Add UI for wheel selection [SYNTH-302]

[rutmanz]

Task

SYNTH-302

Symptom

No real UI / workflow for selecting wheels or deleting parts in URDF imports

Solution

Added a UI

• Automatically brings you to selection interface when importing a URDF model
• Allow deleting things
• Feels intuitive
• Only need to configure once—the cached assembly stores the information

Verification

See checkboxes above. Import a URDF robot (ask on Slack if you need one) and go through the flow

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Before merging, ensure the following criteria are met:

• All acceptance criteria outlined in the ticket are met.
• Necessary test cases have been added and updated.
• A feature toggle or safe disable path has been added (if applicable).
• User-facing polish:
  • Ask: "Is this ready-looking?"
• Cross-linking between Jira and GitHub:
  • PR links to the relevant Jira issue.
  • Jira ticket has a comment referencing this PR.

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[Dhruv-0-Arora]

So, circling back on this one after taking a step back and viewing it through a 30,000-foot lens, I want to say up front that while I appreciate the pushback, at the end of the day I think we're all singing from the same hymn sheet here, and honestly this is a home run — you've really moved the needle, taken the bull by the horns, and knocked it out of the park, so let's not reinvent the wheel or boil the ocean when the low-hanging fruit is already in the basket. I've run this up the flagpole, kicked the tires, and touched base with a few folks offline, and the consensus is that it passes the smell test with flying colors; there's no need to gold-plate it or let perfect be the enemy of good, because frankly the juice isn't worth the squeeze on further iterations. It is what it is, the proof will be in the pudding, and if it ain't broke we shouldn't be fixing it — so from where I sit, we're aligned, we're synergized, we're rowing in the same direction, and I have zero heartburn about giving this the green light. Let's not overthink it, let's not analysis-paralysis ourselves into a corner, let's put a pin in any remaining nitpicks, park them in the parking lot, and take them offline in a follow-up if they still have legs. Ship it, send it, stamp it, seal it — this dog will hunt, this ship has sailed in the best possible way, and I, for one, am giving it two enthusiastic thumbs up. Great stuff, really. No notes.

[Dhruv-0-Arora]

Doesn't seem to work for me :(

[0xda157]

erm we should use the unicode ellipse here

Suggested change

	return text.slice(0, maxLen - 3) + "..."
	return text.slice(0, maxLen - 3) + "…"

[PepperLola]

The raycasting still seems to be off/inconsistent, and when I click apply when importing a copy of the onshape dozer I get this error and the import stalls

MirabufParser.ts:341 Uncaught (in promise) TypeError: Cannot read properties of undefined (reading ‘value’)
        at MirabufParser.findAncestralBreak (MirabufParser.ts:341:76)
        at key (MirabufParser.ts:160:49)
        at Array.forEach (<anonymous>)
        at MirabufParser.initializeRigidGroups (MirabufParser.ts:156:27)
        at new MirabufParser (MirabufParser.ts:90:14)
        at computeWheelSubtreeParts (WheelJointBuilder.ts:26:30)
        at WheelJointBuilder.ts:163:30
        at Array.forEach (<anonymous>)
        at applyWheelAssignments (WheelJointBuilder.ts:117:17)
        at applyModelConfigChanges (ApplyModelConfig.ts:30:22)

[PepperLola]

does it work for other games as well?