@viamrobotics/motion-tools 0.11.6 → 0.11.7

package/dist/components/WorldObjects.svelte

@@ -22,33 +22,23 @@
 </script>
 
 {#each frames.current as object (object.uuid)}
-	<Pose name={object.name}>
+	<Pose
+		name={object.name}
+		parent={object.referenceFrame}
+	>
 		{#snippet children({ pose })}
-			{#if pose}
+			<Portal id={object.referenceFrame}>
 				<Frame
 					uuid={object.uuid}
 					name={object.name}
-					{pose}
+					pose={pose ?? object.pose}
 					geometry={object.geometry}
 					metadata={object.metadata}
 				>
 					<PortalTarget id={object.name} />
 					<Label text={object.name} />
 				</Frame>
-			{:else}
-				<Portal id={object.referenceFrame}>
-					<Frame
-						uuid={object.uuid}
-						name={object.name}
-						pose={pose ?? object.pose}
-						geometry={object.geometry}
-						metadata={object.metadata}
-					>
-						<PortalTarget id={object.name} />
-						<Label text={object.name} />
-					</Frame>
-				</Portal>
-			{/if}
+			</Portal>
 		{/snippet}
 	</Pose>
 {/each}

package/dist/hooks/useFrames.svelte.js

@@ -23,11 +23,15 @@ export const provideFrames = (partID) => {
                 continue;
             }
             const resourceName = resourceNames.current.find((item) => item.name === frame.referenceFrame);
-            objects.push(new WorldObject(frame.referenceFrame ? frame.referenceFrame : 'Unnamed frame', frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame, frame.physicalObject?.geometryType, resourceName
-                ? {
-                    color: resourceColors[resourceName.subtype],
-                }
-                : undefined));
+            const frameName = frame.referenceFrame ? frame.referenceFrame : 'Unnamed frame';
+            objects.push(new WorldObject(frameName, frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame));
+            if (frame.physicalObject?.geometryType) {
+                objects.push(new WorldObject(`${frameName} ${frame.physicalObject.geometryType.case}`, frame.physicalObject.center, frameName, frame.physicalObject.geometryType, resourceName
+                    ? {
+                        color: resourceColors[resourceName.subtype],
+                    }
+                    : undefined));
+            }
         }
         return objects;
     });

package/dist/hooks/usePose.svelte.js

@@ -11,6 +11,7 @@ export const usePose = (name, parent) => {
     const motionClient = useMotionClient();
     const resources = useResourceNames(() => partID.current);
     const resource = $derived(resources.current.find((resource) => resource.name === name()));
+    const parentResource = $derived(resources.current.find((resource) => resource.name === parent()));
     const client = createResourceClient(MotionClient, () => partID.current, () => motionClient.current ?? '');
     const interval = $derived(refreshRates.get('Poses'));
     const options = $derived(queryOptions({
@@ -28,7 +29,8 @@ export const usePose = (name, parent) => {
             if (!client.current || !resource) {
                 throw new Error('No client');
             }
-            const pose = await client.current.getPose(resource.name, parent() ?? 'world', []);
+            const resolvedParent = parentResource?.subtype === 'arm' ? `${parent()}_origin` : parent();
+            const pose = await client.current.getPose(resource.name, resolvedParent ?? 'world', []);
             return pose;
         },
     }));

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "0.11.6",
+  "version": "0.11.7",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",