@viamrobotics/motion-tools 0.15.2 → 0.15.3

package/dist/WorldObject.svelte.d.ts

@@ -56,7 +56,9 @@ export declare class WorldObject<T extends Geometries = Geometries> {
     geometry?: T;
     metadata: Metadata;
     localEditedPose: PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").Pose>;
-    constructor(name: string, pose?: Pose, parent?: string, geometry?: T, metadata?: Metadata);
+    constructor(name?: string, pose?: Pose, parent?: string, geometry?: T, metadata?: Metadata);
+    toJSON(): Omit<WorldObject, 'toJSON' | 'fromJSON' | 'metadata'>;
+    fromJSON(json: WorldObject): this;
 }
 export declare const parseMetadata: (fields?: PlainMessage<Struct>["fields"]) => Metadata;
 export declare const fromTransform: (transform: TransformWithUUID) => WorldObject<PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").Geometry>>;

package/dist/WorldObject.svelte.js

@@ -22,15 +22,14 @@ export const isMetadataKey = (key) => {
     return METADATA_KEYS.includes(key);
 };
 export class WorldObject {
-    uuid;
-    name;
+    uuid = MathUtils.generateUUID();
+    name = '';
     referenceFrame = $state.raw();
     pose = $state.raw(createPose());
-    geometry;
+    geometry = $state();
     metadata = $state({});
     localEditedPose = $state.raw(createPose());
-    constructor(name, pose, parent = 'world', geometry, metadata) {
-        this.uuid = MathUtils.generateUUID();
+    constructor(name = '', pose, parent = 'world', geometry, metadata) {
         this.name = name;
         this.referenceFrame = parent;
         this.geometry = geometry;
@@ -42,6 +41,26 @@ export class WorldObject {
             this.localEditedPose = { ...pose };
         }
     }
+    toJSON() {
+        return {
+            uuid: this.uuid,
+            name: this.name,
+            referenceFrame: $state.snapshot(this.referenceFrame),
+            pose: $state.snapshot(this.pose),
+            geometry: $state.snapshot(this.geometry),
+            localEditedPose: $state.snapshot(this.localEditedPose),
+        };
+    }
+    fromJSON(json) {
+        this.uuid = json.uuid;
+        this.name = json.name;
+        this.referenceFrame = json.referenceFrame;
+        this.pose = json.pose;
+        this.geometry = json.geometry;
+        this.localEditedPose = json.localEditedPose;
+        this.metadata = {};
+        return this;
+    }
 }
 // eslint-disable-next-line @typescript-eslint/no-explicit-any
 const unwrapValue = (value) => {

package/dist/components/StaticGeometries.svelte

@@ -40,7 +40,7 @@
 		metadata={object.metadata}
 	>
 		{#snippet children({ ref })}
-			{#if selected.current === ref.uuid}
+			{#if selected.current === object.uuid}
 				{#key mode}
 					<TransformControls
 						object={ref}
@@ -63,6 +63,8 @@
 								scaleToDimensions(ref.scale, object.geometry.geometryType)
 								ref.scale.setScalar(1)
 							}
+
+							object.pose = { ...object.pose }
 						}}
 					/>
 				{/key}

package/dist/components/__tests__/__fixtures__/worldObject.svelte.d.ts

@@ -0,0 +1,2 @@
+import { WorldObject } from '../../../WorldObject.svelte';
+export declare const createWorldObjectFixture: () => WorldObject<import("../../../WorldObject.svelte").Geometries>;

package/dist/components/__tests__/__fixtures__/worldObject.svelte.js

@@ -0,0 +1,35 @@
+import { WorldObject } from '../../../WorldObject.svelte';
+export const createWorldObjectFixture = () => {
+    const object = new WorldObject();
+    object.name = 'Test Object';
+    object.uuid = '1234-5678';
+    object.referenceFrame = 'parent_frame';
+    object.pose = {
+        x: 10,
+        y: 20,
+        z: 30,
+        oX: 0.1,
+        oY: 0.2,
+        oZ: 0.3,
+        theta: 0.4,
+    };
+    object.geometry = {
+        label: 'my geometry',
+        geometryType: {
+            case: 'box',
+            value: {
+                dimsMm: { x: 10, y: 20, z: 30 },
+            },
+        },
+    };
+    object.localEditedPose = {
+        x: 10,
+        y: 20,
+        z: 30,
+        oX: 0.1,
+        oY: 0.2,
+        oZ: 0.3,
+        theta: 0.4,
+    };
+    return object;
+};

package/dist/hooks/useFrames.svelte.js

@@ -8,6 +8,7 @@ import { useEnvironment } from './useEnvironment.svelte';
 import { createPoseFromFrame } from '../transform';
 import { createGeometryFromFrame } from '../geometry';
 import { useResourceByName } from './useResourceByName.svelte';
+import { usePersistentUUIDs } from './usePersistentUUIDs.svelte';
 const key = Symbol('frames-context');
 export const provideFrames = (partID) => {
     const resourceByName = useResourceByName();
@@ -18,6 +19,7 @@ export const provideFrames = (partID) => {
     const revision = $derived(machineStatus.current?.config?.revision);
     const partConfig = usePartConfig();
     const environment = useEnvironment();
+    const { updateUUIDs } = usePersistentUUIDs();
     $effect.pre(() => {
         if (revision) {
             untrack(() => query.current).refetch();
@@ -32,8 +34,8 @@ export const provideFrames = (partID) => {
             environment.current.viewerMode = 'monitor';
         }
     });
-    let current = $derived.by(() => {
-        const objects = [];
+    const machineFrames = $derived.by(() => {
+        const objects = {};
         for (const { frame } of query.current.data ?? []) {
             if (frame === undefined) {
                 continue;
@@ -41,60 +43,34 @@ export const provideFrames = (partID) => {
             const resourceName = resourceByName.current[frame.referenceFrame];
             const frameName = frame.referenceFrame ? frame.referenceFrame : 'Unnamed frame';
             const color = resourceNameToColor(resourceName);
-            objects.push(new WorldObject(frameName, frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame, frame.physicalObject, color ? { color } : undefined));
+            objects[frameName] = new WorldObject(frameName, frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame, frame.physicalObject, color ? { color } : undefined);
         }
         return objects;
     });
-    let currentWorldObjects = {};
-    const getWorldObjects = () => ({ ...currentWorldObjects });
-    const getWorldObject = (componentName) => currentWorldObjects[componentName];
-    const setWorldObject = (component, worldObject) => {
-        if (!component.frame) {
-            return;
-        }
-        worldObject.referenceFrame = component.frame.parent;
-        worldObject.localEditedPose = createPoseFromFrame(component.frame);
-        if (component.frame.geometry) {
-            worldObject.geometry = createGeometryFromFrame(component.frame);
-        }
-        else {
-            worldObject.geometry = undefined;
-        }
-        currentWorldObjects[component.name] = worldObject;
-    };
-    const deleteWorldObject = (componentName) => {
-        delete currentWorldObjects[componentName];
-    };
-    $effect.pre(() => {
-        untrack(() => {
-            currentWorldObjects = {};
-            for (const currentWorldObject of current) {
-                currentWorldObjects[currentWorldObject.name] = currentWorldObject;
-            }
-        });
-        const components = partConfig.localPartConfig.toJson()?.components;
-        const fragmentMods = partConfig.localPartConfig.toJson()
-            ?.fragment_mods;
-        const fragmentDefinedComponents = Object.keys(partConfig.componentNameToFragmentId);
+    const [configFrames, configUnsetFrames] = $derived.by(() => {
+        const components = partConfig.localPartConfig.toJson().components;
+        const objects = [];
+        const unsetObjects = [];
         // deal with part defined frame config
-        for (const component of components || []) {
-            const worldObject = getWorldObject(component.name);
-            if (worldObject && component.frame) {
-                setWorldObject(component, worldObject);
-            }
-            else if (component.frame && Object.keys(getWorldObjects()).length > 0) {
-                // extra clause to prevent adding a component to the world objects when it may be loaded via frame system config later (first tick issue where config updated but current world objects not triggered yet)
-                const pose = createPoseFromFrame(component.frame);
-                const newWorldObject = new WorldObject(component.name, pose, component.frame.parent);
-                setWorldObject(component, newWorldObject);
-            }
-            else {
-                deleteWorldObject(component.name);
+        for (const component of components ?? []) {
+            if (!component.frame) {
+                unsetObjects.push(component.name);
+                continue;
             }
+            const pose = createPoseFromFrame(component.frame);
+            const geometry = createGeometryFromFrame(component.frame);
+            const worldObject = new WorldObject(component.name, pose, component.frame.parent, geometry);
+            objects.push(worldObject);
         }
+        return [objects, unsetObjects];
+    });
+    const [fragmentFrames, fragmentUnsetFrames] = $derived.by(() => {
+        const { fragment_mods: fragmentMods = [] } = partConfig.localPartConfig.toJson() ?? {};
+        const fragmentDefinedComponents = Object.keys(partConfig.componentNameToFragmentId);
+        const objects = [];
+        const unsetObjects = [];
         // deal with fragment defined components
         for (const fragmentComponentName of fragmentDefinedComponents || []) {
-            const worldObject = getWorldObject(fragmentComponentName);
             const fragmentId = partConfig.componentNameToFragmentId[fragmentComponentName];
             const fragmentMod = fragmentMods?.find((mod) => mod.fragment_id === fragmentId);
             if (!fragmentMod) {
@@ -103,27 +79,62 @@ export const provideFrames = (partID) => {
             const setComponentModIndex = fragmentMod.mods.findLastIndex((mod) => mod['$set']?.[`components.${fragmentComponentName}.frame`] !== undefined);
             const unsetComponentModIndex = fragmentMod.mods.findLastIndex((mod) => mod['$unset']?.[`components.${fragmentComponentName}.frame`] !== undefined);
             if (setComponentModIndex < unsetComponentModIndex) {
-                deleteWorldObject(fragmentComponentName);
+                unsetObjects.push(fragmentComponentName);
             }
             else if (unsetComponentModIndex < setComponentModIndex) {
                 const frameData = fragmentMod.mods[setComponentModIndex]['$set'][`components.${fragmentComponentName}.frame`];
-                const componentConfig = {
-                    name: fragmentComponentName,
-                    frame: frameData,
-                };
-                if (worldObject) {
-                    setWorldObject(componentConfig, worldObject);
-                }
-                else if (Object.keys(getWorldObjects()).length > 0) {
-                    const pose = createPoseFromFrame(frameData);
-                    const newWorldObject = new WorldObject(fragmentComponentName, pose, frameData.parent);
-                    setWorldObject(componentConfig, newWorldObject);
-                }
+                const pose = createPoseFromFrame(frameData);
+                const geometry = createGeometryFromFrame(frameData);
+                const worldObject = new WorldObject(fragmentComponentName, pose, frameData.parent, geometry);
+                objects.push(worldObject);
             }
         }
-        untrack(() => {
-            current = [...Object.values(getWorldObjects())];
-        });
+        return [objects, unsetObjects];
+    });
+    $effect.pre(() => {
+        for (const frame of configFrames) {
+            const result = machineFrames[frame.name];
+            if (result) {
+                result.referenceFrame = frame.referenceFrame;
+                result.localEditedPose = frame.pose;
+                result.geometry = frame.geometry;
+            }
+            else {
+                machineFrames[frame.name] = frame;
+            }
+        }
+    });
+    $effect.pre(() => {
+        for (const frame of fragmentFrames) {
+            const result = machineFrames[frame.name];
+            if (result) {
+                result.referenceFrame = frame.referenceFrame;
+                result.localEditedPose = frame.pose;
+                result.geometry = frame.geometry;
+            }
+            else {
+                machineFrames[frame.name] = frame;
+            }
+        }
+    });
+    $effect.pre(() => {
+        for (const name of configUnsetFrames) {
+            delete machineFrames[name];
+        }
+    });
+    $effect.pre(() => {
+        for (const name of fragmentUnsetFrames) {
+            delete machineFrames[name];
+        }
+    });
+    const current = $derived.by(() => {
+        // eslint-disable-next-line @typescript-eslint/no-unused-vars
+        const _configFrames = configFrames;
+        // eslint-disable-next-line @typescript-eslint/no-unused-vars
+        const _fragmentFrames = fragmentFrames;
+        const results = Object.values(machineFrames);
+        updateUUIDs(results);
+        return results;
     });
     const error = $derived(query.current.error ?? undefined);
     const fetching = $derived(query.current.isFetching);

package/dist/hooks/usePose.svelte.js

@@ -8,6 +8,7 @@ import { useMotionClient } from './useMotionClient.svelte';
 import { useEnvironment } from './useEnvironment.svelte';
 import { observe } from '@threlte/core';
 import { untrack } from 'svelte';
+import { useFrames } from './useFrames.svelte';
 export const usePose = (name, parent) => {
     const { refreshRates } = useMachineSettings();
     const partID = usePartID();
@@ -16,6 +17,7 @@ export const usePose = (name, parent) => {
     const resource = $derived(resources.current.find((resource) => resource.name === name()));
     const parentResource = $derived(resources.current.find((resource) => resource.name === parent()));
     const environment = useEnvironment();
+    const frames = useFrames();
     const client = createResourceClient(MotionClient, () => partID.current, () => motionClient.current ?? '');
     const interval = $derived(refreshRates.get(RefreshRates.poses));
     const options = $derived(queryOptions({
@@ -34,7 +36,7 @@ export const usePose = (name, parent) => {
         },
     }));
     const query = fromStore(createQuery(toStore(() => options)));
-    observe.pre(() => [environment.current.viewerMode], () => {
+    observe.pre(() => [environment.current.viewerMode, frames.current], () => {
         if (environment.current.viewerMode === 'monitor') {
             untrack(() => query.current).refetch();
         }

package/dist/hooks/useStaticGeometries.svelte.js

@@ -5,15 +5,25 @@ import { createGeometry } from '../geometry';
 import { WorldObject } from '../WorldObject.svelte';
 const key = Symbol('static-geometries-context');
 export const provideStaticGeometries = () => {
-    let geometries = $state([]);
+    const geometries = $state([]);
+    let loaded = $state(false);
     const debounced = new Debounced(() => geometries, 500);
     get('static-geometries').then((response) => {
         if (Array.isArray(response)) {
-            geometries = response;
+            for (const json of response) {
+                geometries.push(new WorldObject().fromJSON(json));
+            }
         }
+        loaded = true;
     });
     $effect(() => {
-        set('static-geometries', $state.snapshot(debounced.current));
+        if (!loaded)
+            return;
+        const results = [];
+        for (const geometry of debounced.current) {
+            results.push(geometry.toJSON());
+        }
+        set('static-geometries', results);
     });
     setContext(key, {
         get current() {
@@ -24,7 +34,7 @@ export const provideStaticGeometries = () => {
                 case: 'box',
                 value: { dimsMm: { x: 100, y: 100, z: 100 } },
             }));
-            geometries.push(structuredClone(object));
+            geometries.push(object);
         },
         remove(name) {
             const index = geometries.findIndex((geo) => geo.name === name);

package/dist/three/BatchedArrow.d.ts

@@ -5,7 +5,6 @@ export declare class BatchedArrow {
     _geometryId: number;
     _pool: number[];
     _ids: Set<number>;
-    _id: number;
     _max: number;
     constructor();
     addArrow(direction: Vector3, origin: Vector3, length?: number, color?: Color, arrowHeadAtPose?: boolean): number;

package/dist/three/BatchedArrow.js

@@ -12,7 +12,6 @@ export class BatchedArrow {
     _geometryId;
     _pool = [];
     _ids = new Set();
-    _id = 0;
     _max = 20_000;
     constructor() {
         const material = new MeshBasicMaterial({ color: 0xffffff, toneMapped: false });

package/dist/transform.d.ts

@@ -2,7 +2,7 @@ import type { Geometry, Pose } from '@viamrobotics/sdk';
 import { type Object3D, Matrix4, Quaternion, Vector3 } from 'three';
 import type { Frame } from './frame';
 export declare const createPose: (pose?: Pose) => Pose;
-export declare const createPoseFromFrame: (frame: Frame) => Pose;
+export declare const createPoseFromFrame: (frame: Partial<Frame>) => Pose;
 export declare const quaternionToPose: (quaternion: Quaternion, pose: Partial<Pose>) => void;
 export declare const vector3ToPose: (vec3: Vector3, pose: Partial<Pose>) => void;
 export declare const object3dToPose: (object3d: Object3D, pose: Partial<Pose>) => Partial<import("@viamrobotics/sdk").PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").Pose>>;

package/dist/transform.js

@@ -17,26 +17,26 @@ export const createPose = (pose) => {
     };
 };
 export const createPoseFromFrame = (frame) => {
-    if (frame.orientation.type === 'quaternion') {
+    if (frame.orientation?.type === 'quaternion') {
         quaternion.copy(frame.orientation.value);
         ov.setFromQuaternion(quaternion);
     }
-    else if (frame.orientation.type === 'euler_angles') {
+    else if (frame.orientation?.type === 'euler_angles') {
         euler.set(frame.orientation.value.roll, frame.orientation.value.pitch, frame.orientation.value.yaw, 'ZYX');
         quaternion.setFromEuler(euler);
         ov.setFromQuaternion(quaternion);
     }
-    else if (frame.orientation.type === 'ov_radians') {
+    else if (frame.orientation?.type === 'ov_radians') {
         ov.copy(frame.orientation.value);
     }
     else {
-        const th = MathUtils.degToRad(frame.orientation.value.th);
-        ov.set(frame.orientation.value.x, frame.orientation.value.y, frame.orientation.value.z, th);
+        const th = MathUtils.degToRad(frame.orientation?.value.th ?? 0);
+        ov.set(frame.orientation?.value.x, frame.orientation?.value.y, frame.orientation?.value.z, th);
     }
     return {
-        x: frame.translation.x ?? 0,
-        y: frame.translation.y ?? 0,
-        z: frame.translation.z ?? 0,
+        x: frame.translation?.x ?? 0,
+        y: frame.translation?.y ?? 0,
+        z: frame.translation?.z ?? 0,
         oX: ov.x,
         oY: ov.y,
         oZ: ov.z,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "0.15.2",
+  "version": "0.15.3",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -56,7 +56,7 @@
     "prettier-plugin-tailwindcss": "0.6.14",
     "publint": "0.3.12",
     "runed": "0.31.1",
-    "svelte": "5.38.7",
+    "svelte": "5.43.0",
     "svelte-check": "4.3.1",
     "svelte-virtuallists": "1.4.2",
     "tailwindcss": "4.1.13",