
-                            <SubsystemRow
-                                key={i + 1}
-                                robot={(() => {
-                                    return selectedRobot
-                                })()}
-                                driver={(() => {
-                                    return driver
-                                })()}
-                            />
-                        ))}
-                </ScrollView>
-            ) : (
-                <Label>No Subsystems</Label>
-            )}
-        </>
-    )
-}
-
-export default ConfigureSubsystemsInterfaceOLD
+export default SubsystemRowInterface

From 1a3d6fe931c3a52a83b778d11d58deee8adc5d60 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Mon, 19 Aug 2024 14:43:59 -0700
Subject: [PATCH 295/344] Actual fix and formatting

---
 fission/src/Synthesis.tsx                          |  7 -------
 fission/src/mirabuf/MirabufLoader.ts               |  7 +++++--
 .../src/ui/panels/mirabuf/ImportMirabufPanel.tsx   | 14 +++++++++++---
 3 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index c1d33806ca..e44f783dd0 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -47,7 +47,6 @@ import ImportMirabufPanel from "@/ui/panels/mirabuf/ImportMirabufPanel.tsx"
 import Skybox from "./ui/components/Skybox.tsx"
 import ChooseInputSchemePanel from "./ui/panels/configuring/ChooseInputSchemePanel.tsx"
 import ProgressNotifications from "./ui/components/ProgressNotification.tsx"
-import ConfigureRobotBrainPanel from "./ui/panels/configuring/ConfigureRobotBrainPanel.tsx"
 import SceneOverlay from "./ui/components/SceneOverlay.tsx"
 
 import WPILibWSWorker from "@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker"
@@ -232,12 +231,6 @@ const initialPanels: ReactElement[] = [
     <ScoreboardPanel key="scoreboard" panelId="scoreboard" openLocation="top" sidePadding={8} />,
     <ImportMirabufPanel key="import-mirabuf" panelId="import-mirabuf" />,
     <PokerPanel key="poker" panelId="poker" />,
-    <ConfigureRobotBrainPanel
-        key="config-robot-brain"
-        panelId="config-robot-brain"
-        openLocation="right"
-        sidePadding={8}
-    />,
     <ChooseInputSchemePanel key="choose-scheme" panelId="choose-scheme" />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index 2f1389698f..ca235d2515 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -35,7 +35,7 @@ export let backUpFields: MapCache = {}
 
 export const canOPFS = await (async () => {
     try {
-        if (robotFolderHandle.name == fieldsDirName ) { // robotsDirName) {
+        if (robotFolderHandle.name == robotsDirName) {
             robotFolderHandle.entries
             robotFolderHandle.keys
 
@@ -190,16 +190,19 @@ class MirabufCachingService {
         try {
             const map: MapCache = this.GetCacheMap(miraType)
             const id = map[key].id
+            const _buffer = miraType == MiraType.ROBOT ? backUpRobots[id].buffer : backUpFields[id].buffer
             const _name = map[key].name
             const _thumbnailStorageID = map[key].thumbnailStorageID
             const info: MirabufCacheInfo = {
                 id: id,
                 cacheKey: key,
                 miraType: miraType,
+                buffer: _buffer,
                 name: name ?? _name,
                 thumbnailStorageID: thumbnailStorageID ?? _thumbnailStorageID,
             }
             map[key] = info
+            miraType == MiraType.ROBOT ? (backUpRobots[id] = info) : (backUpFields[id] = info)
             window.localStorage.setItem(miraType == MiraType.ROBOT ? robotsDirName : fieldsDirName, JSON.stringify(map))
             return true
         } catch (e) {
@@ -245,7 +248,7 @@ class MirabufCachingService {
             // Get buffer from hashMap. If not in hashMap, check OPFS. Otherwise, buff is undefined
             const cache = miraType == MiraType.ROBOT ? backUpRobots : backUpFields
             const buff =
-                (cache[id])?.buffer ??
+                cache[id]?.buffer ??
                 (await (async () => {
                     const fileHandle = canOPFS
                         ? await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(id, {
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index 2fbd12231c..6fe4b4d988 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -8,7 +8,14 @@ import {
     MirabufFilesUpdateEvent,
     RequestMirabufFiles,
 } from "@/aps/APSDataManagement"
-import MirabufCachingService, { backUpFields, backUpRobots, MirabufCacheInfo, MirabufRemoteInfo, MiraType } from "@/mirabuf/MirabufLoader"
+import MirabufCachingService, {
+    backUpFields,
+    backUpRobots,
+    canOPFS,
+    MirabufCacheInfo,
+    MirabufRemoteInfo,
+    MiraType,
+} from "@/mirabuf/MirabufLoader"
 import World from "@/systems/World"
 import { useTooltipControlContext } from "@/ui/TooltipContext"
 import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
@@ -71,8 +78,9 @@ export type MiraManifest = {
 }
 
 function GetCacheInfo(miraType: MiraType): MirabufCacheInfo[] {
-    // return canOPFS ?
-        return Object.values(MirabufCachingService.GetCacheMap(miraType))// : (miraType == MiraType.ROBOT ? backUpRobots : backUpFields)
+    return Object.values(
+        canOPFS ? MirabufCachingService.GetCacheMap(miraType) : miraType == MiraType.ROBOT ? backUpRobots : backUpFields
+    )
 }
 
 function SpawnCachedMira(info: MirabufCacheInfo, type: MiraType, progressHandle?: ProgressHandle) {

From 1ab3a280617bd6dd7338f1cbd0b18eb2e3bdb854 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Mon, 19 Aug 2024 15:00:51 -0700
Subject: [PATCH 296/344] Refactor `setupLogger()`

Co-authored-by: Azalea <azaleacolburn@users.noreply.github.com>
---
 exporter/SynthesisFusionAddin/src/Logging.py | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/Logging.py b/exporter/SynthesisFusionAddin/src/Logging.py
index 6379a92125..90f1d98d34 100644
--- a/exporter/SynthesisFusionAddin/src/Logging.py
+++ b/exporter/SynthesisFusionAddin/src/Logging.py
@@ -30,12 +30,10 @@ def cleanupHandlers(self) -> None:
 def setupLogger() -> SynthesisLogger:
     now = datetime.now().strftime("%H-%M-%S")
     today = date.today()
-    if not IS_RELEASE:
-        logFileFolder = makeDirectories(os.path.join(f"{pathlib.Path(__file__).parent.parent}", "logs"))
-    else:
+    if IS_RELEASE:
         logFileFolder = makeDirectories(os.path.join(SUPPORT_PATH, "Logs"))
-
-    if not IS_RELEASE:
+    else:
+        logFileFolder = makeDirectories(os.path.join(f"{pathlib.Path(__file__).parent.parent}", "logs"))
         logFiles = [os.path.join(logFileFolder, file) for file in os.listdir(logFileFolder) if file.endswith(".log")]
         logFiles.sort()
         if len(logFiles) >= MAX_LOG_FILES_TO_KEEP:

From 5da363ff4420d430236b635755cee2f27026f4b4 Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Mon, 19 Aug 2024 15:23:41 -0700
Subject: [PATCH 297/344] Adding changes to the MainHUD button

Co-authored-by: PepperLola <PepperLola@users.noreply.github.com>
---
 fission/src/ui/components/MainHUD.tsx         | 26 ++++++++++++-------
 .../src/ui/components/StyledComponents.tsx    |  9 ++++++-
 2 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index c4510ca848..1cd6cc2b44 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -23,13 +23,13 @@ const MainHUDButton: React.FC<ButtonProps> = ({ value, icon, onClick, larger })
     return (
         <Button
             onClick={onClick}
-            className={`relative flex flex-row 
-                cursor-pointer 
-                bg-background w-full m-auto px-2 py-1 text-main-text border-none rounded-md ${larger ? "justify-center" : ""} 
-                items-center hover:brightness-105 focus:outline-0 focus-visible:outline-0 
-                transform 
-                transition-transform 
-                hover:scale-[1.015] 
+            className={`relative flex flex-row
+                cursor-pointer
+                bg-background w-full m-auto px-2 py-1 text-main-text border-none rounded-md ${larger ? "justify-center" : ""}
+                items-center hover:brightness-105 focus:outline-0 focus-visible:outline-0
+                transform
+                transition-transform
+                hover:scale-[1.015]
                 active:scale-[1.03]`}
         >
             {larger && icon}
@@ -79,8 +79,10 @@ const MainHUD: React.FC = () => {
                 >
                     <Box
                         position="absolute"
+                        width={"5vw"}
                         minWidth={"50px"}
-                        className="bg-gradient-to-b from-interactive-element-right to-interactive-element-left transform transition-transform hover:scale-[1.02] active:scale-[1.04]"
+                        maxWidth={"60px"}
+                        className="bg-gradient-to-b from-interactive-element-right to-interactive-element-left transform transition-transform hover:scale-[1.02] active:scale-[1.04] aspect-square"
                         sx={{
                             borderTopRightRadius: "100px",
                             borderBottomRightRadius: "100px",
@@ -88,8 +90,12 @@ const MainHUD: React.FC = () => {
                             borderBottomLeftRadius: "0",
                         }}
                     >
-                        <Box sx={{ transform: "translateY(2.5px) translateX(-3px)" }}>
-                            <ButtonIcon onClick={() => setIsOpen(!isOpen)} value={SynthesisIcons.OpenHudIcon} />
+                        <Box className="flex w-full h-full items-center justify-center">
+                            <ButtonIcon
+                                onClick={() => setIsOpen(!isOpen)}
+                                value={SynthesisIcons.OpenHudIcon}
+                                className=""
+                            />
                         </Box>
                     </Box>
                 </Box>
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index 9b63b2ddfd..4082f24df9 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -65,7 +65,13 @@ export class SynthesisIcons {
     public static LeftArrowLarge = (<FaArrowLeft size={"1.25rem"} />)
     public static BugLarge = (<FaBug size={"1.25rem"} />)
 
-    public static OpenHudIcon = (<FaAngleRight size={"3rem"} color={colorNameToVar("BackgroundSecondary")} />)
+    public static OpenHudIcon = (
+        <FaAngleRight
+            size={"6vh"}
+            style={{ alignSelf: "middle", justifySelf: "center", minHeight: "40px", minWidth: "40px" }}
+            color={colorNameToVar("BackgroundSecondary")}
+        />
+    )
 }
 
 export const SectionDivider = styled(Divider)({
@@ -130,6 +136,7 @@ export const ButtonIcon: React.FC<ButtonProps> = ({ value, onClick }) => {
             onClick={onClick}
             colorOverrideClass="bg-[#00000000] hover:brightness-90"
             sizeOverrideClass="p-[0.25rem]"
+            className="h-fit"
         />
     )
 }

From ab6788b508f312a048cb49e787ab52e35ded934c Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Mon, 19 Aug 2024 15:23:59 -0700
Subject: [PATCH 298/344] Tooltips!!!

---
 fission/src/ui/components/SelectMenu.tsx      |  7 ++-
 .../ui/modals/configuring/SettingsModal.tsx   |  3 +-
 .../assembly-config/ConfigurePanel.tsx        | 10 ++--
 .../ConfigureSubsystemsInterface.tsx          | 46 ++++++++++---------
 .../interfaces/SubsystemRowInterface.tsx      | 33 ++++++-------
 .../inputs/ConfigureInputsInterface.tsx       |  4 +-
 6 files changed, 57 insertions(+), 46 deletions(-)

diff --git a/fission/src/ui/components/SelectMenu.tsx b/fission/src/ui/components/SelectMenu.tsx
index efc1fe188d..9f32236fe0 100644
--- a/fission/src/ui/components/SelectMenu.tsx
+++ b/fission/src/ui/components/SelectMenu.tsx
@@ -5,6 +5,7 @@ import Label, { LabelSize } from "./Label"
 import {
     AddButtonInteractiveColor,
     ButtonIcon,
+    CustomTooltip,
     DeleteButton,
     SectionDivider,
     SectionLabel,
@@ -44,8 +45,10 @@ const CustomButton = styled(MUIButton)({
 /** Extend this to make a type that contains custom data */
 export class SelectMenuOption {
     name: string
-    constructor(name: string) {
+    tooltipText?: string
+    constructor(name: string, tooltipText?: string) {
         this.name = name
+        this.tooltipText = tooltipText
     }
 }
 
@@ -72,6 +75,7 @@ const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected, onDel
                 {/* Indentation before the name */}
                 <Box width="8px" />
                 {/* Label for joint index and type (grey if child) */}
+
                 <SectionLabel
                     key={value.name + index}
                     size={LabelSize.Small}
@@ -89,6 +93,7 @@ const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected, onDel
                 }}
                 sx={{ borderColor: "#888888" }}
             />
+            {value.tooltipText && CustomTooltip(value.tooltipText)}
             {/** Delete button only if onDelete is defined */}
             {onDelete && includeDelete && (
                 <>
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index 1eaaa39cf3..ea6bdc9909 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -126,11 +126,12 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         }}
                     />
                     <Checkbox
-                        label="Subsystem Realistic Gravity"
+                        label="Realistic Subsystem Gravity"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("SubsystemGravity")}
                         onClick={checked => {
                             setSubsystemGravity(checked)
                         }}
+                        tooltipText="Allows you to set a target torque or force for subsystems and joints. If not properly configured, joints may not be able to resist gravity or may not behave as intended."
                     />
                     <Checkbox
                         label="Show Score Zones"
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index 27c9d7faea..c254c3bdfb 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -115,8 +115,8 @@ const AssemblySelection: React.FC<ConfigurationSelectionProps> = ({ configuratio
 class ConfigModeSelectionOption extends SelectMenuOption {
     configMode: ConfigMode
 
-    constructor(name: string, configMode: ConfigMode) {
-        super(name)
+    constructor(name: string, configMode: ConfigMode, tooltip?: string) {
+        super(name, tooltip)
         this.configMode = configMode
     }
 }
@@ -124,7 +124,11 @@ class ConfigModeSelectionOption extends SelectMenuOption {
 const robotModes = [
     new ConfigModeSelectionOption("Subsystems", ConfigMode.SUBSYSTEMS),
     new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
-    new ConfigModeSelectionOption("Sequence Joints", ConfigMode.SEQUENTIAL),
+    new ConfigModeSelectionOption(
+        "Sequence Joints",
+        ConfigMode.SEQUENTIAL,
+        "Configure which joints follow each other. For example, the second stage of an elevator could follow the first, moving in unison with it."
+    ),
 ]
 const fieldModes = [new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES)]
 
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
index b7269f55e7..afc6a0a7bf 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
@@ -16,18 +16,23 @@ import SequenceableBehavior from "@/systems/simulation/behavior/synthesis/Sequen
 import { DefaultSequentialConfig, SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
 import GenericArmBehavior from "@/systems/simulation/behavior/synthesis/GenericArmBehavior"
 
-enum ConfigMode {
+enum SubsystemOption {
     NONE,
     INTAKE,
     EJECTOR,
 }
 
 class ConfigModeSelectionOption extends SelectMenuOption {
-    configMode: ConfigMode
+    configMode: SubsystemOption
     driver?: Driver
     sequential?: SequentialBehaviorPreferences
 
-    constructor(name: string, configMode: ConfigMode, driver?: Driver, sequential?: SequentialBehaviorPreferences) {
+    constructor(
+        name: string,
+        configMode: SubsystemOption,
+        driver?: Driver,
+        sequential?: SequentialBehaviorPreferences
+    ) {
         super(name)
         this.configMode = configMode
         this.driver = driver
@@ -47,11 +52,11 @@ interface ConfigInterfaceProps {
 
 const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configModeOption, selectedRobot, saveBehaviors }) => {
     switch (configModeOption.configMode) {
-        case ConfigMode.INTAKE:
+        case SubsystemOption.INTAKE:
             return <ConfigureGamepiecePickupInterface selectedRobot={selectedRobot} />
-        case ConfigMode.EJECTOR:
+        case SubsystemOption.EJECTOR:
             return <ConfigureShotTrajectoryInterface selectedRobot={selectedRobot} />
-        case ConfigMode.NONE:
+        case SubsystemOption.NONE:
             return (
                 <SubsystemRowInterface
                     driver={configModeOption.driver!}
@@ -81,18 +86,18 @@ const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selected
         return World.SimulationSystem.GetSimulationLayer(selectedRobot.mechanism)?.drivers
     }, [selectedRobot])
 
-    const getConfigModes = () => {
-        const modes = [
-            new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
-            new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
+    const getSubsystemOptions = () => {
+        const options = [
+            new ConfigModeSelectionOption("Intake", SubsystemOption.INTAKE),
+            new ConfigModeSelectionOption("Ejector", SubsystemOption.EJECTOR),
         ]
 
-        if (drivers == undefined) return modes
+        if (drivers == undefined) return options
 
-        modes.push(
+        options.push(
             new ConfigModeSelectionOption(
                 "Drivetrain",
-                ConfigMode.NONE,
+                SubsystemOption.NONE,
                 drivers.filter(x => x instanceof WheelDriver)[0]
             )
         )
@@ -102,10 +107,10 @@ const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selected
         drivers
             .filter(x => x instanceof HingeDriver)
             .forEach(d => {
-                modes.push(
+                options.push(
                     new ConfigModeSelectionOption(
                         d.info?.name ?? "UnnamedMotor",
-                        ConfigMode.NONE,
+                        SubsystemOption.NONE,
                         d,
                         behaviors[jointIndex]
                     )
@@ -116,10 +121,10 @@ const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selected
         drivers
             .filter(x => x instanceof SliderDriver)
             .forEach(d => {
-                modes.push(
+                options.push(
                     new ConfigModeSelectionOption(
                         d.info?.name ?? "UnnamedMotor",
-                        ConfigMode.NONE,
+                        SubsystemOption.NONE,
                         d,
                         behaviors[jointIndex]
                     )
@@ -127,18 +132,18 @@ const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selected
                 jointIndex++
             })
 
-        return modes
+        return options
     }
 
     return (
         <>
             <SelectMenu
-                options={getConfigModes()}
+                options={getSubsystemOptions()}
                 onOptionSelected={val => {
                     if (val != undefined) new ConfigurationSavedEvent()
                     setSelectedConfigMode(val as ConfigModeSelectionOption)
                 }}
-                defaultHeaderText="Select a Configuration Mode"
+                defaultHeaderText="Select a Subsystem"
                 indentation={2}
             />
             {selectedConfigMode != undefined && (
@@ -148,7 +153,6 @@ const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selected
                     saveBehaviors={() => {
                         PreferencesSystem.getRobotPreferences(selectedRobot.assemblyName).sequentialConfig = behaviors
                         PreferencesSystem.savePreferences()
-                        console.log("behaviors saved!")
                     }}
                 />
             )}
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/SubsystemRowInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/SubsystemRowInterface.tsx
index cf07631cf5..4c63d32ac0 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/SubsystemRowInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/SubsystemRowInterface.tsx
@@ -106,24 +106,21 @@ const SubsystemRowInterface: React.FC<SubsystemRowProps> = ({ robot, driver, seq
                         }}
                         step={0.01}
                     />
-                    {PreferencesSystem.getGlobalPreference("SubsystemGravity") || driver instanceof WheelDriver ? (
-                        <Slider
-                            min={driverSwitch(driver, 100, 20, 0.1) as number}
-                            max={driverSwitch(driver, 800, 150, 15) as number}
-                            value={force}
-                            label={driverSwitch(driver, "Max Force", "Max Torque", "Max Acceleration") as string}
-                            format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
-                            onChange={(_, _force: number | number[]) => {
-                                setForce(_force as number)
-                                onChange(velocity, _force as number)
-                            }}
-                            step={0.01}
-                        />
-                    ) : driver instanceof HingeDriver ? (
-                        <Label>Select Realistic Gravity in Settings for torque config</Label>
-                    ) : (
-                        <Label>Select Realistic Gravity in Settings for force config</Label>
-                    )}
+                    {PreferencesSystem.getGlobalPreference("SubsystemGravity") ||
+                        (driver instanceof WheelDriver && (
+                            <Slider
+                                min={driverSwitch(driver, 100, 20, 0.1) as number}
+                                max={driverSwitch(driver, 800, 150, 15) as number}
+                                value={force}
+                                label={driverSwitch(driver, "Max Force", "Max Torque", "Max Acceleration") as string}
+                                format={{ minimumFractionDigits: 2, maximumFractionDigits: 2 }}
+                                onChange={(_, _force: number | number[]) => {
+                                    setForce(_force as number)
+                                    onChange(velocity, _force as number)
+                                }}
+                                step={0.01}
+                            />
+                        ))}
                     {sequentialBehavior && (
                         <Checkbox
                             defaultState={sequentialBehavior.inverted}
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
index dd2fdfbeef..913ad32b4c 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
@@ -33,8 +33,8 @@ class SchemeSelectionOption extends SelectMenuOption {
     constructor(scheme: InputScheme) {
         const robotName = findSchemeRobotName(scheme)
         super(
-            `${scheme.schemeName} | ${scheme.customized ? "Custom" : scheme.descriptiveName}` +
-                (robotName ? ` [${robotName}]` : "")
+            `${scheme.schemeName} | ${scheme.customized ? "Custom" : scheme.descriptiveName}`,
+            robotName ? `Bound to: ${robotName}` : undefined
         )
         this.scheme = scheme
     }

From a3f7843299ef828c2b62ce19a9319bcbc91cfd28 Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Mon, 19 Aug 2024 15:34:27 -0700
Subject: [PATCH 299/344] Changing the aspect ratio of the MainHUD button

Co-authored-by: PepperLola <PepperLola@users.noreply.github.com>
---
 fission/src/ui/components/MainHUD.tsx          |  3 ++-
 fission/src/ui/components/StyledComponents.tsx | 11 +++++++++--
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index 1cd6cc2b44..517af3e30c 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -82,7 +82,8 @@ const MainHUD: React.FC = () => {
                         width={"5vw"}
                         minWidth={"50px"}
                         maxWidth={"60px"}
-                        className="bg-gradient-to-b from-interactive-element-right to-interactive-element-left transform transition-transform hover:scale-[1.02] active:scale-[1.04] aspect-square"
+                        style={{ aspectRatio: " 1 / 1.5" }}
+                        className="bg-gradient-to-b from-interactive-element-right to-interactive-element-left transform transition-transform hover:scale-[1.02] active:scale-[1.04]"
                         sx={{
                             borderTopRightRadius: "100px",
                             borderBottomRightRadius: "100px",
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index 4082f24df9..e235f716e6 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -67,8 +67,15 @@ export class SynthesisIcons {
 
     public static OpenHudIcon = (
         <FaAngleRight
-            size={"6vh"}
-            style={{ alignSelf: "middle", justifySelf: "center", minHeight: "40px", minWidth: "40px" }}
+            size={"5vh"}
+            style={{
+                alignSelf: "middle",
+                justifySelf: "center",
+                minHeight: "40px",
+                minWidth: "40px",
+                maxHeight: "50px",
+                maxWidth: "50px",
+            }}
             color={colorNameToVar("BackgroundSecondary")}
         />
     )

From 38bc629dc4f774372f206dbf4f0148f8b035fa44 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 20 Aug 2024 09:59:16 -0700
Subject: [PATCH 300/344] add catch for no robot being avaliable

---
 .../SynthesisFusionAddin/src/UI/ConfigCommand.py    | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index c50c7feed2..073c172d90 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -5,6 +5,7 @@
 import os
 import pathlib
 from enum import Enum
+from typing import List
 
 import adsk.core
 import adsk.fusion
@@ -312,9 +313,17 @@ def notify(self, args):
             savepath = processedFileName
 
         adsk.doEvents()
+
         design = gm.app.activeDocument.design
-        name = design.rootComponent.name.rsplit(" ", 1)[0]
-        version = design.rootComponent.name.rsplit(" ", 1)[1]
+
+        name_split: list[str] = design.rootComponent.name.split(" ")
+        # gm.ui.messageBox("Name Split: " + name_split[0] " " + name_split[1], "Synthesis: Info")
+        if len(name_split) < 2:
+            gm.ui.messageBox("Please open the robot design you would like to export", "Synthesis: Error")
+            return
+
+        name = name_split[0]
+        version = name_split[1]
 
         selectedJoints, selectedWheels = jointConfigTab.getSelectedJointsAndWheels()
         selectedGamepieces = gamepieceConfigTab.getGamepieces()

From 66fcf3b6ad82b3d9e1be860466a40fdbee90adcf Mon Sep 17 00:00:00 2001
From: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
Date: Tue, 20 Aug 2024 10:22:33 -0700
Subject: [PATCH 301/344] Remove old import

---
 exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 073c172d90..4ad21e3424 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -5,7 +5,6 @@
 import os
 import pathlib
 from enum import Enum
-from typing import List
 
 import adsk.core
 import adsk.fusion

From 623f23e23f830ddf2f6f3aed500f023dcabd35d9 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 20 Aug 2024 10:53:35 -0700
Subject: [PATCH 302/344] Why is the API like this?

Co-authored-by: PepperLola <PepperLola@users.noreply.github.com>
---
 exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
index 3e7315d6ed..30cb8831d7 100644
--- a/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
+++ b/exporter/SynthesisFusionAddin/src/UI/MarkingMenu.py
@@ -9,7 +9,7 @@
 
 # global mapping list of event handlers to keep them referenced for the duration of the command
 # handlers = {}
-handlers: list[adsk.core.EventHandler] = []
+handlers: list[adsk.core.CommandEventHandler] = []
 cmdDefs: list[adsk.core.CommandDefinition] = []
 entities: list[adsk.fusion.Occurrence] = []
 

From fd08bf4930af04237423aedfd369ceefd4599a80 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Tue, 20 Aug 2024 11:45:23 -0700
Subject: [PATCH 303/344] small fixes

---
 fission/README.md | 35 +++++++++++++++++------------------
 1 file changed, 17 insertions(+), 18 deletions(-)

diff --git a/fission/README.md b/fission/README.md
index b74012c658..6d8a493e87 100644
--- a/fission/README.md
+++ b/fission/README.md
@@ -1,7 +1,6 @@
 # Fission
 
 Fission is Synthesis' web-based robotics simulator. This app is hosted [on our website](https://synthesis.github.com/fission/), in addition to a closed, in-development version [here](https://synthesis.autodesk.com/beta/).
-
 ## Setup & Building
 
 ### Requirements
@@ -69,7 +68,7 @@ npm run dev
 
 ### Unit Testing
 
-We use a combination of Vitest and Playwright for running our unit tests. A number of the unit tests rely on the asset pack data and may timeout due to download speeds. By default, the unit test command uses a chromium browser.
+We use a combination of Vitest and Playwright for running our unit tests. A number of the unit tests rely on the asset pack data and may time out due to download speeds. By default, the unit test command uses a Chromium browser.
 
 ```bash
 npm run test
@@ -77,7 +76,7 @@ npm run test
 
 ## Packaging
 
-We have two commands, one for compiling dev for attachment to the in-development endpoint, and another for the release endpoint:
+We have two packaging commands: one for compiling dev for attachment to the in-development endpoint, and another for the release endpoint.
 
 Release:
 ```bash
@@ -106,17 +105,17 @@ The world serves as a hub for all of the core systems. It is a static class that
 
 ### Scene Renderer
 
-The Scene Renderer is our interface with rendering within the Canvas. This is primarily done via ThreeJS, however can be extended later on.
+The Scene Renderer is our interface for rendering within the Canvas. This is primarily done via ThreeJS, however it can be extended later on.
 
 ### Physics System
 
-This Physics System is our interface with Jolt, ensuring objects are properly handled and provides utility functions that are more custom fit to our purposes.
+This Physics System is our interface with Jolt, ensuring objects are properly handled and providing utility functions that are more custom-fit to our purposes.
 
 [Jolt Physics Architecture](https://jrouwe.github.io/JoltPhysics/)
 
 ### Input System
 
-The input system listens for and records key presses and joystick positions to be used by robots. It also maps robot behaviors (such as an arcade drivetrain or an arm) to specific keys through customizable input schemes.
+The Input System listens for and records key presses and joystick positions to be used by robots. It also maps robot behaviors (e.g. an arcade drivetrain or an arm) to specific keys through customizable input schemes.
 
 ### UI System
 
@@ -126,11 +125,11 @@ These systems will extend off of the core systems to build out features in Synth
 
 ### Simulation System
 
-The Simulation System articulates dynamic elements of the scene via the Physics System. At it's core there are 3 main components:
+The Simulation System articulates dynamic elements of the scene via the Physics System. At its core there are 3 main components:
 
 #### Driver
 
-Drivers are mostly write-only. They take in values to know how to articulate the physics objects and contraints.
+Drivers are mostly write-only. They take in values to know how to articulate the physics objects and constraints.
 
 #### Stimulus
 
@@ -140,22 +139,22 @@ Stimuli are mostly read-only. They read values from given physics objects and co
 
 Brains are the controllers of the mechanisms. They use a combination of Drivers and Stimuli to control a given mechanism.
 
-For basic user control of the mechanisms, we'll have a Synthesis Brain. By the end of Summer 2024, I hope to have an additional brain, the WPIBrain for facilitating WPILib code control over the mechanisms inside of Synthesis.
+For basic user control of the mechanisms, we'll have a Synthesis Brain. We hope to have an additional brain by the end of Summer 2024: the WPIBrain for facilitating WPILib code control over the mechanisms inside of Synthesis.
 
 ## NPM Scripts
 
 | Script               | Description                                                                                                             |
 | -------------------- | ----------------------------------------------------------------------------------------------------------------------- |
 | `init`               | Runs the initialization commands to install all dependencies, assets, and unit testing browsers.                        |
-| `dev`                | Starts the development server used for testing. Supports hotloading (though finicky with WASM module loading).          |
-| `test`               | Runs the unit tests via vitest.                                                                                         |
-| `build`              | Builds the project into it's packaged form. Uses root base path.                                                        |
-| `build:prod`         | Builds the project into it's packaged form. Uses the `/fission/` base path.                                             |
+| `dev`                | Starts the development server used for testing. Supports hot-reloading (though finicky with WASM module loading).       |
+| `test`               | Runs the unit tests via Vitest.                                                                                         |
+| `build`              | Builds the project into its packaged form. Uses the root base path.                                                     |
+| `build:prod`         | Builds the project into its packaged form. Uses the `/fission/` base path.                                              |
 | `preview`            | Runs the built project for preview locally before deploying.                                                            |
-| `lint`               | Runs eslint on the project.                                                                                             |
-| `lint:fix`           | Attempts to fix issues found with eslint.                                                                               |
-| `prettier`           | Runs prettier on the project as a check.                                                                                |
-| `prettier:fix`       | Runs prettier on the project to fix any issues with formating.                                                          |
+| `lint`               | Runs ESLint on the project.                                                                                             |
+| `lint:fix`           | Attempts to fix issues found with ESLint.                                                                               |
+| `prettier`           | Runs Prettier on the project as a check.                                                                                |
+| `prettier:fix`       | Runs Prettier on the project to fix any issues with formatting.                                                         |
 | `format`             | Runs `prettier:fix` and `lint:fix`.                                                                                     |
 | `assetpack`          | Downloads the assetpack and unzips/installs it in the correct location.                                                 |
-| `playwright:install` | Downloads the playwright browsers.                                                                                      |
+| `playwright:install` | Downloads the Playwright browsers.                                                                                      |

From f460d8068aeb67a84af0433b82f4130a33d4c352 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 20 Aug 2024 12:05:08 -0700
Subject: [PATCH 304/344] Lots of documentation

---
 fission/src/Synthesis.tsx                     |   2 -
 fission/src/systems/input/DefaultInputs.ts    |   6 +-
 .../src/systems/input/InputSchemeManager.ts   |  14 ---
 fission/src/systems/input/InputSystem.ts      | 117 +++++++++++-------
 .../systems/preferences/PreferenceTypes.ts    |   9 ++
 .../systems/preferences/PreferencesSystem.ts  |  47 +++++--
 .../synthesis_brain/SynthesisBrain.ts         |  13 +-
 fission/src/ui/components/Checkbox.tsx        |  13 ++
 fission/src/ui/components/Dropdown.tsx        |  20 ++-
 fission/src/ui/components/SelectMenu.tsx      |  26 ++++
 .../inputs/ResetAllInputsModal.tsx            |  48 -------
 .../configuring/ChooseInputSchemePanel.tsx    |   2 +
 .../com/autodesk/synthesis/CANEncoder.class   | Bin 0 -> 1211 bytes
 .../com/autodesk/synthesis/CANMotor.class     | Bin 0 -> 2547 bytes
 .../com/autodesk/synthesis/ctre/TalonFX.class | Bin 0 -> 539 bytes
 .../synthesis/revrobotics/CANSparkMax.class   | Bin 0 -> 1607 bytes
 16 files changed, 195 insertions(+), 122 deletions(-)
 delete mode 100644 fission/src/ui/modals/configuring/inputs/ResetAllInputsModal.tsx
 create mode 100644 simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/CANEncoder.class
 create mode 100644 simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/CANMotor.class
 create mode 100644 simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/ctre/TalonFX.class
 create mode 100644 simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/revrobotics/CANSparkMax.class

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 0e2fe2a29b..7105c29422 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -60,7 +60,6 @@ import NewInputSchemeModal from "./ui/modals/configuring/theme-editor/NewInputSc
 import AssignNewSchemeModal from "./ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx"
 import AnalyticsConsent from "./ui/components/AnalyticsConsent.tsx"
 import PreferencesSystem from "./systems/preferences/PreferencesSystem.ts"
-import ResetAllInputsModal from "./ui/modals/configuring/inputs/ResetAllInputsModal.tsx"
 import APSManagementModal from "./ui/modals/APSManagementModal.tsx"
 import ConfigurePanel from "./ui/panels/configuring/assembly-config/ConfigurePanel.tsx"
 
@@ -220,7 +219,6 @@ const initialModals = [
     <MatchModeModal key="match-mode" modalId="match-mode" />,
     <ConfigMotorModal key="config-motor" modalId="config-motor" />,
     <ImportLocalMirabufModal key="import-local-mirabuf" modalId="import-local-mirabuf" />,
-    <ResetAllInputsModal key="reset-inputs" modalId="reset-inputs" />,
     <APSManagementModal key="aps-management" modalId="aps-management" />,
 ]
 
diff --git a/fission/src/systems/input/DefaultInputs.ts b/fission/src/systems/input/DefaultInputs.ts
index e15fe82d44..4a6a87a687 100644
--- a/fission/src/systems/input/DefaultInputs.ts
+++ b/fission/src/systems/input/DefaultInputs.ts
@@ -1,6 +1,7 @@
 import { InputScheme } from "./InputSchemeManager"
 import { AxisInput, ButtonInput, EmptyModifierState } from "./InputSystem"
 
+/** The purpose of this class is to store any defaults related to the input system. */
 class DefaultInputs {
     static ernie = () => {
         return {
@@ -133,6 +134,7 @@ class DefaultInputs {
         }
     }
 
+    /** We like this guy */
     public static hunter = () => {
         return {
             schemeName: "Hunter",
@@ -187,7 +189,8 @@ class DefaultInputs {
         }
     }
 
-    public static get defaultInputCopies() {
+    /** @returns {InputScheme[]} New copies of the default input schemes without reference to any others. */
+    public static get defaultInputCopies(): InputScheme[] {
         return [
             DefaultInputs.ernie(),
             DefaultInputs.luna(),
@@ -197,6 +200,7 @@ class DefaultInputs {
         ]
     }
 
+    /** @returns {InputScheme} A new blank input scheme with no control bound. */
     public static get newBlankScheme(): InputScheme {
         return {
             schemeName: "",
diff --git a/fission/src/systems/input/InputSchemeManager.ts b/fission/src/systems/input/InputSchemeManager.ts
index 23a5ede69d..4e2d66d73c 100644
--- a/fission/src/systems/input/InputSchemeManager.ts
+++ b/fission/src/systems/input/InputSchemeManager.ts
@@ -129,20 +129,6 @@ class InputSchemeManager {
         PreferencesSystem.setGlobalPreference("InputSchemes", customizedSchemes)
         PreferencesSystem.savePreferences()
     }
-
-    /** Returns a copy of a scheme without references to the original in any way */
-    public static copyScheme(scheme: InputScheme): InputScheme {
-        const copiedInputs: Input[] = []
-        scheme.inputs.forEach(i => copiedInputs.push(i.getCopy()))
-
-        return {
-            schemeName: scheme.schemeName,
-            descriptiveName: scheme.descriptiveName,
-            customized: scheme.customized,
-            usesGamepad: scheme.usesGamepad,
-            inputs: copiedInputs,
-        }
-    }
 }
 
 export default InputSchemeManager
diff --git a/fission/src/systems/input/InputSystem.ts b/fission/src/systems/input/InputSystem.ts
index 3be39b564a..b596fa11ad 100644
--- a/fission/src/systems/input/InputSystem.ts
+++ b/fission/src/systems/input/InputSystem.ts
@@ -9,28 +9,34 @@ export type ModifierState = {
 }
 export const EmptyModifierState: ModifierState = { ctrl: false, alt: false, shift: false, meta: false }
 
-// Represents any input
+/** Represents any user input */
 abstract class Input {
     public inputName: string
 
+    /** @param {string} inputName - The name given to this input to identify it's function. */
     constructor(inputName: string) {
         this.inputName = inputName
     }
 
-    // Returns the current value of the input. Range depends on input type
+    /** @returns {number} a number between -1 and 1 for this input. */
     abstract getValue(useGamepad: boolean): number
-
-    // Creates a copy to avoid modifying the default inputs by reference
-    abstract getCopy(): Input
 }
 
-// A single button
+/** Represents any user input that is a single true/false button. */
 class ButtonInput extends Input {
     public keyCode: string
     public keyModifiers: ModifierState
 
     public gamepadButton: number
 
+    /**
+     * All optional params will remain unassigned if not value is given. This can be assigned later by the user through the configuration panel.
+     *
+     * @param {string} inputName - The name given to this input to identify it's function.
+     * @param {string} [keyCode] -  The keyboard button for this input if a gamepad is not used.
+     * @param {number} [gamepadButton] -  The gamepad button for this input if a gamepad is used.
+     * @param {ModifierState} [keyModifiers] -  The key modifier state for the keyboard input.
+     */
     public constructor(inputName: string, keyCode?: string, gamepadButton?: number, keyModifiers?: ModifierState) {
         super(inputName)
         this.keyCode = keyCode ?? ""
@@ -38,7 +44,10 @@ class ButtonInput extends Input {
         this.gamepadButton = gamepadButton ?? -1
     }
 
-    // Returns 1 if pressed and 0 if not pressed
+    /**
+     * @param useGamepad Looks at the gamepad if true and the keyboard if false.
+     * @returns 1 if pressed, 0 if not pressed or not found.
+     */
     getValue(useGamepad: boolean): number {
         // Gamepad button input
         if (useGamepad) {
@@ -48,13 +57,9 @@ class ButtonInput extends Input {
         // Keyboard button input
         return InputSystem.isKeyPressed(this.keyCode, this.keyModifiers) ? 1 : 0
     }
-
-    getCopy(): Input {
-        return new ButtonInput(this.inputName, this.keyCode, this.gamepadButton, this.keyModifiers)
-    }
 }
 
-// An axis between two buttons (-1 to 1)
+/** Represents any user input that is an axis between -1 and 1. Can be a gamepad axis, two gamepad buttons, or two keyboard buttons. */
 class AxisInput extends Input {
     public posKeyCode: string
     public posKeyModifiers: ModifierState
@@ -67,6 +72,20 @@ class AxisInput extends Input {
     public posGamepadButton: number
     public negGamepadButton: number
 
+    /**
+     * All optional params will remain unassigned if not value is given. This can be assigned later by the user through the configuration panel.
+     *
+     * @param {string} inputName - The name given to this input to identify it's function.
+     * @param {string} [posKeyCode] - The keyboard input that corresponds to a positive input value (1).
+     * @param {string} [negKeyCode] - The keyboard input that corresponds to a negative input value (-1).
+     * @param {number} [gamepadAxisNumber] - The gamepad axis that this input looks at if the scheme is set to use a gamepad.
+     * @param {boolean} [joystickInverted] - Inverts the input if a gamepad axis is used.
+     * @param {boolean} [useGamepadButtons] - If this is true and the scheme is set to use a gamepad, this axis will be between two buttons on the controller.
+     * @param {number} [posGamepadButton] - The gamepad button that corresponds to a positive input value (1).
+     * @param {number} [negGamepadButton] - The gamepad button that corresponds to a negative input value (-1).
+     * @param {ModifierState} [posKeyModifiers] - The key modifier state for the positive keyboard input.
+     * @param {ModifierState} [negKeyModifiers] - The key modifier state for the negative keyboard input.
+     */
     public constructor(
         inputName: string,
         posKeyCode?: string,
@@ -94,11 +113,14 @@ class AxisInput extends Input {
         this.negGamepadButton = negGamepadButton ?? -1
     }
 
-    // For keyboard: returns 1 if positive pressed, -1 if negative pressed, or 0 if none or both are pressed
-    // For gamepad axis: returns a range between -1 and 1 with a deadband in the middle
+    /**
+     * @param useGamepad Looks at the gamepad if true and the keyboard if false.
+     * @returns {number} KEYBOARD: 1 if positive pressed, -1 if negative pressed, or 0 if none or both are pressed.
+     * @returns {number} GAMEPAD: a number between -1 and 1 with a deadband in the middle.
+     */
     getValue(useGamepad: boolean): number {
-        // Gamepad joystick axis
         if (useGamepad) {
+            // Gamepad joystick axis
             if (!this.useGamepadButtons)
                 return InputSystem.getGamepadAxis(this.gamepadAxisNumber) * (this.joystickInverted ? -1 : 1)
 
@@ -115,38 +137,28 @@ class AxisInput extends Input {
             (InputSystem.isKeyPressed(this.negKeyCode, this.negKeyModifiers) ? 1 : 0)
         )
     }
-
-    getCopy(): Input {
-        return new AxisInput(
-            this.inputName,
-            this.posKeyCode,
-            this.negKeyCode,
-            this.gamepadAxisNumber,
-            this.joystickInverted,
-            this.useGamepadButtons,
-            this.posGamepadButton,
-            this.negGamepadButton,
-            this.posKeyModifiers,
-            this.negKeyModifiers
-        )
-    }
 }
 
+/**
+ *  The input system listens for and records key presses and joystick positions to be used by robots.
+ *  It also maps robot behaviors (such as an arcade drivetrain or an arm) to specific keys through customizable input schemes.
+ */
 class InputSystem extends WorldSystem {
     public static currentModifierState: ModifierState
 
-    // A list of keys currently being pressed
+    /** The keys currently being pressed. */
     private static _keysPressed: { [key: string]: boolean } = {}
 
     private static _gpIndex: number | null
     public static gamepad: Gamepad | null
 
-    // Maps a brain index to a certain input scheme
+    /** Maps a brain index to an input scheme. */
     public static brainIndexSchemeMap: Map<number, InputScheme> = new Map()
 
     constructor() {
         super()
 
+        // Initialize input events
         this.handleKeyDown = this.handleKeyDown.bind(this)
         document.addEventListener("keydown", this.handleKeyDown)
 
@@ -159,19 +171,20 @@ class InputSystem extends WorldSystem {
         this.gamepadDisconnected = this.gamepadDisconnected.bind(this)
         window.addEventListener("gamepaddisconnected", this.gamepadDisconnected)
 
+        // Initialize an event that's triggered when the user exits/enters the page
         document.addEventListener("visibilitychange", () => {
             if (document.hidden) this.clearKeyData()
         })
     }
 
     public Update(_: number): void {
-        InputSystem
         // Fetch current gamepad information
         if (InputSystem._gpIndex == null) InputSystem.gamepad = null
         else InputSystem.gamepad = navigator.getGamepads()[InputSystem._gpIndex]
 
         if (!document.hasFocus()) this.clearKeyData()
 
+        // Update the current modifier state to be checked against target stats when getting input values
         InputSystem.currentModifierState = {
             ctrl: InputSystem.isKeyPressed("ControlLeft") || InputSystem.isKeyPressed("ControlRight"),
             alt: InputSystem.isKeyPressed("AltLeft") || InputSystem.isKeyPressed("AltRight"),
@@ -187,21 +200,22 @@ class InputSystem extends WorldSystem {
         window.removeEventListener("gamepaddisconnected", this.gamepadDisconnected)
     }
 
-    // Called when any key is first pressed
+    /** Called when any key is first pressed */
     private handleKeyDown(event: KeyboardEvent) {
         InputSystem._keysPressed[event.code] = true
     }
 
-    // Called when any key is released
+    /* Called when any key is released */
     private handleKeyUp(event: KeyboardEvent) {
         InputSystem._keysPressed[event.code] = false
     }
 
+    /** Clears all stored key data when the user leaves the page. */
     private clearKeyData() {
         for (const keyCode in InputSystem._keysPressed) delete InputSystem._keysPressed[keyCode]
     }
 
-    // Called once when a gamepad is first connected
+    /* Called once when a gamepad is first connected */
     private gamepadConnected(event: GamepadEvent) {
         console.log(
             "Gamepad connected at index %d: %s. %d buttons, %d axes.",
@@ -214,14 +228,18 @@ class InputSystem extends WorldSystem {
         InputSystem._gpIndex = event.gamepad.index
     }
 
-    // Called once when a gamepad is first disconnected
+    /* Called once when a gamepad is first disconnected */
     private gamepadDisconnected(event: GamepadEvent) {
         console.log("Gamepad disconnected from index %d: %s", event.gamepad.index, event.gamepad.id)
 
         InputSystem._gpIndex = null
     }
 
-    // Returns true if the given key is currently down
+    /**
+     * @param {string} key - The keycode of the target key.
+     * @param {ModifierState} modifiers - The target modifier state. Assumed to be no modifiers if undefined.
+     * @returns {boolean} True if the key is pressed or false otherwise.
+     */
     public static isKeyPressed(key: string, modifiers?: ModifierState): boolean {
         if (modifiers != null && !InputSystem.compareModifiers(InputSystem.currentModifierState, modifiers))
             return false
@@ -229,7 +247,11 @@ class InputSystem extends WorldSystem {
         return !!InputSystem._keysPressed[key]
     }
 
-    // If an input exists, return it's value
+    /**
+     * @param {string} inputName The name of the function of the input.
+     * @param {number} brainIndex The robot brain index for this input. Used to map to a control scheme.
+     * @returns {number} A number between -1 and 1 based on the current state of the input.
+     */
     public static getInput(inputName: string, brainIndex: number): number {
         const targetScheme = InputSystem.brainIndexSchemeMap.get(brainIndex)
 
@@ -240,7 +262,11 @@ class InputSystem extends WorldSystem {
         return targetInput.getValue(targetScheme.usesGamepad)
     }
 
-    // Returns true if two modifier states are identical
+    /**
+     * @param {ModifierState} state1 Any key modifier state.
+     * @param {ModifierState} state2 Any key modifier state.
+     * @returns {boolean} True if the modifier states are identical and false otherwise.
+     */
     public static compareModifiers(state1: ModifierState, state2: ModifierState): boolean {
         if (!state1 || !state2) return false
 
@@ -252,7 +278,10 @@ class InputSystem extends WorldSystem {
         )
     }
 
-    // Returns a number between -1 and 1 with a deadband
+    /**
+     * @param {number} axisNumber The joystick axis index. Must be an integer.
+     * @returns {number} A number between -1 and 1 based on the position of this axis or 0 if no gamepad is connected or the axis is not found.
+     */
     public static getGamepadAxis(axisNumber: number): number {
         if (InputSystem.gamepad == null) return 0
 
@@ -264,7 +293,11 @@ class InputSystem extends WorldSystem {
         return Math.abs(value) < 0.15 ? 0 : value
     }
 
-    // Returns true if a gamepad is connected and a certain button is pressed
+    /**
+     *
+     * @param {number} buttonNumber - The gamepad button index. Must be an integer.
+     * @returns {boolean} True if the button is pressed, false if not, a gamepad isn't connected, or the button can't be found.
+     */
     public static isGamepadButtonPressed(buttonNumber: number): boolean {
         if (InputSystem.gamepad == null) return false
 
diff --git a/fission/src/systems/preferences/PreferenceTypes.ts b/fission/src/systems/preferences/PreferenceTypes.ts
index 9331cc425e..a6cd390a47 100644
--- a/fission/src/systems/preferences/PreferenceTypes.ts
+++ b/fission/src/systems/preferences/PreferenceTypes.ts
@@ -1,6 +1,7 @@
 import { InputScheme } from "../input/InputSchemeManager"
 import { Vector3Tuple } from "three"
 
+/** Names of all global preferences. */
 export type GlobalPreference =
     | "QualitySettings"
     | "ZoomSensitivity"
@@ -16,6 +17,10 @@ export type GlobalPreference =
 export const RobotPreferencesKey: string = "Robots"
 export const FieldPreferencesKey: string = "Fields"
 
+/**
+ * Default values for GlobalPreferences as a fallback if they are not configured by the user.
+ * Every global preference should have a default value.
+ */
 export const DefaultGlobalPreferences: { [key: string]: unknown } = {
     QualitySettings: "High" as QualitySetting,
     ZoomSensitivity: 15,
@@ -43,8 +48,10 @@ export type EjectorPreferences = {
     parentNode: string | undefined
 }
 
+/** The behavior types that can be sequenced. */
 export type BehaviorType = "Elevator" | "Arm"
 
+/** Data for sequencing and inverting elevator and behaviors. */
 export type SequentialBehaviorPreferences = {
     jointIndex: number
     parentJointIndex: number | undefined
@@ -52,6 +59,7 @@ export type SequentialBehaviorPreferences = {
     inverted: boolean
 }
 
+/** Default preferences for a joint with not parent specified and inverted set to false. */
 export function DefaultSequentialConfig(index: number, type: BehaviorType): SequentialBehaviorPreferences {
     return {
         jointIndex: index,
@@ -82,6 +90,7 @@ export type ScoringZonePreferences = {
 }
 
 export type FieldPreferences = {
+    // TODO: implement this
     defaultSpawnLocation: Vector3Tuple
     scoringZones: ScoringZonePreferences[]
 }
diff --git a/fission/src/systems/preferences/PreferencesSystem.ts b/fission/src/systems/preferences/PreferencesSystem.ts
index 8933a44bd6..7ea83da2ca 100644
--- a/fission/src/systems/preferences/PreferencesSystem.ts
+++ b/fission/src/systems/preferences/PreferencesSystem.ts
@@ -9,10 +9,15 @@ import {
     RobotPreferencesKey,
 } from "./PreferenceTypes"
 
+/** An event that's triggered when a preference is changed. */
 export class PreferenceEvent extends Event {
     public prefName: GlobalPreference
     public prefValue: unknown
 
+    /**
+     * @param {GlobalPreference} prefName - The name of the preference that has just been updated.
+     * @param {unknown} prefValue - The new value this preference was set to.
+     */
     constructor(prefName: GlobalPreference, prefValue: unknown) {
         super("preferenceChanged")
         this.prefName = prefName
@@ -20,6 +25,7 @@ export class PreferenceEvent extends Event {
     }
 }
 
+/** The preference system handles loading, saving, and updating all user managed data saved in local storage. */
 class PreferencesSystem {
     private static _preferences: { [key: string]: unknown }
     private static _localStorageKey = "Preferences"
@@ -29,7 +35,12 @@ class PreferencesSystem {
         window.addEventListener("preferenceChanged", callback as EventListener)
     }
 
-    /** Sets a global preference to be a value of a specific type */
+    /**
+     * Sets a global preference to be a value of a specific type
+     *
+     * @param {GlobalPreference} key - The name of the preference to set.
+     * @param {T} value - The value to set the preference to.
+     */
     public static setGlobalPreference<T>(key: GlobalPreference, value: T) {
         if (this._preferences == undefined) this.loadPreferences()
 
@@ -37,14 +48,24 @@ class PreferencesSystem {
         this._preferences[key] = value
     }
 
-    /** Gets any preference from the preferences map */
+    /**  */
+    /**
+     * Gets any preference from the preferences map
+     * @param {string} key - The name of the preference to get.
+     * @returns {T} The value of this preference casted to type T.
+     */
     private static getPreference<T>(key: string): T | undefined {
         if (this._preferences == undefined) this.loadPreferences()
 
         return this._preferences[key] as T
     }
 
-    /** Gets a global preference, or it's default value if it does not exist in the preferences map */
+    /**
+     * Gets a global preference, or it's default value if it does not exist in the preferences map
+     *
+     * @param {GlobalPreference} key - The name of the preference to get.
+     * @returns {T} The value of this preference casted to type T.
+     */
     public static getGlobalPreference<T>(key: GlobalPreference): T {
         const customPref = this.getPreference<T>(key)
         if (customPref != undefined) return customPref
@@ -55,7 +76,10 @@ class PreferencesSystem {
         throw new Error("Preference '" + key + "' is not assigned a default!")
     }
 
-    /** Gets a RobotPreferences object for a robot of a specific mira name */
+    /**
+     * @param {string} miraName - The name of the robot assembly to get preference for.
+     * @returns {RobotPreferences} Robot preferences found for the given robot, or default robot preferences if none are found.
+     */
     public static getRobotPreferences(miraName: string): RobotPreferences {
         const allRoboPrefs = this.getAllRobotPreferences()
 
@@ -68,7 +92,7 @@ class PreferencesSystem {
         return allRoboPrefs[miraName]
     }
 
-    /** Gets preferences for every robot in local storage */
+    /** @returns Preferences for every robot that was found in local storage. */
     public static getAllRobotPreferences(): { [key: string]: RobotPreferences } {
         let allRoboPrefs = this.getPreference<{ [key: string]: RobotPreferences }>(RobotPreferencesKey)
 
@@ -80,7 +104,10 @@ class PreferencesSystem {
         return allRoboPrefs
     }
 
-    /** Gets a FieldPreferences object for a robot of a specific mira name */
+    /**
+     * @param {string} miraName - The name of the field assembly to get preference for.
+     * @returns {FieldPreferences} Field preferences found for the given field, or default field preferences if none are found.
+     */
     public static getFieldPreferences(miraName: string): FieldPreferences {
         const allFieldPrefs = this.getAllFieldPreferences()
 
@@ -93,7 +120,7 @@ class PreferencesSystem {
         return allFieldPrefs[miraName]
     }
 
-    /** Gets preferences for every robot in local storage */
+    /** @returns Preferences for every field that was found in local storage. */
     public static getAllFieldPreferences(): { [key: string]: FieldPreferences } {
         let allFieldPrefs = this.getPreference<{ [key: string]: FieldPreferences }>(FieldPreferencesKey)
 
@@ -105,7 +132,7 @@ class PreferencesSystem {
         return allFieldPrefs
     }
 
-    /** Load all preferences from local storage */
+    /** Loads all preferences from local storage. */
     public static loadPreferences() {
         const loadedPrefs = window.localStorage.getItem(this._localStorageKey)
 
@@ -122,7 +149,7 @@ class PreferencesSystem {
         }
     }
 
-    /** Save all preferences to local storage */
+    /** Saves all preferences to local storage. */
     public static savePreferences() {
         if (this._preferences == undefined) {
             console.log("Preferences not loaded!")
@@ -139,7 +166,7 @@ class PreferencesSystem {
         window.localStorage.setItem(this._localStorageKey, prefsString)
     }
 
-    /** Remove all preferences from local storage */
+    /** Removes all preferences from local storage. */
     public static clearPreferences() {
         window.localStorage.removeItem(this._localStorageKey)
         this._preferences = {}
diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index 03db0cdf2c..a58c1bdb3a 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -40,6 +40,7 @@ class SynthesisBrain extends Brain {
     // Tracks the number of each specific mira file spawned
     public static numberRobotsSpawned: { [key: string]: number } = {}
 
+    /** @returns {string} The name of the input scheme attached to this brain. */
     public get inputSchemeName(): string {
         const scheme = InputSystem.brainIndexSchemeMap.get(this._brainIndex)
         if (scheme == undefined) return "Not Configured"
@@ -47,10 +48,15 @@ class SynthesisBrain extends Brain {
         return scheme.schemeName
     }
 
+    /** @returns {number} The unique index used to identify this brain. */
     public get brainIndex(): number {
         return this._brainIndex
     }
 
+    /**
+     * @param mechanism The mechanism this brain will control.
+     * @param assemblyName The name of the assembly that corresponds to the mechanism used for identification.
+     */
     public constructor(mechanism: Mechanism, assemblyName: string) {
         super(mechanism)
 
@@ -89,7 +95,7 @@ class SynthesisBrain extends Brain {
         InputSystem.brainIndexSchemeMap.delete(this._brainIndex)
     }
 
-    // Creates an instance of ArcadeDriveBehavior and automatically configures it
+    /** Creates an instance of ArcadeDriveBehavior and automatically configures it. */
     private configureArcadeDriveBehavior() {
         const wheelDrivers: WheelDriver[] = this._simLayer.drivers.filter(
             driver => driver instanceof WheelDriver
@@ -134,7 +140,7 @@ class SynthesisBrain extends Brain {
         )
     }
 
-    // Creates instances of ArmBehavior and automatically configures them
+    /** Creates instances of ArmBehavior and automatically configures them. */
     private configureArmBehaviors() {
         const hingeDrivers: HingeDriver[] = this._simLayer.drivers.filter(
             driver => driver instanceof HingeDriver
@@ -171,7 +177,7 @@ class SynthesisBrain extends Brain {
         }
     }
 
-    // Creates instances of ElevatorBehavior and automatically configures them
+    /** Creates instances of ElevatorBehavior and automatically configures them. */
     private configureElevatorBehaviors() {
         const sliderDrivers: SliderDriver[] = this._simLayer.drivers.filter(
             driver => driver instanceof SliderDriver
@@ -208,6 +214,7 @@ class SynthesisBrain extends Brain {
         }
     }
 
+    /** Gets field preferences and handles any field specific configuration. */
     private configureField() {
         PreferencesSystem.getFieldPreferences(this._assemblyName)
 
diff --git a/fission/src/ui/components/Checkbox.tsx b/fission/src/ui/components/Checkbox.tsx
index e36056301f..fba4e63105 100644
--- a/fission/src/ui/components/Checkbox.tsx
+++ b/fission/src/ui/components/Checkbox.tsx
@@ -12,6 +12,19 @@ type CheckboxProps = {
     onClick?: (checked: boolean) => void
 }
 
+/**
+ * A checkbox component with a label and optional tooltip.
+ *
+ * @param {CheckboxProps} props - The properties object.
+ * @param {string} props.label - The label text that will be on the right of the checkbox.
+ * @param {string} props.className - Custom styling options.
+ * @param {boolean} props.defaultState - Should the box be checked when it's first created?.
+ * @param {boolean} props.stateOverride - Controls the state of the checkbox, overriding user inputs.
+ * @param {boolean} props.hideLabel - If true, the checkbox will not be labeled.
+ * @param {function} props.onClick - Callback function to handle state changes of the checkbox.
+ *
+ * @returns {JSX.Element} The rendered Dropdown component.
+ */
 const Checkbox: React.FC<CheckboxProps> = ({ label, className, defaultState, stateOverride, hideLabel, onClick }) => {
     const [state] = useState(defaultState)
     return (
diff --git a/fission/src/ui/components/Dropdown.tsx b/fission/src/ui/components/Dropdown.tsx
index d5ba480505..3b7d639bd8 100644
--- a/fission/src/ui/components/Dropdown.tsx
+++ b/fission/src/ui/components/Dropdown.tsx
@@ -3,6 +3,7 @@ import { styled } from "@mui/system"
 import { Menu, MenuItem, Button, Tooltip } from "@mui/material"
 import { colorNameToVar } from "../ThemeContext"
 
+/** The clickable button for a dropdown that shows the selected item and opens the menu. Custom styling over the MUI material button.*/
 const CustomButton = styled(Button)({
     "border": `2px solid ${colorNameToVar("InteractiveElementRight")}`,
     "color": colorNameToVar("InteractiveElementText"),
@@ -37,6 +38,7 @@ const CustomButton = styled(Button)({
     },
 })
 
+/** The menu that appears when the dropdown is opened and allows an item to be selected. Custom styling over the MUI material menu. */
 const CustomMenu = styled(Menu)({
     "& .MuiPaper-root": {
         backgroundColor: colorNameToVar("BackgroundSecondary"),
@@ -54,13 +56,24 @@ const CustomMenu = styled(Menu)({
 
 interface DropdownProps {
     options: string[]
-    defaultValue?: string
     onSelect: (value: string) => void
+    defaultValue?: string
     label?: string
     className?: string
 }
 
-const Dropdown: React.FC<DropdownProps> = ({ options, defaultValue, onSelect, label }) => {
+/**
+ * Dropdown component that renders a button which, when clicked, displays a dropdown menu with a list of selectable options.
+ *
+ * @param {DropdownProps} props - The properties object.
+ * @param {string[]} props.options - An array of strings representing the dropdown options.
+ * @param {function} props.onSelect - Callback function to handle selection of an option.
+ * @param {string} [props.defaultValue] - The default selected value for the dropdown.
+ * @param {string} [props.label] - An optional label to be displayed above the dropdown.
+ *
+ * @returns {JSX.Element} The rendered Dropdown component.
+ */
+const Dropdown: React.FC<DropdownProps> = ({ options, onSelect, defaultValue, label }) => {
     const [anchorEl, setAnchorEl] = useState<null | HTMLElement>(null)
     const [selectedValue, setSelectedValue] = useState<string>(defaultValue || "")
     const buttonRef = useRef<HTMLButtonElement>(null)
@@ -72,14 +85,17 @@ const Dropdown: React.FC<DropdownProps> = ({ options, defaultValue, onSelect, la
         }
     }, [])
 
+    /** Handles clicking the button to open the dropdown  menu. */
     const handleClick = (event: React.MouseEvent<HTMLButtonElement>) => {
         setAnchorEl(event.currentTarget)
     }
 
+    /** Handles closing the dropdown menu. */
     const handleClose = () => {
         setAnchorEl(null)
     }
 
+    /** Handles the selection of a dropdown option. */
     const handleSelect = (value: string) => {
         setSelectedValue(value)
         onSelect(value)
diff --git a/fission/src/ui/components/SelectMenu.tsx b/fission/src/ui/components/SelectMenu.tsx
index c047a6e708..ecb9ba50a2 100644
--- a/fission/src/ui/components/SelectMenu.tsx
+++ b/fission/src/ui/components/SelectMenu.tsx
@@ -57,6 +57,17 @@ interface OptionCardProps {
     includeDelete: boolean
 }
 
+/**
+ * An option for the select menu that contains a specific index, name, and can store a custom value through a SelectMenuOption instance.
+ *
+ * @param {OptionCardProps} props - The properties object.
+ * @param {number} props.index - The index of this option in the menu that's used to generate a unique key.
+ * @param {function} props.onSelected - Callback function to handle selection of this option.
+ * @param {function} [props.onDelete] - Callback function to handle deletion of this option.
+ * @param {boolean} props.includeDelete - A boolean to determine if this specific option is able to be deleted.
+ *
+ * @returns {JSX.Element} The rendered OptionCard component.
+ */
 const OptionCard: React.FC<OptionCardProps> = ({ value, index, onSelected, onDelete, includeDelete }) => {
     return (
         <Box
@@ -118,6 +129,21 @@ interface SelectMenuProps {
     onAddClicked?: () => void
 }
 
+/**
+ * A menu with multiple options. When an option is selected, it is displayed as the header and a back button appears to select a different item.
+ *
+ * @param {SelectMenuProps} props - The properties object.
+ * @param {SelectMenuOption[]} props.options - The available options in this menu.
+ * @param {function} props.onOptionSelected - Callback function to handle an option being selected. Called with undefined when no option is selected.
+ * @param {string} props.defaultHeaderText - The text displayed in the header if no option is selected.
+ * @param {string} [props.noOptionsText] - The text displayed if there are no available options.
+ * @param {number} [props.indentation] - The number of indentations before the header text. Used to nest multiple select menus together.
+ * @param {function} [props.onDelete] - Callback function to handle the deletion of an option. If undefined, delete buttons will not be included.
+ * @param {function} [props.deleteCondition] - A function take in a specific option and return true if it's deletable.
+ * @param {function} [props.onAddClicked] - Callback function to handle the addition of an option. If undefined, no add button will be included.
+ *
+ * @returns {JSX.Element} The rendered SelectMenu component.
+ */
 const SelectMenu: React.FC<SelectMenuProps> = ({
     options,
     onOptionSelected,
diff --git a/fission/src/ui/modals/configuring/inputs/ResetAllInputsModal.tsx b/fission/src/ui/modals/configuring/inputs/ResetAllInputsModal.tsx
deleted file mode 100644
index a9feb96ef6..0000000000
--- a/fission/src/ui/modals/configuring/inputs/ResetAllInputsModal.tsx
+++ /dev/null
@@ -1,48 +0,0 @@
-import React from "react"
-import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { useModalControlContext } from "@/ui/ModalContext"
-import InputSystem from "@/systems/input/InputSystem"
-import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
-import World from "@/systems/World"
-import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
-import { MiraType } from "@/mirabuf/MirabufLoader"
-import InputSchemeManager from "@/systems/input/InputSchemeManager"
-import { SynthesisIcons } from "@/ui/components/StyledComponents"
-
-const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
-    const { openModal } = useModalControlContext()
-
-    return (
-        <Modal
-            name="Reset all Inputs??"
-            icon={SynthesisIcons.Xmark}
-            modalId={modalId}
-            onAccept={() => {
-                // Wipe global input scheme prefs
-                PreferencesSystem.setGlobalPreference("InputSchemes", [])
-                InputSystem.brainIndexSchemeMap.clear()
-                InputSchemeManager.resetDefaultSchemes()
-                PreferencesSystem.savePreferences()
-
-                // Remove all robot assemblies
-                const assemblies = [...World.SceneRenderer.sceneObjects.entries()]
-                    .filter(x => {
-                        const y =
-                            x[1] instanceof MirabufSceneObject &&
-                            (x[1] as MirabufSceneObject).miraType == MiraType.ROBOT
-                        return y
-                    })
-                    .map(x => x[0])
-
-                assemblies.forEach(a => {
-                    World.SceneRenderer.RemoveSceneObject(a)
-                })
-            }}
-            onCancel={() => {
-                openModal("change-inputs")
-            }}
-        ></Modal>
-    )
-}
-
-export default ResetAllInputsModal
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index 2b61340430..13b4bce2d5 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -21,7 +21,9 @@ import { useEffect, useReducer } from "react"
 import { ConfigurationType, setSelectedConfigurationType } from "./assembly-config/ConfigurePanel"
 import { setSelectedScheme } from "./assembly-config/interfaces/inputs/ConfigureInputsInterface"
 
+/** We store the selected brain index globally to specify which robot the input scheme should be bound to. */
 let selectedBrainIndexGlobal: number | undefined = undefined
+
 // eslint-disable-next-line react-refresh/only-export-components
 export function setSelectedBrainIndexGlobal(index: number | undefined) {
     selectedBrainIndexGlobal = index
diff --git a/simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/CANEncoder.class b/simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/CANEncoder.class
new file mode 100644
index 0000000000000000000000000000000000000000..0fb2f9b6653b9fc59e7ef619108115202df0eeae
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literal 0
HcmV?d00001

diff --git a/simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/ctre/TalonFX.class b/simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/ctre/TalonFX.class
new file mode 100644
index 0000000000000000000000000000000000000000..9631af7dd8abf8a5971f6eaf88849313729557b0
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/revrobotics/CANSparkMax.class b/simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/revrobotics/CANSparkMax.class
new file mode 100644
index 0000000000000000000000000000000000000000..fefd0dc3e93ef87aef6cced6a7faa87efaa877a4
GIT binary patch
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literal 0
HcmV?d00001


From a2f59362bf4fb41dfe57495372a07810f19d36c1 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 20 Aug 2024 13:39:36 -0700
Subject: [PATCH 305/344] Merge conflict fix

---
 .../systems/preferences/PreferencesSystem.ts  | 39 ++++++++++---------
 1 file changed, 20 insertions(+), 19 deletions(-)

diff --git a/fission/src/systems/preferences/PreferencesSystem.ts b/fission/src/systems/preferences/PreferencesSystem.ts
index 7ea83da2ca..74a7d24607 100644
--- a/fission/src/systems/preferences/PreferencesSystem.ts
+++ b/fission/src/systems/preferences/PreferencesSystem.ts
@@ -35,25 +35,7 @@ class PreferencesSystem {
         window.addEventListener("preferenceChanged", callback as EventListener)
     }
 
-    /**
-     * Sets a global preference to be a value of a specific type
-     *
-     * @param {GlobalPreference} key - The name of the preference to set.
-     * @param {T} value - The value to set the preference to.
-     */
-    public static setGlobalPreference<T>(key: GlobalPreference, value: T) {
-        if (this._preferences == undefined) this.loadPreferences()
-
-        window.dispatchEvent(new PreferenceEvent(key, value))
-        this._preferences[key] = value
-    }
-
-    /**  */
-    /**
-     * Gets any preference from the preferences map
-     * @param {string} key - The name of the preference to get.
-     * @returns {T} The value of this preference casted to type T.
-     */
+    /** Gets any preference from the preferences map */
     private static getPreference<T>(key: string): T | undefined {
         if (this._preferences == undefined) this.loadPreferences()
 
@@ -76,6 +58,19 @@ class PreferencesSystem {
         throw new Error("Preference '" + key + "' is not assigned a default!")
     }
 
+    /**
+     * Sets a global preference to be a value of a specific type
+     *
+     * @param {GlobalPreference} key - The name of the preference to set.
+     * @param {T} value - The value to set the preference to.
+     */
+    public static setGlobalPreference<T>(key: GlobalPreference, value: T) {
+        if (this._preferences == undefined) this.loadPreferences()
+
+        window.dispatchEvent(new PreferenceEvent(key, value))
+        this._preferences[key] = value
+    }
+
     /**
      * @param {string} miraName - The name of the robot assembly to get preference for.
      * @returns {RobotPreferences} Robot preferences found for the given robot, or default robot preferences if none are found.
@@ -92,6 +87,12 @@ class PreferencesSystem {
         return allRoboPrefs[miraName]
     }
 
+    /** Sets the RobotPreferences object for the robot of a specific mira name */
+    public static setRobotPreferences(miraName: string, value: RobotPreferences) {
+        const allRoboPrefs = this.getAllRobotPreferences()
+        allRoboPrefs[miraName] = value
+    }
+
     /** @returns Preferences for every robot that was found in local storage. */
     public static getAllRobotPreferences(): { [key: string]: RobotPreferences } {
         let allRoboPrefs = this.getPreference<{ [key: string]: RobotPreferences }>(RobotPreferencesKey)

From 678f2b98c44c4de788b565a7ed51505b46dd8413 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 20 Aug 2024 13:42:48 -0700
Subject: [PATCH 306/344] setting scaling fix

---
 fission/src/ui/modals/configuring/SettingsModal.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index 05c00f6ddf..f9a9d9b5b9 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -66,7 +66,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 saveSettings()
             }}
         >
-            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 min-w-[22vw]">
+            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 max-h-[60vh]">
                 <Label size={LabelSize.Medium}>Screen Settings</Label>
                 <Dropdown
                     label="Quality Settings"

From 55188fcc907ae02d2824a97fee68e5d2bbffc6d5 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 20 Aug 2024 14:46:20 -0700
Subject: [PATCH 307/344] Synthesis Exporter now tracks Fusion's unit system

Co-authored-by: PepperLola <PepperLola@users.noreply.github.com>
---
 .../src/Parser/ExporterOptions.py             |   5 +-
 exporter/SynthesisFusionAddin/src/Types.py    |  32 ++--
 .../src/UI/ConfigCommand.py                   |   7 -
 .../src/UI/GamepieceConfigTab.py              |  78 ++--------
 .../src/UI/GeneralConfigTab.py                | 137 +++---------------
 exporter/SynthesisFusionAddin/src/Util.py     |  40 +++++
 6 files changed, 90 insertions(+), 209 deletions(-)
 create mode 100644 exporter/SynthesisFusionAddin/src/Util.py

diff --git a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
index 69e9bbef5d..251a998855 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
@@ -21,7 +21,6 @@
     Joint,
     ModelHierarchy,
     PhysicalDepth,
-    PreferredUnits,
     Wheel,
     encodeNestedObjects,
     makeObjectFromJson,
@@ -43,10 +42,8 @@ class ExporterOptions:
     wheels: list[Wheel] = field(default=None)
     joints: list[Joint] = field(default=None)
     gamepieces: list[Gamepiece] = field(default=None)
-    preferredUnits: PreferredUnits = field(default=PreferredUnits.IMPERIAL)
 
-    # Always stored in kg regardless of 'preferredUnits'
-    robotWeight: KG = field(default=0.0)
+    robotWeight: KG = field(default=KG(0.0))
     autoCalcRobotWeight: bool = field(default=False)
     autoCalcGamepieceWeight: bool = field(default=False)
 
diff --git a/exporter/SynthesisFusionAddin/src/Types.py b/exporter/SynthesisFusionAddin/src/Types.py
index 1aca3a5162..0abda446be 100644
--- a/exporter/SynthesisFusionAddin/src/Types.py
+++ b/exporter/SynthesisFusionAddin/src/Types.py
@@ -3,7 +3,9 @@
 import platform
 from dataclasses import dataclass, field, fields, is_dataclass
 from enum import Enum, EnumType
-from typing import Union, get_origin
+from typing import TypeAlias, Union, get_origin
+
+import adsk.fusion
 
 # Not 100% sure what this is for - Brandon
 JointParentType = Enum("JointParentType", ["ROOT", "END"])
@@ -11,8 +13,16 @@
 WheelType = Enum("WheelType", ["STANDARD", "OMNI", "MECANUM"])
 SignalType = Enum("SignalType", ["PWM", "CAN", "PASSIVE"])
 ExportMode = Enum("ExportMode", ["ROBOT", "FIELD"])  # Dynamic / Static export
-PreferredUnits = Enum("PreferredUnits", ["METRIC", "IMPERIAL"])
 ExportLocation = Enum("ExportLocation", ["UPLOAD", "DOWNLOAD"])
+UnitSystem = Enum("UnitSystem", ["METRIC", "IMPERIAL"])
+
+FUSION_UNIT_SYSTEM: dict[int, Enum] = {
+    adsk.fusion.DistanceUnits.MillimeterDistanceUnits: UnitSystem.METRIC,
+    adsk.fusion.DistanceUnits.CentimeterDistanceUnits: UnitSystem.METRIC,
+    adsk.fusion.DistanceUnits.MeterDistanceUnits: UnitSystem.METRIC,
+    adsk.fusion.DistanceUnits.InchDistanceUnits: UnitSystem.IMPERIAL,
+    adsk.fusion.DistanceUnits.FootDistanceUnits: UnitSystem.IMPERIAL,
+}
 
 
 @dataclass
@@ -72,22 +82,8 @@ class ModelHierarchy(Enum):
     SingleMesh = 3
 
 
-class LBS(float):
-    """Mass Unit in Pounds."""
-
-
-class KG(float):
-    """Mass Unit in Kilograms."""
-
-
-def toLbs(kgs: float) -> LBS:
-    return LBS(round(kgs * 2.2062, 2))
-
-
-def toKg(pounds: float) -> KG:
-    return KG(round(pounds / 2.2062, 2))
-
-
+KG: TypeAlias = float
+LBS: TypeAlias = float
 PRIMITIVES = (bool, str, int, float, type(None))
 
 
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index c50c7feed2..0e83f92136 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -319,12 +319,6 @@ def notify(self, args):
         selectedJoints, selectedWheels = jointConfigTab.getSelectedJointsAndWheels()
         selectedGamepieces = gamepieceConfigTab.getGamepieces()
 
-        if generalConfigTab.exportMode == ExportMode.ROBOT:
-            units = generalConfigTab.selectedUnits
-        else:
-            assert generalConfigTab.exportMode == ExportMode.FIELD
-            units = gamepieceConfigTab.selectedUnits
-
         exporterOptions = ExporterOptions(
             savepath,
             name,
@@ -333,7 +327,6 @@ def notify(self, args):
             joints=selectedJoints,
             wheels=selectedWheels,
             gamepieces=selectedGamepieces,
-            preferredUnits=units,
             robotWeight=generalConfigTab.robotWeight,
             autoCalcRobotWeight=generalConfigTab.autoCalculateWeight,
             autoCalcGamepieceWeight=gamepieceConfigTab.autoCalculateWeight,
diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index 8eb4f80044..9aafb48cd2 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -3,13 +3,13 @@
 
 from src.Logging import logFailure
 from src.Parser.ExporterOptions import ExporterOptions
-from src.Types import Gamepiece, PreferredUnits, toKg, toLbs
-from src.UI import IconPaths
+from src.Types import Gamepiece, UnitSystem
 from src.UI.CreateCommandInputsHelper import (
     createBooleanInput,
     createTableInput,
     createTextBoxInput,
 )
+from src.Util import convertMassUnitsFrom, convertMassUnitsTo, getFusionUnitSystem
 
 
 class GamepieceConfigTab:
@@ -19,7 +19,6 @@ class GamepieceConfigTab:
     gamepieceTable: adsk.core.TableCommandInput
     previousAutoCalcWeightCheckboxState: bool
     previousSelectedUnitDropdownIndex: int
-    currentUnits: PreferredUnits
 
     @logFailure
     def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: ExporterOptions) -> None:
@@ -37,20 +36,6 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
         )
         self.previousAutoCalcWeightCheckboxState = exporterOptions.autoCalcGamepieceWeight
 
-        self.currentUnits = exporterOptions.preferredUnits
-        imperialUnits = self.currentUnits == PreferredUnits.IMPERIAL
-        weightUnitTable = gamepieceTabInputs.addDropDownCommandInput(
-            "gamepieceWeightUnit", "Unit of Mass", adsk.core.DropDownStyles.LabeledIconDropDownStyle
-        )
-
-        # Invisible white space characters are required in the list item name field to make this work.
-        # I have no idea why, Fusion API needs some special education help - Brandon
-        weightUnitTable.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
-        weightUnitTable.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
-        weightUnitTable.tooltip = "Unit of mass"
-        weightUnitTable.tooltipDescription = "<hr>Configure the unit of mass for for the weight calculation."
-        self.previousSelectedUnitDropdownIndex = int(not imperialUnits)
-
         self.gamepieceTable = createTableInput(
             "gamepieceTable",
             "Gamepiece",
@@ -62,8 +47,17 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
         self.gamepieceTable.addCommandInput(
             createTextBoxInput("gamepieceNameHeader", "Name", gamepieceTabInputs, "Name", bold=False), 0, 0
         )
+        fusUnitSystem = getFusionUnitSystem()
         self.gamepieceTable.addCommandInput(
-            createTextBoxInput("gamepieceWeightHeader", "Weight", gamepieceTabInputs, "Weight", bold=False), 0, 1
+            createTextBoxInput(
+                "gamepieceWeightHeader",
+                "Weight",
+                gamepieceTabInputs,
+                f"Weight {'(lbs)' if fusUnitSystem is UnitSystem.IMPERIAL else '(kg)'}",
+                bold=False,
+            ),
+            0,
+            1,
         )
         self.gamepieceTable.addCommandInput(
             createTextBoxInput(
@@ -108,10 +102,6 @@ def isVisible(self) -> bool:
     def isVisible(self, value: bool) -> None:
         self.gamepieceConfigTab.isVisible = value
 
-    @property
-    def selectedUnits(self) -> PreferredUnits:
-        return self.currentUnits
-
     @property
     def autoCalculateWeight(self) -> bool:
         autoCalcWeightButton: adsk.core.BoolValueCommandInput = self.gamepieceConfigTab.children.itemById(
@@ -164,26 +154,13 @@ def addChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None:
             frictionCoefficient.valueOne = 0.5
 
         physical = gamepiece.component.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
-        if self.currentUnits == PreferredUnits.IMPERIAL:
-            gamepieceMass = toLbs(physical.mass)
-        else:
-            gamepieceMass = round(physical.mass, 2)
-
+        gamepieceMass = round(convertMassUnitsFrom(physical.mass), 2)
         weight = commandInputs.addValueInput(
             "gamepieceWeight", "Weight Input", "", adsk.core.ValueInput.createByString(str(gamepieceMass))
         )
         weight.tooltip = "Weight of field element"
         weight.isEnabled = not self.previousAutoCalcWeightCheckboxState
 
-        weightUnitDropdown: adsk.core.DropDownCommandInput = self.gamepieceConfigTab.children.itemById(
-            "gamepieceWeightUnit"
-        )
-        if weightUnitDropdown.selectedItem.index == 0:
-            weight.tooltipDescription = "<tt>(in pounds)</tt>"
-        else:
-            assert weightUnitDropdown.selectedItem.index == 1
-            weight.tooltipDescription = "<tt>(in kilograms)</tt>"
-
         row = self.gamepieceTable.rowCount
         self.gamepieceTable.addCommandInput(gamepieceName, row, 0)
         self.gamepieceTable.addCommandInput(weight, row, 1)
@@ -218,7 +195,7 @@ def getGamepieces(self) -> list[Gamepiece]:
         gamepieces: list[Gamepiece] = []
         for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
             gamepieceEntityToken = self.selectedGamepieceList[row - 1].entityToken
-            gamepieceWeight = self.gamepieceTable.getInputAtPosition(row, 1).value
+            gamepieceWeight = convertMassUnitsTo(self.gamepieceTable.getInputAtPosition(row, 1).value)
             gamepieceFrictionCoefficient = self.gamepieceTable.getInputAtPosition(row, 2).valueOne
             gamepieces.append(Gamepiece(gamepieceEntityToken, gamepieceWeight, gamepieceFrictionCoefficient))
 
@@ -228,14 +205,6 @@ def reset(self) -> None:
         self.selectedGamepieceEntityIDs.clear()
         self.selectedGamepieceList.clear()
 
-    @logFailure
-    def updateWeightTableToUnits(self, units: PreferredUnits) -> None:
-        assert units in {PreferredUnits.METRIC, PreferredUnits.IMPERIAL}
-        conversionFunc = toKg if units == PreferredUnits.METRIC else toLbs
-        for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
-            weightInput: adsk.core.ValueCommandInput = self.gamepieceTable.getInputAtPosition(row, 1)
-            weightInput.value = conversionFunc(weightInput.value)
-
     @logFailure
     def calcGamepieceWeights(self) -> None:
         for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
@@ -243,10 +212,7 @@ def calcGamepieceWeights(self) -> None:
             physical = self.selectedGamepieceList[row - 1].component.getPhysicalProperties(
                 adsk.fusion.CalculationAccuracy.LowCalculationAccuracy
             )
-            if self.currentUnits == PreferredUnits.IMPERIAL:
-                weightInput.value = toLbs(physical.mass)
-            else:
-                weightInput.value = round(physical.mass, 2)
+            weightInput.value = round(convertMassUnitsFrom(physical.mass), 2)
 
     @logFailure
     def handleInputChanged(
@@ -268,20 +234,6 @@ def handleInputChanged(
 
             self.previousAutoCalcWeightCheckboxState = autoCalcWeightButton.value
 
-        elif commandInput.id == "gamepieceWeightUnit":
-            weightUnitDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
-            if weightUnitDropdown.selectedItem.index == self.previousSelectedUnitDropdownIndex:
-                return
-
-            if weightUnitDropdown.selectedItem.index == 0:
-                self.currentUnits = PreferredUnits.IMPERIAL
-            else:
-                assert weightUnitDropdown.selectedItem.index == 1
-                self.currentUnits = PreferredUnits.METRIC
-
-            self.updateWeightTableToUnits(self.currentUnits)
-            self.previousSelectedUnitDropdownIndex = weightUnitDropdown.selectedItem.index
-
         elif commandInput.id == "gamepieceAddButton":
             gamepieceAddButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById("gamepieceAddButton")
             gamepieceRemoveButton: adsk.core.BoolValueCommandInput = globalCommandInputs.itemById(
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index 40a602a406..0a56a76f83 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -2,17 +2,17 @@
 import adsk.fusion
 
 from src.Logging import logFailure
-from src.Parser.ExporterOptions import (
-    ExporterOptions,
-    ExportLocation,
-    ExportMode,
-    PreferredUnits,
-)
-from src.Types import KG, toKg, toLbs
-from src.UI import IconPaths
-from src.UI.CreateCommandInputsHelper import createBooleanInput, createTableInput
+from src.Parser.ExporterOptions import ExporterOptions, ExportLocation, ExportMode
+from src.Types import KG, UnitSystem
+from src.UI.CreateCommandInputsHelper import createBooleanInput
 from src.UI.GamepieceConfigTab import GamepieceConfigTab
 from src.UI.JointConfigTab import JointConfigTab
+from src.Util import (
+    convertMassUnitsFrom,
+    convertMassUnitsTo,
+    designMassCalculation,
+    getFusionUnitSystem,
+)
 
 
 class GeneralConfigTab:
@@ -21,7 +21,6 @@ class GeneralConfigTab:
     previousFrictionOverrideCheckboxState: bool
     previousSelectedUnitDropdownIndex: int
     previousSelectedModeDropdownIndex: int
-    currentUnits: PreferredUnits
     jointConfigTab: JointConfigTab
     gamepieceConfigTab: GamepieceConfigTab
 
@@ -57,20 +56,6 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
             "<hr>Do you want to upload this mirabuf file to APS, or download it to your local machine?"
         )
 
-        weightTableInput = createTableInput(
-            "weightTable",
-            "Weight Table",
-            generalTabInputs,
-            4,
-            "2:1:1",
-            1,
-        )
-        weightTableInput.tablePresentationStyle = 2  # Transparent background
-
-        weightName = generalTabInputs.addStringValueInput("weightName", "Weight")
-        weightName.value = "Weight"
-        weightName.isReadOnly = True
-
         autoCalcWeightButton = createBooleanInput(
             "autoCalcWeightButton",
             "Auto Calculate Robot Weight",
@@ -80,44 +65,15 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
         )
         self.previousAutoCalcWeightCheckboxState = exporterOptions.autoCalcRobotWeight
 
-        self.currentUnits = exporterOptions.preferredUnits
-        imperialUnits = self.currentUnits == PreferredUnits.IMPERIAL
-        if imperialUnits:
-            # ExporterOptions always contains the metric value
-            displayWeight = toLbs(exporterOptions.robotWeight)
-        else:
-            displayWeight = exporterOptions.robotWeight
+        displayWeight = convertMassUnitsFrom(exporterOptions.robotWeight)
 
+        fusUnitsSystem = getFusionUnitSystem()
         weightInput = generalTabInputs.addValueInput(
             "weightInput",
-            "Weight Input",
+            f"Weight {'(lbs)' if fusUnitsSystem is UnitSystem.IMPERIAL else '(kg)'}",
             "",
             adsk.core.ValueInput.createByReal(displayWeight),
         )
-        weightInput.tooltip = "Robot weight"
-        weightInput.tooltipDescription = (
-            f"<tt>(in {'pounds' if self.currentUnits == PreferredUnits.IMPERIAL else 'kilograms'})"
-            "</tt><hr>This is the weight of the entire robot assembly."
-        )
-        weightInput.isEnabled = not exporterOptions.autoCalcRobotWeight
-
-        weightUnitDropdown = generalTabInputs.addDropDownCommandInput(
-            "weightUnitDropdown",
-            "Weight Unit",
-            adsk.core.DropDownStyles.LabeledIconDropDownStyle,
-        )
-
-        # Invisible white space characters are required in the list item name field to make this work.
-        # I have no idea why, Fusion API needs some special education help - Brandon
-        weightUnitDropdown.listItems.add("‎", imperialUnits, IconPaths.massIcons["LBS"])
-        weightUnitDropdown.listItems.add("‎", not imperialUnits, IconPaths.massIcons["KG"])
-        weightUnitDropdown.tooltip = "Unit of Mass"
-        weightUnitDropdown.tooltipDescription = "<hr>Configure the unit of mass for the weight calculation."
-        self.previousSelectedUnitDropdownIndex = int(not imperialUnits)
-
-        weightTableInput.addCommandInput(weightName, 0, 0)
-        weightTableInput.addCommandInput(weightInput, 0, 1)
-        weightTableInput.addCommandInput(weightUnitDropdown, 0, 2)
 
         createBooleanInput(
             "compressOutputButton",
@@ -157,7 +113,7 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
         if exporterOptions.exportMode == ExportMode.FIELD:
             autoCalcWeightButton.isVisible = False
             exportAsPartButton.isVisible = False
-            weightInput.isVisible = weightTableInput.isVisible = False
+            weightInput.isVisible = False
             frictionOverrideButton.isVisible = frictionCoefficient.isVisible = False
 
     @property
@@ -185,20 +141,10 @@ def exportAsPart(self) -> bool:
         )
         return exportAsPartButton.value
 
-    @property
-    def selectedUnits(self) -> PreferredUnits:
-        return self.currentUnits
-
     @property
     def robotWeight(self) -> KG:
-        weightInput: adsk.core.ValueCommandInput = self.generalOptionsTab.children.itemById(
-            "weightTable"
-        ).getInputAtPosition(0, 1)
-        if self.currentUnits == PreferredUnits.METRIC:
-            return KG(weightInput.value)
-        else:
-            assert self.currentUnits == PreferredUnits.IMPERIAL
-            return toKg(weightInput.value)
+        weightInput: adsk.core.ValueCommandInput = self.generalOptionsTab.children.itemById("weightInput")
+        return convertMassUnitsTo(weightInput.value)
 
     @property
     def autoCalculateWeight(self) -> bool:
@@ -238,7 +184,7 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
         if commandInput.id == "exportModeDropdown":
             modeDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
             autoCalcWeightButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("autoCalcWeightButton")
-            weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
+            weightInput: adsk.core.TableCommandInput = args.inputs.itemById("weightInput")
             exportAsPartButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("exportAsPartButton")
             overrideFrictionButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("frictionOverride")
             frictionSlider: adsk.core.FloatSliderCommandInput = args.inputs.itemById("frictionCoefficient")
@@ -250,7 +196,7 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
                 self.gamepieceConfigTab.isVisible = False
 
                 autoCalcWeightButton.isVisible = True
-                weightTable.isVisible = True
+                weightInput.isVisible = True
                 exportAsPartButton.isVisible = True
                 overrideFrictionButton.isVisible = True
                 frictionSlider.isVisible = overrideFrictionButton.value
@@ -260,46 +206,21 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
                 self.gamepieceConfigTab.isVisible = True
 
                 autoCalcWeightButton.isVisible = False
-                weightTable.isVisible = False
+                weightInput.isVisible = False
                 exportAsPartButton.isVisible = False
                 overrideFrictionButton.isVisible = frictionSlider.isVisible = False
 
             self.previousSelectedModeDropdownIndex = modeDropdown.selectedItem.index
 
-        elif commandInput.id == "weightUnitDropdown":
-            weightUnitDropdown = adsk.core.DropDownCommandInput.cast(commandInput)
-            weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
-            weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)
-            if weightUnitDropdown.selectedItem.index == self.previousSelectedUnitDropdownIndex:
-                return
-
-            if weightUnitDropdown.selectedItem.index == 0:
-                self.currentUnits = PreferredUnits.IMPERIAL
-                weightInput.value = toLbs(weightInput.value)
-                weightInput.tooltipDescription = (
-                    "<tt>(in pounds)</tt><hr>This is the weight of the entire robot assembly."
-                )
-            else:
-                assert weightUnitDropdown.selectedItem.index == 1
-                self.currentUnits = PreferredUnits.METRIC
-                weightInput.value = toKg(weightInput.value)
-                weightInput.tooltipDescription = (
-                    "<tt>(in kilograms)</tt><hr>This is the weight of the entire robot assembly."
-                )
-
-            self.previousSelectedUnitDropdownIndex = weightUnitDropdown.selectedItem.index
-
         elif commandInput.id == "autoCalcWeightButton":
             autoCalcWeightButton = adsk.core.BoolValueCommandInput.cast(commandInput)
             if autoCalcWeightButton.value == self.previousAutoCalcWeightCheckboxState:
                 return
 
-            weightTable: adsk.core.TableCommandInput = args.inputs.itemById("weightTable")
-            weightInput: adsk.core.ValueCommandInput = weightTable.getInputAtPosition(0, 1)
+            weightInput: adsk.core.ValueCommandInput = args.inputs.itemById("weightInput")
 
             if autoCalcWeightButton.value:
-                robotMass = designMassCalculation()
-                weightInput.value = robotMass if self.currentUnits is PreferredUnits.METRIC else toLbs(robotMass)
+                weightInput.value = designMassCalculation()
                 weightInput.isEnabled = False
             else:
                 weightInput.isEnabled = True
@@ -313,22 +234,4 @@ def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
                 return
 
             frictionSlider.isVisible = frictionOverrideButton.value
-
             self.previousFrictionOverrideCheckboxState = frictionOverrideButton.value
-
-
-# TODO: Perhaps move this into a different module
-@logFailure
-def designMassCalculation() -> KG:
-    app = adsk.core.Application.get()
-    mass = 0.0
-    for body in [x for x in app.activeDocument.design.rootComponent.bRepBodies if x.isLightBulbOn]:
-        physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
-        mass += physical.mass
-
-    for occ in [x for x in app.activeDocument.design.rootComponent.allOccurrences if x.isLightBulbOn]:
-        for body in [x for x in occ.component.bRepBodies if x.isLightBulbOn]:
-            physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
-            mass += physical.mass
-
-    return KG(round(mass, 2))
diff --git a/exporter/SynthesisFusionAddin/src/Util.py b/exporter/SynthesisFusionAddin/src/Util.py
new file mode 100644
index 0000000000..045a900da2
--- /dev/null
+++ b/exporter/SynthesisFusionAddin/src/Util.py
@@ -0,0 +1,40 @@
+import adsk.core
+import adsk.fusion
+
+from src.Types import FUSION_UNIT_SYSTEM, KG, LBS, UnitSystem
+
+
+def getFusionUnitSystem() -> UnitSystem:
+    fusDesign = adsk.fusion.Design.cast(adsk.core.Application.get().activeProduct)
+    return FUSION_UNIT_SYSTEM.get(fusDesign.fusionUnitsManager.distanceDisplayUnits, UnitSystem.METRIC)
+
+
+def convertMassUnitsFrom(input: float) -> float:
+    """Converts stored Synthesis mass units into user selected Fusion units."""
+    unitManager = adsk.fusion.Design.cast(adsk.core.Application.get().activeProduct).fusionUnitsManager
+    toString = "kg" if getFusionUnitSystem() is UnitSystem.METRIC else "lbmass"
+    return unitManager.convert(input, "kg", toString)
+
+
+def convertMassUnitsTo(input: float) -> float:
+    """Converts user selected Fusion mass units into Synthesis units."""
+    unitManager = adsk.fusion.Design.cast(adsk.core.Application.get().activeProduct).fusionUnitsManager
+    fromString = "kg" if getFusionUnitSystem() is UnitSystem.METRIC else "lbmass"
+    return unitManager.convert(input, fromString, "kg")
+
+
+def designMassCalculation() -> KG | LBS:
+    """Calculates and returns the total mass of the active design in Fusion units."""
+    app = adsk.core.Application.get()
+    mass = 0.0
+    for body in [x for x in app.activeDocument.design.rootComponent.bRepBodies if x.isLightBulbOn]:
+        physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
+        mass += physical.mass
+
+    for occ in [x for x in app.activeDocument.design.rootComponent.allOccurrences if x.isLightBulbOn]:
+        for body in [x for x in occ.component.bRepBodies if x.isLightBulbOn]:
+            physical = body.getPhysicalProperties(adsk.fusion.CalculationAccuracy.LowCalculationAccuracy)
+            mass += physical.mass
+
+    # Internally, Fusion always uses metric units, same as Synthesis
+    return round(convertMassUnitsFrom(mass), 2)

From 1992a75522f2841115af8ebbed003128ddda4dd4 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 20 Aug 2024 14:51:19 -0700
Subject: [PATCH 308/344] Update conversion function typing

---
 exporter/SynthesisFusionAddin/src/Util.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/Util.py b/exporter/SynthesisFusionAddin/src/Util.py
index 045a900da2..7384f5a03c 100644
--- a/exporter/SynthesisFusionAddin/src/Util.py
+++ b/exporter/SynthesisFusionAddin/src/Util.py
@@ -9,14 +9,14 @@ def getFusionUnitSystem() -> UnitSystem:
     return FUSION_UNIT_SYSTEM.get(fusDesign.fusionUnitsManager.distanceDisplayUnits, UnitSystem.METRIC)
 
 
-def convertMassUnitsFrom(input: float) -> float:
+def convertMassUnitsFrom(input: KG | LBS) -> KG | LBS:
     """Converts stored Synthesis mass units into user selected Fusion units."""
     unitManager = adsk.fusion.Design.cast(adsk.core.Application.get().activeProduct).fusionUnitsManager
     toString = "kg" if getFusionUnitSystem() is UnitSystem.METRIC else "lbmass"
     return unitManager.convert(input, "kg", toString)
 
 
-def convertMassUnitsTo(input: float) -> float:
+def convertMassUnitsTo(input: KG | LBS) -> KG | LBS:
     """Converts user selected Fusion mass units into Synthesis units."""
     unitManager = adsk.fusion.Design.cast(adsk.core.Application.get().activeProduct).fusionUnitsManager
     fromString = "kg" if getFusionUnitSystem() is UnitSystem.METRIC else "lbmass"

From d8ef11d7a63b9a4e0764b53bbdc1204d1478186c Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 20 Aug 2024 14:55:08 -0700
Subject: [PATCH 309/344] Fix variable name typo

---
 exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index 0a56a76f83..46a77996cd 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -67,10 +67,10 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
 
         displayWeight = convertMassUnitsFrom(exporterOptions.robotWeight)
 
-        fusUnitsSystem = getFusionUnitSystem()
+        fusUnitSystem = getFusionUnitSystem()
         weightInput = generalTabInputs.addValueInput(
             "weightInput",
-            f"Weight {'(lbs)' if fusUnitsSystem is UnitSystem.IMPERIAL else '(kg)'}",
+            f"Weight {'(lbs)' if fusUnitSystem is UnitSystem.IMPERIAL else '(kg)'}",
             "",
             adsk.core.ValueInput.createByReal(displayWeight),
         )

From 60f6fdbba24159dd8a8536ea1901be8e4e8b82f5 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Tue, 20 Aug 2024 15:06:48 -0700
Subject: [PATCH 310/344] Generation fix

---
 fission/src/mirabuf/MirabufLoader.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index ca235d2515..867de1a232 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -77,7 +77,7 @@ class MirabufCachingService {
      */
     public static GetCacheMap(miraType: MiraType): MapCache {
         if (
-            (window.localStorage.getItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY) ?? "") == MIRABUF_LOCALSTORAGE_GENERATION
+            (window.localStorage.getItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY) ?? "") != MIRABUF_LOCALSTORAGE_GENERATION
         ) {
             window.localStorage.setItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY, MIRABUF_LOCALSTORAGE_GENERATION)
             window.localStorage.setItem(robotsDirName, "{}")

From 8da89583d471123b1ddba36fca980de383bb85d0 Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Tue, 20 Aug 2024 15:14:40 -0700
Subject: [PATCH 311/344] Better generationing and removing

---
 fission/src/mirabuf/MirabufLoader.ts | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index 867de1a232..3de634e5d8 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -80,8 +80,7 @@ class MirabufCachingService {
             (window.localStorage.getItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY) ?? "") != MIRABUF_LOCALSTORAGE_GENERATION
         ) {
             window.localStorage.setItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY, MIRABUF_LOCALSTORAGE_GENERATION)
-            window.localStorage.setItem(robotsDirName, "{}")
-            window.localStorage.setItem(fieldsDirName, "{}")
+            this.RemoveAll()
             return {}
         }
 
@@ -330,8 +329,8 @@ class MirabufCachingService {
             fieldFolderHandle.removeEntry(key)
         }
 
-        window.localStorage.removeItem(robotsDirName)
-        window.localStorage.removeItem(fieldsDirName)
+        window.localStorage.setItem(robotsDirName, "{}")
+        window.localStorage.setItem(fieldsDirName, "{}")
 
         backUpRobots = {}
         backUpFields = {}

From f0a971069241868cbcdab8120d8c71dc9e29f535 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 20 Aug 2024 15:21:51 -0700
Subject: [PATCH 312/344] Added open Synthesis on export option

---
 .../src/Parser/ExporterOptions.py                 |  1 +
 .../SynthesisFusionAddin/src/UI/ConfigCommand.py  |  9 ++++++++-
 .../src/UI/GeneralConfigTab.py                    | 15 +++++++++++++++
 exporter/SynthesisFusionAddin/src/__init__.py     |  1 +
 4 files changed, 25 insertions(+), 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
index 69e9bbef5d..8f4375a19c 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
@@ -57,6 +57,7 @@ class ExporterOptions:
     exportAsPart: bool = field(default=False)
 
     exportLocation: ExportLocation = field(default=ExportLocation.UPLOAD)
+    openSynthesisUponExport: bool = field(default=False)
 
     hierarchy: ModelHierarchy = field(default=ModelHierarchy.FusionAssembly)
     visualQuality: TriangleMeshQualityOptions = field(default=TriangleMeshQualityOptions.LowQualityTriangleMesh)
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index c50c7feed2..56115cd1a4 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -4,12 +4,13 @@
 
 import os
 import pathlib
+import webbrowser
 from enum import Enum
 
 import adsk.core
 import adsk.fusion
 
-from src import gm
+from src import APP_WEBSITE_URL, gm
 from src.APS.APS import getAuth, getUserInfo
 from src.Logging import getLogger, logFailure
 from src.Parser.ExporterOptions import ExporterOptions
@@ -343,6 +344,7 @@ def notify(self, args):
             exportAsPart=generalConfigTab.exportAsPart,
             frictionOverride=generalConfigTab.overrideFriction,
             frictionOverrideCoeff=generalConfigTab.frictionOverrideCoeff,
+            openSynthesisUponExport=generalConfigTab.openSynthesisUponExport,
         )
 
         Parser(exporterOptions).export()
@@ -354,6 +356,11 @@ def notify(self, args):
         jointConfigTab.reset()
         gamepieceConfigTab.reset()
 
+        if generalConfigTab.openSynthesisUponExport:
+            res = webbrowser.open(APP_WEBSITE_URL)
+            if not res:
+                gm.ui.messageBox("Failed to open Synthesis in your default browser.")
+
 
 class CommandExecutePreviewHandler(adsk.core.CommandEventHandler):
     """### Gets an event that is fired when the command has completed gathering the required input and now needs to perform a preview.
diff --git a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
index 40a602a406..a0da168958 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py
@@ -154,6 +154,14 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
         frictionCoefficient.tooltip = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
         frictionCoefficient.isVisible = exporterOptions.frictionOverride
 
+        createBooleanInput(
+            "openSynthesisOnExportButton",
+            "Open Synthesis on Export",
+            generalTabInputs,
+            checked=exporterOptions.openSynthesisUponExport,
+            tooltip="Launch the Synthesis website upon export.",
+        )
+
         if exporterOptions.exportMode == ExportMode.FIELD:
             autoCalcWeightButton.isVisible = False
             exportAsPartButton.isVisible = False
@@ -232,6 +240,13 @@ def frictionOverrideCoeff(self) -> float:
         )
         return frictionSlider.valueOne
 
+    @property
+    def openSynthesisUponExport(self) -> bool:
+        openSynthesisButton: adsk.core.BoolValueCommandInput = self.generalOptionsTab.children.itemById(
+            "openSynthesisOnExportButton"
+        )
+        return openSynthesisButton.value or False
+
     @logFailure
     def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
         commandInput = args.input
diff --git a/exporter/SynthesisFusionAddin/src/__init__.py b/exporter/SynthesisFusionAddin/src/__init__.py
index 1e426279bb..6ba62d2144 100644
--- a/exporter/SynthesisFusionAddin/src/__init__.py
+++ b/exporter/SynthesisFusionAddin/src/__init__.py
@@ -5,6 +5,7 @@
 
 APP_NAME = "Synthesis"
 APP_TITLE = "Synthesis Robot Exporter"
+APP_WEBSITE_URL = "https://synthesis.autodesk.com/fission/"
 DESCRIPTION = "Exports files from Fusion into the Synthesis Format"
 INTERNAL_ID = "Synthesis"
 ADDIN_PATH = os.path.dirname(os.path.realpath(__file__))

From 82ba010a2b128056eea847725c6958bef6c11fc6 Mon Sep 17 00:00:00 2001
From: BrandonPacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Tue, 20 Aug 2024 16:43:18 -0700
Subject: [PATCH 313/344] Remove mass icons

---
 .../src/Resources/kg_icon/16x16-normal.png       | Bin 987 -> 0 bytes
 .../src/Resources/lbs_icon/16x16-normal.png      | Bin 1095 -> 0 bytes
 .../SynthesisFusionAddin/src/UI/IconPaths.py     |   5 -----
 3 files changed, 5 deletions(-)
 delete mode 100644 exporter/SynthesisFusionAddin/src/Resources/kg_icon/16x16-normal.png
 delete mode 100644 exporter/SynthesisFusionAddin/src/Resources/lbs_icon/16x16-normal.png

diff --git a/exporter/SynthesisFusionAddin/src/Resources/kg_icon/16x16-normal.png b/exporter/SynthesisFusionAddin/src/Resources/kg_icon/16x16-normal.png
deleted file mode 100644
index 86e8fd3cf8c512ae686162284d8daf2bd9e3c35d..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 987
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zR8bWE?u;{zIyhziWP}k0MTjoS5Ho90V4KKnf`V4&qLqsZ+K1383M!};Lbb7t1kn##
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ze*yYFYece{g@+a1p9Bt6S-XqNr53#^cL^htnUqY-08?~Lob@BZwjLT~jchJq+{mP%
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zc@WOE4YH=lu(=vIe?;NUSD=DfxHF4xv{=d4n6(($Ct&WI^q1g{vhochB1B<=)jv21
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z59!Wc8k!;F8o3*(o1{nhlvxY-GY_9N`m0yg(RUqVIjpA~_ythrB(z_;bOHbX002ov
JPDHLkV1h;i#0vlb

diff --git a/exporter/SynthesisFusionAddin/src/Resources/lbs_icon/16x16-normal.png b/exporter/SynthesisFusionAddin/src/Resources/lbs_icon/16x16-normal.png
deleted file mode 100644
index ced649bb03878b1642920fbb81c7080cf1c37026..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 1095
zcmV-N1i1T&P)<h;3K|Lk000e1NJLTq0015U000yS1^@s6nyZb(00001b5ch_0Itp)
z=>Px#1ZP1_K>z@;j|==^1poj532;bRa{vGi!vFvd!vV){sAK>D1KdeOK~zXf#g<)&
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zJO@*@KprYRCCB1Ei1sgB1`T4PPOWVLJT)8MRo|!d>^KQCo>nTZh#@i4HeWiK1)G+_
zSZT%S%Ji3jD<ZbyN<bwtDlCrJ<?)m4uw6Otx*^~>Fn@ypUh$xRbx0o)=Ie6ow^P!B
zQZ(){=((=ya8ZY%2(1FxBtxnPv$%wg?NbCh73IeoxBG8XW<sV@C8vm5pAgL#;O)H<
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zu(_gi5>)EvUSRn~e=eYK+mKNB2?4tIIj;zYwnDEia}+k{Sxo7%%m1S@606H$uWGnQ
zlsYZei{F&W$vI_3MNlK)GSvNk7Nde5xb)vySSJtVAAxB6fdBP@e*uDsOA!D}^mqUO
N002ovPDHLkV1nVK0FD3v

diff --git a/exporter/SynthesisFusionAddin/src/UI/IconPaths.py b/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
index 2804af221a..8b377eb659 100644
--- a/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
+++ b/exporter/SynthesisFusionAddin/src/UI/IconPaths.py
@@ -32,11 +32,6 @@
     "remove": resources + os.path.join("MousePreselectIcons", "mouse-remove-icon.png"),
 }
 
-massIcons = {
-    "KG": resources + os.path.join("kg_icon"),  # resource folder
-    "LBS": resources + os.path.join("lbs_icon"),  # resource folder
-}
-
 signalIcons = {
     "PWM": resources + os.path.join("PWM_icon"),  # resource folder
     "CAN": resources + os.path.join("CAN_icon"),  # resource folder

From 2c557d62e7e50a15cd39717496251e127364f309 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Tue, 20 Aug 2024 17:58:36 -0700
Subject: [PATCH 314/344] gyro angle support, rate and robot-side outputs TODO

---
 .../simulation/wpilib_brain/SimInput.ts       |  11 +-
 .../simulation/wpilib_brain/WPILibBrain.ts    |  13 +-
 .../java/com/autodesk/synthesis/Gyro.java     | 121 ++++++++++++++++++
 .../src/main/java/frc/robot/Robot.java        |  11 +-
 4 files changed, 138 insertions(+), 18 deletions(-)
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Gyro.java

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 6061d9a47e..a65a9e6c7b 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -40,12 +40,11 @@ export class SimGyroInput implements SimInput {
         this._robot = robot
         this._joltID = this._robot.nodeToBody.get(this._robot.rootBody)
 
-        if (this._joltID)
-            this._joltBody = World.PhysicsSystem.GetBody(this._joltID)
+        if (this._joltID) this._joltBody = World.PhysicsSystem.GetBody(this._joltID)
     }
 
     private GetAxis(axis: Jolt.Vec3): number {
-        return (this._joltBody?.GetRotation().GetRotationAngle(axis) ?? 0) * 180 / Math.PI
+        return ((this._joltBody?.GetRotation().GetRotationAngle(axis) ?? 0) * 180) / Math.PI
     }
 
     private GetX(): number {
@@ -65,8 +64,8 @@ export class SimGyroInput implements SimInput {
         const y = this.GetY()
         const z = this.GetZ()
         // console.log(`${this._device}\n${x}\n${y}\n${z}`)
-        SimGyro.SetAngleX(this._device, x);
-        SimGyro.SetAngleY(this._device, y);
-        SimGyro.SetAngleZ(this._device, z);
+        SimGyro.SetAngleX(this._device, x)
+        SimGyro.SetAngleY(this._device, y)
+        SimGyro.SetAngleZ(this._device, z)
     }
 }
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 1e83bc686e..57b7b4e453 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -161,15 +161,15 @@ export class SimGyro {
     private constructor() {}
 
     public static SetAngleX(device: string, angle: number): boolean {
-        return SimGeneric.Set("Gyro", device, ">angle_x", angle);
+        return SimGeneric.Set("Gyro", device, ">angle_x", angle)
     }
 
     public static SetAngleY(device: string, angle: number): boolean {
-        return SimGeneric.Set("Gyro", device, ">angle_y", angle);
+        return SimGeneric.Set("Gyro", device, ">angle_y", angle)
     }
 
     public static SetAngleZ(device: string, angle: number): boolean {
-        return SimGeneric.Set("Gyro", device, ">angle_z", angle);
+        return SimGeneric.Set("Gyro", device, ">angle_z", angle)
     }
 }
 
@@ -209,6 +209,9 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
         case "CANEncoder":
             UpdateSimMap("CANEncoder", device, updateData)
             break
+        case "Gyro":
+            UpdateSimMap("Gyro", device, updateData)
+            break
         default:
             break
     }
@@ -247,7 +250,7 @@ class WPILibBrain extends Brain {
             return
         }
 
-        this.addSimInput(new SimGyroInput("Gyro:ADXRS450[0]", mechanism));
+        this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
     }
 
     public addSimOutputGroup(device: SimOutputGroup) {
@@ -261,7 +264,7 @@ class WPILibBrain extends Brain {
     public Update(deltaT: number): void {
         this._simOutputs.forEach(d => d.Update(deltaT))
         this._simInputs.forEach(i => i.Update(deltaT))
-        console.log(simMap)
+        // console.log(simMap)
     }
 
     public Enable(): void {
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Gyro.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Gyro.java
new file mode 100644
index 0000000000..c17f1af4ab
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Gyro.java
@@ -0,0 +1,121 @@
+package com.autodesk.synthesis;
+
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDevice.Direction;
+import edu.wpi.first.hal.SimDouble;
+
+/**
+ * Gyro class for easy implementation of documentation-compliant simulation data.
+ * 
+ * See https://github.com/wpilibsuite/allwpilib/blob/6478ba6e3fa317ee041b8a41e562d925602b6ea4/simulation/halsim_ws_core/doc/hardware_ws_api.md
+ * for documentation on the WebSocket API Specification.
+ */
+public class Gyro {
+
+    private SimDevice m_device;
+
+    private SimDouble m_range;
+    private SimBoolean m_connected;
+    private SimDouble m_angleX;
+    private SimDouble m_angleY;
+    private SimDouble m_angleZ;
+    private SimDouble m_rateX;
+    private SimDouble m_rateY;
+    private SimDouble m_rateZ;
+
+    /**
+     * Creates a CANMotor sim device in accordance with the WebSocket API Specification.
+     * 
+     * @param name Name of the Gyro. This is generally the class name of the originating gyro (i.e. "ADXRS450").
+     * @param deviceId ID of the Gyro.
+     */
+    public Gyro(String name, int deviceId) {
+        m_device = SimDevice.create("Gyro:" + name, deviceId);
+
+        m_range = m_device.createDouble("range", Direction.kOutput, 0.0);
+        m_connected = m_device.createBoolean("connected", Direction.kOutput, false);
+        m_angleX = m_device.createDouble("angle_x", Direction.kInput, 0.0);
+        m_angleY = m_device.createDouble("angle_y", Direction.kInput, 0.0);
+        m_angleZ = m_device.createDouble("angle_z", Direction.kInput, 0.0);
+        m_rateX = m_device.createDouble("rate_x", Direction.kInput, 0.0);
+        m_rateY = m_device.createDouble("rate_y", Direction.kInput, 0.0);
+        m_rateZ = m_device.createDouble("rate_z", Direction.kInput, 0.0);
+    }
+
+    /**
+     * Set the range of the gyro.
+     *
+     * @param range Range of the gyro
+     */
+    public void setRange(double range) {
+        if (Double.isNaN(range) || Double.isInfinite(range)) {
+            range = 0.0;
+        }
+
+        m_range.set(range);
+    }
+
+    /**
+     * Set whether the gyro is connected.
+     *
+     * @param connected Whether the gyro is connected
+     */
+    public void setConnected(boolean connected) {
+        m_connected.set(connected);
+    }
+
+    /**
+     * Get the angleX of the gyro.
+     *
+     * @return angleX
+     */
+    public double getAngleX() {
+        return m_angleX.get();
+    }
+
+    /**
+     * Get the angleY of the gyro.
+     *
+     * @return angleY
+     */
+    public double getAngleY() {
+        return m_angleY.get();
+    }
+
+    /**
+     * Get the angleZ of the gyro.
+     *
+     * @return angleZ
+     */
+    public double getAngleZ() {
+        return m_angleZ.get();
+    }
+
+    /**
+     * Get the rateX of the gyro.
+     *
+     * @return rateX
+     */
+    public double getRateX() {
+        return m_rateX.get();
+    }
+
+    /**
+     * Get the rateY of the gyro.
+     *
+     * @return rateY
+     */
+    public double getRateY() {
+        return m_rateY.get();
+    }
+
+    /**
+     * Get the rateZ of the gyro.
+     *
+     * @return rateZ
+     */
+    public double getRateZ() {
+        return m_rateZ.get();
+    }
+}
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 3dc569c051..70cfac85d9 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -19,7 +19,8 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import com.autodesk.synthesis.revrobotics.CANSparkMax;
-import com.autodesk.synthesis.Joystick;
+// import com.autodesk.synthesis.Joystick;
+import com.autodesk.synthesis.Gyro;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -38,8 +39,7 @@ public class Robot extends TimedRobot {
   private CANSparkMax m_SparkMax = new CANSparkMax(1, MotorType.kBrushless);
   private TalonFX m_Talon = new TalonFX(2);
   private XboxController m_Controller = new XboxController(0);
-  private ADXRS450_Gyro m_Gyro;
-    private ADXRS450_GyroSim m_GyroSim;
+  private Gyro m_Gyro = new Gyro("Test Gyro", 1);
 
   /**
    * This function is run when the robot is first started up and should be used for any
@@ -50,9 +50,6 @@ public void robotInit() {
     m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
     m_chooser.addOption("My Auto", kCustomAuto);
     SmartDashboard.putData("Auto choices", m_chooser);
-    m_Gyro = new ADXRS450_Gyro();
-    m_GyroSim = new ADXRS450_GyroSim(m_Gyro);
-    m_Gyro.calibrate();
   }
 
   /**
@@ -111,7 +108,7 @@ public void teleopInit() {}
   public void teleopPeriodic() {
     m_Spark1.set(m_Controller.getLeftY());
     m_Spark2.set(-m_Controller.getRightY());
-    System.out.println(m_Gyro.getAngle());
+    System.out.println(m_Gyro.getAngleY());
     // m_Spark1.set(0.25);
     // m_Spark2.set(0.25);
     m_SparkMax.set(0.75);

From 455ff03566719de9399a31391c66d2df7636c9bb Mon Sep 17 00:00:00 2001
From: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
Date: Wed, 21 Aug 2024 09:15:20 -0700
Subject: [PATCH 315/344] Update
 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java

Co-authored-by: PepperLola <PepperLola@users.noreply.github.com>
---
 .../java/com/autodesk/synthesis/revrobotics/CANSparkMax.java     | 1 -
 1 file changed, 1 deletion(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 76960435e1..7e157f6859 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -78,7 +78,6 @@ void newFollower(CANSparkMax f) {
     /* 
      * Causes a simulation-supported leader to follow another simulation-supported leader
      * The real versions of these motors will also follow each other
-     *
      */
     @Override
     public REVLibError follow(CANSparkBase leader) {

From 713d5f049e5321b14264bcf3dfedc267b94d5b1f Mon Sep 17 00:00:00 2001
From: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
Date: Wed, 21 Aug 2024 09:15:27 -0700
Subject: [PATCH 316/344] Update
 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java

Co-authored-by: PepperLola <PepperLola@users.noreply.github.com>
---
 .../autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
index c7ab6f5705..1923be5497 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
@@ -20,7 +20,7 @@ public SparkAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder realEncoder, CA
 
     /*
      * Get the average sampling depth for an absolute encoder
-     * Returns: The average sampling depth
+     * @return The average sampling depth
      */
     public int getAverageDepth() {
         return this.realEncoder.getAverageDepth();

From 0b436bd8dbc60f6ef8a553b58e2970517f1cb834 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 21 Aug 2024 09:34:41 -0700
Subject: [PATCH 317/344] javadoc support in most places i think

---
 .../com/autodesk/synthesis/ctre/TalonFX.java  | 29 +++++++++++++--
 .../synthesis/ctre/TalonFXConfigurator.java   |  4 ++-
 .../synthesis/revrobotics/CANSparkMax.java    | 36 ++++++++++++++-----
 3 files changed, 58 insertions(+), 11 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
index 5e671b86cd..286937c4e5 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
@@ -22,13 +22,24 @@ public TalonFX(int deviceNumber) {
         this.m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3);
     }
 
-    /// I think we're getting percentOutput and speed mixed up
+    /// I think we're getting percentOutput and torque mixed up
+    /**
+     * Sets the torque of the real and simulated motors
+     *
+     * @param percentOutput The torque
+     */
     @Override
     public void set(double percentOutput) {
         super.set(percentOutput);
         this.m_motor.setPercentOutput(percentOutput);
     }
 
+    /**
+     * Sets both the real and simulated motors to neutral mode
+     *
+     * @param mode The neutral mode value
+     *
+     */
     @Override
     public void setNeutralMode(NeutralModeValue mode) {
         super.setNeutralMode(mode);
@@ -36,6 +47,11 @@ public void setNeutralMode(NeutralModeValue mode) {
         this.m_motor.setBrakeMode(mode == NeutralModeValue.Brake);
     }
 
+    /**
+     * Gets and internal configurator for both the simulated and real motors
+     *
+     * @return The internal configurator for this Talon motor
+     */
     @Override
     public TalonFXConfigurator getConfigurator() {
         DeviceIdentifier id = this.deviceIdentifier;
@@ -47,6 +63,11 @@ public void setNeutralDeadband(double deadband) {
         this.m_motor.setNeutralDeadband(deadband);
     }
 
+    /**
+     * Gets the position of the simulated encoder
+     *
+     * @return The motor position in revolutions
+     */
     @Override
     public StatusSignal<Double> getPosition() {
         Double pos = this.m_encoder.getPosition();
@@ -54,7 +75,11 @@ public StatusSignal<Double> getPosition() {
         return super.getPosition();
     }
 
-    /// I think this is a pointless method
+    /**
+     * Gets the velocity of the simulated motor according to the simulated encoder
+     *
+     * @return The motor velocity in revolutions per second
+     */
     @Override
     public StatusSignal<Double> getVelocity() {
         Double velocity = this.m_encoder.getVelocity();
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
index 06354626ef..d3a14fffdb 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
@@ -16,8 +16,10 @@ public TalonFXConfigurator(DeviceIdentifier id, TalonFX device) {
         this.devicePtr = device;
     }
     
-    /*
+    /**
      * Applies a torque configuration to a TalonFX motor and passes the new neutral deadband to the simulated motor in fission if applicable
+     *
+     * @param The new torque configuration for this motor
      */
     @Override
     public StatusCode apply(TorqueCurrentConfigs newTorqueCurrent) {
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 7e157f6859..5cc913d478 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -34,10 +34,12 @@ public CANSparkMax(int deviceId, MotorType motorType) {
         this.followers = new ArrayList();
     }
 
-    /* 
-     * Sets the percent output of the motor
+    /**
+     * Sets the percent output of the real and simulated motors
      * Setting a follower doesn't break the simulated follower - leader relationship, which it does for exclusively non-simulated motors
      *
+     * @param percentOutput The new percent output of the motor
+     *
      * See the original documentation for more information 
      */
     @Override
@@ -49,24 +51,38 @@ public void set(double percent) {
         }
     }
 
+    /**
+     * Sets the neutralDeadband of the real and simulated motors
+     *
+     * @param n The new neutralDeadband
+     */
     void setNeutralDeadband(double n) {
         this.m_motor.setNeutralDeadband(n);
     }
 
+    /**
+     * Sets the real and simulated motors to an idle mode
+     *
+     * @param mode The specific idle mode (Brake, Coast)
+     *
+     * @return A library error indicating failure or success
+     */
     @Override
     public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) {
-        if (mode != null) {
+        if (mode != null)
             this.m_motor.setBrakeMode(mode.equals(com.revrobotics.CANSparkBase.IdleMode.kBrake));
-        }
 
         return super.setIdleMode(mode);
     }
 
-    /* 
-     * Returns a simulation-supported SparkAbsoluteEncoder containing the position and velocity of the motor in fission.
+    /** 
+     * Gets a simulation-supported SparkAbsoluteEncoder containing the position and velocity of the motor in fission.
      * All information returned by this class besides position and velocity is from the real motor
      * Use instead on getAbsoluteEncoder(), everything except for the name of the method works exactly the same
-     */
+
+     * @return thewsimulation-supported SparkAbsoluteEncoder.
+     *
+     *      */
     public com.autodesk.synthesis.revrobotics.SparkAbsoluteEncoder getAbsoluteEncoderSim() {
         return new SparkAbsoluteEncoder(super.getAbsoluteEncoder(), this.m_encoder);
     }
@@ -75,9 +91,13 @@ void newFollower(CANSparkMax f) {
         this.followers.add(f);
     }
 
-    /* 
+    /** 
      * Causes a simulation-supported leader to follow another simulation-supported leader
      * The real versions of these motors will also follow each other
+     *
+     * @param leader The motor for this robot to follow
+     *
+     * @return a library error indicating failure or success
      */
     @Override
     public REVLibError follow(CANSparkBase leader) {

From 65d0cb2fc2d4ee04fe928f9121843075e577021d Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 21 Aug 2024 09:54:07 -0700
Subject: [PATCH 318/344] javadocs for custom encoder class

---
 .../com/autodesk/synthesis/CANEncoder.java    |  4 +-
 .../revrobotics/SparkAbsoluteEncoder.java     | 94 ++++++++++++-------
 2 files changed, 64 insertions(+), 34 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
index d00e5439b8..9b7220a1c2 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
@@ -36,7 +36,7 @@ public CANEncoder(String name, int deviceId) {
     /**
      * Gets the current position of the encoder, simulated.
      * 
-     * @return Current Position.
+     * @return Current position in revolutions.
      */
     public double getPosition() {
         return m_position.get();
@@ -45,7 +45,7 @@ public double getPosition() {
     /**
      * Gets the current velocity of the encoder, simulated.
      * 
-     * @return Current Velocity.
+     * @return Current velocity in revolutions per second.
      */
     public double getVelocity() {
         return m_velocity.get();
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
index 1923be5497..de1d952d60 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
@@ -18,94 +18,124 @@ public SparkAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder realEncoder, CA
         this.simEncoder = simEncoder;
     }
 
-    /*
-     * Get the average sampling depth for an absolute encoder
+    /**
+     * Gets the average sampling depth for the real encoder
+     *
      * @return The average sampling depth
      */
     public int getAverageDepth() {
         return this.realEncoder.getAverageDepth();
     }
 
-    /*
-     * Get the phase of the AbsoluteEncoder
-     * Returns: The phase of the encoder
+    /**
+     * Gets the phase of the real encoder 
+     *
+     * @return The phase of the real encoder
     */
     public boolean getInverted() {
         return this.realEncoder.getInverted();
     }
 
-    /*
-     * Get the position of the motor. This returns the native units of 'rotations' by default, and can be changed by a scale factor using setPositionConversionFactor().
-     * Returns: Number of rotations of the motor
+    /**
+     * Gets the position lf the simulated motor.
+     * This returns the native units of 'rotations' by default, and can be changed by a scale factor using setPositionConversionFactor().
+     *
+     * @return Number of rotations of the motor
     */
     public double getPosition() {
-        return this.simEncoder.getPosition() * this.realEncoder.getPositionConversionFactor();
+        return this.simEncoder.getPosition();
     }
 
-    /*
-     * Set the conversion factor for position of the encoder. Multiplied by the native output units to give you position
-     * Returns: The conversion factor for position
+    /**
+     * Sets the conversion factor for position of the real encoder. Multiplied by the native output units to give you position
+     *
+     * @return The conversion factor used by the encoder for position
     */
     public double getPositionConversionFactor() {
-        return this.getPositionConversionFactor();
+        return this.realEncoder.getPositionConversionFactor();
     }
     
     
-    /*
-     * Get the velocity of the motor. This returns the native units of 'rotations per second' by default, and can be changed by a scale factor using setVelocityConversionFactor().
-     * Returns: Number of rotations per second of the motor
+    /**
+     * Gets the velocity of the simulated motor. This returns the native units of 'rotations per second' by default, and can be changed by a scale factor using setVelocityConversionFactor().
+     *
+     * @return Number of rotations per second of the motor
     */
     public double getVelocity() {
         return this.simEncoder.getVelocity() * this.realEncoder.getVelocityConversionFactor();
     }
 
 
-    /*
-     * Get the conversion factor for velocity of the encoder.
+    /**
+     * Gets the conversion factor for velocity of the real encoder.
+     *
+     * @return The conversion factor used by the encoder for position
     */
     public double getVelocityConversionFactor() {
         return this.realEncoder.getVelocityConversionFactor();
     }
 
-    /*
-     * Gets the zero offset for an absolute encoder (the position that is reported as zero).
+    /**
+     * Gets the zero offset in revolutions for the real encoder (the position that is reported as zero).
+     *
+     * @return The zero offset
     */
     public double getZeroOffset() {
         return this.realEncoder.getZeroOffset();
     }
     
-    /*
-     * Set the average sampling depth for an absolute encoder.
+    /**
+     * Sets the average sampling depth for the real encoder.
+     *
+     * @param depth The average sampling depth
+     *
+     * @return a library error indicating failure or success
     */
     public REVLibError setAverageDepth(int depth) {
         return this.realEncoder.setAverageDepth(depth);
     }
 
-    /*
-     * Set the phase of the AbsoluteEncoder so that it is set to be in phase with the motor itself
+    /**
+     * Sets the phase of the real encoder 
+     *
+     * @param inverted Whether the real motor should be inverted
+     *
+     * @return a library error indicating failure or success
     */
     public REVLibError setInverted(boolean inverted) {
         return this.realEncoder.setInverted(inverted);
     }
 
-    /*
-    * Set the conversion factor for position of the encoder.
+    /**
+    * Sets the conversion factor for position of the real encoder.
+    *
+    * @param The new position conversion factor
+    *
+    * @return a library error indicating failure or success
     */
     public REVLibError setPositionConversionFactor(double factor) {
         return this.realEncoder.setPositionConversionFactor(factor);
     }
 
-    /*
-     * Set the conversion factor for velocity of the encoder.
+    /**
+     * Sets the conversion factor for velocity of the real encoder.
+     *
+     * @param factor The new velocity conversion factor
+     *
+     * @return a library error indicating failure or success
     */
     public REVLibError setVelocityConversionFactor(double factor) {
         return this.realEncoder.setVelocityConversionFactor(factor);
     }
 
-    /*
-     * Sets the zero offset of an absolute encoder (the position that is reported as zero).
+    /**
+     * Sets the zero offset of the real encoder (the position that is reported as zero).
+     *
+     * @param offset The new zero offset
+     *
+     * @return a library error indicating failure or success
     */
-    public REVLibError setZeroOffset(double factor) {
-        return this.realEncoder.setZeroOffset(factor);
+    public REVLibError setZeroOffset(double offset) {
+        return this.realEncoder.setZeroOffset(offset);
     }
 }

From edf956cc2f72f5885b8a1832685dbbc6ac3aae2a Mon Sep 17 00:00:00 2001
From: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
Date: Wed, 21 Aug 2024 10:19:38 -0700
Subject: [PATCH 319/344] Update
 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java

---
 .../src/main/java/com/autodesk/synthesis/ctre/TalonFX.java       | 1 -
 1 file changed, 1 deletion(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
index 286937c4e5..92863e701a 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
@@ -22,7 +22,6 @@ public TalonFX(int deviceNumber) {
         this.m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3);
     }
 
-    /// I think we're getting percentOutput and torque mixed up
     /**
      * Sets the torque of the real and simulated motors
      *

From 0b58449f929c8415be6d449da7b844fc366a2a2f Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 21 Aug 2024 10:32:07 -0700
Subject: [PATCH 320/344] Organized subsystem config differently

---
 .../assembly-config/ConfigurePanel.tsx        | 20 ++++-
 .../ConfigureSubsystemsInterface.tsx          | 78 ++++---------------
 2 files changed, 31 insertions(+), 67 deletions(-)

diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index c254c3bdfb..9dbdb7e076 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -17,9 +17,13 @@ import ConfigureSchemeInterface from "./interfaces/inputs/ConfigureSchemeInterfa
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
 import ConfigureSubsystemsInterface from "./interfaces/ConfigureSubsystemsInterface"
 import SequentialBehaviorsInterface from "./interfaces/SequentialBehaviorsInterface"
+import ConfigureShotTrajectoryInterface from "./interfaces/ConfigureShotTrajectoryInterface"
+import ConfigureGamepiecePickupInterface from "./interfaces/ConfigureGamepiecePickupInterface"
 
 enum ConfigMode {
     SUBSYSTEMS,
+    EJECTOR,
+    INTAKE,
     CONTROLS,
     SEQUENTIAL,
     SCORING_ZONES,
@@ -122,13 +126,19 @@ class ConfigModeSelectionOption extends SelectMenuOption {
 }
 
 const robotModes = [
-    new ConfigModeSelectionOption("Subsystems", ConfigMode.SUBSYSTEMS),
-    new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
+    new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
+    new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
+    new ConfigModeSelectionOption(
+        "Configure Joints",
+        ConfigMode.SUBSYSTEMS,
+        "Set the velocities, torques, and accelerations of your robot's motors."
+    ),
     new ConfigModeSelectionOption(
         "Sequence Joints",
         ConfigMode.SEQUENTIAL,
-        "Configure which joints follow each other. For example, the second stage of an elevator could follow the first, moving in unison with it."
+        "Set which joints follow each other. For example, the second stage of an elevator could follow the first, moving in unison with it."
     ),
+    new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
 ]
 const fieldModes = [new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES)]
 
@@ -159,6 +169,10 @@ interface ConfigInterfaceProps {
 /** The interface for the actual configuration */
 const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly, openPanel }) => {
     switch (configMode) {
+        case ConfigMode.INTAKE:
+            return <ConfigureGamepiecePickupInterface selectedRobot={assembly} />
+        case ConfigMode.EJECTOR:
+            return <ConfigureShotTrajectoryInterface selectedRobot={assembly} />
         case ConfigMode.SUBSYSTEMS:
             return <ConfigureSubsystemsInterface selectedRobot={assembly} />
         case ConfigMode.CONTROLS: {
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
index afc6a0a7bf..d2e98e94d2 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
@@ -1,8 +1,6 @@
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
 import React, { useMemo, useState } from "react"
-import ConfigureGamepiecePickupInterface from "./ConfigureGamepiecePickupInterface"
-import ConfigureShotTrajectoryInterface from "./ConfigureShotTrajectoryInterface"
 import { ConfigurationSavedEvent } from "../ConfigurePanel"
 import World from "@/systems/World"
 import SliderDriver from "@/systems/simulation/driver/SliderDriver"
@@ -16,25 +14,12 @@ import SequenceableBehavior from "@/systems/simulation/behavior/synthesis/Sequen
 import { DefaultSequentialConfig, SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
 import GenericArmBehavior from "@/systems/simulation/behavior/synthesis/GenericArmBehavior"
 
-enum SubsystemOption {
-    NONE,
-    INTAKE,
-    EJECTOR,
-}
-
 class ConfigModeSelectionOption extends SelectMenuOption {
-    configMode: SubsystemOption
-    driver?: Driver
+    driver: Driver
     sequential?: SequentialBehaviorPreferences
 
-    constructor(
-        name: string,
-        configMode: SubsystemOption,
-        driver?: Driver,
-        sequential?: SequentialBehaviorPreferences
-    ) {
+    constructor(name: string, driver: Driver, sequential?: SequentialBehaviorPreferences) {
         super(name)
-        this.configMode = configMode
         this.driver = driver
         this.sequential = sequential
     }
@@ -51,23 +36,14 @@ interface ConfigInterfaceProps {
 }
 
 const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configModeOption, selectedRobot, saveBehaviors }) => {
-    switch (configModeOption.configMode) {
-        case SubsystemOption.INTAKE:
-            return <ConfigureGamepiecePickupInterface selectedRobot={selectedRobot} />
-        case SubsystemOption.EJECTOR:
-            return <ConfigureShotTrajectoryInterface selectedRobot={selectedRobot} />
-        case SubsystemOption.NONE:
-            return (
-                <SubsystemRowInterface
-                    driver={configModeOption.driver!}
-                    robot={selectedRobot}
-                    sequentialBehavior={configModeOption.sequential}
-                    saveBehaviors={saveBehaviors}
-                />
-            )
-        default:
-            throw new Error(`Config mode ${configModeOption.configMode} has no associated interface`)
-    }
+    return (
+        <SubsystemRowInterface
+            driver={configModeOption.driver!}
+            robot={selectedRobot}
+            sequentialBehavior={configModeOption.sequential}
+            saveBehaviors={saveBehaviors}
+        />
+    )
 }
 
 const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selectedRobot }) => {
@@ -87,48 +63,22 @@ const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selected
     }, [selectedRobot])
 
     const getSubsystemOptions = () => {
-        const options = [
-            new ConfigModeSelectionOption("Intake", SubsystemOption.INTAKE),
-            new ConfigModeSelectionOption("Ejector", SubsystemOption.EJECTOR),
-        ]
-
-        if (drivers == undefined) return options
-
-        options.push(
-            new ConfigModeSelectionOption(
-                "Drivetrain",
-                SubsystemOption.NONE,
-                drivers.filter(x => x instanceof WheelDriver)[0]
-            )
-        )
+        if (drivers == undefined) return []
+        const options = [new ConfigModeSelectionOption("Drivetrain", drivers.filter(x => x instanceof WheelDriver)[0])]
 
         let jointIndex = 0
 
         drivers
             .filter(x => x instanceof HingeDriver)
             .forEach(d => {
-                options.push(
-                    new ConfigModeSelectionOption(
-                        d.info?.name ?? "UnnamedMotor",
-                        SubsystemOption.NONE,
-                        d,
-                        behaviors[jointIndex]
-                    )
-                )
+                options.push(new ConfigModeSelectionOption(d.info?.name ?? "UnnamedMotor", d, behaviors[jointIndex]))
                 jointIndex++
             })
 
         drivers
             .filter(x => x instanceof SliderDriver)
             .forEach(d => {
-                options.push(
-                    new ConfigModeSelectionOption(
-                        d.info?.name ?? "UnnamedMotor",
-                        SubsystemOption.NONE,
-                        d,
-                        behaviors[jointIndex]
-                    )
-                )
+                options.push(new ConfigModeSelectionOption(d.info?.name ?? "UnnamedMotor", d, behaviors[jointIndex]))
                 jointIndex++
             })
 

From bb3f34b1aabac04557299b13cbebdde41209986a Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 21 Aug 2024 10:40:32 -0700
Subject: [PATCH 321/344] reverted accidental sim changes

---
 simulation/SyntheSimJava/.project             |  34 ++++++++++++++++++
 .../org.eclipse.buildship.core.prefs          |  13 +++++++
 .../.settings/org.eclipse.jdt.core.prefs      |   4 +++
 .../com/autodesk/synthesis/CANEncoder.class   | Bin 1586 -> 0 bytes
 .../com/autodesk/synthesis/CANMotor.class     | Bin 2770 -> 0 bytes
 .../com/autodesk/synthesis/ctre/TalonFX.class | Bin 2273 -> 0 bytes
 .../synthesis/revrobotics/CANSparkMax.class   | Bin 3013 -> 0 bytes
 .../org.eclipse.buildship.core.prefs          |   4 +--
 8 files changed, 53 insertions(+), 2 deletions(-)
 create mode 100644 simulation/SyntheSimJava/.project
 create mode 100644 simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
 create mode 100644 simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs
 delete mode 100644 simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/CANEncoder.class
 delete mode 100644 simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/CANMotor.class
 delete mode 100644 simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/ctre/TalonFX.class
 delete mode 100644 simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/revrobotics/CANSparkMax.class

diff --git a/simulation/SyntheSimJava/.project b/simulation/SyntheSimJava/.project
new file mode 100644
index 0000000000..5bb13d53d2
--- /dev/null
+++ b/simulation/SyntheSimJava/.project
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>SyntheSimJava</name>
+	<comment>Project SyntheSimJava created by Buildship.</comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.buildship.core.gradleprojectbuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>org.eclipse.buildship.core.gradleprojectnature</nature>
+	</natures>
+	<filteredResources>
+		<filter>
+			<id>1721749622820</id>
+			<name></name>
+			<type>30</type>
+			<matcher>
+				<id>org.eclipse.core.resources.regexFilterMatcher</id>
+				<arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
+			</matcher>
+		</filter>
+	</filteredResources>
+</projectDescription>
diff --git a/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs b/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
new file mode 100644
index 0000000000..40e6f3c167
--- /dev/null
+++ b/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
@@ -0,0 +1,13 @@
+arguments=--init-script /Users/colbura/wpilib/2024/vscode/code-portable-data/user-data/User/globalStorage/redhat.java/1.26.2023121408/config_mac/org.eclipse.osgi/53/0/.cp/gradle/init/init.gradle --init-script /Users/colbura/wpilib/2024/vscode/code-portable-data/user-data/User/globalStorage/redhat.java/1.26.2023121408/config_mac/org.eclipse.osgi/53/0/.cp/gradle/protobuf/init.gradle
+auto.sync=false
+build.scans.enabled=false
+connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
+connection.project.dir=
+eclipse.preferences.version=1
+gradle.user.home=
+java.home=/Users/colbura/wpilib/2024/jdk
+jvm.arguments=
+offline.mode=false
+override.workspace.settings=true
+show.console.view=true
+show.executions.view=true
diff --git a/simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs b/simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs
new file mode 100644
index 0000000000..626e0e1d5c
--- /dev/null
+++ b/simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs
@@ -0,0 +1,4 @@
+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=17
+org.eclipse.jdt.core.compiler.compliance=17
+org.eclipse.jdt.core.compiler.source=17
diff --git a/simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/CANEncoder.class b/simulation/SyntheSimJava/bin/main/com/autodesk/synthesis/CANEncoder.class
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diff --git a/simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs b/simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs
index 726c743d99..bc1ff1181e 100644
--- a/simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs
+++ b/simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs
@@ -1,11 +1,11 @@
-arguments=--init-script C\:\\Users\\lucah\\AppData\\Roaming\\Code\\User\\globalStorage\\redhat.java\\1.33.0\\config_win\\org.eclipse.osgi\\55\\0\\.cp\\gradle\\init\\init.gradle --init-script C\:\\Users\\lucah\\AppData\\Roaming\\Code\\User\\globalStorage\\redhat.java\\1.33.0\\config_win\\org.eclipse.osgi\\55\\0\\.cp\\gradle\\protobuf\\init.gradle
+arguments=--init-script /Users/colbura/cache/jdtls/config/org.eclipse.osgi/55/0/.cp/gradle/init/init.gradle
 auto.sync=false
 build.scans.enabled=false
 connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
 connection.project.dir=
 eclipse.preferences.version=1
 gradle.user.home=
-java.home=C\:/Program Files/Java/jdk-17
+java.home=/opt/homebrew/Cellar/openjdk/22.0.2/libexec/openjdk.jdk/Contents/Home
 jvm.arguments=
 offline.mode=false
 override.workspace.settings=true

From a07d65c1029d312bfa6412f16f907fc0d1827e04 Mon Sep 17 00:00:00 2001
From: Brandon Pacewic <92102436+BrandonPacewic@users.noreply.github.com>
Date: Wed, 21 Aug 2024 10:45:07 -0700
Subject: [PATCH 322/344] =?UTF-8?q?Remove=20comment=20=C2=AF\=5F(=E3=83=84?=
 =?UTF-8?q?)=5F/=C2=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index 4ad21e3424..c63bc2ca65 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -316,7 +316,6 @@ def notify(self, args):
         design = gm.app.activeDocument.design
 
         name_split: list[str] = design.rootComponent.name.split(" ")
-        # gm.ui.messageBox("Name Split: " + name_split[0] " " + name_split[1], "Synthesis: Info")
         if len(name_split) < 2:
             gm.ui.messageBox("Please open the robot design you would like to export", "Synthesis: Error")
             return

From 21f318d1dbca4d7d2e2d37a620087bcdcbee9cc6 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 21 Aug 2024 11:10:11 -0700
Subject: [PATCH 323/344] Reverted change to settings modal

---
 fission/src/ui/modals/configuring/SettingsModal.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index f9a9d9b5b9..05c00f6ddf 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -66,7 +66,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 saveSettings()
             }}
         >
-            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 max-h-[60vh]">
+            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 min-w-[22vw]">
                 <Label size={LabelSize.Medium}>Screen Settings</Label>
                 <Dropdown
                     label="Quality Settings"

From 8ce978d0f19320703299851c9d6befe31067d6f7 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Wed, 21 Aug 2024 14:46:39 -0700
Subject: [PATCH 324/344] gyro rate works

---
 .../systems/simulation/wpilib_brain/SimInput.ts | 17 +++++++++++++++++
 .../simulation/wpilib_brain/WPILibBrain.ts      | 12 ++++++++++++
 2 files changed, 29 insertions(+)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index a65a9e6c7b..97a285cfc0 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -59,6 +59,20 @@ export class SimGyroInput implements SimInput {
         return this.GetAxis(SimGyroInput.AXIS_Z)
     }
 
+    private GetAxisVelocity(axis: "x" | "y" | "z"): number {
+        const axes = this._joltBody?.GetAngularVelocity()
+        if (!axes) return 0
+
+        switch (axis) {
+            case "x":
+                return axes.GetX()
+            case "y":
+                return axes.GetY()
+            case "z":
+                return axes.GetZ()
+        }
+    }
+
     public Update(_deltaT: number) {
         const x = this.GetX()
         const y = this.GetY()
@@ -67,5 +81,8 @@ export class SimGyroInput implements SimInput {
         SimGyro.SetAngleX(this._device, x)
         SimGyro.SetAngleY(this._device, y)
         SimGyro.SetAngleZ(this._device, z)
+        SimGyro.SetRateX(this._device, this.GetAxisVelocity("x"))
+        SimGyro.SetRateY(this._device, this.GetAxisVelocity("y"))
+        SimGyro.SetRateZ(this._device, this.GetAxisVelocity("z"))
     }
 }
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 57b7b4e453..e5edd9de2f 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -171,6 +171,18 @@ export class SimGyro {
     public static SetAngleZ(device: string, angle: number): boolean {
         return SimGeneric.Set("Gyro", device, ">angle_z", angle)
     }
+
+    public static SetRateX(device: string, rate: number): boolean {
+        return SimGeneric.Set("Gyro", device, ">rate_x", rate)
+    }
+
+    public static SetRateY(device: string, rate: number): boolean {
+        return SimGeneric.Set("Gyro", device, ">rate_y", rate)
+    }
+
+    public static SetRateZ(device: string, rate: number): boolean {
+        return SimGeneric.Set("Gyro", device, ">rate_z", rate)
+    }
 }
 
 worker.addEventListener("message", (eventData: MessageEvent) => {

From 14790b009ab55d379e72e37c3bff7e5134a397cc Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 21 Aug 2024 14:56:40 -0700
Subject: [PATCH 325/344] canOPFS check

---
 fission/src/mirabuf/MirabufLoader.ts | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index 3de634e5d8..9d0d582fea 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -322,11 +322,13 @@ class MirabufCachingService {
      * Removes all Mirabuf files from the caching services. Mostly for debugging purposes.
      */
     public static async RemoveAll() {
-        for await (const key of robotFolderHandle.keys()) {
-            robotFolderHandle.removeEntry(key)
-        }
-        for await (const key of fieldFolderHandle.keys()) {
-            fieldFolderHandle.removeEntry(key)
+        if (canOPFS) {
+            for await (const key of robotFolderHandle.keys()) {
+                robotFolderHandle.removeEntry(key)
+            }
+            for await (const key of fieldFolderHandle.keys()) {
+                fieldFolderHandle.removeEntry(key)
+            }
         }
 
         window.localStorage.setItem(robotsDirName, "{}")

From c1a0ddfbef51caebf5a410555079f67c87b7ef1b Mon Sep 17 00:00:00 2001
From: a-crowell <ayla.crowell@gmail.com>
Date: Wed, 21 Aug 2024 15:02:37 -0700
Subject: [PATCH 326/344] Debug lines

---
 fission/src/mirabuf/MirabufLoader.ts | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index 9d0d582fea..9d0711b716 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -76,6 +76,7 @@ class MirabufCachingService {
      * @returns {MapCache} Map of cached keys and paired MirabufCacheInfo
      */
     public static GetCacheMap(miraType: MiraType): MapCache {
+        console.log(`getcachemap`)
         if (
             (window.localStorage.getItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY) ?? "") != MIRABUF_LOCALSTORAGE_GENERATION
         ) {
@@ -104,6 +105,7 @@ class MirabufCachingService {
      * @returns {Promise<MirabufCacheInfo | undefined>} Promise with the result of the promise. Metadata on the mirabuf file if successful, undefined if not.
      */
     public static async CacheRemote(fetchLocation: string, miraType?: MiraType): Promise<MirabufCacheInfo | undefined> {
+        console.log(`cacheremote`)
         if (miraType) {
             const map = MirabufCachingService.GetCacheMap(miraType)
             const target = map[fetchLocation]
@@ -125,6 +127,7 @@ class MirabufCachingService {
     }
 
     public static async CacheAPS(data: Data, miraType: MiraType): Promise<MirabufCacheInfo | undefined> {
+        console.log(`cacheaps`)
         if (!data.href) {
             console.error("Data has no href")
             return undefined
@@ -160,6 +163,7 @@ class MirabufCachingService {
      * @returns {Promise<MirabufCacheInfo | undefined>} Promise with the result of the promise. Metadata on the mirabuf file if successful, undefined if not.
      */
     public static async CacheLocal(buffer: ArrayBuffer, miraType: MiraType): Promise<MirabufCacheInfo | undefined> {
+        console.log(`cachelocal`)
         const key = await this.HashBuffer(buffer)
 
         const map = MirabufCachingService.GetCacheMap(miraType)
@@ -222,6 +226,7 @@ class MirabufCachingService {
         buffer: ArrayBuffer,
         miraType: MiraType
     ): Promise<mirabuf.Assembly | undefined> {
+        console.log(`cachegetlocal`)
         const key = await this.HashBuffer(buffer)
         const map = MirabufCachingService.GetCacheMap(miraType)
         const target = map[key]
@@ -322,6 +327,7 @@ class MirabufCachingService {
      * Removes all Mirabuf files from the caching services. Mostly for debugging purposes.
      */
     public static async RemoveAll() {
+        console.log(`removeall`)
         if (canOPFS) {
             for await (const key of robotFolderHandle.keys()) {
                 robotFolderHandle.removeEntry(key)
@@ -345,8 +351,8 @@ class MirabufCachingService {
         miraType?: MiraType,
         name?: string
     ): Promise<MirabufCacheInfo | undefined> {
-        const backupID = Date.now().toString()
         try {
+            const backupID = Date.now().toString()
             if (!miraType) {
                 console.log("Double loading")
                 miraType = this.AssemblyFromBuffer(miraBuff).dynamic ? MiraType.ROBOT : MiraType.FIELD
@@ -401,6 +407,7 @@ class MirabufCachingService {
     }
 
     private static async HashBuffer(buffer: ArrayBuffer): Promise<string> {
+        console.log(`hashbuffer`)
         const hashBuffer = await crypto.subtle.digest("SHA-256", buffer)
         let hash = ""
         new Uint8Array(hashBuffer).forEach(x => (hash = hash + String.fromCharCode(x)))

From 26bb860315c7a29f9632b1795dc5c8e1ee6e402e Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Wed, 21 Aug 2024 15:10:49 -0700
Subject: [PATCH 327/344] Fixed all issues

Co-authored-by: a-crowell <a-crowell@users.noreply.github.com>
---
 fission/src/mirabuf/MirabufLoader.ts | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index 9d0711b716..7731330330 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -53,7 +53,21 @@ export const canOPFS = await (async () => {
         }
     } catch (e) {
         console.log(`No access to OPFS`)
-        MirabufCachingService.RemoveAll()
+
+        // Copy-pasted from RemoveAll()
+        for await (const key of robotFolderHandle.keys()) {
+            robotFolderHandle.removeEntry(key)
+        }
+        for await (const key of fieldFolderHandle.keys()) {
+            fieldFolderHandle.removeEntry(key)
+        }
+
+        window.localStorage.setItem(robotsDirName, "{}")
+        window.localStorage.setItem(fieldsDirName, "{}")
+
+        backUpRobots = {}
+        backUpFields = {}
+
         return false
     }
 })()

From aa95dcd85a33ac44a431fa7619001a4a15d31e55 Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Wed, 21 Aug 2024 15:20:09 -0700
Subject: [PATCH 328/344] Removed console logs

---
 fission/src/mirabuf/MirabufLoader.ts | 9 +--------
 1 file changed, 1 insertion(+), 8 deletions(-)

diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index 7731330330..89b61c82e6 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -90,7 +90,6 @@ class MirabufCachingService {
      * @returns {MapCache} Map of cached keys and paired MirabufCacheInfo
      */
     public static GetCacheMap(miraType: MiraType): MapCache {
-        console.log(`getcachemap`)
         if (
             (window.localStorage.getItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY) ?? "") != MIRABUF_LOCALSTORAGE_GENERATION
         ) {
@@ -119,7 +118,6 @@ class MirabufCachingService {
      * @returns {Promise<MirabufCacheInfo | undefined>} Promise with the result of the promise. Metadata on the mirabuf file if successful, undefined if not.
      */
     public static async CacheRemote(fetchLocation: string, miraType?: MiraType): Promise<MirabufCacheInfo | undefined> {
-        console.log(`cacheremote`)
         if (miraType) {
             const map = MirabufCachingService.GetCacheMap(miraType)
             const target = map[fetchLocation]
@@ -141,7 +139,6 @@ class MirabufCachingService {
     }
 
     public static async CacheAPS(data: Data, miraType: MiraType): Promise<MirabufCacheInfo | undefined> {
-        console.log(`cacheaps`)
         if (!data.href) {
             console.error("Data has no href")
             return undefined
@@ -177,7 +174,6 @@ class MirabufCachingService {
      * @returns {Promise<MirabufCacheInfo | undefined>} Promise with the result of the promise. Metadata on the mirabuf file if successful, undefined if not.
      */
     public static async CacheLocal(buffer: ArrayBuffer, miraType: MiraType): Promise<MirabufCacheInfo | undefined> {
-        console.log(`cachelocal`)
         const key = await this.HashBuffer(buffer)
 
         const map = MirabufCachingService.GetCacheMap(miraType)
@@ -240,7 +236,6 @@ class MirabufCachingService {
         buffer: ArrayBuffer,
         miraType: MiraType
     ): Promise<mirabuf.Assembly | undefined> {
-        console.log(`cachegetlocal`)
         const key = await this.HashBuffer(buffer)
         const map = MirabufCachingService.GetCacheMap(miraType)
         const target = map[key]
@@ -341,7 +336,6 @@ class MirabufCachingService {
      * Removes all Mirabuf files from the caching services. Mostly for debugging purposes.
      */
     public static async RemoveAll() {
-        console.log(`removeall`)
         if (canOPFS) {
             for await (const key of robotFolderHandle.keys()) {
                 robotFolderHandle.removeEntry(key)
@@ -368,7 +362,7 @@ class MirabufCachingService {
         try {
             const backupID = Date.now().toString()
             if (!miraType) {
-                console.log("Double loading")
+                console.debug("Double loading")
                 miraType = this.AssemblyFromBuffer(miraBuff).dynamic ? MiraType.ROBOT : MiraType.FIELD
             }
 
@@ -421,7 +415,6 @@ class MirabufCachingService {
     }
 
     private static async HashBuffer(buffer: ArrayBuffer): Promise<string> {
-        console.log(`hashbuffer`)
         const hashBuffer = await crypto.subtle.digest("SHA-256", buffer)
         let hash = ""
         new Uint8Array(hashBuffer).forEach(x => (hash = hash + String.fromCharCode(x)))

From 72af99237a6d768cf14e9a1808486ede8360f4e0 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Wed, 21 Aug 2024 15:38:30 -0700
Subject: [PATCH 329/344] accelerometer data is sent but don't know how to get
 acceleration from Jolt

---
 .../simulation/wpilib_brain/SimInput.ts       | 39 +++++++-
 .../simulation/wpilib_brain/WPILibBrain.ts    | 38 +++++--
 fission/src/ui/panels/WSViewPanel.tsx         | 99 +++----------------
 .../src/main/java/frc/robot/Robot.java        |  9 ++
 4 files changed, 88 insertions(+), 97 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 97a285cfc0..d74940619d 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -1,6 +1,6 @@
 import World from "@/systems/World"
 import EncoderStimulus from "../stimulus/EncoderStimulus"
-import { SimCANEncoder, SimGyro } from "./WPILibBrain"
+import { SimCANEncoder, SimGyro, SimAccel } from "./WPILibBrain"
 import Mechanism from "@/systems/physics/Mechanism"
 import Jolt from "@barclah/jolt-physics"
 import JOLT from "@/util/loading/JoltSyncLoader"
@@ -77,7 +77,7 @@ export class SimGyroInput implements SimInput {
         const x = this.GetX()
         const y = this.GetY()
         const z = this.GetZ()
-        // console.log(`${this._device}\n${x}\n${y}\n${z}`)
+
         SimGyro.SetAngleX(this._device, x)
         SimGyro.SetAngleY(this._device, y)
         SimGyro.SetAngleZ(this._device, z)
@@ -86,3 +86,38 @@ export class SimGyroInput implements SimInput {
         SimGyro.SetRateZ(this._device, this.GetAxisVelocity("z"))
     }
 }
+
+export class SimAccelInput implements SimInput {
+    private _device: string
+    private _robot: Mechanism
+    private _joltID?: Jolt.BodyID
+    private _joltBody?: Jolt.Body
+
+    constructor(device: string, robot: Mechanism) {
+        this._device = device
+        this._robot = robot
+        this._joltID = this._robot.nodeToBody.get(this._robot.rootBody)
+
+        if (this._joltID) this._joltBody = World.PhysicsSystem.GetBody(this._joltID)
+    }
+
+    private GetAxis(axis: "x" | "y" | "z"): number {
+        const forces = this._joltBody?.GetAccumulatedForce()
+        if (!forces) return 0
+
+        switch (axis) {
+            case "x":
+                return forces.GetX()
+            case "y":
+                return forces.GetY()
+            case "z":
+                return forces.GetZ()
+        }
+    }
+
+    public Update(_deltaT: number) {
+        SimAccel.SetX(this._device, this.GetAxis("x"))
+        SimAccel.SetY(this._device, this.GetAxis("y"))
+        SimAccel.SetZ(this._device, this.GetAxis("z"))
+    }
+}
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index e5edd9de2f..30282dc2f5 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -7,7 +7,7 @@ import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 
 import { SimOutputGroup } from "./SimOutput"
-import { SimGyroInput, SimInput } from "./SimInput"
+import { SimAccelInput, SimGyroInput, SimInput } from "./SimInput"
 
 const worker = new WPILibWSWorker()
 
@@ -17,7 +17,7 @@ const CANMOTOR_DUTY_CYCLE = "<dutyCycle"
 const CANMOTOR_SUPPLY_VOLTAGE = ">supplyVoltage"
 const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput"
 
-export type SimType = "PWM" | "CANMotor" | "Solenoid" | "SimDevice" | "CANEncoder" | "Gyro"
+export type SimType = "PWM" | "CANMotor" | "Solenoid" | "SimDevice" | "CANEncoder" | "Gyro" | "Accel"
 
 enum FieldType {
     Read = 0,
@@ -44,7 +44,7 @@ function GetFieldType(field: string): FieldType {
 export const simMap = new Map<SimType, Map<string, any>>()
 
 export class SimGeneric {
-    private constructor() {}
+    private constructor() { }
 
     public static Get<T>(simType: SimType, device: string, field: string, defaultValue?: T): T | undefined {
         const fieldType = GetFieldType(field)
@@ -106,7 +106,7 @@ export class SimGeneric {
 }
 
 export class SimPWM {
-    private constructor() {}
+    private constructor() { }
 
     public static GetSpeed(device: string): number | undefined {
         return SimGeneric.Get("PWM", device, PWM_SPEED, 0.0)
@@ -118,7 +118,7 @@ export class SimPWM {
 }
 
 export class SimCAN {
-    private constructor() {}
+    private constructor() { }
 
     public static GetDeviceWithID(id: number, type: SimType): any {
         const id_exp = /.*\[(\d+)\]/g
@@ -138,7 +138,7 @@ export class SimCAN {
 }
 
 export class SimCANMotor {
-    private constructor() {}
+    private constructor() { }
 
     public static GetDutyCycle(device: string): number | undefined {
         return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0)
@@ -150,7 +150,7 @@ export class SimCANMotor {
 }
 
 export class SimCANEncoder {
-    private constructor() {}
+    private constructor() { }
 
     public static SetRawInputPosition(device: string, rawInputPosition: number): boolean {
         return SimGeneric.Set("CANEncoder", device, CANENCODER_RAW_INPUT_POSITION, rawInputPosition)
@@ -158,7 +158,7 @@ export class SimCANEncoder {
 }
 
 export class SimGyro {
-    private constructor() {}
+    private constructor() { }
 
     public static SetAngleX(device: string, angle: number): boolean {
         return SimGeneric.Set("Gyro", device, ">angle_x", angle)
@@ -185,6 +185,22 @@ export class SimGyro {
     }
 }
 
+export class SimAccel {
+    private constructor() { }
+
+    public static SetX(device: string, accel: number): boolean {
+        return SimGeneric.Set("Accel", device, ">x", accel)
+    }
+
+    public static SetY(device: string, accel: number): boolean {
+        return SimGeneric.Set("Accel", device, ">y", accel)
+    }
+
+    public static SetZ(device: string, accel: number): boolean {
+        return SimGeneric.Set("Accel", device, ">z", accel)
+    }
+}
+
 worker.addEventListener("message", (eventData: MessageEvent) => {
     let data: any | undefined
     try {
@@ -224,6 +240,9 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
         case "Gyro":
             UpdateSimMap("Gyro", device, updateData)
             break
+        case "Accel":
+            UpdateSimMap("Accel", device, updateData)
+            break
         default:
             break
     }
@@ -262,7 +281,8 @@ class WPILibBrain extends Brain {
             return
         }
 
-        this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
+        // this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
+        this.addSimInput(new SimAccelInput("ADXL362[4]", mechanism))
     }
 
     public addSimOutputGroup(device: SimOutputGroup) {
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index f7b47eff28..31699e2164 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -27,16 +27,19 @@ const TypoStyled = styled(Typography)({
 })
 
 function generateTableBody() {
+    const names: SimType[] = ["PWM", "SimDevice", "CANMotor", "CANEncoder", "Gyro", "Accel"]
+
     return (
         <TableBody>
-            {simMap.has("PWM") ? (
-                [...simMap.get("PWM")!.entries()]
-                    .filter(x => x[1]["<init"] == true)
-                    .map(x => {
-                        return (
+            {names.map(name => 
+                simMap.has(name) ? (
+                    [...simMap.get(name)!.entries()]
+                        // most devices don't have <init field but we want to hide the ones that do
+                        .filter(x => !Object.keys(x[1]).includes("<init") || x[1]["<init"] == true)
+                        .map(x => (
                             <TableRow key={x[0]}>
                                 <TableCell>
-                                    <TypoStyled>PWM</TypoStyled>
+                                    <TypoStyled>{name}</TypoStyled>
                                 </TableCell>
                                 <TableCell>
                                     <TypoStyled>{x[0]}</TypoStyled>
@@ -45,86 +48,10 @@ function generateTableBody() {
                                     <TypoStyled>{JSON.stringify(x[1])}</TypoStyled>
                                 </TableCell>
                             </TableRow>
-                        )
-                    })
-            ) : (
-                <></>
-            )}
-            {simMap.has("SimDevice") ? (
-                [...simMap.get("SimDevice")!.entries()].map(x => {
-                    return (
-                        <TableRow key={x[0]}>
-                            <TableCell>
-                                <TypoStyled>SimDevice</TypoStyled>
-                            </TableCell>
-                            <TableCell>
-                                <TypoStyled>{x[0]}</TypoStyled>
-                            </TableCell>
-                            <TableCell>
-                                <TypoStyled>{JSON.stringify(x[1])}</TypoStyled>
-                            </TableCell>
-                        </TableRow>
-                    )
-                })
-            ) : (
-                <></>
-            )}
-            {simMap.has("CANMotor") ? (
-                [...simMap.get("CANMotor")!.entries()].map(x => {
-                    return (
-                        <TableRow key={x[0]}>
-                            <TableCell>
-                                <TypoStyled>CAN Motor</TypoStyled>
-                            </TableCell>
-                            <TableCell>
-                                <TypoStyled>{x[0]}</TypoStyled>
-                            </TableCell>
-                            <TableCell>
-                                <TypoStyled>{JSON.stringify(x[1])}</TypoStyled>
-                            </TableCell>
-                        </TableRow>
-                    )
-                })
-            ) : (
-                <></>
-            )}
-            {simMap.has("CANEncoder") ? (
-                [...simMap.get("CANEncoder")!.entries()].map(x => {
-                    return (
-                        <TableRow key={x[0]}>
-                            <TableCell>
-                                <TypoStyled>CAN Encoder</TypoStyled>
-                            </TableCell>
-                            <TableCell>
-                                <TypoStyled>{x[0]}</TypoStyled>
-                            </TableCell>
-                            <TableCell>
-                                <TypoStyled>{JSON.stringify(x[1])}</TypoStyled>
-                            </TableCell>
-                        </TableRow>
-                    )
-                })
-            ) : (
-                <></>
-            )}
-            {simMap.has("Gyro") ? (
-                [...simMap.get("Gyro")!.entries()].map(x => {
-                    return (
-                        <TableRow key={x[0]}>
-                            <TableCell>
-                                <TypoStyled>Gyro</TypoStyled>
-                            </TableCell>
-                            <TableCell>
-                                <TypoStyled>{x[0]}</TypoStyled>
-                            </TableCell>
-                            <TableCell>
-                                <TypoStyled>{JSON.stringify(x[1])}</TypoStyled>
-                            </TableCell>
-                        </TableRow>
-                    )
-                })
-            ) : (
-                <></>
+                        ))
+                ) : (
+                    <></>
+                )
             )}
         </TableBody>
     )
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 70cfac85d9..3a8a2b4901 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -4,13 +4,17 @@
 
 package frc.robot;
 
+import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkBase.IdleMode;
 // import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.ADXL362;
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
@@ -40,6 +44,11 @@ public class Robot extends TimedRobot {
   private TalonFX m_Talon = new TalonFX(2);
   private XboxController m_Controller = new XboxController(0);
   private Gyro m_Gyro = new Gyro("Test Gyro", 1);
+  private AHRS m_NavX = new AHRS();
+  // Creates an ADXL362 accelerometer object on the MXP SPI port
+  // with a measurement range from -8 to 8 G's
+  private ADXL362 m_Accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
+  private Pigeon2 m_Pigeon2 = new Pigeon2(0);
 
   /**
    * This function is run when the robot is first started up and should be used for any

From d5e57d42534f5ae41294d73ae263a44f8004a3fe Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Wed, 21 Aug 2024 17:57:50 -0700
Subject: [PATCH 330/344] standardized javadoc format a bit

---
 .../java/com/autodesk/synthesis/CANMotor.java |  6 +--
 .../synthesis/ctre/TalonFXConfigurator.java   | 11 +++-
 .../synthesis/revrobotics/CANSparkMax.java    | 24 +++++----
 .../revrobotics/SparkAbsoluteEncoder.java     | 51 ++++++++++---------
 4 files changed, 54 insertions(+), 38 deletions(-)

diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
index e4df23ba66..6e5f0ccd0f 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
@@ -96,7 +96,7 @@ public void setNeutralDeadband(double deadband) {
     /**
      * Get the supply current, simulated.
      * 
-     * @return Supply Current.
+     * @return Supply current in amps.
      */
     public double getSupplyCurrent() {
         return m_supplyCurrent.get();
@@ -105,7 +105,7 @@ public double getSupplyCurrent() {
     /**
      * Get the motor current, simulated.
      * 
-     * @return Motor Current.
+     * @return Motor current in amps.
      */
     public double getMotorCurrent() {
         return m_motorCurrent.get();
@@ -114,7 +114,7 @@ public double getMotorCurrent() {
     /**
      * Get the Bus Voltage, simulated.
      * 
-     * @return Bus Voltage
+     * @return Bus voltage
      */
     public double getBusVoltage() {
         return m_busVoltage.get();
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
index d3a14fffdb..a5b372b221 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
@@ -6,9 +6,18 @@
 
 //import com.ctre.phoenix6.configs.TalonFXConfigurator
 
+/**
+ * TalonFXConfigurator wrapper to add proper WPILib HALSim support.
+ */
 public class TalonFXConfigurator extends com.ctre.phoenix6.configs.TalonFXConfigurator {
     private TalonFX devicePtr;
 
+    /**
+     * Creates a new TalonFXConfigurator, wrapped with simulation support.
+     * 
+     * @param id Device ID
+     * @param device The motor to configure
+     */
     public TalonFXConfigurator(DeviceIdentifier id, TalonFX device) {
         super(id);
         // awful, jank solution, please help
@@ -19,7 +28,7 @@ public TalonFXConfigurator(DeviceIdentifier id, TalonFX device) {
     /**
      * Applies a torque configuration to a TalonFX motor and passes the new neutral deadband to the simulated motor in fission if applicable
      *
-     * @param The new torque configuration for this motor
+     * @param newTorqueCurrent The new torque configuration for this motor
      */
     @Override
     public StatusCode apply(TorqueCurrentConfigs newTorqueCurrent) {
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 5cc913d478..86a7cd917f 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -21,7 +21,7 @@ public class CANSparkMax extends com.revrobotics.CANSparkMax {
      * Creates a new CANSparkMax, wrapped with simulation support.
      * 
      * @param deviceId  CAN Device ID.
-     * @param motorType Motortype. For Simulation purposes, this is discarded at the
+     * @param motorType Motor type. For Simulation purposes, this is discarded at the
      *                  moment.
      *
      * See original documentation for more information https://codedocs.revrobotics.com/java/com/revrobotics/cansparkmax
@@ -54,7 +54,7 @@ public void set(double percent) {
     /**
      * Sets the neutralDeadband of the real and simulated motors
      *
-     * @param n The new neutralDeadband
+     * @param n The new neutral deadband
      */
     void setNeutralDeadband(double n) {
         this.m_motor.setNeutralDeadband(n);
@@ -77,27 +77,31 @@ public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) {
 
     /** 
      * Gets a simulation-supported SparkAbsoluteEncoder containing the position and velocity of the motor in fission.
-     * All information returned by this class besides position and velocity is from the real motor
-     * Use instead on getAbsoluteEncoder(), everything except for the name of the method works exactly the same
+     * All information returned by this class besides position and velocity is from the real motor.
+     * Use instead of getAbsoluteEncoder(), everything except for the name of the method works exactly the same.
 
-     * @return thewsimulation-supported SparkAbsoluteEncoder.
-     *
-     *      */
+     * @return The simulation-supported SparkAbsoluteEncoder.
+     */
     public com.autodesk.synthesis.revrobotics.SparkAbsoluteEncoder getAbsoluteEncoderSim() {
         return new SparkAbsoluteEncoder(super.getAbsoluteEncoder(), this.m_encoder);
     }
 
+    /**
+     * Adds a follower to this motor controller.
+     *
+     * @param f The new follower
+     */
     void newFollower(CANSparkMax f) {
         this.followers.add(f);
     }
 
     /** 
-     * Causes a simulation-supported leader to follow another simulation-supported leader
-     * The real versions of these motors will also follow each other
+     * Causes a simulation-supported leader to follow another simulation-supported leader.
+     * The real versions of these motors will also follow each other.
      *
      * @param leader The motor for this robot to follow
      *
-     * @return a library error indicating failure or success
+     * @return A library error indicating failure or success
      */
     @Override
     public REVLibError follow(CANSparkBase leader) {
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
index de1d952d60..402bdca0b9 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/SparkAbsoluteEncoder.java
@@ -5,13 +5,16 @@
 import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.REVLibError;
 
+/**
+ * SparkAbsoluteEncoder wrapper to add proper WPILib HALSim support.
+ */
 public class SparkAbsoluteEncoder implements AbsoluteEncoder {
     private CANEncoder simEncoder;
     private com.revrobotics.SparkAbsoluteEncoder realEncoder;
 
     /*
-     * A SparkAbsoluteEncoder class that returns the motors position and velocity from the simulated motor in fission, rather than the actual motor
-     * All other parameters are returned from the real motor, which likely won't exist, not sure what it does then but we'll just call it UB
+     * A SparkAbsoluteEncoder class that returns the motors position and velocity from the simulated motor in fission, rather than the actual motor.
+     * All other parameters are returned from the real motor, which likely won't exist, not sure what it does then but we'll just call it UB.
      */
     public SparkAbsoluteEncoder(com.revrobotics.SparkAbsoluteEncoder realEncoder, CANEncoder simEncoder) {
         this.realEncoder = realEncoder;
@@ -31,26 +34,26 @@ public int getAverageDepth() {
      * Gets the phase of the real encoder 
      *
      * @return The phase of the real encoder
-    */
+     */
     public boolean getInverted() {
         return this.realEncoder.getInverted();
     }
 
     /**
-     * Gets the position lf the simulated motor.
+     * Gets the position of the simulated motor.
      * This returns the native units of 'rotations' by default, and can be changed by a scale factor using setPositionConversionFactor().
      *
      * @return Number of rotations of the motor
-    */
+     */
     public double getPosition() {
         return this.simEncoder.getPosition();
     }
 
     /**
-     * Sets the conversion factor for position of the real encoder. Multiplied by the native output units to give you position
+     * Sets the conversion factor for position of the real encoder. Multiplying by the native output units to give you position
      *
      * @return The conversion factor used by the encoder for position
-    */
+     */
     public double getPositionConversionFactor() {
         return this.realEncoder.getPositionConversionFactor();
     }
@@ -60,7 +63,7 @@ public double getPositionConversionFactor() {
      * Gets the velocity of the simulated motor. This returns the native units of 'rotations per second' by default, and can be changed by a scale factor using setVelocityConversionFactor().
      *
      * @return Number of rotations per second of the motor
-    */
+     */
     public double getVelocity() {
         return this.simEncoder.getVelocity() * this.realEncoder.getVelocityConversionFactor();
     }
@@ -70,7 +73,7 @@ public double getVelocity() {
      * Gets the conversion factor for velocity of the real encoder.
      *
      * @return The conversion factor used by the encoder for position
-    */
+     */
     public double getVelocityConversionFactor() {
         return this.realEncoder.getVelocityConversionFactor();
     }
@@ -79,7 +82,7 @@ public double getVelocityConversionFactor() {
      * Gets the zero offset in revolutions for the real encoder (the position that is reported as zero).
      *
      * @return The zero offset
-    */
+     */
     public double getZeroOffset() {
         return this.realEncoder.getZeroOffset();
     }
@@ -89,8 +92,8 @@ public double getZeroOffset() {
      *
      * @param depth The average sampling depth
      *
-     * @return a library error indicating failure or success
-    */
+     * @return A library error indicating failure or success
+     */
     public REVLibError setAverageDepth(int depth) {
         return this.realEncoder.setAverageDepth(depth);
     }
@@ -100,19 +103,19 @@ public REVLibError setAverageDepth(int depth) {
      *
      * @param inverted Whether the real motor should be inverted
      *
-     * @return a library error indicating failure or success
-    */
+     * @return A library error indicating failure or success
+     */
     public REVLibError setInverted(boolean inverted) {
         return this.realEncoder.setInverted(inverted);
     }
 
     /**
-    * Sets the conversion factor for position of the real encoder.
-    *
-    * @param The new position conversion factor
-    *
-    * @return a library error indicating failure or success
-    */
+     * Sets the conversion factor for position of the real encoder.
+     *
+     * @param factor The new position conversion factor
+     *
+     * @return A library error indicating failure or success
+     */
     public REVLibError setPositionConversionFactor(double factor) {
         return this.realEncoder.setPositionConversionFactor(factor);
     }
@@ -122,8 +125,8 @@ public REVLibError setPositionConversionFactor(double factor) {
      *
      * @param factor The new velocity conversion factor
      *
-     * @return a library error indicating failure or success
-    */
+     * @return A library error indicating failure or success
+     */
     public REVLibError setVelocityConversionFactor(double factor) {
         return this.realEncoder.setVelocityConversionFactor(factor);
     }
@@ -133,8 +136,8 @@ public REVLibError setVelocityConversionFactor(double factor) {
      *
      * @param offset The new zero offset
      *
-     * @return a library error indicating failure or success
-    */
+     * @return A library error indicating failure or success
+     */
     public REVLibError setZeroOffset(double offset) {
         return this.realEncoder.setZeroOffset(offset);
     }

From 3b002ce9e2a15b535ecc989f04bf1afabd647ed9 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 22 Aug 2024 11:04:53 -0700
Subject: [PATCH 331/344] Small modal spacing tweaks and control scheme
 deletion fix

---
 fission/src/ui/components/Modal.tsx           |  4 +-
 .../src/ui/components/StyledComponents.tsx    |  4 +-
 .../ui/modals/configuring/SettingsModal.tsx   | 43 ++++++++++++-------
 .../theme-editor/NewInputSchemeModal.tsx      |  2 +-
 .../configuring/ChooseInputSchemePanel.tsx    |  1 -
 .../inputs/ConfigureInputsInterface.tsx       | 13 +++++-
 6 files changed, 43 insertions(+), 24 deletions(-)

diff --git a/fission/src/ui/components/Modal.tsx b/fission/src/ui/components/Modal.tsx
index 3dad42319d..ad7357bb12 100644
--- a/fission/src/ui/components/Modal.tsx
+++ b/fission/src/ui/components/Modal.tsx
@@ -56,7 +56,7 @@ const Modal: React.FC<ModalProps> = ({
             <div
                 id={modalId}
                 key={modalId}
-                className={`${className} flex flex-col absolute max-w-[98vw] max-h-[90vh] w-fit h-fit left-1/2 top-1/2 -translate-x-1/2 -translate-y-1/2 bg-background text-main-text m-auto border-5 rounded-2xl shadow-sm shadow-slate-800`}
+                className={`${className} flex flex-col absolute max-w-[50vw] max-h-[95vh] w-fit h-fit left-1/2 top-1/2 -translate-x-1/2 -translate-y-1/2 bg-background text-main-text m-auto border-5 rounded-2xl shadow-sm shadow-slate-800`}
             >
                 {name && (
                     <div id="header" className="flex items-center gap-8 h-16">
@@ -78,7 +78,7 @@ const Modal: React.FC<ModalProps> = ({
                     id="content"
                     className={`${contentClassName || ""} ${
                         !contentClassName?.includes("mx") ? "mx-[2rem]" : ""
-                    } flex flex-col gap-4 max-h-75vh p-4`}
+                    } flex flex-col gap-4 max-h-[75vh]`}
                 >
                     {children}
                 </div>
diff --git a/fission/src/ui/components/StyledComponents.tsx b/fission/src/ui/components/StyledComponents.tsx
index 66e404d71f..a42896b75d 100644
--- a/fission/src/ui/components/StyledComponents.tsx
+++ b/fission/src/ui/components/StyledComponents.tsx
@@ -3,7 +3,6 @@ import Label, { LabelSize } from "./Label"
 import Button, { ButtonProps, ButtonSize } from "./Button"
 import { IoCheckmark, IoPencil, IoPeople, IoTrashBin } from "react-icons/io5"
 import { HiDownload } from "react-icons/hi"
-import { AiOutlinePlus } from "react-icons/ai"
 import { BiRefresh } from "react-icons/bi"
 import { AiFillWarning } from "react-icons/ai"
 import { BsCodeSquare } from "react-icons/bs"
@@ -58,7 +57,8 @@ export class SynthesisIcons {
     /** Large icons: used for icon buttons */
     public static DeleteLarge = (<IoTrashBin size={"1.25rem"} />)
     public static DownloadLarge = (<HiDownload size={"1.25rem"} />)
-    public static AddLarge = (<AiOutlinePlus size={"1.25rem"} />)
+    public static AddLarge = (<FaPlus size={"1.25rem"} />)
+    public static GearLarge = (<FaGear size={"1.25rem"} />)
     public static RefreshLarge = (<BiRefresh size={"1.25rem"} />)
     public static SelectLarge = (<IoCheckmark size={"1.25rem"} />)
     public static EditLarge = (<IoPencil size={"1.25rem"} />)
diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index 006666d7bf..ce9f1b6a3d 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -1,22 +1,22 @@
 import React, { useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaGear } from "react-icons/fa6"
 import Label, { LabelSize } from "@/components/Label"
 import Dropdown from "@/components/Dropdown"
-import Slider from "@/components/Slider"
 import Checkbox from "@/components/Checkbox"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { SceneOverlayEvent, SceneOverlayEventKey } from "@/ui/components/SceneOverlayEvents"
 import { QualitySetting } from "@/systems/preferences/PreferenceTypes"
 import { Box } from "@mui/material"
-import { Spacer } from "@/ui/components/StyledComponents"
+import { Spacer, SynthesisIcons } from "@/ui/components/StyledComponents"
 import World from "@/systems/World"
 
 const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const [qualitySettings, setQualitySettings] = useState<string>(
         PreferencesSystem.getGlobalPreference<string>("QualitySettings")
     )
-    const [zoomSensitivity, setZoomSensitivity] = useState<number>(
+
+    // Disabled until camera settings are implemented
+    /* const [zoomSensitivity, setZoomSensitivity] = useState<number>(
         PreferencesSystem.getGlobalPreference<number>("ZoomSensitivity")
     )
     const [pitchSensitivity, setPitchSensitivity] = useState<number>(
@@ -24,11 +24,15 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     )
     const [yawSensitivity, setYawSensitivity] = useState<number>(
         PreferencesSystem.getGlobalPreference<number>("YawSensitivity")
-    )
+    ) */
+
     const [reportAnalytics, setReportAnalytics] = useState<boolean>(
         PreferencesSystem.getGlobalPreference<boolean>("ReportAnalytics")
     )
-    const [useMetric, setUseMetric] = useState<boolean>(PreferencesSystem.getGlobalPreference<boolean>("UseMetric"))
+
+    // Disabled until use metric is implemented
+    // const [useMetric, setUseMetric] = useState<boolean>(PreferencesSystem.getGlobalPreference<boolean>("UseMetric"))
+
     const [renderScoringZones, setRenderScoringZones] = useState<boolean>(
         PreferencesSystem.getGlobalPreference<boolean>("RenderScoringZones")
     )
@@ -44,29 +48,32 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
 
     const saveSettings = () => {
         PreferencesSystem.setGlobalPreference<string>("QualitySettings", qualitySettings)
-        PreferencesSystem.setGlobalPreference<number>("ZoomSensitivity", zoomSensitivity)
-        PreferencesSystem.setGlobalPreference<number>("PitchSensitivity", pitchSensitivity)
-        PreferencesSystem.setGlobalPreference<number>("YawSensitivity", yawSensitivity)
+
         PreferencesSystem.setGlobalPreference<boolean>("ReportAnalytics", reportAnalytics)
-        PreferencesSystem.setGlobalPreference<boolean>("UseMetric", useMetric)
         PreferencesSystem.setGlobalPreference<boolean>("RenderScoringZones", renderScoringZones)
         PreferencesSystem.setGlobalPreference<boolean>("RenderSceneTags", renderSceneTags)
         PreferencesSystem.setGlobalPreference<boolean>("RenderScoreboard", renderScoreboard)
         PreferencesSystem.setGlobalPreference<boolean>("SubsystemGravity", subsystemGravity)
 
+        // Disabled until these settings are implemented
+        /* PreferencesSystem.setGlobalPreference<number>("ZoomSensitivity", zoomSensitivity)
+        PreferencesSystem.setGlobalPreference<number>("PitchSensitivity", pitchSensitivity)
+        PreferencesSystem.setGlobalPreference<number>("YawSensitivity", yawSensitivity)
+        PreferencesSystem.setGlobalPreference<boolean>("UseMetric", useMetric) */
+
         PreferencesSystem.savePreferences()
     }
 
     return (
         <Modal
             name="Settings"
-            icon={<FaGear />}
+            icon={SynthesisIcons.GearLarge}
             modalId={modalId}
             onAccept={() => {
                 saveSettings()
             }}
         >
-            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 max-h-[60vh]">
+            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 max-h-[60vh] min-w-[350px]">
                 <Label size={LabelSize.Medium}>Screen Settings</Label>
                 <Dropdown
                     label="Quality Settings"
@@ -77,7 +84,9 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         World.SceneRenderer.ChangeLighting(selected)
                     }}
                 />
-                {Spacer(5)}
+
+                {/* Disabled until these settings are implemented */}
+                {/*   {Spacer(5)}
                 <Label size={LabelSize.Medium}>Camera Settings</Label>
                 <Slider
                     min={1}
@@ -106,7 +115,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                     format={{ maximumFractionDigits: 2 }}
                     onChange={(_, value) => setYawSensitivity(value as number)}
                     tooltipText="Moving the camera left and right."
-                />
+                />*/}
                 {Spacer(20)}
                 <Label size={LabelSize.Medium}>Preferences</Label>
                 <Box display="flex" flexDirection={"column"}>
@@ -118,13 +127,15 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         }}
                         tooltipText="Record user data such as what robots are spawned and how they are configured. No personal data will be collected."
                     />
-                    <Checkbox
+                    {/* Disabled until this settings is implemented */}
+                    {/*  <Checkbox
                         label="Use Metric"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("UseMetric")}
                         onClick={checked => {
                             setUseMetric(checked)
                         }}
-                    />
+                        tooltipText="Metric measurements. (ex: meters instead of feet)"
+                    /> */}
                     <Checkbox
                         label="Realistic Subsystem Gravity"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("SubsystemGravity")}
diff --git a/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx b/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
index 81c59769aa..06b95d7a1f 100644
--- a/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
@@ -16,7 +16,7 @@ const NewInputSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="New Input Scheme"
-            icon={SynthesisIcons.Add}
+            icon={SynthesisIcons.AddLarge}
             modalId={modalId}
             onAccept={() => {
                 const scheme = DefaultInputs.newBlankScheme
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index 40a2ed7a86..0d5b549f36 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -73,7 +73,6 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             sidePadding={8}
             acceptEnabled={false}
             icon={SynthesisIcons.Gamepad}
-            cancelEnabled={selectedBrainIndexGlobal != undefined}
             cancelName="Close"
         >
             {/** A scroll view with buttons to select default and custom input schemes */}
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
index 913ad32b4c..175bca83aa 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
@@ -77,10 +77,19 @@ const ConfigureInputsInterface = () => {
                     // Fetch current custom schemes
                     InputSchemeManager.saveSchemes()
                     InputSchemeManager.resetDefaultSchemes()
-                    const schemes = PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
 
-                    // Find and remove this input scheme
+                    // Find the scheme to remove in preferences
+                    const schemes = PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
                     const index = schemes.indexOf(val.scheme)
+
+                    // If currently bound to a robot, remove the binding
+                    for (const [key, value] of InputSystem.brainIndexSchemeMap.entries()) {
+                        if (value == schemes[index]) {
+                            InputSystem.brainIndexSchemeMap.delete(key)
+                        }
+                    }
+
+                    // Find and remove this input scheme from preferences
                     schemes.splice(index, 1)
 
                     // Save to preferences

From 9f9948d275d78ebc08ccdf76f996b5e89e42133e Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Thu, 22 Aug 2024 17:53:53 -0700
Subject: [PATCH 332/344] hopefully fission-side DIO/AIO is done

---
 .../simulation/wpilib_brain/SimInput.ts       |  44 ++++++-
 .../simulation/wpilib_brain/SimOutput.ts      |  28 ++++-
 .../simulation/wpilib_brain/WPILibBrain.ts    | 114 ++++++++++++++++--
 .../rio-config/RCConfigCANGroupModal.tsx      |   2 +-
 .../rio-config/RCConfigPWMGroupModal.tsx      |   2 +-
 fission/src/ui/panels/WSViewPanel.tsx         |   6 +-
 .../src/main/java/frc/robot/Robot.java        |  18 ++-
 7 files changed, 191 insertions(+), 23 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 87b0367969..974503b5b0 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -1,6 +1,6 @@
 import World from "@/systems/World"
 import EncoderStimulus from "../stimulus/EncoderStimulus"
-import { SimCANEncoder, SimGyro, SimAccel } from "./WPILibBrain"
+import { SimCANEncoder, SimGyro, SimAccel, SimDIO as WSSimDIO, SimAI } from "./WPILibBrain"
 import Mechanism from "@/systems/physics/Mechanism"
 import Jolt from "@barclah/jolt-physics"
 import JOLT from "@/util/loading/JoltSyncLoader"
@@ -120,3 +120,45 @@ export class SimAccelInput implements SimInput {
         SimAccel.SetZ(this._device, this.GetAxis("z"))
     }
 }
+
+export class SimDIO implements SimInput {
+    private _device: string
+    private _valueSupplier?: () => boolean
+
+    /**
+     * Creates a Simulation Digital Input/Output object.
+     *
+     * @param device Device ID
+     * @param valueSupplier Called each frame and returns what the value should be set to. Don't specify if DIO should be treated as an output.
+     */
+    constructor(device: string, valueSupplier?: () => boolean) {
+        this._device = device
+        this._valueSupplier = valueSupplier
+    }
+
+    public SetValue(value: boolean) {
+        WSSimDIO.SetValue(this._device, value);
+    }
+
+    public GetValue(): boolean {
+        return WSSimDIO.GetValue(this._device)
+    }
+
+    public Update(_deltaT: number) {
+        if (this._valueSupplier) this.SetValue(this._valueSupplier())
+    }
+}
+
+export class SimAnalogInput implements SimInput {
+    private _device: string
+    private _valueSupplier: () => number
+
+    constructor(device: string, valueSupplier: () => number) {
+        this._device = device
+        this._valueSupplier = valueSupplier
+    }
+
+    public Update(_deltaT: number) {
+        SimAI.SetValue(this._device, this._valueSupplier())
+    }
+}
diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index 40fe5494e9..a4ce35d7ff 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -2,7 +2,7 @@ import Driver from "../driver/Driver"
 import HingeDriver from "../driver/HingeDriver"
 import SliderDriver from "../driver/SliderDriver"
 import WheelDriver from "../driver/WheelDriver"
-import { SimCAN, SimPWM, SimType } from "./WPILibBrain"
+import { SimAO, SimCAN, SimPWM, SimType } from "./WPILibBrain"
 
 // TODO: Averaging is probably not the right solution (if we want large output groups)
 // We can keep averaging, but we need a better ui for creating one to one (or just small) output groups
@@ -10,14 +10,24 @@ import { SimCAN, SimPWM, SimType } from "./WPILibBrain"
 // We instead want a system where every driver gets (a) unique motor(s) that control it
 // That way a single driver might get the average of two motors or something, if it has two motors to control it
 // A system where motors a drivers are visually "linked" with "threads" in the UI would work well in my opinion
-export abstract class SimOutputGroup {
+
+export abstract class SimOutput {
     public name: string
+
+    constructor(name: string) {
+        this.name = name
+    }
+
+    public abstract Update(deltaT: number): void
+}
+
+export abstract class SimOutputGroup extends SimOutput {
     public ports: number[]
     public drivers: Driver[]
     public type: SimType
 
     public constructor(name: string, ports: number[], drivers: Driver[], type: SimType) {
-        this.name = name
+        super(name)
         this.ports = ports
         this.drivers = drivers
         this.type = type
@@ -72,3 +82,15 @@ export class CANOutputGroup extends SimOutputGroup {
         })
     }
 }
+
+export class SimAnalogOutput extends SimOutput {
+    public constructor(name: string) {
+        super(name)
+    }
+
+    public GetVoltage(): number {
+        return SimAO.GetVoltage(this.name)
+    }
+
+    public Update(_deltaT: number) { }
+}
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 1e046a68a7..a6495ac20a 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -5,8 +5,8 @@ import WPILibWSWorker from "./WPILibWSWorker?worker"
 import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 
-import { SimOutputGroup } from "./SimOutput"
-import { SimAccelInput, SimGyroInput, SimInput } from "./SimInput"
+import { SimAnalogOutput, SimOutput, SimOutputGroup } from "./SimOutput"
+import { SimAccelInput, SimInput, SimDIO as SimDIOIn, SimAnalogInput } from "./SimInput"
 
 const worker = new WPILibWSWorker()
 const PWM_SPEED = "<speed"
@@ -25,11 +25,15 @@ const CANENCODER_VELOCITY = ">velocity"
 
 export enum SimType {
     PWM = "PWM",
+    SimDevice = "SimDevice",
     CANMotor = "CANMotor",
     Solenoid = "Solenoid",
     CANEncoder = "CANEncoder",
     Gyro = "Gyro",
     Accel = "Accel",
+    DIO = "DIO",
+    AI = "AI",
+    AO = "AO"
 }
 
 enum FieldType {
@@ -62,6 +66,8 @@ export const simMap = new Map<SimType, Map<DeviceName, DeviceData>>()
 export class SimGeneric {
     private constructor() { }
 
+    public static Get<T>(simType: SimType, device: string, field: string): T | undefined;
+    public static Get<T>(simType: SimType, device: string, field: string, defaultValue: T): T;
     public static Get<T>(simType: SimType, device: string, field: string, defaultValue?: T): T | undefined {
         const fieldType = GetFieldType(field)
         if (fieldType != FieldType.Read && fieldType != FieldType.Both) {
@@ -195,27 +201,27 @@ export class SimGyro {
     private constructor() { }
 
     public static SetAngleX(device: string, angle: number): boolean {
-        return SimGeneric.Set("Gyro", device, ">angle_x", angle)
+        return SimGeneric.Set(SimType.Gyro, device, ">angle_x", angle)
     }
 
     public static SetAngleY(device: string, angle: number): boolean {
-        return SimGeneric.Set("Gyro", device, ">angle_y", angle)
+        return SimGeneric.Set(SimType.Gyro, device, ">angle_y", angle)
     }
 
     public static SetAngleZ(device: string, angle: number): boolean {
-        return SimGeneric.Set("Gyro", device, ">angle_z", angle)
+        return SimGeneric.Set(SimType.Gyro, device, ">angle_z", angle)
     }
 
     public static SetRateX(device: string, rate: number): boolean {
-        return SimGeneric.Set("Gyro", device, ">rate_x", rate)
+        return SimGeneric.Set(SimType.Gyro, device, ">rate_x", rate)
     }
 
     public static SetRateY(device: string, rate: number): boolean {
-        return SimGeneric.Set("Gyro", device, ">rate_y", rate)
+        return SimGeneric.Set(SimType.Gyro, device, ">rate_y", rate)
     }
 
     public static SetRateZ(device: string, rate: number): boolean {
-        return SimGeneric.Set("Gyro", device, ">rate_z", rate)
+        return SimGeneric.Set(SimType.Gyro, device, ">rate_z", rate)
     }
 }
 
@@ -223,15 +229,92 @@ export class SimAccel {
     private constructor() { }
 
     public static SetX(device: string, accel: number): boolean {
-        return SimGeneric.Set("Accel", device, ">x", accel)
+        return SimGeneric.Set(SimType.Accel, device, ">x", accel)
     }
 
     public static SetY(device: string, accel: number): boolean {
-        return SimGeneric.Set("Accel", device, ">y", accel)
+        return SimGeneric.Set(SimType.Accel, device, ">y", accel)
     }
 
     public static SetZ(device: string, accel: number): boolean {
-        return SimGeneric.Set("Accel", device, ">z", accel)
+        return SimGeneric.Set(SimType.Accel, device, ">z", accel)
+    }
+}
+
+export class SimDIO {
+    private constructor() { }
+
+    public static SetValue(device: string, value: boolean): boolean {
+        return SimGeneric.Set(SimType.DIO, device, "<>value", +value);
+    }
+
+    public static GetValue(device: string): boolean {
+        return SimGeneric.Get(SimType.DIO, device, "<>value", false)
+    }
+}
+
+export class SimAI {
+    constructor() { }
+
+    public static SetValue(device: string, value: number): boolean {
+        return SimGeneric.Set(SimType.AI, device, ">voltage", value)
+    }
+
+    /**
+     * The number of averaging bits
+     */
+    public static GetAvgBits(device: string) {
+        return SimGeneric.Get(SimType.AI, device, "<avg_bits")
+    }
+    /**
+     * The number of oversampling bits
+     */
+    public static GetOversampleBits(device: string) {
+        return SimGeneric.Get(SimType.AI, device, "<oversample_bits")
+    }
+    /**
+     * Input voltage, in volts
+     */
+    public static SetVoltage(device: string, voltage: number) {
+        return SimGeneric.Set(SimType.AI, device, ">voltage", voltage)
+    }
+    /**
+     * If the accumulator is initialized in the robot program
+     */
+    public static GetAccumInit(device: string) {
+        return SimGeneric.Get(SimType.AI, device, "<accum_init")
+    }
+    /**
+     * The accumulated value
+     */
+    public static SetAccumValue(device: string, accum_value: number) {
+        return SimGeneric.Set(SimType.AI, device, ">accum_value", accum_value)
+    }
+    /**
+     * The number of accumulated values
+     */
+    public static SetAccumCount(device: string, accum_count: number) {
+        return SimGeneric.Set(SimType.AI, device, ">accum_count", accum_count)
+    }
+    /**
+     * The center value of the accumulator
+     */
+    public static GetAccumCenter(device: string) {
+        return SimGeneric.Get(SimType.AI, device, "<accum_center")
+    }
+    /**
+     * The accumulator's deadband
+     */
+    public static GetAccumDeadband(device: string) {
+        return SimGeneric.Get(SimType.AI, device, "<accum_deadband")
+    }
+}
+
+export class SimAO {
+    constructor() { }
+
+    public static GetVoltage(device: string): number {
+        return SimGeneric.Get(SimType.AI, device, ">voltage", 0.0)
     }
 }
 
@@ -282,7 +365,7 @@ function UpdateSimMap(type: SimType, device: string, updateData: DeviceData) {
 class WPILibBrain extends Brain {
     private _simLayer: SimulationLayer
 
-    private _simOutputs: SimOutputGroup[] = []
+    private _simOutputs: SimOutput[] = []
     private _simInputs: SimInput[] = []
 
     constructor(mechanism: Mechanism) {
@@ -297,9 +380,13 @@ class WPILibBrain extends Brain {
 
         // this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
         // this.addSimInput(new SimAccelInput("ADXL362[4]", mechanism))
+        // this.addSimInput(new SimDIOIn("In[0]", () => Math.random() > 0.5))
+        // this.addSimInput(new SimDIOIn("Out[1]"))
+        // this.addSimInput(new SimAnalogInput("In[0]", () => Math.random() * 12))
+        // this.addSimOutput(new SimAnalogOutput("Out[1]"))
     }
 
-    public addSimOutputGroup(device: SimOutputGroup) {
+    public addSimOutput(device: SimOutput) {
         this._simOutputs.push(device)
     }
 
@@ -310,6 +397,7 @@ class WPILibBrain extends Brain {
     public Update(deltaT: number): void {
         this._simOutputs.forEach(d => d.Update(deltaT))
         this._simInputs.forEach(i => i.Update(deltaT))
+        console.log(simMap)
     }
 
     public Enable(): void {
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index 624e133708..1584ba3d50 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -47,7 +47,7 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             acceptName="Done"
             onAccept={() => {
                 // no eslint complain
-                brain.addSimOutputGroup(new CANOutputGroup(name, checkedPorts, checkedDrivers))
+                brain.addSimOutput(new CANOutputGroup(name, checkedPorts, checkedDrivers))
                 console.log(name, checkedPorts, checkedDrivers)
                 const replacer = (_: unknown, value: unknown) => {
                     if (value instanceof Map) {
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
index 700094449c..3a227dc4a2 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx
@@ -47,7 +47,7 @@ const RCConfigPWMGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             acceptName="Done"
             onAccept={() => {
                 // no eslint complain
-                brain.addSimOutputGroup(new PWMOutputGroup(name, checkedPorts, checkedDrivers))
+                brain.addSimOutput(new PWMOutputGroup(name, checkedPorts, checkedDrivers))
                 console.log(name, checkedPorts, checkedDrivers)
             }}
             onCancel={() => {
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index 6e90cfbaff..9dd2b6fbdd 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -35,7 +35,9 @@ function formatMap(map: Map<string, number>): string {
 }
 
 function generateTableBody() {
-    const names: SimType[] = ["PWM", "SimDevice", "CANMotor", "CANEncoder", "Gyro", "Accel"]
+    const names: SimType[] = [SimType.PWM, SimType.SimDevice, SimType.CANMotor, SimType.CANEncoder, SimType.Gyro, SimType.Accel, SimType.DIO, SimType.AI, SimType.AO]
+
+    console.log(simMap)
 
     return (
         <TableBody>
@@ -43,7 +45,7 @@ function generateTableBody() {
                 simMap.has(name) ? (
                     [...simMap.get(name)!.entries()]
                         // most devices don't have <init field but we want to hide the ones that do
-                        .filter(x => !Object.keys(x[1]).includes("<init") || x[1]["<init"] == true)
+                        .filter(x => !Object.keys(x[1]).includes("<init") || !!(x[1].get("<init") ?? false) == true)
                         .map(x => (
                             <TableRow key={x[0]}>
                                 <TableCell>
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index e3febe19b3..891e77651f 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -13,6 +13,10 @@
 import edu.wpi.first.wpilibj.ADXL362;
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.AnalogOutput;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalOutput;
 import edu.wpi.first.wpilibj.SPI;
 
 import edu.wpi.first.wpilibj.TimedRobot;
@@ -50,6 +54,10 @@ public class Robot extends TimedRobot {
   // with a measurement range from -8 to 8 G's
   private ADXL362 m_Accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
   private Pigeon2 m_Pigeon2 = new Pigeon2(0);
+  private DigitalInput m_DI = new DigitalInput(0);
+  private DigitalOutput m_DO = new DigitalOutput(1);
+  private AnalogInput m_AI = new AnalogInput(0);
+  private AnalogOutput m_AO = new AnalogOutput(1);
 
   private CANSparkMax m_SparkMax1 = new CANSparkMax(1, MotorType.kBrushless);
   private CANSparkMax m_SparkMax2 = new CANSparkMax(2, MotorType.kBrushless);
@@ -94,6 +102,8 @@ public void autonomousInit() {
     m_autoSelected = m_chooser.getSelected();
     // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
     System.out.println("Auto selected: " + m_autoSelected);
+    m_DO.set(true);
+    m_AO.setVoltage(0.0);
   }
 
   /** This function is called periodically during autonomous. */
@@ -135,14 +145,17 @@ public void autonomousPeriodic() {
 
   /** This function is called once when teleop is enabled. */
   @Override
-  public void teleopInit() { }
+  public void teleopInit() {
+    m_DO.set(false);
+    m_AO.setVoltage(6.0);
+  }
 
   /** This function is called periodically during operator control. */
   @Override
   public void teleopPeriodic() {
     m_Spark1.set(m_Controller.getLeftY());
     m_Spark2.set(-m_Controller.getRightY());
-    System.out.println(m_Gyro.getAngleY());
+    System.out.println(m_DI.get());
     // m_Spark1.set(0.25);
     // m_Spark2.set(0.25);
     m_Talon.set(-0.5);
@@ -164,6 +177,7 @@ public void disabledInit() {
       m_SparkMax4.set(0.0);
       m_SparkMax5.set(0.0);
       m_SparkMax6.set(0.0);
+      m_AO.setVoltage(12.0);
   }
 
   /** This function is called periodically when disabled. */

From 0887cb891b16b8a6ad0bfd61b115f4b806763e30 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Fri, 23 Aug 2024 12:14:17 -0700
Subject: [PATCH 333/344] settings modal fix

---
 fission/src/ui/modals/configuring/SettingsModal.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/ui/modals/configuring/SettingsModal.tsx b/fission/src/ui/modals/configuring/SettingsModal.tsx
index ce9f1b6a3d..6f54dd1f0d 100644
--- a/fission/src/ui/modals/configuring/SettingsModal.tsx
+++ b/fission/src/ui/modals/configuring/SettingsModal.tsx
@@ -73,7 +73,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 saveSettings()
             }}
         >
-            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 max-h-[60vh] min-w-[350px]">
+            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 max-h-[60vh] min-w-[20vw]">
                 <Label size={LabelSize.Medium}>Screen Settings</Label>
                 <Dropdown
                     label="Quality Settings"

From 88c551b7b3bbcd0f95fe9632d52954799577ec42 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 26 Aug 2024 16:36:37 -0700
Subject: [PATCH 334/344] digital and analog inputs work but can't be
 configured show joint name in CAN config panel update robot code to use all
 the sim things

---
 fission/src/Synthesis.tsx                     |  6 --
 .../simulation/wpilib_brain/SimOutput.ts      |  1 -
 .../simulation/wpilib_brain/WPILibBrain.ts    | 23 ++---
 .../rio-config/RCConfigCANGroupModal.tsx      | 14 +--
 .../autodesk/synthesis/io/AnalogInput.java    | 90 +++++++++++++++++++
 .../autodesk/synthesis/io/AnalogOutput.java   | 32 +++++++
 .../autodesk/synthesis/io/DigitalInput.java   | 33 +++++++
 .../autodesk/synthesis/io/DigitalOutput.java  | 38 ++++++++
 .../src/main/java/frc/robot/Robot.java        | 27 ++----
 9 files changed, 212 insertions(+), 52 deletions(-)
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/AnalogInput.java
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/AnalogOutput.java
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/DigitalInput.java
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/DigitalOutput.java

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index badb33a281..7052b887d5 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -47,9 +47,7 @@ import ChooseInputSchemePanel from "./ui/panels/configuring/ChooseInputSchemePan
 import ProgressNotifications from "./ui/components/ProgressNotification.tsx"
 import SceneOverlay from "./ui/components/SceneOverlay.tsx"
 
-import WPILibWSWorker from "@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker"
 import WSViewPanel from "./ui/panels/WSViewPanel.tsx"
-import Lazy from "./util/Lazy.ts"
 
 import RCConfigPWMGroupModal from "@/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx"
 import RCConfigCANGroupModal from "@/modals/configuring/rio-config/RCConfigCANGroupModal.tsx"
@@ -61,8 +59,6 @@ import PreferencesSystem from "./systems/preferences/PreferencesSystem.ts"
 import APSManagementModal from "./ui/modals/APSManagementModal.tsx"
 import ConfigurePanel from "./ui/panels/configuring/assembly-config/ConfigurePanel.tsx"
 
-const worker = new Lazy<Worker>(() => new WPILibWSWorker())
-
 function Synthesis() {
     const { openModal, closeModal, getActiveModalElement } = useModalManager(initialModals)
     const { openPanel, closePanel, closeAllPanels, getActivePanelElements } = usePanelManager(initialPanels)
@@ -93,8 +89,6 @@ function Synthesis() {
             setConsentPopupDisable(false)
         }
 
-        worker.getValue()
-
         let mainLoopHandle = 0
         const mainLoop = () => {
             mainLoopHandle = requestAnimationFrame(mainLoop)
diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index a4ce35d7ff..4a64f221f2 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -45,7 +45,6 @@ export class PWMOutputGroup extends SimOutputGroup {
         const average =
             this.ports.reduce((sum, port) => {
                 const speed = SimPWM.GetSpeed(`${port}`) ?? 0
-                console.debug(port, speed)
                 return sum + speed
             }, 0) / this.ports.length
 
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index a6495ac20a..7eaad915e8 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -1,6 +1,7 @@
 import Mechanism from "@/systems/physics/Mechanism"
 import Brain from "../Brain"
 
+import Lazy from "@/util/Lazy.ts"
 import WPILibWSWorker from "./WPILibWSWorker?worker"
 import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
@@ -8,7 +9,8 @@ import World from "@/systems/World"
 import { SimAnalogOutput, SimOutput, SimOutputGroup } from "./SimOutput"
 import { SimAccelInput, SimInput, SimDIO as SimDIOIn, SimAnalogInput } from "./SimInput"
 
-const worker = new WPILibWSWorker()
+const worker: Lazy<Worker> = new Lazy<Worker>(() => new WPILibWSWorker())
+
 const PWM_SPEED = "<speed"
 const PWM_POSITION = "<position"
 
@@ -113,7 +115,7 @@ export class SimGeneric {
         selectedData[field] = value
         data.set(field, value)
 
-        worker.postMessage({
+        worker.getValue().postMessage({
             command: "update",
             data: {
                 type: simType,
@@ -324,7 +326,7 @@ type WSMessage = {
     data: Map<string, number>
 }
 
-worker.addEventListener("message", (eventData: MessageEvent) => {
+worker.getValue().addEventListener("message", (eventData: MessageEvent) => {
     let data: WSMessage | undefined
 
     if (typeof eventData.data == "object") {
@@ -338,7 +340,7 @@ worker.addEventListener("message", (eventData: MessageEvent) => {
         }
     }
 
-    if (!data?.type || !(Object.values(SimType) as string[]).includes(data.type) || data.device.split(" ")[0] != "SYN")
+    if (!data?.type || !(Object.values(SimType) as string[]).includes(data.type))// || data.device.split(" ")[0] != "SYN")
         return
 
     UpdateSimMap(data.type as SimType, data.device, data.data)
@@ -380,10 +382,10 @@ class WPILibBrain extends Brain {
 
         // this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
         // this.addSimInput(new SimAccelInput("ADXL362[4]", mechanism))
-        // this.addSimInput(new SimDIOIn("In[0]", () => Math.random() > 0.5))
-        // this.addSimInput(new SimDIOIn("Out[1]"))
-        // this.addSimInput(new SimAnalogInput("In[0]", () => Math.random() * 12))
-        // this.addSimOutput(new SimAnalogOutput("Out[1]"))
+        // this.addSimInput(new SimDIOIn("SYN DI[0]", () => Math.random() > 0.5))
+        // this.addSimInput(new SimDIOIn("SYN DO[1]"))
+        // this.addSimInput(new SimAnalogInput("SYN AI[0]", () => Math.random() * 12))
+        // this.addSimOutput(new SimAnalogOutput("SYN AO[1]"))
     }
 
     public addSimOutput(device: SimOutput) {
@@ -397,15 +399,14 @@ class WPILibBrain extends Brain {
     public Update(deltaT: number): void {
         this._simOutputs.forEach(d => d.Update(deltaT))
         this._simInputs.forEach(i => i.Update(deltaT))
-        console.log(simMap)
     }
 
     public Enable(): void {
-        worker.postMessage({ command: "connect" })
+        worker.getValue().postMessage({ command: "connect" })
     }
 
     public Disable(): void {
-        worker.postMessage({ command: "disconnect" })
+        worker.getValue().postMessage({ command: "disconnect" })
     }
 }
 
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index 1584ba3d50..075eda2d2f 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -25,13 +25,11 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     let brain: WPILibBrain
 
     const miraObjs = [...World.SceneRenderer.sceneObjects.entries()].filter(x => x[1] instanceof MirabufSceneObject)
-    console.log(`Number of mirabuf scene objects: ${miraObjs.length}`)
     if (miraObjs.length > 0) {
         const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism
         simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)
         drivers = simLayer?.drivers ?? []
-        brain = new WPILibBrain(mechanism)
-        simLayer?.SetBrain(brain)
+        brain = simLayer?.brain as WPILibBrain
     }
 
     const cans = simMap.get(SimType.CANMotor) ?? new Map<string, Map<string, number>>()
@@ -49,14 +47,6 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 // no eslint complain
                 brain.addSimOutput(new CANOutputGroup(name, checkedPorts, checkedDrivers))
                 console.log(name, checkedPorts, checkedDrivers)
-                const replacer = (_: unknown, value: unknown) => {
-                    if (value instanceof Map) {
-                        return Object.fromEntries(value)
-                    } else {
-                        return value
-                    }
-                }
-                console.log(JSON.stringify(simMap, replacer))
             }}
             onCancel={() => {
                 openModal("roborio")
@@ -92,7 +82,7 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         {drivers.map((driver, idx) => (
                             <Checkbox
                                 key={`${driver.constructor.name}-${idx}`}
-                                label={driver.constructor.name}
+                                label={`${driver.constructor.name} ${driver.info?.name && '(' + driver.info!.name + ')'}`}
                                 defaultState={false}
                                 onClick={checked => {
                                     if (checked && !checkedDrivers.includes(driver)) {
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/AnalogInput.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/AnalogInput.java
new file mode 100644
index 0000000000..d093a510c4
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/AnalogInput.java
@@ -0,0 +1,90 @@
+package com.autodesk.synthesis.io;
+
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.hal.SimInt;
+import edu.wpi.first.hal.SimDevice.Direction;
+
+public class AnalogInput extends edu.wpi.first.wpilibj.AnalogInput {
+    private SimDevice m_device;
+
+    private SimBoolean m_init;
+    private SimInt m_avgBits;
+    private SimInt m_oversampleBits;
+    private SimDouble m_voltage;
+    private SimBoolean m_accumInit;
+    private SimInt m_accumValue;
+    private SimInt m_accumCount;
+    private SimInt m_accumCenter;
+    private SimInt m_accumDeadband;
+
+    public AnalogInput(int channel) {
+        super(channel);
+
+        m_device = SimDevice.create("AI:SYN AI", channel);
+
+        m_init = m_device.createBoolean("init", Direction.kOutput, true);
+        m_avgBits = m_device.createInt("avg_bits", Direction.kOutput, 0);
+        m_oversampleBits = m_device.createInt("oversample_bits", Direction.kOutput, 0);
+        m_voltage = m_device.createDouble("voltage", Direction.kInput, 0.0);
+        m_accumInit = m_device.createBoolean("accum_init", Direction.kOutput, false);
+        m_accumValue = m_device.createInt("accum_value", Direction.kInput, 0);
+        m_accumCount = m_device.createInt("accum_count", Direction.kInput, 0);
+        m_accumCenter = m_device.createInt("accum_center", Direction.kOutput, 0);
+        m_accumDeadband = m_device.createInt("accum_deadband", Direction.kOutput, 0);
+
+        this.setSimDevice(m_device);
+    }
+
+    @Override
+    public double getVoltage() {
+        return m_voltage.get();
+    }
+
+    @Override
+    public int getAverageBits() {
+        return m_avgBits.get();
+    }
+
+    @Override
+    public void setAverageBits(int bits) {
+        m_avgBits.set(bits);
+    }
+
+    @Override
+    public int getOversampleBits() {
+        return m_oversampleBits.get();
+    }
+
+    @Override
+    public void setOversampleBits(int bits) {
+        m_oversampleBits.set(bits);
+    }
+
+    @Override
+    public void initAccumulator() {
+        super.initAccumulator();
+        m_accumInit.set(true);
+    }
+
+    @Override
+    public long getAccumulatorValue() {
+        return m_accumValue.get();
+    }
+
+    @Override
+    public long getAccumulatorCount() {
+        return m_accumCount.get();
+    }
+
+    @Override
+    public void setAccumulatorCenter(int center) {
+        m_accumCenter.set(center);
+    }
+
+    @Override
+    public void setAccumulatorDeadband(int deadband) {
+        m_accumDeadband.set(deadband);
+    }
+}
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/AnalogOutput.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/AnalogOutput.java
new file mode 100644
index 0000000000..46b66b05b9
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/AnalogOutput.java
@@ -0,0 +1,32 @@
+package com.autodesk.synthesis.io;
+
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.hal.SimDevice.Direction;
+
+public class AnalogOutput extends edu.wpi.first.wpilibj.AnalogOutput {
+    private SimDevice m_device;
+
+    private SimBoolean m_init;
+    private SimDouble m_voltage;
+
+    public AnalogOutput(int channel) {
+        super(channel);
+
+        m_device = SimDevice.create("AI:SYN AO", channel);
+
+        m_init = m_device.createBoolean("init", Direction.kOutput, true);
+        m_voltage = m_device.createDouble("voltage", Direction.kOutput, 0.0);
+    }
+
+    @Override
+    public void setVoltage(double voltage) {
+        m_voltage.set(voltage);
+    }
+
+    @Override
+    public double getVoltage() {
+        return m_voltage.get();
+    }
+}
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/DigitalInput.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/DigitalInput.java
new file mode 100644
index 0000000000..e4df20931f
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/DigitalInput.java
@@ -0,0 +1,33 @@
+package com.autodesk.synthesis.io;
+
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.hal.SimDevice.Direction;
+
+public class DigitalInput extends edu.wpi.first.wpilibj.DigitalInput {
+    private SimDevice m_device;
+
+    private SimBoolean m_init;
+    private SimBoolean m_input;
+    private SimBoolean m_value;
+    private SimDouble m_pulseLength; // unused but in HALSim spec
+
+    public DigitalInput(int channel) {
+        super(channel);
+
+        m_device = SimDevice.create("DIO:SYN DI", channel);
+
+        m_init = m_device.createBoolean("init", Direction.kOutput, true);
+        m_input = m_device.createBoolean("input", Direction.kOutput, true);
+        m_value = m_device.createBoolean("value", Direction.kBidir, false);
+        m_pulseLength = m_device.createDouble("pulse_length", Direction.kOutput, 0.0);
+
+        this.setSimDevice(m_device);
+    }
+
+    @Override
+    public boolean get() {
+        return m_value.get();
+    }
+}
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/DigitalOutput.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/DigitalOutput.java
new file mode 100644
index 0000000000..ea76679485
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/io/DigitalOutput.java
@@ -0,0 +1,38 @@
+package com.autodesk.synthesis.io;
+
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.hal.SimDevice.Direction;
+
+public class DigitalOutput extends edu.wpi.first.wpilibj.DigitalOutput {
+    private SimDevice m_device;
+
+    private SimBoolean m_init;
+    private SimBoolean m_input;
+    private SimBoolean m_value;
+    private SimDouble m_pulseLength; // unused but in HALSim spec
+
+    public DigitalOutput(int channel) {
+        super(channel);
+
+        m_device = SimDevice.create("DIO:SYN DO", channel);
+
+        m_init = m_device.createBoolean("init", Direction.kOutput, true);
+        m_input = m_device.createBoolean("input", Direction.kOutput, true);
+        m_value = m_device.createBoolean("value", Direction.kBidir, false);
+        m_pulseLength = m_device.createDouble("pulse_length", Direction.kOutput, 0.0);
+
+        this.setSimDevice(m_device);
+    }
+
+    @Override
+    public boolean get() {
+        return m_value.get();
+    }
+
+    @Override
+    public void set(boolean value) {
+        m_value.set(value);
+    }
+}
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 891e77651f..3f85f59bc4 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -4,20 +4,9 @@
 
 package frc.robot;
 
-import com.ctre.phoenix6.hardware.Pigeon2;
-import com.kauailabs.navx.frc.AHRS;
-import com.revrobotics.CANSparkBase.IdleMode;
-// import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
-import edu.wpi.first.wpilibj.ADXL362;
-import edu.wpi.first.wpilibj.ADXRS450_Gyro;
-import edu.wpi.first.wpilibj.AnalogGyro;
-import edu.wpi.first.wpilibj.AnalogInput;
-import edu.wpi.first.wpilibj.AnalogOutput;
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.DigitalOutput;
-import edu.wpi.first.wpilibj.SPI;
+import com.autodesk.synthesis.io.*;
 
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
@@ -26,7 +15,6 @@
 import edu.wpi.first.wpilibj.XboxController;
 
 import com.autodesk.synthesis.revrobotics.CANSparkMax;
-import com.autodesk.synthesis.Gyro;
 import com.autodesk.synthesis.ctre.TalonFX;
 
 /**
@@ -48,12 +36,7 @@ public class Robot extends TimedRobot {
   private Spark m_Spark2 = new Spark(1);
   private TalonFX m_Talon = new TalonFX(2);
   private XboxController m_Controller = new XboxController(0);
-  private Gyro m_Gyro = new Gyro("Test Gyro", 1);
-  private AHRS m_NavX = new AHRS();
-  // Creates an ADXL362 accelerometer object on the MXP SPI port
-  // with a measurement range from -8 to 8 G's
-  private ADXL362 m_Accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
-  private Pigeon2 m_Pigeon2 = new Pigeon2(0);
+
   private DigitalInput m_DI = new DigitalInput(0);
   private DigitalOutput m_DO = new DigitalOutput(1);
   private AnalogInput m_AI = new AnalogInput(0);
@@ -155,9 +138,9 @@ public void teleopInit() {
   public void teleopPeriodic() {
     m_Spark1.set(m_Controller.getLeftY());
     m_Spark2.set(-m_Controller.getRightY());
-    System.out.println(m_DI.get());
-    // m_Spark1.set(0.25);
-    // m_Spark2.set(0.25);
+    System.out.println("IN: " + m_DI.get());
+    System.out.println("OUT: " + m_DO.get());
+    System.out.println("AI: " + m_AI.getVoltage());
     m_Talon.set(-0.5);
     m_SparkMax1.set(-0.75);
     m_SparkMax2.set(-0.75);

From e6d3522349e6f6343fdd75078fdfdcfdb518168f Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 26 Aug 2024 16:40:38 -0700
Subject: [PATCH 335/344] ran formatter and fixed lint errors

---
 .../simulation/wpilib_brain/SimInput.ts       |  2 +-
 .../simulation/wpilib_brain/SimOutput.ts      |  2 +-
 .../simulation/wpilib_brain/WPILibBrain.ts    | 35 +++++++++----------
 .../rio-config/RCConfigCANGroupModal.tsx      |  2 +-
 fission/src/ui/panels/WSViewPanel.tsx         | 14 ++++++--
 .../ConfigureSubsystemsInterface.tsx          |  2 +-
 6 files changed, 33 insertions(+), 24 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 974503b5b0..88e930e04d 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -137,7 +137,7 @@ export class SimDIO implements SimInput {
     }
 
     public SetValue(value: boolean) {
-        WSSimDIO.SetValue(this._device, value);
+        WSSimDIO.SetValue(this._device, value)
     }
 
     public GetValue(): boolean {
diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index 4a64f221f2..85521c7bed 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -91,5 +91,5 @@ export class SimAnalogOutput extends SimOutput {
         return SimAO.GetVoltage(this.name)
     }
 
-    public Update(_deltaT: number) { }
+    public Update(_deltaT: number) {}
 }
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 7eaad915e8..ccd672e54a 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -6,8 +6,8 @@ import WPILibWSWorker from "./WPILibWSWorker?worker"
 import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 
-import { SimAnalogOutput, SimOutput, SimOutputGroup } from "./SimOutput"
-import { SimAccelInput, SimInput, SimDIO as SimDIOIn, SimAnalogInput } from "./SimInput"
+import { SimOutput } from "./SimOutput"
+import { SimInput } from "./SimInput"
 
 const worker: Lazy<Worker> = new Lazy<Worker>(() => new WPILibWSWorker())
 
@@ -35,7 +35,7 @@ export enum SimType {
     Accel = "Accel",
     DIO = "DIO",
     AI = "AI",
-    AO = "AO"
+    AO = "AO",
 }
 
 enum FieldType {
@@ -66,10 +66,10 @@ type DeviceData = Map<string, number>
 export const simMap = new Map<SimType, Map<DeviceName, DeviceData>>()
 
 export class SimGeneric {
-    private constructor() { }
+    private constructor() {}
 
-    public static Get<T>(simType: SimType, device: string, field: string): T | undefined;
-    public static Get<T>(simType: SimType, device: string, field: string, defaultValue: T): T;
+    public static Get<T>(simType: SimType, device: string, field: string): T | undefined
+    public static Get<T>(simType: SimType, device: string, field: string, defaultValue: T): T
     public static Get<T>(simType: SimType, device: string, field: string, defaultValue?: T): T | undefined {
         const fieldType = GetFieldType(field)
         if (fieldType != FieldType.Read && fieldType != FieldType.Both) {
@@ -130,7 +130,7 @@ export class SimGeneric {
 }
 
 export class SimPWM {
-    private constructor() { }
+    private constructor() {}
 
     public static GetSpeed(device: string): number | undefined {
         return SimGeneric.Get(SimType.PWM, device, PWM_SPEED, 0.0)
@@ -142,7 +142,7 @@ export class SimPWM {
 }
 
 export class SimCAN {
-    private constructor() { }
+    private constructor() {}
 
     public static GetDeviceWithID(id: number, type: SimType): DeviceData | undefined {
         const id_exp = /.*\[(\d+)\]/g
@@ -161,7 +161,7 @@ export class SimCAN {
 }
 
 export class SimCANMotor {
-    private constructor() { }
+    private constructor() {}
 
     public static GetPercentOutput(device: string): number | undefined {
         return SimGeneric.Get(SimType.CANMotor, device, CANMOTOR_PERCENT_OUTPUT, 0.0)
@@ -188,7 +188,7 @@ export class SimCANMotor {
     }
 }
 export class SimCANEncoder {
-    private constructor() { }
+    private constructor() {}
 
     public static SetVelocity(device: string, velocity: number): boolean {
         return SimGeneric.Set(SimType.CANEncoder, device, CANENCODER_VELOCITY, velocity)
@@ -200,7 +200,7 @@ export class SimCANEncoder {
 }
 
 export class SimGyro {
-    private constructor() { }
+    private constructor() {}
 
     public static SetAngleX(device: string, angle: number): boolean {
         return SimGeneric.Set(SimType.Gyro, device, ">angle_x", angle)
@@ -228,7 +228,7 @@ export class SimGyro {
 }
 
 export class SimAccel {
-    private constructor() { }
+    private constructor() {}
 
     public static SetX(device: string, accel: number): boolean {
         return SimGeneric.Set(SimType.Accel, device, ">x", accel)
@@ -244,10 +244,10 @@ export class SimAccel {
 }
 
 export class SimDIO {
-    private constructor() { }
+    private constructor() {}
 
     public static SetValue(device: string, value: boolean): boolean {
-        return SimGeneric.Set(SimType.DIO, device, "<>value", +value);
+        return SimGeneric.Set(SimType.DIO, device, "<>value", +value)
     }
 
     public static GetValue(device: string): boolean {
@@ -256,7 +256,7 @@ export class SimDIO {
 }
 
 export class SimAI {
-    constructor() { }
+    constructor() {}
 
     public static SetValue(device: string, value: number): boolean {
         return SimGeneric.Set(SimType.AI, device, ">voltage", value)
@@ -313,7 +313,7 @@ export class SimAI {
 }
 
 export class SimAO {
-    constructor() { }
+    constructor() {}
 
     public static GetVoltage(device: string): number {
         return SimGeneric.Get(SimType.AI, device, ">voltage", 0.0)
@@ -340,8 +340,7 @@ worker.getValue().addEventListener("message", (eventData: MessageEvent) => {
         }
     }
 
-    if (!data?.type || !(Object.values(SimType) as string[]).includes(data.type))// || data.device.split(" ")[0] != "SYN")
-        return
+    if (!data?.type || !(Object.values(SimType) as string[]).includes(data.type)) return
 
     UpdateSimMap(data.type as SimType, data.device, data.data)
 })
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index 075eda2d2f..d3afc4e799 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -82,7 +82,7 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         {drivers.map((driver, idx) => (
                             <Checkbox
                                 key={`${driver.constructor.name}-${idx}`}
-                                label={`${driver.constructor.name} ${driver.info?.name && '(' + driver.info!.name + ')'}`}
+                                label={`${driver.constructor.name} ${driver.info?.name && "(" + driver.info!.name + ")"}`}
                                 defaultState={false}
                                 onClick={checked => {
                                     if (checked && !checkedDrivers.includes(driver)) {
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index 9dd2b6fbdd..91726b42a0 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -35,13 +35,23 @@ function formatMap(map: Map<string, number>): string {
 }
 
 function generateTableBody() {
-    const names: SimType[] = [SimType.PWM, SimType.SimDevice, SimType.CANMotor, SimType.CANEncoder, SimType.Gyro, SimType.Accel, SimType.DIO, SimType.AI, SimType.AO]
+    const names: SimType[] = [
+        SimType.PWM,
+        SimType.SimDevice,
+        SimType.CANMotor,
+        SimType.CANEncoder,
+        SimType.Gyro,
+        SimType.Accel,
+        SimType.DIO,
+        SimType.AI,
+        SimType.AO,
+    ]
 
     console.log(simMap)
 
     return (
         <TableBody>
-            {names.map(name => 
+            {names.map(name =>
                 simMap.has(name) ? (
                     [...simMap.get(name)!.entries()]
                         // most devices don't have <init field but we want to hide the ones that do
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
index d2e98e94d2..1c75298499 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
@@ -55,7 +55,7 @@ const ConfigureSubsystemsInterface: React.FC<ConfigSubsystemProps> = ({ selected
             (selectedRobot.brain as SynthesisBrain).behaviors
                 .filter(b => b instanceof SequenceableBehavior)
                 .map(b => DefaultSequentialConfig(b.jointIndex, b instanceof GenericArmBehavior ? "Arm" : "Elevator")),
-        []
+        [selectedRobot.assemblyName, selectedRobot.brain]
     )
 
     const drivers = useMemo(() => {

From 18cd843fd0a9cdcd5f2aeda74cca8e5b0d87f9ba Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Mon, 26 Aug 2024 17:51:51 -0700
Subject: [PATCH 336/344] ran formatter, added string as possible ws type

---
 .../simulation/wpilib_brain/SimInput.ts       | 51 ++++++++++---------
 .../simulation/wpilib_brain/SimOutput.ts      | 44 ++++++++++------
 .../simulation/wpilib_brain/WPILibBrain.ts    | 12 ++---
 .../rio-config/RCConfigCANGroupModal.tsx      |  2 +-
 fission/src/ui/panels/WSViewPanel.tsx         |  2 +-
 5 files changed, 63 insertions(+), 48 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 88e930e04d..245bff176a 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -1,20 +1,25 @@
 import World from "@/systems/World"
 import EncoderStimulus from "../stimulus/EncoderStimulus"
-import { SimCANEncoder, SimGyro, SimAccel, SimDIO as WSSimDIO, SimAI } from "./WPILibBrain"
+import { SimCANEncoder, SimGyro, SimAccel, SimDIO, SimAI } from "./WPILibBrain"
 import Mechanism from "@/systems/physics/Mechanism"
 import Jolt from "@barclah/jolt-physics"
 import JOLT from "@/util/loading/JoltSyncLoader"
 
-export interface SimInput {
-    Update: (deltaT: number) => void
+export abstract class SimInput {
+    constructor(protected _device: string) {}
+
+    public abstract Update(deltaT: number): void
+
+    public get device(): string {
+        return this._device
+    }
 }
 
-export class SimEncoderInput implements SimInput {
-    private _device: string
+export class SimEncoderInput extends SimInput {
     private _stimulus: EncoderStimulus
 
     constructor(device: string, stimulus: EncoderStimulus) {
-        this._device = device
+        super(device)
         this._stimulus = stimulus
     }
 
@@ -24,8 +29,7 @@ export class SimEncoderInput implements SimInput {
     }
 }
 
-export class SimGyroInput implements SimInput {
-    private _device: string
+export class SimGyroInput extends SimInput {
     private _robot: Mechanism
     private _joltID?: Jolt.BodyID
     private _joltBody?: Jolt.Body
@@ -35,7 +39,7 @@ export class SimGyroInput implements SimInput {
     private static AXIS_Z: Jolt.Vec3 = new JOLT.Vec3(0, 0, 1)
 
     constructor(device: string, robot: Mechanism) {
-        this._device = device
+        super(device)
         this._robot = robot
         this._joltID = this._robot.nodeToBody.get(this._robot.rootBody)
 
@@ -86,14 +90,13 @@ export class SimGyroInput implements SimInput {
     }
 }
 
-export class SimAccelInput implements SimInput {
-    private _device: string
+export class SimAccelInput extends SimInput {
     private _robot: Mechanism
     private _joltID?: Jolt.BodyID
     private _joltBody?: Jolt.Body
 
     constructor(device: string, robot: Mechanism) {
-        this._device = device
+        super(device)
         this._robot = robot
         this._joltID = this._robot.nodeToBody.get(this._robot.rootBody)
 
@@ -121,27 +124,26 @@ export class SimAccelInput implements SimInput {
     }
 }
 
-export class SimDIO implements SimInput {
-    private _device: string
-    private _valueSupplier?: () => boolean
+export class SimDigitalInput extends SimInput {
+    private _valueSupplier: () => boolean
 
     /**
-     * Creates a Simulation Digital Input/Output object.
+     * Creates a Simulation Digital Input object.
      *
      * @param device Device ID
-     * @param valueSupplier Called each frame and returns what the value should be set to. Don't specify if DIO should be treated as an output.
+     * @param valueSupplier Called each frame and returns what the value should be set to
      */
-    constructor(device: string, valueSupplier?: () => boolean) {
-        this._device = device
+    constructor(device: string, valueSupplier: () => boolean) {
+        super(device)
         this._valueSupplier = valueSupplier
     }
 
-    public SetValue(value: boolean) {
-        WSSimDIO.SetValue(this._device, value)
+    private SetValue(value: boolean) {
+        SimDIO.SetValue(this._device, value)
     }
 
     public GetValue(): boolean {
-        return WSSimDIO.GetValue(this._device)
+        return SimDIO.GetValue(this._device)
     }
 
     public Update(_deltaT: number) {
@@ -149,12 +151,11 @@ export class SimDIO implements SimInput {
     }
 }
 
-export class SimAnalogInput implements SimInput {
-    private _device: string
+export class SimAnalogInput extends SimInput {
     private _valueSupplier: () => number
 
     constructor(device: string, valueSupplier: () => number) {
-        this._device = device
+        super(device)
         this._valueSupplier = valueSupplier
     }
 
diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index 85521c7bed..c9c5c0f091 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -2,23 +2,16 @@ import Driver from "../driver/Driver"
 import HingeDriver from "../driver/HingeDriver"
 import SliderDriver from "../driver/SliderDriver"
 import WheelDriver from "../driver/WheelDriver"
-import { SimAO, SimCAN, SimPWM, SimType } from "./WPILibBrain"
-
-// TODO: Averaging is probably not the right solution (if we want large output groups)
-// We can keep averaging, but we need a better ui for creating one to one (or just small) output groups
-// The issue is that if a drivetrain is one output group, then each driver is given the average of all the motors
-// We instead want a system where every driver gets (a) unique motor(s) that control it
-// That way a single driver might get the average of two motors or something, if it has two motors to control it
-// A system where motors a drivers are visually "linked" with "threads" in the UI would work well in my opinion
+import { SimAO, SimCAN, SimDIO, SimPWM, SimType } from "./WPILibBrain"
 
 export abstract class SimOutput {
-    public name: string
-
-    constructor(name: string) {
-        this.name = name
-    }
+    constructor(protected _name: string) {}
 
     public abstract Update(deltaT: number): void
+
+    public get name(): string {
+        return this._name
+    }
 }
 
 export abstract class SimOutputGroup extends SimOutput {
@@ -68,7 +61,7 @@ export class CANOutputGroup extends SimOutputGroup {
         const average =
             this.ports.reduce((sum, port) => {
                 const device = SimCAN.GetDeviceWithID(port, SimType.CANMotor)
-                return sum + (device?.get("<percentOutput") ?? 0)
+                return sum + +(device?.get("<percentOutput") ?? 0)
             }, 0) / this.ports.length
 
         this.drivers.forEach(d => {
@@ -82,13 +75,34 @@ export class CANOutputGroup extends SimOutputGroup {
     }
 }
 
+export class SimDigitalOutput extends SimOutput {
+    /**
+     * Creates a Simulation Digital Input/Output object.
+     *
+     * @param device Device ID
+     */
+    constructor(name: string) {
+        super(name)
+    }
+
+    public SetValue(value: boolean) {
+        SimDIO.SetValue(this._name, value)
+    }
+
+    public GetValue(): boolean {
+        return SimDIO.GetValue(this._name)
+    }
+
+    public Update(_deltaT: number) {}
+}
+
 export class SimAnalogOutput extends SimOutput {
     public constructor(name: string) {
         super(name)
     }
 
     public GetVoltage(): number {
-        return SimAO.GetVoltage(this.name)
+        return SimAO.GetVoltage(this._name)
     }
 
     public Update(_deltaT: number) {}
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index ccd672e54a..2f51979084 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -61,7 +61,7 @@ function GetFieldType(field: string): FieldType {
 }
 
 type DeviceName = string
-type DeviceData = Map<string, number>
+type DeviceData = Map<string, number | boolean | string>
 
 export const simMap = new Map<SimType, Map<DeviceName, DeviceData>>()
 
@@ -92,7 +92,7 @@ export class SimGeneric {
         return (data.get(field) as T | undefined) ?? defaultValue
     }
 
-    public static Set<T extends number>(simType: SimType, device: string, field: string, value: T): boolean {
+    public static Set<T extends number | boolean>(simType: SimType, device: string, field: string, value: T): boolean {
         const fieldType = GetFieldType(field)
         if (fieldType != FieldType.Write && fieldType != FieldType.Both) {
             console.warn(`Field '${field}' is not a write or both field type`)
@@ -111,7 +111,7 @@ export class SimGeneric {
             return false
         }
 
-        const selectedData: { [key: string]: number } = {}
+        const selectedData: { [key: string]: number | boolean } = {}
         selectedData[field] = value
         data.set(field, value)
 
@@ -247,7 +247,7 @@ export class SimDIO {
     private constructor() {}
 
     public static SetValue(device: string, value: boolean): boolean {
-        return SimGeneric.Set(SimType.DIO, device, "<>value", +value)
+        return SimGeneric.Set(SimType.DIO, device, "<>value", value)
     }
 
     public static GetValue(device: string): boolean {
@@ -381,8 +381,8 @@ class WPILibBrain extends Brain {
 
         // this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
         // this.addSimInput(new SimAccelInput("ADXL362[4]", mechanism))
-        // this.addSimInput(new SimDIOIn("SYN DI[0]", () => Math.random() > 0.5))
-        // this.addSimInput(new SimDIOIn("SYN DO[1]"))
+        // this.addSimInput(new SimDigitalInput("SYN DI[0]", () => Math.random() > 0.5))
+        // this.addSimOutput(new SimDigitalOutput("SYN DO[1]"))
         // this.addSimInput(new SimAnalogInput("SYN AI[0]", () => Math.random() * 12))
         // this.addSimOutput(new SimAnalogOutput("SYN AO[1]"))
     }
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
index d3afc4e799..b2a1641d08 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx
@@ -33,7 +33,7 @@ const RCConfigCANGroupModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     }
 
     const cans = simMap.get(SimType.CANMotor) ?? new Map<string, Map<string, number>>()
-    const devices: [string, Map<string, number>][] = [...cans.entries()]
+    const devices: [string, Map<string, number | boolean | string>][] = [...cans.entries()]
         .filter(([_, data]) => data.get("<init"))
         .reverse()
 
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index 91726b42a0..fe756f0244 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -26,7 +26,7 @@ const TypoStyled = styled(Typography)({
     color: "white",
 })
 
-function formatMap(map: Map<string, number>): string {
+function formatMap(map: Map<string, number | boolean | string>): string {
     let entries: string = ""
     map.forEach((value, key) => {
         entries += `${key} : ${value}`

From 4b0519e9c5b49d4fd529398dabdda4c55891be88 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Wed, 28 Aug 2024 18:25:50 -0700
Subject: [PATCH 337/344] manually calculate acceleration

---
 .../simulation/wpilib_brain/SimInput.ts       | 29 +++++++++----------
 .../src/main/java/frc/robot/Robot.java        |  5 ++++
 2 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 245bff176a..7013c10516 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -94,33 +94,30 @@ export class SimAccelInput extends SimInput {
     private _robot: Mechanism
     private _joltID?: Jolt.BodyID
     private _joltBody?: Jolt.Body
+    private _prevVel: Jolt.Vec3
 
     constructor(device: string, robot: Mechanism) {
         super(device)
         this._robot = robot
         this._joltID = this._robot.nodeToBody.get(this._robot.rootBody)
+        this._prevVel = new JOLT.Vec3(0, 0, 0)
 
         if (this._joltID) this._joltBody = World.PhysicsSystem.GetBody(this._joltID)
     }
 
-    private GetAxis(axis: "x" | "y" | "z"): number {
-        const forces = this._joltBody?.GetAccumulatedForce()
-        if (!forces) return 0
+    public Update(deltaT: number) {
+        const newVel = this._joltBody?.GetLinearVelocity()
+        if (!newVel) return;
 
-        switch (axis) {
-            case "x":
-                return forces.GetX()
-            case "y":
-                return forces.GetY()
-            case "z":
-                return forces.GetZ()
-        }
-    }
+        const x = (newVel.GetX() - this._prevVel.GetX()) / deltaT
+        const y = (newVel.GetY() - this._prevVel.GetY()) / deltaT
+        const z = (newVel.GetZ() - this._prevVel.GetZ()) / deltaT
 
-    public Update(_deltaT: number) {
-        SimAccel.SetX(this._device, this.GetAxis("x"))
-        SimAccel.SetY(this._device, this.GetAxis("y"))
-        SimAccel.SetZ(this._device, this.GetAxis("z"))
+        SimAccel.SetX(this._device, x)
+        SimAccel.SetY(this._device, y)
+        SimAccel.SetZ(this._device, z)
+
+        this._prevVel = new JOLT.Vec3(newVel.GetX(), newVel.GetY(), newVel.GetZ())
     }
 }
 
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 3f85f59bc4..28e4035ea9 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -8,6 +8,9 @@
 
 import com.autodesk.synthesis.io.*;
 
+import edu.wpi.first.wpilibj.SPI;
+
+import edu.wpi.first.wpilibj.ADXL362;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -37,6 +40,8 @@ public class Robot extends TimedRobot {
   private TalonFX m_Talon = new TalonFX(2);
   private XboxController m_Controller = new XboxController(0);
 
+  private ADXL362 m_Accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
+
   private DigitalInput m_DI = new DigitalInput(0);
   private DigitalOutput m_DO = new DigitalOutput(1);
   private AnalogInput m_AI = new AnalogInput(0);

From 7e8b646f4c739dd46d249d4676e00b997f68b4b5 Mon Sep 17 00:00:00 2001
From: PepperLola <PepperLola@users.noreply.github.com>
Date: Wed, 28 Aug 2024 18:26:40 -0700
Subject: [PATCH 338/344] ran formatter

---
 fission/src/systems/simulation/wpilib_brain/SimInput.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 7013c10516..ae4b427efd 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -107,7 +107,7 @@ export class SimAccelInput extends SimInput {
 
     public Update(deltaT: number) {
         const newVel = this._joltBody?.GetLinearVelocity()
-        if (!newVel) return;
+        if (!newVel) return
 
         const x = (newVel.GetX() - this._prevVel.GetX()) / deltaT
         const y = (newVel.GetY() - this._prevVel.GetY()) / deltaT

From e00848148feece8f1bd1f8e6c257b8754307b686 Mon Sep 17 00:00:00 2001
From: Hunter Barclay <hunter.barclay18@gmail.com>
Date: Wed, 4 Sep 2024 21:27:53 -0600
Subject: [PATCH 339/344] [BUG] Vite Server Crashing Chrome (#1108)

* Isolated at least one issue to pickup interface

* fix(vite-server)!: Vite server working with Chrome.

Removed circular dependencies and isolated key structures into separate
files. Cleanup still needed.

* fix(vite-server)!: Readd panels and modals, fix imports, cleanup.

* Formatted

* Formatted
---
 .../theme-editor/AssignNewSchemeModal.tsx     |  5 ++-
 .../theme-editor/NewInputSchemeModal.tsx      |  5 ++-
 .../configuring/ChooseInputSchemePanel.tsx    |  2 +-
 .../ConfigurationSavedEvent.ts                | 16 +++++++
 .../assembly-config/ConfigurationType.ts      | 15 +++++++
 .../assembly-config/ConfigurePanel.tsx        | 42 +++----------------
 .../ConfigureGamepiecePickupInterface.tsx     |  2 +-
 .../ConfigureShotTrajectoryInterface.tsx      |  2 +-
 .../ConfigureSubsystemsInterface.tsx          |  2 +-
 .../SequentialBehaviorsInterface.tsx          |  2 +-
 .../inputs/ConfigureInputsInterface.tsx       |  2 +-
 .../inputs/ConfigureSchemeInterface.tsx       |  2 +-
 .../ConfigureScoringZonesInterface.tsx        |  2 +-
 .../scoring/ManageZonesInterface.tsx          |  2 +-
 .../scoring/ZoneConfigInterface.tsx           |  2 +-
 15 files changed, 55 insertions(+), 48 deletions(-)
 create mode 100644 fission/src/ui/panels/configuring/assembly-config/ConfigurationSavedEvent.ts
 create mode 100644 fission/src/ui/panels/configuring/assembly-config/ConfigurationType.ts

diff --git a/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx b/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
index 1f5c98bd2f..668590791b 100644
--- a/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
@@ -6,8 +6,11 @@ import InputSystem from "@/systems/input/InputSystem"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
 import { usePanelControlContext } from "@/ui/PanelContext"
-import { ConfigurationType, setSelectedConfigurationType } from "@/ui/panels/configuring/assembly-config/ConfigurePanel"
 import { setSelectedScheme } from "@/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface"
+import {
+    setSelectedConfigurationType,
+    ConfigurationType,
+} from "@/ui/panels/configuring/assembly-config/ConfigurationType"
 
 const AssignNewSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openPanel } = usePanelControlContext()
diff --git a/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx b/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
index 06b95d7a1f..acbce6b5e2 100644
--- a/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
+++ b/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
@@ -5,8 +5,11 @@ import InputSchemeManager from "@/systems/input/InputSchemeManager"
 import DefaultInputs from "@/systems/input/DefaultInputs"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
 import { usePanelControlContext } from "@/ui/PanelContext"
-import { ConfigurationType, setSelectedConfigurationType } from "@/ui/panels/configuring/assembly-config/ConfigurePanel"
 import { setSelectedScheme } from "@/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface"
+import {
+    ConfigurationType,
+    setSelectedConfigurationType,
+} from "@/ui/panels/configuring/assembly-config/ConfigurationType"
 
 const NewInputSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openPanel } = usePanelControlContext()
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index 0d5b549f36..315be12ebb 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -18,8 +18,8 @@ import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
 import { Box } from "@mui/material"
 import { useEffect, useReducer } from "react"
-import { ConfigurationType, setSelectedConfigurationType } from "./assembly-config/ConfigurePanel"
 import { setSelectedScheme } from "./assembly-config/interfaces/inputs/ConfigureInputsInterface"
+import { ConfigurationType, setSelectedConfigurationType } from "./assembly-config/ConfigurationType"
 
 /** We store the selected brain index globally to specify which robot the input scheme should be bound to. */
 let selectedBrainIndexGlobal: number | undefined = undefined
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurationSavedEvent.ts b/fission/src/ui/panels/configuring/assembly-config/ConfigurationSavedEvent.ts
new file mode 100644
index 0000000000..9f240286f3
--- /dev/null
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurationSavedEvent.ts
@@ -0,0 +1,16 @@
+/** An event to save whatever configuration interface is open when it is closed */
+export class ConfigurationSavedEvent extends Event {
+    public constructor() {
+        super("ConfigurationSaved")
+
+        window.dispatchEvent(this)
+    }
+
+    public static Listen(func: (e: Event) => void) {
+        window.addEventListener("ConfigurationSaved", func)
+    }
+
+    public static RemoveListener(func: (e: Event) => void) {
+        window.removeEventListener("ConfigurationSaved", func)
+    }
+}
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurationType.ts b/fission/src/ui/panels/configuring/assembly-config/ConfigurationType.ts
new file mode 100644
index 0000000000..927beac567
--- /dev/null
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurationType.ts
@@ -0,0 +1,15 @@
+export enum ConfigurationType {
+    ROBOT,
+    FIELD,
+    INPUTS,
+}
+
+let selectedConfigurationType: ConfigurationType = ConfigurationType.ROBOT
+
+export function setSelectedConfigurationType(type: ConfigurationType) {
+    selectedConfigurationType = type
+}
+
+export function getConfigurationType() {
+    return selectedConfigurationType
+}
diff --git a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
index 9dbdb7e076..0c261a96fa 100644
--- a/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx
@@ -19,6 +19,8 @@ import ConfigureSubsystemsInterface from "./interfaces/ConfigureSubsystemsInterf
 import SequentialBehaviorsInterface from "./interfaces/SequentialBehaviorsInterface"
 import ConfigureShotTrajectoryInterface from "./interfaces/ConfigureShotTrajectoryInterface"
 import ConfigureGamepiecePickupInterface from "./interfaces/ConfigureGamepiecePickupInterface"
+import { ConfigurationSavedEvent } from "./ConfigurationSavedEvent"
+import { ConfigurationType, getConfigurationType, setSelectedConfigurationType } from "./ConfigurationType"
 
 enum ConfigMode {
     SUBSYSTEMS,
@@ -29,23 +31,6 @@ enum ConfigMode {
     SCORING_ZONES,
 }
 
-// eslint-disable-next-line react-refresh/only-export-components
-export enum ConfigurationType {
-    ROBOT,
-    FIELD,
-    INPUTS,
-}
-
-let selectedConfigurationType: ConfigurationType = ConfigurationType.ROBOT
-// eslint-disable-next-line react-refresh/only-export-components
-export function setSelectedConfigurationType(type: ConfigurationType) {
-    selectedConfigurationType = type
-}
-
-function getConfigurationType() {
-    return selectedConfigurationType
-}
-
 /** Option for selecting a robot of field */
 class AssemblySelectionOption extends SelectMenuOption {
     assemblyObject: MirabufSceneObject
@@ -125,7 +110,7 @@ class ConfigModeSelectionOption extends SelectMenuOption {
     }
 }
 
-const robotModes = [
+const robotModes: ConfigModeSelectionOption[] = [
     new ConfigModeSelectionOption("Intake", ConfigMode.INTAKE),
     new ConfigModeSelectionOption("Ejector", ConfigMode.EJECTOR),
     new ConfigModeSelectionOption(
@@ -140,7 +125,9 @@ const robotModes = [
     ),
     new ConfigModeSelectionOption("Controls", ConfigMode.CONTROLS),
 ]
-const fieldModes = [new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES)]
+const fieldModes: ConfigModeSelectionOption[] = [
+    new ConfigModeSelectionOption("Scoring Zones", ConfigMode.SCORING_ZONES),
+]
 
 interface ConfigModeSelectionProps {
     configurationType: ConfigurationType
@@ -207,23 +194,6 @@ const ConfigInterface: React.FC<ConfigInterfaceProps> = ({ configMode, assembly,
     }
 }
 
-/** An event to save whatever configuration interface is open when it is closed */
-export class ConfigurationSavedEvent extends Event {
-    public constructor() {
-        super("ConfigurationSaved")
-
-        window.dispatchEvent(this)
-    }
-
-    public static Listen(func: (e: Event) => void) {
-        window.addEventListener("ConfigurationSaved", func)
-    }
-
-    public static RemoveListener(func: (e: Event) => void) {
-        window.removeEventListener("ConfigurationSaved", func)
-    }
-}
-
 const ConfigurePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { openPanel, closePanel } = usePanelControlContext()
     const [configurationType, setConfigurationType] = useState<ConfigurationType>(getConfigurationType())
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
index 0e7dea833e..f15c2361a6 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureGamepiecePickupInterface.tsx
@@ -15,9 +15,9 @@ import {
     ThreeMatrix4_Array,
 } from "@/util/TypeConversions"
 import { useTheme } from "@/ui/ThemeContext"
-import { ConfigurationSavedEvent } from "../ConfigurePanel"
 import Button from "@/ui/components/Button"
 import { Spacer } from "@/ui/components/StyledComponents"
+import { ConfigurationSavedEvent } from "../ConfigurationSavedEvent"
 
 // slider constants
 const MIN_ZONE_SIZE = 0.1
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
index f5293e93cf..74bd39db7f 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureShotTrajectoryInterface.tsx
@@ -15,7 +15,7 @@ import {
 } from "@/util/TypeConversions"
 import { useTheme } from "@/ui/ThemeContext"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
-import { ConfigurationSavedEvent } from "../ConfigurePanel"
+import { ConfigurationSavedEvent } from "../ConfigurationSavedEvent"
 import Button from "@/ui/components/Button"
 import { Spacer } from "@/ui/components/StyledComponents"
 
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
index d2e98e94d2..c034a446c4 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/ConfigureSubsystemsInterface.tsx
@@ -1,7 +1,7 @@
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
 import React, { useMemo, useState } from "react"
-import { ConfigurationSavedEvent } from "../ConfigurePanel"
+import { ConfigurationSavedEvent } from "../ConfigurationSavedEvent"
 import World from "@/systems/World"
 import SliderDriver from "@/systems/simulation/driver/SliderDriver"
 import HingeDriver from "@/systems/simulation/driver/HingeDriver"
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
index bec98015dd..575dc60db3 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/SequentialBehaviorsInterface.tsx
@@ -8,7 +8,7 @@ import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import SequenceableBehavior from "@/systems/simulation/behavior/synthesis/SequenceableBehavior"
 import GenericArmBehavior from "@/systems/simulation/behavior/synthesis/GenericArmBehavior"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
-import { ConfigurationSavedEvent } from "../ConfigurePanel"
+import { ConfigurationSavedEvent } from "../ConfigurationSavedEvent"
 import { SectionLabel, Spacer, SynthesisIcons } from "@/ui/components/StyledComponents"
 
 /** Grey label for a child behavior name */
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
index 175bca83aa..defb467223 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx
@@ -1,5 +1,5 @@
 import { useCallback, useEffect, useState } from "react"
-import { ConfigurationSavedEvent } from "../../ConfigurePanel"
+import { ConfigurationSavedEvent } from "../../ConfigurationSavedEvent"
 import SelectMenu, { SelectMenuOption } from "@/ui/components/SelectMenu"
 import InputSystem from "@/systems/input/InputSystem"
 import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
index 220191cab3..608aa1571e 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureSchemeInterface.tsx
@@ -2,7 +2,7 @@ import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeMana
 import Checkbox from "@/ui/components/Checkbox"
 import EditInputInterface from "./EditInputInterface"
 import { useCallback, useEffect, useRef, useState } from "react"
-import { ConfigurationSavedEvent } from "../../ConfigurePanel"
+import { ConfigurationSavedEvent } from "../../ConfigurationSavedEvent"
 import { SectionDivider } from "@/ui/components/StyledComponents"
 
 interface ConfigSchemeProps {
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
index 069c287f7d..12801b04ec 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ConfigureScoringZonesInterface.tsx
@@ -7,7 +7,7 @@ import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { Box } from "@mui/material"
 import { ButtonIcon, SectionDivider, SectionLabel, SynthesisIcons } from "@/ui/components/StyledComponents"
 import { LabelSize } from "@/ui/components/Label"
-import { ConfigurationSavedEvent } from "../../ConfigurePanel"
+import { ConfigurationSavedEvent } from "../../ConfigurationSavedEvent"
 
 const saveZones = (zones: ScoringZonePreferences[] | undefined, field: MirabufSceneObject | undefined) => {
     if (!zones || !field) return
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx
index a051cc1120..ab9f47d6b1 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ManageZonesInterface.tsx
@@ -7,7 +7,7 @@ import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import World from "@/systems/World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import { Box } from "@mui/material"
-import { ConfigurationSavedEvent } from "../../ConfigurePanel"
+import { ConfigurationSavedEvent } from "../../ConfigurationSavedEvent"
 import { AddButtonInteractiveColor, DeleteButton, EditButton } from "@/ui/components/StyledComponents"
 
 const saveZones = (zones: ScoringZonePreferences[] | undefined, field: MirabufSceneObject | undefined) => {
diff --git a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ZoneConfigInterface.tsx b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ZoneConfigInterface.tsx
index 409daeece8..b6a375caa4 100644
--- a/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ZoneConfigInterface.tsx
+++ b/fission/src/ui/panels/configuring/assembly-config/interfaces/scoring/ZoneConfigInterface.tsx
@@ -16,7 +16,7 @@ import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGro
 import { Alliance, ScoringZonePreferences } from "@/systems/preferences/PreferenceTypes"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
 import { DeltaFieldTransforms_PhysicalProp as DeltaFieldTransforms_VisualProperties } from "@/util/threejs/MeshCreation"
-import { ConfigurationSavedEvent } from "../../ConfigurePanel"
+import { ConfigurationSavedEvent } from "../../ConfigurationSavedEvent"
 
 /**
  * Saves ejector configuration to selected field.

From 160df44d9880636e4ea93043020d9d04912b4f41 Mon Sep 17 00:00:00 2001
From: Hunter Barclay <hunter.barclay18@gmail.com>
Date: Tue, 24 Sep 2024 23:09:23 -0600
Subject: [PATCH 340/344] [AARD-1863] Upgrade Vite to >=5.2.14, add missing
 dependencies. (#1109)

---
 fission/package.json | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/fission/package.json b/fission/package.json
index 3b5df05cdc..fc86170db2 100644
--- a/fission/package.json
+++ b/fission/package.json
@@ -63,6 +63,7 @@
     "eslint": "^8.56.0",
     "eslint-config-prettier": "^8.8.0",
     "eslint-import-resolver-alias": "^1.1.2",
+    "eslint-plugin-import": "^2.30.0",
     "eslint-plugin-react-hooks": "^4.6.0",
     "eslint-plugin-react-refresh": "^0.4.5",
     "jsdom": "^24.1.0",
@@ -71,10 +72,11 @@
     "prettier": "3.3.2",
     "protobufjs": "^7.2.6",
     "protobufjs-cli": "^1.1.2",
+    "rollup": "^4.22.4",
     "tailwindcss": "^3.3.3",
     "tsconfig-paths": "^4.2.0",
     "typescript": "^5.4.5",
-    "vite": "^5.1.4",
+    "vite": "5.2.14",
     "vite-plugin-glsl": "^1.3.0",
     "vite-plugin-singlefile": "^0.13.5",
     "vitest": "^1.5.3"

From 394cdea743ca11d01c68c8877396ce026ef9dd31 Mon Sep 17 00:00:00 2001
From: HunterBarclay <hunter.barclay18@gmail.com>
Date: Mon, 30 Sep 2024 13:57:02 -0600
Subject: [PATCH 341/344] fix: Change ports for TalonFX in Java Sample.

Verified that everything seems to be working. However, haven't been able
to test Gyros yet.
---
 .../org.eclipse.buildship.core.prefs          | 13 ------
 .../.settings/org.eclipse.jdt.core.prefs      |  4 --
 simulation/SyntheSimJava/build.gradle         |  9 +++++
 .../com/autodesk/synthesis/CANEncoder.java    |  2 +
 .../java/com/autodesk/synthesis/CANMotor.java |  1 +
 .../com/autodesk/synthesis/ctre/TalonFX.java  |  1 +
 .../autodesk/synthesis/kauailabs/AHRS.java    | 38 ++++++++++++++++++
 .../synthesis/revrobotics/CANSparkMax.java    |  2 +-
 simulation/SyntheSimJava/vendordeps/NavX.json | 40 +++++++++++++++++++
 .../org.eclipse.buildship.core.prefs          | 13 ------
 .../.settings/org.eclipse.jdt.core.prefs      |  4 --
 .../src/main/java/frc/robot/Robot.java        | 23 ++++++-----
 12 files changed, 106 insertions(+), 44 deletions(-)
 delete mode 100644 simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
 delete mode 100644 simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs
 create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/kauailabs/AHRS.java
 create mode 100644 simulation/SyntheSimJava/vendordeps/NavX.json
 delete mode 100644 simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs
 delete mode 100644 simulation/samples/JavaSample/.settings/org.eclipse.jdt.core.prefs

diff --git a/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs b/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
deleted file mode 100644
index 424e44f630..0000000000
--- a/simulation/SyntheSimJava/.settings/org.eclipse.buildship.core.prefs
+++ /dev/null
@@ -1,13 +0,0 @@
-arguments=--init-script /Users/seth/.cache/jdtls/config/org.eclipse.osgi/331/0/.cp/gradle/init/init.gradle
-auto.sync=false
-build.scans.enabled=false
-connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
-connection.project.dir=
-eclipse.preferences.version=1
-gradle.user.home=
-java.home=/Library/Java/JavaVirtualMachines/zulu-17.jdk/Contents/Home
-jvm.arguments=
-offline.mode=false
-override.workspace.settings=true
-show.console.view=true
-show.executions.view=true
diff --git a/simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs b/simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs
deleted file mode 100644
index 626e0e1d5c..0000000000
--- a/simulation/SyntheSimJava/.settings/org.eclipse.jdt.core.prefs
+++ /dev/null
@@ -1,4 +0,0 @@
-eclipse.preferences.version=1
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=17
-org.eclipse.jdt.core.compiler.compliance=17
-org.eclipse.jdt.core.compiler.source=17
diff --git a/simulation/SyntheSimJava/build.gradle b/simulation/SyntheSimJava/build.gradle
index 421980fb3d..e8631a287e 100644
--- a/simulation/SyntheSimJava/build.gradle
+++ b/simulation/SyntheSimJava/build.gradle
@@ -30,11 +30,17 @@ repositories {
     maven {
         url "https://maven.revrobotics.com/"
     }
+
+    // KAUAI
+    maven {
+        url "https://dev.studica.com/maven/release/2024/"
+    }
 }
 
 def WPI_Version = '2024.3.2'
 def REV_Version = '2024.2.4'
 def CTRE_Version = '24.3.0'
+def KAUAI_Version = '2024.1.0'
 
 dependencies {
     // This dependency is exported to consumers, that is to say found on their compile classpath.
@@ -53,6 +59,9 @@ dependencies {
 
     // CTRE
     implementation "com.ctre.phoenix6:wpiapi-java:$CTRE_Version"
+
+    // KAUAI
+    implementation "com.kauailabs.navx.frc:navx-frc-java:$KAUAI_Version"
 }
 
 java {
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
index d00e5439b8..c15d448ef4 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java
@@ -31,6 +31,8 @@ public CANEncoder(String name, int deviceId) {
         m_init = m_device.createBoolean("init", Direction.kOutput, true);
         m_position = m_device.createDouble("position", Direction.kInput, 0.0);
         m_velocity = m_device.createDouble("velocity", Direction.kInput, 0.0);
+
+        m_init.set(true);
     }
 
     /**
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
index e4df23ba66..5116cd9fdb 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java
@@ -55,6 +55,7 @@ public CANMotor(String name, int deviceId, double defaultPercentOutput, boolean
         m_motorCurrent = m_device.createDouble("motorCurrent", Direction.kInput, 120.0);
         m_busVoltage = m_device.createDouble("busVoltage", Direction.kInput, 12.0);
         m_busVoltage.set(0.0); // disable CANMotor inputs
+        m_init.set(true);
     }
 
     /**
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
index 5e671b86cd..3c67bbd1a5 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
@@ -20,6 +20,7 @@ public TalonFX(int deviceNumber) {
         super(deviceNumber);
 
         this.m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3);
+        this.m_encoder = new CANEncoder("SYN TalonFX", deviceNumber);
     }
 
     /// I think we're getting percentOutput and speed mixed up
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/kauailabs/AHRS.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/kauailabs/AHRS.java
new file mode 100644
index 0000000000..a69daec358
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/kauailabs/AHRS.java
@@ -0,0 +1,38 @@
+package com.autodesk.synthesis.kauailabs;
+
+import com.autodesk.synthesis.Gyro;
+
+import edu.wpi.first.wpilibj.SPI;
+import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.SerialPort;
+
+/**
+ * Outline for a NavX AHRS class.
+ * TODO
+ */
+public class AHRS extends com.kauailabs.navx.frc.AHRS {
+    private Gyro m_gyro;
+
+    public AHRS() {
+        this(SPI.Port.kMXP);
+    }
+    
+    public AHRS(I2C.Port port) {
+        super(port);
+        init("I2C", port.value);
+    }
+
+    public AHRS(SPI.Port port) {
+        super(port);
+        init("SPI", port.value);
+    }
+
+    public AHRS(SerialPort.Port port) {
+        super(port);
+        init("SERIAL", port.value);
+    }
+
+    private void init(String commType, int port) {
+        this.m_gyro = new Gyro("SYN AHRS " + commType, port);
+    }
+}
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 560cc5bc79..06ec14707b 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -28,7 +28,7 @@ public CANSparkMax(int deviceId, MotorType motorType) {
 
         this.m_motor = new CANMotor("SYN CANSparkMax", deviceId, 0.0, false, 0.3);
         this.m_encoder = new CANEncoder("SYN CANSparkMax", deviceId);
-        this.followers = new ArrayList();
+        this.followers = new ArrayList<CANSparkMax>();
     }
 
     // setting a follower doesn't break the simulated follower - leader relationship
diff --git a/simulation/SyntheSimJava/vendordeps/NavX.json b/simulation/SyntheSimJava/vendordeps/NavX.json
new file mode 100644
index 0000000000..e978a5f745
--- /dev/null
+++ b/simulation/SyntheSimJava/vendordeps/NavX.json
@@ -0,0 +1,40 @@
+{
+    "fileName": "NavX.json",
+    "name": "NavX",
+    "version": "2024.1.0",
+    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://dev.studica.com/maven/release/2024/"
+    ],
+    "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-frc-java",
+            "version": "2024.1.0"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-frc-cpp",
+            "version": "2024.1.0",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": false,
+            "libName": "navx_frc",
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxraspbian",
+                "linuxarm32",
+                "linuxarm64",
+                "linuxx86-64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs b/simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs
deleted file mode 100644
index 424e44f630..0000000000
--- a/simulation/samples/JavaSample/.settings/org.eclipse.buildship.core.prefs
+++ /dev/null
@@ -1,13 +0,0 @@
-arguments=--init-script /Users/seth/.cache/jdtls/config/org.eclipse.osgi/331/0/.cp/gradle/init/init.gradle
-auto.sync=false
-build.scans.enabled=false
-connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
-connection.project.dir=
-eclipse.preferences.version=1
-gradle.user.home=
-java.home=/Library/Java/JavaVirtualMachines/zulu-17.jdk/Contents/Home
-jvm.arguments=
-offline.mode=false
-override.workspace.settings=true
-show.console.view=true
-show.executions.view=true
diff --git a/simulation/samples/JavaSample/.settings/org.eclipse.jdt.core.prefs b/simulation/samples/JavaSample/.settings/org.eclipse.jdt.core.prefs
deleted file mode 100644
index 626e0e1d5c..0000000000
--- a/simulation/samples/JavaSample/.settings/org.eclipse.jdt.core.prefs
+++ /dev/null
@@ -1,4 +0,0 @@
-eclipse.preferences.version=1
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=17
-org.eclipse.jdt.core.compiler.compliance=17
-org.eclipse.jdt.core.compiler.source=17
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 28e4035ea9..302f80f47c 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -18,6 +18,7 @@
 import edu.wpi.first.wpilibj.XboxController;
 
 import com.autodesk.synthesis.revrobotics.CANSparkMax;
+import com.kauailabs.navx.frc.AHRS;
 import com.autodesk.synthesis.ctre.TalonFX;
 
 /**
@@ -37,10 +38,11 @@ public class Robot extends TimedRobot {
 
   private Spark m_Spark1 = new Spark(0);
   private Spark m_Spark2 = new Spark(1);
-  private TalonFX m_Talon = new TalonFX(2);
+  private TalonFX m_Talon = new TalonFX(7);
   private XboxController m_Controller = new XboxController(0);
 
   private ADXL362 m_Accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
+  private AHRS m_Gyro = new AHRS();
 
   private DigitalInput m_DI = new DigitalInput(0);
   private DigitalOutput m_DO = new DigitalOutput(1);
@@ -141,18 +143,21 @@ public void teleopInit() {
   /** This function is called periodically during operator control. */
   @Override
   public void teleopPeriodic() {
-    m_Spark1.set(m_Controller.getLeftY());
-    m_Spark2.set(-m_Controller.getRightY());
-    System.out.println("IN: " + m_DI.get());
-    System.out.println("OUT: " + m_DO.get());
-    System.out.println("AI: " + m_AI.getVoltage());
-    m_Talon.set(-0.5);
-    m_SparkMax1.set(-0.75);
-    m_SparkMax2.set(-0.75);
+    m_SparkMax1.set(m_Controller.getLeftY());
+    m_SparkMax2.set(-m_Controller.getRightY());
+    m_Talon.set(m_Controller.getLeftX());
+    System.out.println("LeftX: " + m_Controller.getLeftX());
+    // System.out.println("OUT: " + m_DO.get());
+    // System.out.println("AI: " + m_AI.getVoltage());
+    // m_Talon.set(-0.5);
+    // m_SparkMax1.set(-0.75);
+    // m_SparkMax2.set(-0.75);
     m_SparkMax3.set(-0.75);
     m_SparkMax4.set(-0.75);
     m_SparkMax5.set(-0.75);
     m_SparkMax6.set(-0.75);
+
+    m_SparkMax1.getEncoder().setPosition(0.0);
   }
 
 

From 5347554bcd323787e6eeb4de58f590aed1bfb217 Mon Sep 17 00:00:00 2001
From: HunterBarclay <hunter.barclay18@gmail.com>
Date: Mon, 30 Sep 2024 13:59:37 -0600
Subject: [PATCH 342/344] fix: Accelerometers metrics are relative, matching
 real devices.

Also included some minor tweaks.
---
 .../simulation/wpilib_brain/SimInput.ts       | 25 +++++++++++--------
 .../simulation/wpilib_brain/SimOutput.ts      |  2 +-
 .../simulation/wpilib_brain/WPILibBrain.ts    | 16 ++++++------
 .../rio-config/RCConfigEncoderModal.tsx       |  2 +-
 fission/src/ui/panels/WSViewPanel.tsx         | 25 +++++++++----------
 5 files changed, 36 insertions(+), 34 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index ae4b427efd..637520a316 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -4,6 +4,8 @@ import { SimCANEncoder, SimGyro, SimAccel, SimDIO, SimAI } from "./WPILibBrain"
 import Mechanism from "@/systems/physics/Mechanism"
 import Jolt from "@barclah/jolt-physics"
 import JOLT from "@/util/loading/JoltSyncLoader"
+import { JoltQuat_ThreeQuaternion, JoltVec3_ThreeVector3 } from "@/util/TypeConversions"
+import * as THREE from 'three'
 
 export abstract class SimInput {
     constructor(protected _device: string) {}
@@ -93,31 +95,32 @@ export class SimGyroInput extends SimInput {
 export class SimAccelInput extends SimInput {
     private _robot: Mechanism
     private _joltID?: Jolt.BodyID
-    private _joltBody?: Jolt.Body
-    private _prevVel: Jolt.Vec3
+    private _prevVel: THREE.Vector3
 
     constructor(device: string, robot: Mechanism) {
         super(device)
         this._robot = robot
         this._joltID = this._robot.nodeToBody.get(this._robot.rootBody)
-        this._prevVel = new JOLT.Vec3(0, 0, 0)
-
-        if (this._joltID) this._joltBody = World.PhysicsSystem.GetBody(this._joltID)
+        this._prevVel = new THREE.Vector3(0,0,0)
     }
 
     public Update(deltaT: number) {
-        const newVel = this._joltBody?.GetLinearVelocity()
-        if (!newVel) return
+        if (!this._joltID) return
+        const body = World.PhysicsSystem.GetBody(this._joltID)
+
+        const rot = JoltQuat_ThreeQuaternion(body.GetRotation())
+        const mat = new THREE.Matrix4().makeRotationFromQuaternion(rot).transpose()
+        const newVel = JoltVec3_ThreeVector3(body.GetLinearVelocity()).applyMatrix4(mat)
 
-        const x = (newVel.GetX() - this._prevVel.GetX()) / deltaT
-        const y = (newVel.GetY() - this._prevVel.GetY()) / deltaT
-        const z = (newVel.GetZ() - this._prevVel.GetZ()) / deltaT
+        const x = (newVel.x - this._prevVel.x) / deltaT
+        const y = (newVel.y - this._prevVel.y) / deltaT
+        const z = (newVel.y - this._prevVel.y) / deltaT
 
         SimAccel.SetX(this._device, x)
         SimAccel.SetY(this._device, y)
         SimAccel.SetZ(this._device, z)
 
-        this._prevVel = new JOLT.Vec3(newVel.GetX(), newVel.GetY(), newVel.GetZ())
+        this._prevVel = newVel
     }
 }
 
diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index c9c5c0f091..cefef5bf5d 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -61,7 +61,7 @@ export class CANOutputGroup extends SimOutputGroup {
         const average =
             this.ports.reduce((sum, port) => {
                 const device = SimCAN.GetDeviceWithID(port, SimType.CANMotor)
-                return sum + +(device?.get("<percentOutput") ?? 0)
+                return sum + (device?.get("<percentOutput") as number | undefined ?? 0)
             }, 0) / this.ports.length
 
         this.drivers.forEach(d => {
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 2f51979084..bce82be75d 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -6,8 +6,8 @@ import WPILibWSWorker from "./WPILibWSWorker?worker"
 import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 
-import { SimOutput } from "./SimOutput"
-import { SimInput } from "./SimInput"
+import { SimAnalogOutput, SimDigitalOutput, SimOutput } from "./SimOutput"
+import { SimAccelInput, SimAnalogInput, SimDigitalInput, SimGyroInput, SimInput } from "./SimInput"
 
 const worker: Lazy<Worker> = new Lazy<Worker>(() => new WPILibWSWorker())
 
@@ -145,7 +145,7 @@ export class SimCAN {
     private constructor() {}
 
     public static GetDeviceWithID(id: number, type: SimType): DeviceData | undefined {
-        const id_exp = /.*\[(\d+)\]/g
+        const id_exp = /SYN.*\[(\d+)\]/g
         const entries = [...simMap.entries()].filter(([simType, _data]) => simType == type)
         for (const [_simType, data] of entries) {
             for (const key of data.keys()) {
@@ -380,11 +380,11 @@ class WPILibBrain extends Brain {
         }
 
         // this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
-        // this.addSimInput(new SimAccelInput("ADXL362[4]", mechanism))
-        // this.addSimInput(new SimDigitalInput("SYN DI[0]", () => Math.random() > 0.5))
-        // this.addSimOutput(new SimDigitalOutput("SYN DO[1]"))
-        // this.addSimInput(new SimAnalogInput("SYN AI[0]", () => Math.random() * 12))
-        // this.addSimOutput(new SimAnalogOutput("SYN AO[1]"))
+        this.addSimInput(new SimAccelInput("ADXL362[4]", mechanism))
+        this.addSimInput(new SimDigitalInput("SYN DI[0]", () => Math.random() > 0.5))
+        this.addSimOutput(new SimDigitalOutput("SYN DO[1]"))
+        this.addSimInput(new SimAnalogInput("SYN AI[0]", () => Math.random() * 12))
+        this.addSimOutput(new SimAnalogOutput("SYN AO[1]"))
     }
 
     public addSimOutput(device: SimOutput) {
diff --git a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
index c60af762f7..00e203565b 100644
--- a/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
+++ b/fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx
@@ -56,7 +56,7 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         >
             <Label size={LabelSize.Small}>Name</Label>
             <Input placeholder="..." className="w-full" onInput={setName} />
-            <Dropdown label="Encoders" options={devices.map(n => n[0])} onSelect={s => setSelectedDevice(s)} />
+            <Dropdown label="CAN Encoders" options={devices.map(n => n[0])} onSelect={s => setSelectedDevice(s)} />
             <Dropdown
                 label="Stimuli"
                 options={[...stimMap.keys()]}
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index fe756f0244..e109c48382 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -1,5 +1,5 @@
 import Panel, { PanelPropsImpl } from "@/components/Panel"
-import { SimMapUpdateEvent, SimGeneric, simMap, SimType } from "@/systems/simulation/wpilib_brain/WPILibBrain"
+import { SimGeneric, simMap, SimType } from "@/systems/simulation/wpilib_brain/WPILibBrain"
 import {
     Box,
     Stack,
@@ -12,12 +12,14 @@ import {
     TableRow,
     Typography,
 } from "@mui/material"
-import { useCallback, useEffect, useMemo, useState } from "react"
+import { useEffect, useMemo, useReducer, useState } from "react"
 import Dropdown from "../components/Dropdown"
 import Input from "../components/Input"
 import Button from "../components/Button"
 import { SynthesisIcons } from "../components/StyledComponents"
 
+const TABLE_UPDATE_INTERVAL = 250
+
 type ValueType = "string" | "number" | "object" | "boolean"
 
 const TypoStyled = styled(Typography)({
@@ -47,8 +49,6 @@ function generateTableBody() {
         SimType.AO,
     ]
 
-    console.log(simMap)
-
     return (
         <TableBody>
             {names.map(name =>
@@ -95,7 +95,9 @@ function setGeneric(simType: SimType, device: string, field: string, value: stri
 }
 
 const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
-    const [tb, setTb] = useState(generateTableBody())
+    // const [tb, setTb] = useState(generateTableBody())
+
+    const [table, updateTable] = useReducer((_) => generateTableBody(), generateTableBody())
 
     const [selectedType, setSelectedType] = useState<SimType | undefined>()
     const [selectedDevice, setSelectedDevice] = useState<string | undefined>()
@@ -115,17 +117,14 @@ const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
         setSelectedDevice(undefined)
     }, [selectedType])
 
-    const onSimMapUpdate = useCallback((_: Event) => {
-        setTb(generateTableBody())
-    }, [])
-
     useEffect(() => {
-        window.addEventListener(SimMapUpdateEvent.TYPE, onSimMapUpdate)
+        const func = () => { updateTable() }
+        const id: NodeJS.Timeout = setInterval(func, TABLE_UPDATE_INTERVAL)
 
         return () => {
-            window.removeEventListener(SimMapUpdateEvent.TYPE, onSimMapUpdate)
+            clearTimeout(id)
         }
-    }, [onSimMapUpdate])
+    }, [updateTable])
 
     return (
         <Panel
@@ -155,7 +154,7 @@ const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                             </TableCell>
                         </TableRow>
                     </TableHead>
-                    {tb}
+                    {table}
                 </Table>
             </TableContainer>
             <Stack>

From cbc9033050b4a2043c02ae836b08649b2bc04cf9 Mon Sep 17 00:00:00 2001
From: HunterBarclay <hunter.barclay18@gmail.com>
Date: Fri, 11 Oct 2024 10:58:04 -0600
Subject: [PATCH 343/344] chore: Format and cleanup

---
 .../src/systems/simulation/wpilib_brain/SimInput.ts |  4 ++--
 .../systems/simulation/wpilib_brain/SimOutput.ts    |  2 +-
 .../systems/simulation/wpilib_brain/WPILibBrain.ts  |  2 +-
 fission/src/ui/panels/WSViewPanel.tsx               |  6 ++++--
 simulation/samples/CppSample/.gitignore             |  2 ++
 .../.settings/org.eclipse.buildship.core.prefs      | 13 -------------
 6 files changed, 10 insertions(+), 19 deletions(-)
 delete mode 100644 simulation/samples/CppSample/.settings/org.eclipse.buildship.core.prefs

diff --git a/fission/src/systems/simulation/wpilib_brain/SimInput.ts b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
index 637520a316..b4776f03a3 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimInput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimInput.ts
@@ -5,7 +5,7 @@ import Mechanism from "@/systems/physics/Mechanism"
 import Jolt from "@barclah/jolt-physics"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { JoltQuat_ThreeQuaternion, JoltVec3_ThreeVector3 } from "@/util/TypeConversions"
-import * as THREE from 'three'
+import * as THREE from "three"
 
 export abstract class SimInput {
     constructor(protected _device: string) {}
@@ -101,7 +101,7 @@ export class SimAccelInput extends SimInput {
         super(device)
         this._robot = robot
         this._joltID = this._robot.nodeToBody.get(this._robot.rootBody)
-        this._prevVel = new THREE.Vector3(0,0,0)
+        this._prevVel = new THREE.Vector3(0, 0, 0)
     }
 
     public Update(deltaT: number) {
diff --git a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
index cefef5bf5d..04e9205c7c 100644
--- a/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
+++ b/fission/src/systems/simulation/wpilib_brain/SimOutput.ts
@@ -61,7 +61,7 @@ export class CANOutputGroup extends SimOutputGroup {
         const average =
             this.ports.reduce((sum, port) => {
                 const device = SimCAN.GetDeviceWithID(port, SimType.CANMotor)
-                return sum + (device?.get("<percentOutput") as number | undefined ?? 0)
+                return sum + ((device?.get("<percentOutput") as number | undefined) ?? 0)
             }, 0) / this.ports.length
 
         this.drivers.forEach(d => {
diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index bce82be75d..e0bd2779d9 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -379,7 +379,7 @@ class WPILibBrain extends Brain {
             return
         }
 
-        // this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
+        this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
         this.addSimInput(new SimAccelInput("ADXL362[4]", mechanism))
         this.addSimInput(new SimDigitalInput("SYN DI[0]", () => Math.random() > 0.5))
         this.addSimOutput(new SimDigitalOutput("SYN DO[1]"))
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx
index e109c48382..693db7c25c 100644
--- a/fission/src/ui/panels/WSViewPanel.tsx
+++ b/fission/src/ui/panels/WSViewPanel.tsx
@@ -97,7 +97,7 @@ function setGeneric(simType: SimType, device: string, field: string, value: stri
 const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     // const [tb, setTb] = useState(generateTableBody())
 
-    const [table, updateTable] = useReducer((_) => generateTableBody(), generateTableBody())
+    const [table, updateTable] = useReducer(_ => generateTableBody(), generateTableBody())
 
     const [selectedType, setSelectedType] = useState<SimType | undefined>()
     const [selectedDevice, setSelectedDevice] = useState<string | undefined>()
@@ -118,7 +118,9 @@ const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     }, [selectedType])
 
     useEffect(() => {
-        const func = () => { updateTable() }
+        const func = () => {
+            updateTable()
+        }
         const id: NodeJS.Timeout = setInterval(func, TABLE_UPDATE_INTERVAL)
 
         return () => {
diff --git a/simulation/samples/CppSample/.gitignore b/simulation/samples/CppSample/.gitignore
index 11c9fdd738..bae79ccf97 100644
--- a/simulation/samples/CppSample/.gitignore
+++ b/simulation/samples/CppSample/.gitignore
@@ -2,3 +2,5 @@
 .vscode/
 .wpilib/
 build/
+.settings/
+
diff --git a/simulation/samples/CppSample/.settings/org.eclipse.buildship.core.prefs b/simulation/samples/CppSample/.settings/org.eclipse.buildship.core.prefs
deleted file mode 100644
index bc1ff1181e..0000000000
--- a/simulation/samples/CppSample/.settings/org.eclipse.buildship.core.prefs
+++ /dev/null
@@ -1,13 +0,0 @@
-arguments=--init-script /Users/colbura/cache/jdtls/config/org.eclipse.osgi/55/0/.cp/gradle/init/init.gradle
-auto.sync=false
-build.scans.enabled=false
-connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
-connection.project.dir=
-eclipse.preferences.version=1
-gradle.user.home=
-java.home=/opt/homebrew/Cellar/openjdk/22.0.2/libexec/openjdk.jdk/Contents/Home
-jvm.arguments=
-offline.mode=false
-override.workspace.settings=true
-show.console.view=true
-show.executions.view=true

From 267ee5926a664fddf2588564715db87c687af512 Mon Sep 17 00:00:00 2001
From: HunterBarclay <hunter.barclay18@gmail.com>
Date: Fri, 11 Oct 2024 11:05:45 -0600
Subject: [PATCH 344/344] fix: Use custom random generation

---
 fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index e0bd2779d9..7fa35eddaf 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -8,6 +8,7 @@ import World from "@/systems/World"
 
 import { SimAnalogOutput, SimDigitalOutput, SimOutput } from "./SimOutput"
 import { SimAccelInput, SimAnalogInput, SimDigitalInput, SimGyroInput, SimInput } from "./SimInput"
+import { Random } from "@/util/Random"
 
 const worker: Lazy<Worker> = new Lazy<Worker>(() => new WPILibWSWorker())
 
@@ -381,9 +382,9 @@ class WPILibBrain extends Brain {
 
         this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
         this.addSimInput(new SimAccelInput("ADXL362[4]", mechanism))
-        this.addSimInput(new SimDigitalInput("SYN DI[0]", () => Math.random() > 0.5))
+        this.addSimInput(new SimDigitalInput("SYN DI[0]", () => Random() > 0.5))
         this.addSimOutput(new SimDigitalOutput("SYN DO[1]"))
-        this.addSimInput(new SimAnalogInput("SYN AI[0]", () => Math.random() * 12))
+        this.addSimInput(new SimAnalogInput("SYN AI[0]", () => Random() * 12))
         this.addSimOutput(new SimAnalogOutput("SYN AO[1]"))
     }