@viamrobotics/motion-tools 0.11.8 → 0.13.0

package/dist/Detail.svelte.d.ts

@@ -0,0 +1,41 @@
+import type { WorldObject } from './lib';
+import type { Geometries } from './WorldObject.svelte';
+import type { Pose } from '@viamrobotics/sdk';
+type UpdateFrameCallback = {
+    (componentName: string, referenceFrame: string, pose: Pose, geometry?: {
+        type: 'none' | 'box' | 'sphere' | 'capsule';
+        r?: number;
+        l?: number;
+        x?: number;
+        y?: number;
+        z?: number;
+    }): void;
+};
+export declare class DetailConfigUpdater {
+    private object;
+    private referenceFrame;
+    private updateFrame;
+    constructor(object: () => WorldObject<Geometries> | undefined, updateFrame: UpdateFrameCallback, referenceFrame: () => string);
+    updateLocalPosition: ({ x, y, z }: {
+        x?: number;
+        y?: number;
+        z?: number;
+    }) => void;
+    updateLocalOrientation: ({ oX, oY, oZ, theta, }: {
+        oX?: number;
+        oY?: number;
+        oZ?: number;
+        theta?: number;
+    }) => void;
+    updateGeometry: (geometry: {
+        type: "none" | "box" | "sphere" | "capsule";
+        r?: number;
+        l?: number;
+        x?: number;
+        y?: number;
+        z?: number;
+    }) => void;
+    setFrameParent: (parentName: string) => void;
+    setGeometryType: (type: "none" | "box" | "sphere" | "capsule") => void;
+}
+export {};

package/dist/Detail.svelte.js

@@ -0,0 +1,147 @@
+export class DetailConfigUpdater {
+    object;
+    referenceFrame;
+    updateFrame;
+    constructor(object, updateFrame, referenceFrame) {
+        this.referenceFrame = referenceFrame;
+        this.object = object;
+        this.updateFrame = updateFrame;
+    }
+    updateLocalPosition = ({ x, y, z }) => {
+        const object = this.object();
+        if (!object)
+            return;
+        object.localEditedPose.x = x ?? object.localEditedPose.x;
+        object.localEditedPose.y = y ?? object.localEditedPose.y;
+        object.localEditedPose.z = z ?? object.localEditedPose.z;
+        this.updateFrame(object.name ?? '', this.referenceFrame(), {
+            x: x ?? object.localEditedPose.x,
+            y: y ?? object.localEditedPose.y,
+            z: z ?? object.localEditedPose.z,
+            oX: object.localEditedPose.oX,
+            oY: object.localEditedPose.oY,
+            oZ: object.localEditedPose.oZ,
+            theta: object.localEditedPose.theta,
+        });
+    };
+    updateLocalOrientation = ({ oX, oY, oZ, theta, }) => {
+        const object = this.object();
+        if (!object)
+            return;
+        object.localEditedPose.oX = oX ?? object.localEditedPose.oX;
+        object.localEditedPose.oY = oY ?? object.localEditedPose.oY;
+        object.localEditedPose.oZ = oZ ?? object.localEditedPose.oZ;
+        object.localEditedPose.theta = theta ?? object.localEditedPose.theta;
+        this.updateFrame(object.name ?? '', this.referenceFrame(), {
+            oX: oX ?? object.localEditedPose.oX,
+            oY: oY ?? object.localEditedPose.oY,
+            oZ: oZ ?? object.localEditedPose.oZ,
+            theta: theta ?? object.localEditedPose.theta,
+            x: object.localEditedPose.x,
+            y: object.localEditedPose.y,
+            z: object.localEditedPose.z,
+        });
+    };
+    updateGeometry = (geometry) => {
+        const object = this.object();
+        if (!object)
+            return;
+        let geometryObject;
+        if (geometry.type === 'box') {
+            const currentGeometry = object.geometry?.geometryType.value;
+            geometryObject = {
+                type: 'box',
+                x: geometry.x ?? currentGeometry?.dimsMm?.x,
+                y: geometry.y ?? currentGeometry?.dimsMm?.y,
+                z: geometry.z ?? currentGeometry?.dimsMm?.z,
+            };
+        }
+        else if (geometry.type === 'sphere') {
+            const currentGeometry = object.geometry?.geometryType.value;
+            geometryObject = {
+                type: 'sphere',
+                r: geometry.r ?? currentGeometry?.radiusMm,
+            };
+        }
+        else if (geometry.type === 'capsule') {
+            const currentGeometry = object.geometry?.geometryType.value;
+            geometryObject = {
+                type: 'capsule',
+                r: geometry.r ?? currentGeometry?.radiusMm,
+                l: geometry.l ?? currentGeometry?.lengthMm,
+            };
+        }
+        this.updateFrame(object.name ?? '', this.referenceFrame(), {
+            x: object.localEditedPose.x,
+            y: object.localEditedPose.y,
+            z: object.localEditedPose.z,
+            oX: object.localEditedPose.oX,
+            oY: object.localEditedPose.oY,
+            oZ: object.localEditedPose.oZ,
+            theta: object.localEditedPose.theta,
+        }, { ...geometryObject });
+    };
+    setFrameParent = (parentName) => {
+        const object = this.object();
+        if (!object)
+            return;
+        this.updateFrame(object.name ?? '', parentName, {
+            x: object.localEditedPose.x,
+            y: object.localEditedPose.y,
+            z: object.localEditedPose.z,
+            oX: object.localEditedPose.oX,
+            oY: object.localEditedPose.oY,
+            oZ: object.localEditedPose.oZ,
+            theta: object.localEditedPose.theta,
+        });
+    };
+    setGeometryType = (type) => {
+        const object = this.object();
+        if (!object)
+            return;
+        if (type === 'none') {
+            this.updateFrame(object.name ?? '', this.referenceFrame(), {
+                x: object.localEditedPose.x,
+                y: object.localEditedPose.y,
+                z: object.localEditedPose.z,
+                oX: object.localEditedPose.oX,
+                oY: object.localEditedPose.oY,
+                oZ: object.localEditedPose.oZ,
+                theta: object.localEditedPose.theta,
+            }, { type: 'none' });
+        }
+        else if (type === 'box') {
+            this.updateFrame(object.name ?? '', this.referenceFrame(), {
+                x: object.localEditedPose.x,
+                y: object.localEditedPose.y,
+                z: object.localEditedPose.z,
+                oX: object.localEditedPose.oX,
+                oY: object.localEditedPose.oY,
+                oZ: object.localEditedPose.oZ,
+                theta: object.localEditedPose.theta,
+            }, { type: 'box', x: 100, y: 100, z: 100 });
+        }
+        else if (type === 'sphere') {
+            this.updateFrame(object.name ?? '', this.referenceFrame(), {
+                x: object.localEditedPose.x,
+                y: object.localEditedPose.y,
+                z: object.localEditedPose.z,
+                oX: object.localEditedPose.oX,
+                oY: object.localEditedPose.oY,
+                oZ: object.localEditedPose.oZ,
+                theta: object.localEditedPose.theta,
+            }, { type: 'sphere', r: 100 });
+        }
+        else if (type === 'capsule') {
+            this.updateFrame(object.name ?? '', this.referenceFrame(), {
+                x: object.localEditedPose.x,
+                y: object.localEditedPose.y,
+                z: object.localEditedPose.z,
+                oX: object.localEditedPose.oX,
+                oY: object.localEditedPose.oY,
+                oZ: object.localEditedPose.oZ,
+                theta: object.localEditedPose.theta,
+            }, { type: 'capsule', r: 20, l: 100 });
+        }
+    };
+}

package/dist/WorldObject.svelte.d.ts

@@ -1,14 +1,21 @@
 import type { Geometry, Pose, TransformWithUUID } from '@viamrobotics/sdk';
-import { BatchedMesh, Box3, Object3D, Vector3, type ColorRepresentation } from 'three';
+import { BatchedMesh, Object3D, Vector3, type ColorRepresentation } from 'three';
+import type { OBB } from 'three/addons/math/OBB.js';
 export type PointsGeometry = {
-    case: 'points';
-    value: Float32Array<ArrayBuffer>;
+    center: undefined;
+    geometryType: {
+        case: 'points';
+        value: Float32Array<ArrayBuffer>;
+    };
 };
 export type LinesGeometry = {
-    case: 'line';
-    value: Float32Array;
+    center: undefined;
+    geometryType: {
+        case: 'line';
+        value: Float32Array;
+    };
 };
-export type Geometries = Geometry['geometryType'] | PointsGeometry | LinesGeometry;
+export type Geometries = Geometry | PointsGeometry | LinesGeometry;
 export type Metadata = {
     colors?: Float32Array;
     color?: ColorRepresentation;
@@ -24,33 +31,17 @@ export type Metadata = {
         id: number;
         object: BatchedMesh;
     };
-    getBoundingBoxAt?: (box: Box3) => void;
+    getBoundingBoxAt?: (box: OBB) => void;
 };
+export declare const determinePose: (object: WorldObject, pose: WorldObject["pose"] | undefined) => WorldObject["pose"];
 export declare class WorldObject<T extends Geometries = Geometries> {
     uuid: string;
     name: string;
-    referenceFrame: string;
+    referenceFrame: string | undefined;
     pose: import("@viamrobotics/sdk").PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").Pose>;
     geometry?: T;
     metadata: Metadata;
+    localEditedPose: import("@viamrobotics/sdk").PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").Pose>;
     constructor(name: string, pose?: Pose, parent?: string, geometry?: T, metadata?: Metadata);
 }
-export declare const fromTransform: (transform: TransformWithUUID) => WorldObject<{
-    case: undefined;
-    value?: undefined;
-} | {
-    case: "sphere";
-    value: import("@viamrobotics/sdk").PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").Sphere>;
-} | {
-    case: "box";
-    value: import("@viamrobotics/sdk").PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").RectangularPrism>;
-} | {
-    case: "capsule";
-    value: import("@viamrobotics/sdk").PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").Capsule>;
-} | {
-    case: "mesh";
-    value: import("@viamrobotics/sdk").PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").Mesh>;
-} | {
-    case: "pointcloud";
-    value: import("@viamrobotics/sdk").PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").PointCloud>;
-}>;
+export declare const fromTransform: (transform: TransformWithUUID) => WorldObject<import("@viamrobotics/sdk").PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").Geometry>>;

package/dist/WorldObject.svelte.js

@@ -1,12 +1,26 @@
-import { BatchedMesh, Box3, Color, MathUtils, Object3D, Vector3, } from 'three';
+import { BatchedMesh, Color, MathUtils, Matrix4, Object3D, Quaternion, Vector3, } from 'three';
 import { createPose } from './transform';
+export const determinePose = (object, pose) => {
+    if (pose === undefined) {
+        return object.localEditedPose;
+    }
+    else {
+        const poseNetwork = poseToMatrix(object.pose);
+        const poseUsePose = poseToMatrix(pose);
+        const poseLocalEditedPose = poseToMatrix(object.localEditedPose);
+        const poseNetworkInverse = poseNetwork.invert();
+        const resultMatrix = poseUsePose.multiply(poseNetworkInverse).multiply(poseLocalEditedPose);
+        return matrixToPose(resultMatrix);
+    }
+};
 export class WorldObject {
     uuid;
     name;
-    referenceFrame;
+    referenceFrame = $state.raw();
     pose = $state.raw(createPose());
     geometry;
     metadata;
+    localEditedPose = $state.raw(createPose());
     constructor(name, pose, parent = 'world', geometry, metadata) {
         this.uuid = MathUtils.generateUUID();
         this.name = name;
@@ -15,6 +29,7 @@ export class WorldObject {
         this.metadata = metadata ?? {};
         if (pose) {
             this.pose = pose;
+            this.localEditedPose = { ...pose };
         }
     }
 }
@@ -61,7 +76,37 @@ export const fromTransform = (transform) => {
     const metadata = transform.metadata
         ? parseMetadata(transform.metadata.fields)
         : {};
-    const worldObject = new WorldObject(transform.referenceFrame, transform.poseInObserverFrame?.pose, transform.poseInObserverFrame?.referenceFrame, transform.physicalObject?.geometryType, metadata);
+    const worldObject = new WorldObject(transform.referenceFrame, transform.poseInObserverFrame?.pose, transform.poseInObserverFrame?.referenceFrame, transform.physicalObject, metadata);
     worldObject.uuid = transform.uuidString;
     return worldObject;
 };
+const poseToMatrix = (pose) => {
+    const matrix = new Matrix4();
+    const poseQuaternion = new Quaternion().setFromAxisAngle(new Vector3(pose.oX, pose.oY, pose.oZ), pose.theta * (Math.PI / 180));
+    matrix.makeRotationFromQuaternion(poseQuaternion);
+    matrix.setPosition(new Vector3(pose.x, pose.y, pose.z));
+    return matrix;
+};
+const matrixToPose = (matrix) => {
+    const pose = createPose();
+    const translation = new Vector3();
+    const quaternion = new Quaternion();
+    matrix.decompose(translation, quaternion, new Vector3());
+    pose.x = translation.x;
+    pose.y = translation.y;
+    pose.z = translation.z;
+    const s = Math.sqrt(1 - quaternion.w * quaternion.w);
+    if (s < 0.000001) {
+        pose.oX = 0;
+        pose.oY = 0;
+        pose.oZ = 1;
+        pose.theta = 0;
+    }
+    else {
+        pose.oX = quaternion.x / s;
+        pose.oY = quaternion.y / s;
+        pose.oZ = quaternion.z / s;
+        pose.theta = Math.acos(quaternion.w) * 2 * (180 / Math.PI);
+    }
+    return pose;
+};

package/dist/components/App.svelte

@@ -3,6 +3,7 @@
 	import { Canvas } from '@threlte/core'
 	import { SvelteQueryDevtools } from '@tanstack/svelte-query-devtools'
 	import { provideToast, ToastContainer } from '@viamrobotics/prime-core'
+	import type { Struct } from '@viamrobotics/sdk'
 
 	import Scene from './Scene.svelte'
 	import TreeContainer from './Tree/TreeContainer.svelte'
@@ -15,15 +16,34 @@
 	import { domPortal } from '../portal'
 	import { provideSettings } from '../hooks/useSettings.svelte'
 	import FileDrop from './FileDrop.svelte'
+	import WeblabProvider from './weblab/WeblabProvider.svelte'
+	import { providePartConfig } from '../hooks/usePartConfig.svelte'
+	import { useViamClient } from '@viamrobotics/svelte-sdk'
+	import LiveUpdatesBanner from './LiveUpdatesBanner.svelte'
+	import ArmPositions from './widgets/ArmPositions.svelte'
+
+	interface LocalConfigProps {
+		getLocalPartConfig: () => Struct
+		setLocalPartConfig: (config: Struct) => void
+		isDirty: () => boolean
+		getComponentToFragId: () => Record<string, string>
+	}
 
 	interface Props {
 		partID?: string
 		enableKeybindings?: boolean
 		children?: Snippet
+		localConfigProps?: LocalConfigProps
 	}
 
-	let { partID = '', enableKeybindings = true, children: appChildren }: Props = $props()
+	let {
+		partID = '',
+		enableKeybindings = true,
+		children: appChildren,
+		localConfigProps,
+	}: Props = $props()
 
+	const appClient = useViamClient()
 	const settings = provideSettings()
 
 	$effect(() => {
@@ -35,38 +55,68 @@
 	provideToast()
 
 	let root = $state.raw<HTMLElement>()
+	let isStandalone = $state(false)
+
+	if (localConfigProps) {
+		isStandalone = false
+		providePartConfig({
+			appEmbeddedPartConfigProps: {
+				isDirty: () => localConfigProps.isDirty(),
+				getLocalPartConfig: () => localConfigProps.getLocalPartConfig(),
+				setLocalPartConfig: (config: Struct) => localConfigProps.setLocalPartConfig(config),
+				getComponentToFragId: () => localConfigProps.getComponentToFragId(),
+			},
+		})
+	} else {
+		isStandalone = true
+		providePartConfig({
+			standalonePartConfigProps: {
+				viamClient: () => appClient?.current,
+				partID: () => partID,
+			},
+		})
+	}
 </script>
 
 {#if settings.current.enableQueryDevtools}
 	<SvelteQueryDevtools initialIsOpen />
 {/if}
 
-<div
-	class="relative h-full w-full overflow-hidden"
-	bind:this={root}
->
-	<Canvas renderMode="always">
-		<World>
-			<SceneProviders>
-				{#snippet children({ focus })}
-					<Scene>
-						{@render appChildren?.()}
-					</Scene>
-
-					<XR {@attach domPortal(root)} />
-
-					<Dashboard {@attach domPortal(root)} />
-					<Details {@attach domPortal(root)} />
-
-					{#if !focus}
-						<TreeContainer {@attach domPortal(root)} />
-					{/if}
-
-					<FileDrop {@attach domPortal(root)} />
-				{/snippet}
-			</SceneProviders>
-		</World>
-	</Canvas>
-
-	<ToastContainer />
-</div>
+<WeblabProvider>
+	<div
+		class="relative h-full w-full overflow-hidden"
+		bind:this={root}
+	>
+		<Canvas renderMode="always">
+			<World>
+				<SceneProviders>
+					{#snippet children({ focus })}
+						<Scene>
+							{@render appChildren?.()}
+						</Scene>
+
+						<XR {@attach domPortal(root)} />
+
+						<Dashboard {@attach domPortal(root)} />
+						<Details {@attach domPortal(root)} />
+						{#if isStandalone}
+							<LiveUpdatesBanner {@attach domPortal(root)} />
+						{/if}
+
+						{#if !focus}
+							<TreeContainer {@attach domPortal(root)} />
+						{/if}
+
+						{#if !focus && settings.current.enableArmPositionsWidget}
+							<ArmPositions {@attach domPortal(root)} />
+						{/if}
+
+						<FileDrop {@attach domPortal(root)} />
+					{/snippet}
+				</SceneProviders>
+			</World>
+		</Canvas>
+
+		<ToastContainer />
+	</div>
+</WeblabProvider>

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

@@ -1,8 +1,16 @@
 import type { Snippet } from 'svelte';
+import type { Struct } from '@viamrobotics/sdk';
+interface LocalConfigProps {
+    getLocalPartConfig: () => Struct;
+    setLocalPartConfig: (config: Struct) => void;
+    isDirty: () => boolean;
+    getComponentToFragId: () => Record<string, string>;
+}
 interface Props {
     partID?: string;
     enableKeybindings?: boolean;
     children?: Snippet;
+    localConfigProps?: LocalConfigProps;
 }
 declare const App: import("svelte").Component<Props, {}, "">;
 type App = ReturnType<typeof App>;