@viamrobotics/motion-tools 0.11.0 → 0.11.2

package/dist/components/Frame.svelte

@@ -1,6 +1,4 @@
 <script module>
-	import { Color, type Object3D } from 'three'
-
 	const colorUtil = new Color()
 </script>
 
@@ -8,6 +6,7 @@
 	import type { Snippet } from 'svelte'
 	import type { WorldObject } from '../WorldObject.svelte'
 	import { useObjectEvents } from '../hooks/useObjectEvents.svelte'
+	import { Color, type Object3D } from 'three'
 	import Geometry from './Geometry.svelte'
 	import { useSelected } from '../hooks/useSelection.svelte'
 	import { colors, darkenColor } from '../color'

package/dist/components/Frame.svelte.d.ts

@@ -1,6 +1,6 @@
-import { type Object3D } from 'three';
 import type { Snippet } from 'svelte';
 import type { WorldObject } from '../WorldObject.svelte';
+import { type Object3D } from 'three';
 interface Props {
     uuid: string;
     name: string;

package/dist/hooks/useDrawAPI.svelte.js

@@ -51,7 +51,7 @@ export const provideDrawAPI = () => {
     const origin = new Vector3();
     const vec3 = new Vector3();
     const loader = new GLTFLoader();
-    const addPCD = async (buffer) => {
+    const drawPCD = async (buffer) => {
         const { positions, colors } = await parsePcdInWorker(new Uint8Array(buffer));
         points.push(new WorldObject(`points ${++pointsIndex}`, undefined, undefined, {
             case: 'points',
@@ -60,12 +60,12 @@ export const provideDrawAPI = () => {
     };
     // eslint-disable-next-line @typescript-eslint/no-explicit-any
     const drawGeometry = (data, color, parent) => {
-        let geometry;
-        const existingMesh = meshes.find((mesh) => mesh.name === data.label);
-        if (existingMesh) {
-            existingMesh.pose = data.center;
+        const result = meshes.find((mesh) => mesh.name === data.label);
+        if (result) {
+            result.pose = data.center;
             return;
         }
+        let geometry;
         if ('mesh' in data) {
             geometry = {
                 case: 'mesh',
@@ -90,14 +90,18 @@ export const provideDrawAPI = () => {
         meshes.push(object);
     };
     // eslint-disable-next-line @typescript-eslint/no-explicit-any
-    const addNurbs = (data, color) => {
+    const drawNurbs = (data, color) => {
+        const index = nurbs.findIndex(({ name }) => name === data.name);
+        if (index !== -1) {
+            nurbs.splice(index, 1);
+        }
         const controlPoints = data.ControlPts.map((point) => new Vector4(point.x / 1000, point.y / 1000, point.z / 1000));
         const curve = new NURBSCurve(data.Degree, data.Knots, controlPoints);
         const object = new WorldObject(data.name, data.pose, data.parent, { case: 'line', value: new Float32Array() }, { color, points: curve.getPoints(200) });
         nurbs.push(object);
     };
     const batchedArrow = new BatchedArrow();
-    const addPoses = async (reader) => {
+    const drawPoses = async (reader) => {
         // Read counts
         const nPoints = reader.read();
         const nColors = reader.read();
@@ -133,13 +137,17 @@ export const provideDrawAPI = () => {
             }));
         }
     };
-    const addPoints = async (reader) => {
+    const drawPoints = async (reader) => {
         // Read label length
         const labelLen = reader.read();
         let label = '';
         for (let i = 0; i < labelLen; i++) {
             label += String.fromCharCode(reader.read());
         }
+        const index = points.findIndex(({ name }) => name === label);
+        if (index !== -1) {
+            points.splice(index, 1);
+        }
         // Read counts
         const nPoints = reader.read();
         const nColors = reader.read();
@@ -184,13 +192,17 @@ export const provideDrawAPI = () => {
             value: positions,
         }, metadata));
     };
-    const addLine = async (reader) => {
+    const drawLine = async (reader) => {
         // Read label length
         const labelLen = reader.read();
         let label = '';
         for (let i = 0; i < labelLen; i++) {
             label += String.fromCharCode(reader.read());
         }
+        const index = lines.findIndex(({ name }) => name === label);
+        if (index !== -1) {
+            lines.splice(index, 1);
+        }
         // Read counts
         const nPoints = reader.read();
         // Read default color
@@ -226,7 +238,7 @@ export const provideDrawAPI = () => {
             i += 1;
         }
     };
-    const addGLTF = async (buffer) => {
+    const drawGLTF = async (buffer) => {
         const blob = new Blob([buffer], { type: 'model/gltf-binary' });
         const url = URL.createObjectURL(blob);
         const gltf = await loader.loadAsync(url);
@@ -311,19 +323,19 @@ export const provideDrawAPI = () => {
             const reader = await new Float32Reader().init(event.data);
             const type = reader.read();
             if (type === 0) {
-                return addPoints(reader);
+                return drawPoints(reader);
             }
             else if (type === 1) {
-                return addPoses(reader);
+                return drawPoses(reader);
             }
             else if (type === 2) {
-                return addLine(reader);
+                return drawLine(reader);
             }
             else if (type === 3) {
-                return addPCD(reader.buffer);
+                return drawPCD(reader.buffer);
             }
             else {
-                return addGLTF(reader.buffer);
+                return drawGLTF(reader.buffer);
             }
         }
         const data = tryParse(event.data);
@@ -343,7 +355,7 @@ export const provideDrawAPI = () => {
             return drawGeometry(data.geometry, data.color);
         }
         if ('Knots' in data) {
-            return addNurbs(data, data.Color);
+            return drawNurbs(data, data.Color);
         }
         if ('remove' in data) {
             return remove(data.names);

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "0.11.0",
+  "version": "0.11.2",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -123,7 +123,7 @@
     "format": "prettier --write .",
     "lint": "prettier --check . && eslint .",
     "test:unit": "vitest",
-    "test:client": "go test ./... -count=1",
+    "test:client": "go test ./client/... -count=1",
     "test": "pnpm test:unit -- --run",
     "test:e2e": "playwright test",
     "model-pipeline:run": "node scripts/model-pipeline.js",