@viamrobotics/motion-tools 0.14.7 → 0.14.8
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@@ -4,24 +4,23 @@ import { getContext, setContext } from 'svelte';
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const key = Symbol('arm-client-context');
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export const provideArmClient = (partID) => {
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const arms = useResourceNames(partID, 'arm');
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const clients = $state({});
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const options = { refetchInterval: 500 };
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const jointPositionsQueries = $state({});
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const names = $derived(arms.current.map((arm) => arm.name));
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const
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$
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if (client.current
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}
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});
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$effect(() => {
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for (const client of Object.values(clients)) {
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const clients = $derived(arms.current.map((arm) => createResourceClient(ArmClient, partID, () => arm.name)));
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const jointPositionsQueries = $derived.by(() => {
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const results = {};
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for (const client of clients) {
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if (!client.current)
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continue;
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const query = createResourceQuery(client, 'getJointPositions', options);
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-
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results[client.current.name] = query;
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}
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return results;
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});
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const currentPositions = $derived(Object.fromEntries(Object.entries(jointPositionsQueries).map(([name, query]) => [
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name,
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query.current.data?.values,
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])));
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setContext(key, {
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get names() {
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return names;
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