@viamrobotics/motion-tools 0.14.6 → 0.14.7

package/dist/FrameConfigUpdater.svelte.d.ts

@@ -29,5 +29,6 @@ export declare class FrameConfigUpdater {
     setFrameParent: (parentName: string) => void;
     deleteFrame: () => void;
     setGeometryType: (type: "none" | "box" | "sphere" | "capsule") => void;
+    private sanatizeFloatValue;
 }
 export {};

package/dist/FrameConfigUpdater.svelte.js

@@ -14,6 +14,11 @@ export class FrameConfigUpdater {
         const object = this.object();
         if (!object)
             return;
+        x = this.sanatizeFloatValue(x);
+        y = this.sanatizeFloatValue(y);
+        z = this.sanatizeFloatValue(z);
+        if (x === undefined && y === undefined && z === undefined)
+            return;
         object.localEditedPose.x = x ?? object.localEditedPose.x;
         object.localEditedPose.y = y ?? object.localEditedPose.y;
         object.localEditedPose.z = z ?? object.localEditedPose.z;
@@ -31,6 +36,12 @@ export class FrameConfigUpdater {
         const object = this.object();
         if (!object)
             return;
+        oX = this.sanatizeFloatValue(oX);
+        oY = this.sanatizeFloatValue(oY);
+        oZ = this.sanatizeFloatValue(oZ);
+        theta = this.sanatizeFloatValue(theta);
+        if (oX === undefined && oY === undefined && oZ === undefined && theta === undefined)
+            return;
         object.localEditedPose.oX = oX ?? object.localEditedPose.oX;
         object.localEditedPose.oY = oY ?? object.localEditedPose.oY;
         object.localEditedPose.oZ = oZ ?? object.localEditedPose.oZ;
@@ -52,6 +63,11 @@ export class FrameConfigUpdater {
         let geometryObject;
         if (geometry?.type === 'box') {
             const currentGeometry = object.geometry?.geometryType.value;
+            geometry.x = this.sanatizeFloatValue(geometry.x);
+            geometry.y = this.sanatizeFloatValue(geometry.y);
+            geometry.z = this.sanatizeFloatValue(geometry.z);
+            if (geometry.x === undefined && geometry.y === undefined && geometry.z === undefined)
+                return;
             geometryObject = {
                 type: 'box',
                 x: geometry.x ?? currentGeometry?.dimsMm?.x,
@@ -61,6 +77,9 @@ export class FrameConfigUpdater {
         }
         else if (geometry?.type === 'sphere') {
             const currentGeometry = object.geometry?.geometryType.value;
+            geometry.r = this.sanatizeFloatValue(geometry.r);
+            if (geometry.r === undefined)
+                return;
             geometryObject = {
                 type: 'sphere',
                 r: geometry.r ?? currentGeometry?.radiusMm,
@@ -68,6 +87,10 @@ export class FrameConfigUpdater {
         }
         else if (geometry?.type === 'capsule') {
             const currentGeometry = object.geometry?.geometryType.value;
+            geometry.r = this.sanatizeFloatValue(geometry.r);
+            geometry.l = this.sanatizeFloatValue(geometry.l);
+            if (geometry.r === undefined && geometry.l === undefined)
+                return;
             geometryObject = {
                 type: 'capsule',
                 r: geometry.r ?? currentGeometry?.radiusMm,
@@ -113,4 +136,12 @@ export class FrameConfigUpdater {
             }, { type: 'capsule', r: 20, l: 100 });
         }
     };
+    sanatizeFloatValue = (value) => {
+        if (value === undefined)
+            return undefined;
+        const num = parseFloat(value.toFixed(2));
+        if (isNaN(num))
+            return undefined;
+        return num;
+    };
 }

package/dist/components/Details.svelte

@@ -55,6 +55,7 @@
 	const isFrameNode = $derived(
 		frames.current.find((frame) => frame.name === object?.name) !== undefined
 	)
+	const showEditFrameOptions = $derived(isFrameNode && partConfig.hasEditPermissions)
 	let copied = $state(false)
 
 	const draggable = useDraggable('details')
@@ -215,7 +216,7 @@
 
 {#if object}
 	<div
-		class="border-medium bg-extralight absolute top-0 right-0 z-1000 m-2 {isFrameNode
+		class="border-medium bg-extralight absolute top-0 right-0 z-1000 m-2 {showEditFrameOptions
 			? 'w-80'
 			: 'w-60'} border p-2 text-xs"
 		style:transform="translate({draggable.current.x}px, {draggable.current.y}px)"
@@ -303,7 +304,7 @@
 			{/if}
 
 			<WeblabActive experiment="MOTION_TOOLS_EDIT_FRAME">
-				{@const ParentFrame = isFrameNode ? DropDownField : ImmutableField}
+				{@const ParentFrame = showEditFrameOptions ? DropDownField : ImmutableField}
 
 				<div>
 					<strong class="font-semibold">parent frame</strong>
@@ -318,7 +319,7 @@
 				</div>
 
 				{#if localPose}
-					{@const PoseAttribute = isFrameNode ? MutableField : ImmutableField}
+					{@const PoseAttribute = showEditFrameOptions ? MutableField : ImmutableField}
 					<div>
 						<strong class="font-semibold">local position</strong>
 
@@ -349,7 +350,7 @@
 
 					<div>
 						<strong class="font-semibold">local orientation</strong>
-						<div class="flex {isFrameNode ? 'gap-2' : 'gap-3'}">
+						<div class="flex {showEditFrameOptions ? 'gap-2' : 'gap-3'}">
 							{@render PoseAttribute({
 								label: 'x',
 								ariaLabel: 'local orientation x coordinate',
@@ -382,7 +383,7 @@
 					</div>
 				{/if}
 
-				{#if isFrameNode}
+				{#if showEditFrameOptions}
 					<div>
 						<strong class="font-semibold">geometry</strong>
 						<div class="grid grid-cols-4 gap-1">
@@ -410,7 +411,7 @@
 					</div>
 				{/if}
 				{#if geometryType !== 'none'}
-					{@const GeometryAttribute = isFrameNode ? MutableField : ImmutableField}
+					{@const GeometryAttribute = showEditFrameOptions ? MutableField : ImmutableField}
 					{#if geometryType === 'box'}
 						{@const { dimsMm } = object?.geometry?.geometryType.value as {
 							dimsMm: { x: number; y: number; z: number }
@@ -563,7 +564,7 @@
 		{/if}
 
 		<WeblabActive experiment="MOTION_TOOLS_EDIT_FRAME">
-			{#if isFrameNode}
+			{#if showEditFrameOptions}
 				<Button
 					variant="danger"
 					class="mt-2 w-full"

package/dist/components/Tree/TreeContainer.svelte

@@ -14,6 +14,7 @@
 	import AddFrames from './AddFrames.svelte'
 	import { useEnvironment } from '../../hooks/useEnvironment.svelte'
 	import { usePartID } from '../../hooks/usePartID.svelte'
+	import { usePartConfig } from '../../hooks/usePartConfig.svelte'
 	const { ...rest } = $props()
 
 	provideTreeExpandedContext()
@@ -24,6 +25,7 @@
 	const draggable = useDraggable('treeview')
 	const worldStates = useWorldStates()
 	const environment = useEnvironment()
+	const partConfig = usePartConfig()
 
 	let rootNode = $state<TreeNode>({
 		id: 'world',
@@ -58,7 +60,7 @@
 		/>
 	{/key}
 
-	{#if environment.current.isStandalone && partID.current}
+	{#if environment.current.isStandalone && partID.current && partConfig.hasEditPermissions}
 		<AddFrames />
 	{/if}
 

package/dist/hooks/usePartConfig.svelte.d.ts

@@ -24,11 +24,13 @@ interface PartConfigContext {
     componentNameToFragmentId: Record<string, string>;
     localPartConfig: Struct;
     isDirty: boolean;
+    hasEditPermissions: boolean;
 }
 export declare const providePartConfig: (params: PartConfigParams) => void;
 export declare const usePartConfig: () => PartConfigContext;
 interface LocalPartConfig {
     isDirty: () => boolean;
+    hasEditPermissions: () => boolean;
     getLocalPartConfig: () => Struct;
     setLocalPartConfig: (config: Struct) => void;
     componentNameToFragmentId: () => Record<string, string>;
@@ -48,6 +50,7 @@ export declare class AppEmbeddedPartConfig implements LocalPartConfig {
     getLocalPartConfig(): Struct;
     setLocalPartConfig(config: Struct): void;
     componentNameToFragmentId(): Record<string, string>;
+    hasEditPermissions(): boolean;
 }
 interface StandalonePartConfigProps {
     viamClient: () => ViamClient | undefined;
@@ -56,6 +59,7 @@ interface StandalonePartConfigProps {
 export declare class StandalonePartConfig implements LocalPartConfig {
     private _standalonePartConfigProps;
     private _isDirty;
+    private _hasEditPermissions;
     private _networkPartConfig;
     private _localPartConfig;
     private _partName;
@@ -64,6 +68,7 @@ export declare class StandalonePartConfig implements LocalPartConfig {
     getLocalPartConfig(): Struct;
     setLocalPartConfig(config: Struct): void;
     isDirty(): boolean;
+    hasEditPermissions(): boolean;
     componentNameToFragmentId(): Record<string, string>;
     saveLocalPartConfig(): Promise<void>;
     resetLocalPartConfig(): Promise<void>;

package/dist/hooks/usePartConfig.svelte.js

@@ -209,6 +209,9 @@ export const providePartConfig = (params) => {
         get isDirty() {
             return _localPartConfig.isDirty();
         },
+        get hasEditPermissions() {
+            return _localPartConfig.hasEditPermissions();
+        },
     });
 };
 export const usePartConfig = () => {
@@ -231,10 +234,14 @@ export class AppEmbeddedPartConfig {
     componentNameToFragmentId() {
         return this._appEmbeddedPartConfigProps.getComponentToFragId();
     }
+    hasEditPermissions() {
+        return true;
+    }
 }
 export class StandalonePartConfig {
     _standalonePartConfigProps;
     _isDirty = $state(false);
+    _hasEditPermissions = $state(false);
     _networkPartConfig = $state();
     _localPartConfig = $state();
     _partName = $state();
@@ -246,6 +253,11 @@ export class StandalonePartConfig {
                 const partResponse = await standalonePartConfigProps
                     .viamClient()
                     ?.appClient.getRobotPart(standalonePartConfigProps.partID());
+                if (JSON.parse(partResponse?.configJson ?? 'null') === null) {
+                    // no config returned here indicates this api key has no permission to update config
+                    return;
+                }
+                this._hasEditPermissions = true;
                 const configJson = JSON.parse(partResponse?.configJson ?? '{}');
                 this._networkPartConfig = Struct.fromJson(configJson);
                 this._localPartConfig = Struct.fromJson(configJson);
@@ -292,6 +304,9 @@ export class StandalonePartConfig {
     isDirty() {
         return this._isDirty;
     }
+    hasEditPermissions() {
+        return this._hasEditPermissions;
+    }
     componentNameToFragmentId() {
         return this._componentNameToFragmentId ?? {};
     }

package/dist/transform.js

@@ -27,7 +27,7 @@ export const createPoseFromFrame = (frame) => {
     else if (frame.orientation.type === 'ov_radians') {
         ov.copy(frame.orientation.value);
     }
-    else if (frame.orientation.type === 'ov_degrees') {
+    else {
         const th = MathUtils.degToRad(frame.orientation.value.th);
         ov.set(frame.orientation.value.x, frame.orientation.value.y, frame.orientation.value.z, th);
     }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "0.14.6",
+  "version": "0.14.7",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",