npm - @viamrobotics/motion-tools - Versions diffs - 0.18.3 → 0.19.1 - Mend

@viamrobotics/motion-tools 0.18.3 → 0.19.1

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (32) hide show

package/dist/__tests__/fixtures/MockCanvas.svelte +3 -4
package/dist/components/Geometry.svelte +1 -23
package/dist/components/Label.svelte +2 -2
package/dist/components/Label.svelte.d.ts +1 -1
package/dist/components/Pose.svelte +1 -1
package/dist/components/Pose.svelte.d.ts +1 -1
package/dist/components/Scene.svelte +4 -1
package/dist/components/Selected.svelte +8 -1
package/dist/components/Tree/Logs.svelte +0 -29
package/dist/components/Tree/Logs.svelte.d.ts +17 -2
package/dist/components/Tree/Settings.svelte +22 -4
package/dist/components/Tree/Settings.svelte.d.ts +2 -17
package/dist/geometry.js +18 -0
package/dist/hooks/use3DModels.svelte.js +9 -3
package/dist/hooks/useArmClient.svelte.js +3 -15
package/dist/hooks/useDrawAPI.svelte.js +96 -46
package/dist/hooks/useFrames.svelte.d.ts +0 -2
package/dist/hooks/useFrames.svelte.js +7 -12
package/dist/hooks/useGeometries.svelte.d.ts +1 -1
package/dist/hooks/useGeometries.svelte.js +33 -37
package/dist/hooks/usePointclouds.svelte.d.ts +1 -1
package/dist/hooks/usePointclouds.svelte.js +74 -45
package/dist/hooks/usePose.svelte.js +24 -29
package/dist/hooks/useRefetchPoses.d.ts +8 -0
package/dist/hooks/useRefetchPoses.js +16 -0
package/dist/hooks/useResourceByName.svelte.d.ts +1 -1
package/dist/hooks/useWorldState.svelte.js +7 -8
package/dist/loaders/pcd/worker.d.ts +1 -1
package/dist/ply.d.ts +2 -0
package/dist/ply.js +18 -0
package/dist/transform.js +6 -4
package/package.json +8 -7

package/dist/__tests__/fixtures/MockCanvas.svelte CHANGED Viewed

@@ -1,11 +1,10 @@
 <script>
 	import { Canvas } from '@threlte/core'
 	let { child, ...rest } = $props()
+	const Component = $derived(child)
 </script>
 <Canvas>
-	<svelte:component
-		this={child}
-		{...rest}
-	/>
+	<Component {...rest} />
 </Canvas>

package/dist/components/Geometry.svelte CHANGED Viewed

@@ -14,9 +14,7 @@ and should remain pure, i.e. no hooks should be used.
 	import { colors, darkenColor } from '../color'
 	import AxesHelper from './AxesHelper.svelte'
 	import type { WorldObject } from '../WorldObject.svelte'
-	import { PLYLoader } from 'three/addons/loaders/PLYLoader.js'
-	const plyLoader = new PLYLoader()
+	import { parsePlyInput } from '../ply'
 	interface Props extends ThrelteProps<Group> {
 		uuid: string
@@ -75,26 +73,6 @@ and should remain pure, i.e. no hooks should be used.
 	const oncreate = (ref: BufferGeometry) => {
 		geo = ref
 	}
-	const parsePlyInput = (mesh: string | Uint8Array): BufferGeometry => {
-		// Case 1: already a base64 or ASCII string
-		if (typeof mesh === 'string') {
-			return plyLoader.parse(atob(mesh))
-		}
-		// Case 2: detect text vs binary PLY in Uint8Array
-		const header = new TextDecoder().decode(mesh.slice(0, 50))
-		const isAscii = header.includes('format ascii')
-		// Case 3: text-mode PLY → decode bytes to string
-		if (isAscii) {
-			const text = new TextDecoder().decode(mesh)
-			return plyLoader.parse(text)
-		}
-		// Case 4: binary PLY → pass ArrayBuffer directly
-		return plyLoader.parse(mesh.buffer as ArrayBuffer)
-	}
 </script>
 <T

package/dist/components/Label.svelte CHANGED Viewed

@@ -4,7 +4,7 @@
 	import { useSettings } from '../hooks/useSettings.svelte'
 	interface Props {
-		text: string
+		text?: string
 	}
 	let { text }: Props = $props()
@@ -14,7 +14,7 @@
 	const labels = $derived(settings.current.enableLabels)
 </script>
-{#if labels}
+{#if labels && text}
 	<HTML
 		center
 		zIndexRange={[100, 0]}

package/dist/components/Label.svelte.d.ts CHANGED Viewed

@@ -1,5 +1,5 @@
 interface Props {
-    text: string;
+    text?: string;
 }
 declare const Label: import("svelte").Component<Props, {}, "">;
 type Label = ReturnType<typeof Label>;

package/dist/components/Pose.svelte CHANGED Viewed

@@ -4,7 +4,7 @@
 	import type { Snippet } from 'svelte'
 	interface Props {
-		name: string
+		name?: string
 		parent?: string
 		children: Snippet<[{ pose: Pose | undefined }]>
 	}

package/dist/components/Pose.svelte.d.ts CHANGED Viewed

@@ -1,7 +1,7 @@
 import type { Pose } from '@viamrobotics/sdk';
 import type { Snippet } from 'svelte';
 interface Props {
-    name: string;
+    name?: string;
     parent?: string;
     children: Snippet<[{
         pose: Pose | undefined;

package/dist/components/Scene.svelte CHANGED Viewed

@@ -37,7 +37,7 @@
 			return item ? [item] : []
 		},
 	})
-	$effect.pre(() => {
+	$effect(() => {
 		enabled.set(!settings.current.enableMeasure)
 	})
 	raycaster.firstHitOnly = true
@@ -89,7 +89,10 @@
 	{/if}
 	<T.Group attach={focusedObject ? false : undefined}>
+		<!-- Capture "default" portals if "world" is not explicit -->
+		<PortalTarget />
 		<PortalTarget id="world" />
 		<WorldObjects />
 	</T.Group>

package/dist/components/Selected.svelte CHANGED Viewed

@@ -1,11 +1,13 @@
 <script lang="ts">
-	import { T, useTask } from '@threlte/core'
+	import { T, useTask, useThrelte } from '@threlte/core'
 	import { useSelectedObject, useSelectedObject3d } from '../hooks/useSelection.svelte'
 	import { OBBHelper } from '../three/OBBHelper'
 	import { OBB } from 'three/addons/math/OBB.js'
 	const obb = new OBB()
 	const obbHelper = new OBBHelper()
+	const { invalidate } = useThrelte()
 	const selected = useSelectedObject()
 	const selectedObject3d = useSelectedObject3d()
@@ -27,6 +29,7 @@
 			if (selected.current.metadata.batched) {
 				selected.current.metadata.getBoundingBoxAt?.(obb)
 				obbHelper.setFromOBB(obb)
+				invalidate()
 				return
 			}
@@ -34,6 +37,7 @@
 				selectedObject3d.current?.getWorldPosition(clone.position)
 				selectedObject3d.current?.getWorldQuaternion(clone.quaternion)
 				obbHelper.setFromObject(clone)
+				invalidate()
 			}
 		},
 		{
@@ -48,8 +52,11 @@
 			obbHelper.visible = true
 		} else {
 			stop()
 			obbHelper.visible = false
 		}
+		invalidate()
 	})
 </script>

package/dist/components/Tree/Logs.svelte CHANGED Viewed

@@ -1,37 +1,8 @@
 <script lang="ts">
-	import { useFrames } from '../../hooks/useFrames.svelte'
-	import { useGeometries } from '../../hooks/useGeometries.svelte'
 	import { useLogs } from '../../hooks/useLogs.svelte'
-	import { usePointClouds } from '../../hooks/usePointclouds.svelte'
 	import Drawer from './Drawer.svelte'
-	const frames = useFrames()
-	const geometries = useGeometries()
-	const pointclouds = usePointClouds()
 	const logs = useLogs()
-	$effect(() => {
-		if (frames.error) {
-			const message = `Frames: ${frames.error.message}`
-			logs.add(message, 'error')
-		}
-	})
-	$effect(() => {
-		if (geometries.errors.length > 0) {
-			for (const error of geometries.errors) {
-				logs.add(`Geometries: ${error.message}`, 'error')
-			}
-		}
-	})
-	$effect(() => {
-		if (pointclouds.errors.length > 0) {
-			for (const error of pointclouds.errors) {
-				logs.add(`Pointclouds: ${error.message}`, 'error')
-			}
-		}
-	})
 </script>
 <Drawer name="Logs">

package/dist/components/Tree/Logs.svelte.d.ts CHANGED Viewed

@@ -1,3 +1,18 @@
-declare const Logs: import("svelte").Component<Record<string, never>, {}, "">;
-type Logs = ReturnType<typeof Logs>;
+interface $$__sveltets_2_IsomorphicComponent<Props extends Record<string, any> = any, Events extends Record<string, any> = any, Slots extends Record<string, any> = any, Exports = {}, Bindings = string> {
+    new (options: import('svelte').ComponentConstructorOptions<Props>): import('svelte').SvelteComponent<Props, Events, Slots> & {
+        $$bindings?: Bindings;
+    } & Exports;
+    (internal: unknown, props: {
+        $$events?: Events;
+        $$slots?: Slots;
+    }): Exports & {
+        $set?: any;
+        $on?: any;
+    };
+    z_$$bindings?: Bindings;
+}
+declare const Logs: $$__sveltets_2_IsomorphicComponent<Record<string, never>, {
+    [evt: string]: CustomEvent<any>;
+}, {}, {}, string>;
+type Logs = InstanceType<typeof Logs>;
 export default Logs;

package/dist/components/Tree/Settings.svelte CHANGED Viewed

@@ -1,6 +1,5 @@
 <script lang="ts">
 	import { Select, Switch, Input } from '@viamrobotics/prime-core'
-	import { useQueryClient } from '@tanstack/svelte-query'
 	import RefreshRate from '../RefreshRate.svelte'
 	import { useMotionClient } from '../../hooks/useMotionClient.svelte'
 	import Drawer from './Drawer.svelte'
@@ -10,13 +9,31 @@
 	import { RefreshRates, useMachineSettings } from '../../hooks/useMachineSettings.svelte'
 	import WeblabActive from '../weblab/WeblabActive.svelte'
 	import { WEBLABS_EXPERIMENTS } from '../../hooks/useWeblabs.svelte'
+	import { useGeometries } from '../../hooks/useGeometries.svelte'
+	import { usePointClouds } from '../../hooks/usePointclouds.svelte'
+	import { useThrelte } from '@threlte/core'
+	import { useRefetchPoses } from '../../hooks/useRefetchPoses'
-	const queryClient = useQueryClient()
+	const { invalidate } = useThrelte()
 	const partID = usePartID()
 	const cameras = useResourceNames(() => partID.current, 'camera')
 	const settings = useSettings()
 	const { disabledCameras } = useMachineSettings()
 	const motionClient = useMotionClient()
+	const geometries = useGeometries()
+	const pointclouds = usePointClouds()
+	const { refetchPoses } = useRefetchPoses()
+	// Invalidate the renderer for any settings change
+	$effect(() => {
+		for (const key in settings.current) {
+			// eslint-disable-next-line @typescript-eslint/no-unused-expressions
+			settings.current[key as keyof typeof settings.current]
+		}
+		invalidate()
+	})
 </script>
 <Drawer
@@ -31,14 +48,15 @@
 			label="Poses"
 			allowLive
 			onManualRefetch={() => {
-				queryClient.refetchQueries({ queryKey: ['getPose', 'getGeometries'], exact: false })
+				refetchPoses()
+				geometries.refetch()
 			}}
 		/>
 		<RefreshRate
 			id={RefreshRates.pointclouds}
 			label="Pointclouds"
 			onManualRefetch={() => {
-				queryClient.refetchQueries({ queryKey: ['getPointCloud'], exact: false })
+				pointclouds.refetch()
 			}}
 		/>
 		<div>

package/dist/components/Tree/Settings.svelte.d.ts CHANGED Viewed

@@ -1,18 +1,3 @@
-interface $$__sveltets_2_IsomorphicComponent<Props extends Record<string, any> = any, Events extends Record<string, any> = any, Slots extends Record<string, any> = any, Exports = {}, Bindings = string> {
-    new (options: import('svelte').ComponentConstructorOptions<Props>): import('svelte').SvelteComponent<Props, Events, Slots> & {
-        $$bindings?: Bindings;
-    } & Exports;
-    (internal: unknown, props: {
-        $$events?: Events;
-        $$slots?: Slots;
-    }): Exports & {
-        $set?: any;
-        $on?: any;
-    };
-    z_$$bindings?: Bindings;
-}
-declare const Settings: $$__sveltets_2_IsomorphicComponent<Record<string, never>, {
-    [evt: string]: CustomEvent<any>;
-}, {}, {}, string>;
-type Settings = InstanceType<typeof Settings>;
+declare const Settings: import("svelte").Component<Record<string, never>, {}, "">;
+type Settings = ReturnType<typeof Settings>;
 export default Settings;

package/dist/geometry.js CHANGED Viewed

@@ -40,3 +40,21 @@ export const createGeometryFromFrame = (frame) => {
         });
     }
 };
+export const createBox = (box) => {
+    return {
+        x: (box?.dimsMm?.x ?? 0) * 0.001,
+        y: (box?.dimsMm?.y ?? 0) * 0.001,
+        z: (box?.dimsMm?.z ?? 0) * 0.001,
+    };
+};
+export const createCapsule = (capsule) => {
+    return {
+        r: (capsule?.radiusMm ?? 0) * 0.001,
+        l: (capsule?.lengthMm ?? 0) * 0.001,
+    };
+};
+export const createSphere = (sphere) => {
+    return {
+        r: (sphere?.radiusMm ?? 0) * 0.001,
+    };
+};

package/dist/hooks/use3DModels.svelte.js CHANGED Viewed

@@ -25,14 +25,20 @@ export const provide3DModels = (partID) => {
                 if (!client.current)
                     continue;
                 try {
+                    const geometries = await client.current.getGeometries();
+                    if (geometries.length === 0) {
+                        continue;
+                    }
+                    const geometryLabel = geometries[0].label;
+                    const prefix = geometryLabel.split(':')[0];
                     const models = await client.current.get3DModels();
-                    if (!(client.current.name in current)) {
-                        current[client.current.name] = {};
+                    if (!(prefix in current)) {
+                        current[prefix] = {};
                     }
                     for (const [id, model] of Object.entries(models)) {
                         const arrayBuffer = model.mesh.buffer.slice(model.mesh.byteOffset, model.mesh.byteOffset + model.mesh.byteLength);
                         const gltfModel = await gltfLoader.parseAsync(arrayBuffer, '');
-                        current[client.current.name][id] = gltfModel.scene;
+                        current[prefix][id] = gltfModel.scene;
                     }
                 }
                 catch (error) {

package/dist/hooks/useArmClient.svelte.js CHANGED Viewed

@@ -1,4 +1,4 @@
-import { ArmClient, ArmJointPositions } from '@viamrobotics/sdk';
+import { ArmClient } from '@viamrobotics/sdk';
 import { createResourceClient, createResourceQuery, useResourceNames, } from '@viamrobotics/svelte-sdk';
 import { getContext, setContext } from 'svelte';
 const key = Symbol('arm-client-context');
@@ -7,20 +7,8 @@ export const provideArmClient = (partID) => {
     const options = { refetchInterval: 500 };
     const names = $derived(arms.current.map((arm) => arm.name));
     const clients = $derived(arms.current.map((arm) => createResourceClient(ArmClient, partID, () => arm.name)));
-    const jointPositionsQueries = $derived.by(() => {
-        const results = {};
-        for (const client of clients) {
-            if (!client.current)
-                continue;
-            const query = createResourceQuery(client, 'getJointPositions', options);
-            results[client.current.name] = query;
-        }
-        return results;
-    });
-    const currentPositions = $derived(Object.fromEntries(Object.entries(jointPositionsQueries).map(([name, query]) => [
-        name,
-        query.current.data?.values,
-    ])));
+    const jointPositionsQueries = $derived(clients.map((client) => [client.current?.name, createResourceQuery(client, 'getJointPositions', options)]));
+    const currentPositions = $derived(Object.fromEntries(jointPositionsQueries.map(([name, query]) => [name, query.data?.values])));
     setContext(key, {
         get names() {
             return names;

package/dist/hooks/useDrawAPI.svelte.js CHANGED Viewed

@@ -1,6 +1,7 @@
 import { getContext, setContext } from 'svelte';
 import { Color, MathUtils, Quaternion, Vector3, Vector4 } from 'three';
 import { NURBSCurve } from 'three/addons/curves/NURBSCurve.js';
+import { UuidTool } from 'uuid-tool';
 import { parsePcdInWorker } from '../loaders/pcd';
 import { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader.js';
 import { WorldObject } from '../WorldObject.svelte';
@@ -11,6 +12,13 @@ import { useCameraControls } from './useControls.svelte';
 import { useThrelte } from '@threlte/core';
 import { OrientationVector } from '../three/OrientationVector';
 import { useLogs } from './useLogs.svelte';
+const bufferTypes = {
+    DRAW_POINTS: 0,
+    DRAW_POSES: 1,
+    DRAW_LINE: 2,
+    DRAW_PCD: 3,
+    DRAW_GLTF: 4,
+};
 const axis = new Vector3();
 const quaternion = new Quaternion();
 const ov = new OrientationVector();
@@ -43,8 +51,15 @@ class Float32Reader {
     offset = 0;
     buffer = new ArrayBuffer();
     view = new DataView(this.buffer);
+    header = { requestID: '', type: -1 };
     async init(data) {
         this.buffer = await data.arrayBuffer();
+        this.header = {
+            requestID: UuidTool.toString([...new Uint8Array(this.buffer.slice(0, 16))]),
+            type: new DataView(this.buffer).getFloat32(16, true),
+        };
+        // Slice away the request header and leave the body
+        this.buffer = this.buffer.slice(20);
         this.view = new DataView(this.buffer);
         return this;
     }
@@ -77,6 +92,9 @@ export const provideDrawAPI = () => {
     const origin = new Vector3();
     const loader = new GLTFLoader();
     const batchedArrow = useArrows();
+    const sendResponse = (response) => {
+        ws.send(JSON.stringify(response));
+    };
     const drawFrames = async (data) => {
         for (const frame of data) {
             const name = frame.name || frame.id || '';
@@ -204,7 +222,6 @@ export const provideDrawAPI = () => {
                 },
             }));
         }
-        invalidate();
     };
     const drawPoints = async (reader) => {
         // Read label length
@@ -404,56 +421,89 @@ export const provideDrawAPI = () => {
         logs.add(`Drawing server error: ${JSON.stringify(event)}`, 'error');
     };
     const onMessage = async (event) => {
-        if (typeof event.data === 'object' && 'arrayBuffer' in event.data) {
-            const reader = await new Float32Reader().init(event.data);
-            const type = reader.read();
-            if (type === 0) {
-                return drawPoints(reader);
-            }
-            else if (type === 1) {
-                return drawPoses(reader);
-            }
-            else if (type === 2) {
-                return drawLine(reader);
-            }
-            else if (type === 3) {
-                return drawPCD(reader.buffer);
+        let operation = 'UNKNOWN';
+        let requestID = '';
+        try {
+            if (typeof event.data === 'object' && 'arrayBuffer' in event.data) {
+                const reader = await new Float32Reader().init(event.data);
+                requestID = reader.header.requestID;
+                const { type } = reader.header;
+                if (type === bufferTypes.DRAW_POINTS) {
+                    operation = 'DrawPoints';
+                    drawPoints(reader);
+                }
+                else if (type === bufferTypes.DRAW_POSES) {
+                    operation = 'DrawPoses';
+                    drawPoses(reader);
+                }
+                else if (type === bufferTypes.DRAW_LINE) {
+                    operation = 'DrawLine';
+                    drawLine(reader);
+                }
+                else if (type === bufferTypes.DRAW_PCD) {
+                    operation = 'DrawPCD';
+                    drawPCD(reader.buffer);
+                }
+                else if (type === bufferTypes.DRAW_GLTF) {
+                    operation = 'DrawGLTF';
+                    drawGLTF(reader.buffer);
+                }
+                else {
+                    throw new Error('Invalid buffer');
+                }
             }
             else {
-                return drawGLTF(reader.buffer);
+                const [error, data] = tryParse(event.data);
+                if (error) {
+                    logs.add(`Failed to parse JSON from drawing server: ${JSON.stringify(error)}`, 'error');
+                    throw new Error(`Failed to parse JSON from drawing server: ${JSON.stringify(error)}`);
+                }
+                if (!data) {
+                    throw new Error('No drawing data sent to client.');
+                }
+                requestID = data.requestID;
+                if ('setCameraPose' in data) {
+                    operation = 'SetCameraPose';
+                    cameraControls.setPose({
+                        position: [data.Position.X, data.Position.Y, data.Position.Z],
+                        lookAt: [data.LookAt.X, data.LookAt.Y, data.LookAt.Z],
+                    }, data.Animate);
+                }
+                else if ('geometries' in data) {
+                    operation = 'DrawGeometries';
+                    drawGeometries(data.geometries, data.colors, data.parent);
+                }
+                else if ('geometry' in data) {
+                    operation = 'DrawGeometry';
+                    drawGeometry(data.geometry, data.color);
+                }
+                else if ('frames' in data) {
+                    operation = 'DrawFrames';
+                    drawFrames(data.frames);
+                }
+                else if ('Knots' in data) {
+                    operation = 'DrawNurbs';
+                    drawNurbs(data, data.Color);
+                }
+                else if ('remove' in data) {
+                    operation = 'Remove';
+                    remove(data.names);
+                }
+                else if ('removeAll' in data) {
+                    operation = 'RemoveAll';
+                    removeAll();
+                }
             }
+            sendResponse({ code: 200, requestID, message: `${operation} succeeded.` });
         }
-        const [error, data] = tryParse(event.data);
-        if (error) {
-            logs.add(`Failed to parse JSON from drawing server: ${JSON.stringify(error)}`, 'error');
-        }
-        if (!data)
-            return;
-        if ('setCameraPose' in data) {
-            cameraControls.setPose({
-                position: [data.Position.X, data.Position.Y, data.Position.Z],
-                lookAt: [data.LookAt.X, data.LookAt.Y, data.LookAt.Z],
-            }, data.Animate);
-            return;
-        }
-        if ('geometries' in data) {
-            return drawGeometries(data.geometries, data.colors, data.parent);
-        }
-        if ('geometry' in data) {
-            return drawGeometry(data.geometry, data.color);
-        }
-        if ('frames' in data) {
-            return drawFrames(data.frames);
-        }
-        if ('Knots' in data) {
-            return drawNurbs(data, data.Color);
-        }
-        if ('remove' in data) {
-            return remove(data.names);
-        }
-        if ('removeAll' in data) {
-            return removeAll();
+        catch (error) {
+            sendResponse({
+                code: 500,
+                requestID,
+                message: `${operation} failed. Reason: ${error}`,
+            });
         }
+        invalidate();
     };
     const connect = () => {
         if (BACKEND_IP && BUN_SERVER_PORT) {

package/dist/hooks/useFrames.svelte.d.ts CHANGED Viewed

@@ -1,8 +1,6 @@
 import { WorldObject } from '../WorldObject.svelte';
 interface FramesContext {
     current: WorldObject[];
-    error?: Error;
-    fetching: boolean;
     getParentFrameOptions: (componentName: string) => string[];
 }
 export declare const provideFrames: (partID: () => string) => void;

package/dist/hooks/useFrames.svelte.js CHANGED Viewed

@@ -22,13 +22,16 @@ export const provideFrames = (partID) => {
     const { updateUUIDs } = usePersistentUUIDs();
     $effect.pre(() => {
         if (revision) {
-            untrack(() => query.current).refetch();
+            untrack(() => query.refetch());
         }
     });
-    $effect.pre(() => {
-        if (query.current.isFetching) {
+    $effect(() => {
+        if (query.isFetching) {
             logs.add('Fetching frames...');
         }
+        else if (query.error) {
+            logs.add(`Frames: ${query.error.message}`, 'error');
+        }
     });
     $effect.pre(() => {
         if (partConfig.isDirty) {
@@ -40,7 +43,7 @@ export const provideFrames = (partID) => {
     });
     const machineFrames = $derived.by(() => {
         const objects = {};
-        for (const { frame } of query.current.data ?? []) {
+        for (const { frame } of query.data ?? []) {
             if (frame === undefined) {
                 continue;
             }
@@ -140,8 +143,6 @@ export const provideFrames = (partID) => {
         updateUUIDs(results);
         return results;
     });
-    const error = $derived(query.current.error ?? undefined);
-    const fetching = $derived(query.current.isFetching);
     const getParentFrameOptions = (componentName) => {
         const validFrames = new Set(current.map((frame) => frame.name));
         validFrames.add('world');
@@ -163,12 +164,6 @@ export const provideFrames = (partID) => {
         get current() {
             return current;
         },
-        get error() {
-            return error;
-        },
-        get fetching() {
-            return fetching;
-        },
     });
 };
 export const useFrames = () => {

package/dist/hooks/useGeometries.svelte.d.ts CHANGED Viewed

@@ -1,7 +1,7 @@
 import { WorldObject } from '../WorldObject.svelte';
 interface Context {
     current: WorldObject[];
-    errors: Error[];
+    refetch: () => void;
 }
 export declare const provideGeometries: (partID: () => string) => void;
 export declare const useGeometries: () => Context;

package/dist/hooks/useGeometries.svelte.js CHANGED Viewed

@@ -1,65 +1,59 @@
-import { ArmClient, CameraClient, GantryClient, Geometry, GripperClient } from '@viamrobotics/sdk';
-import { createQueries, queryOptions } from '@tanstack/svelte-query';
-import { createResourceClient, useResourceNames } from '@viamrobotics/svelte-sdk';
+import { ArmClient, CameraClient, GantryClient, GripperClient } from '@viamrobotics/sdk';
+import { createResourceClient, createResourceQuery, useResourceNames, } from '@viamrobotics/svelte-sdk';
 import { setContext, getContext } from 'svelte';
-import { fromStore, toStore } from 'svelte/store';
 import { useMachineSettings, RefreshRates } from './useMachineSettings.svelte';
 import { WorldObject } from '../WorldObject.svelte';
 import { usePersistentUUIDs } from './usePersistentUUIDs.svelte';
 import { useLogs } from './useLogs.svelte';
 import { resourceColors } from '../color';
 import { Color } from 'three';
-import { useFrames } from './useFrames.svelte';
 import { RefetchRates } from '../components/RefreshRate.svelte';
+import { useResourceByName } from './useResourceByName.svelte';
 const key = Symbol('geometries-context');
 export const provideGeometries = (partID) => {
-    const frames = useFrames();
-    const resourceNames = useResourceNames(partID);
+    const logs = useLogs();
+    const resourceByName = useResourceByName();
     const arms = useResourceNames(partID, 'arm');
     const cameras = useResourceNames(partID, 'camera');
     const grippers = useResourceNames(partID, 'gripper');
     const gantries = useResourceNames(partID, 'gantry');
-    const logs = useLogs();
     const { refreshRates } = useMachineSettings();
     const armClients = $derived(arms.current.map((arm) => createResourceClient(ArmClient, partID, () => arm.name)));
     const gripperClients = $derived(grippers.current.map((gripper) => createResourceClient(GripperClient, partID, () => gripper.name)));
     const cameraClients = $derived(cameras.current.map((camera) => createResourceClient(CameraClient, partID, () => camera.name)));
     const gantryClients = $derived(gantries.current.map((gantry) => createResourceClient(GantryClient, partID, () => gantry.name)));
-    const clients = $derived([...armClients, ...gripperClients, ...cameraClients, ...gantryClients].filter((client) => {
-        return frames.current.some((frame) => frame.name === client.current?.name);
-    }));
     const options = $derived.by(() => {
         const interval = refreshRates.get(RefreshRates.poses);
-        const results = [];
-        for (const client of clients) {
-            const options = queryOptions({
-                enabled: interval !== RefetchRates.OFF && client.current !== undefined,
-                refetchInterval: interval === RefetchRates.MANUAL ? false : interval,
-                queryKey: ['getGeometries', 'partID', partID(), client.current?.name],
-                queryFn: async () => {
-                    if (!client.current) {
-                        throw new Error('No client');
-                    }
-                    logs.add(`Fetching geometries for ${client.current.name}...`);
-                    const geometries = await client.current.getGeometries();
-                    return { name: client.current.name, geometries };
-                },
-            });
-            results.push(options);
+        return {
+            enabled: refreshRates.get(RefreshRates.poses) !== RefetchRates.OFF,
+            refetchInterval: interval === RefetchRates.MANUAL ? false : interval,
+        };
+    });
+    const armQueries = $derived(armClients.map((client) => [client.current?.name, createResourceQuery(client, 'getGeometries', () => options)]));
+    const gripperQueries = $derived(gripperClients.map((client) => [client.current?.name, createResourceQuery(client, 'getGeometries', () => options)]));
+    const cameraQueries = $derived(cameraClients.map((client) => [client.current?.name, createResourceQuery(client, 'getGeometries', () => options)]));
+    const gantryQueries = $derived(gantryClients.map((client) => [client.current?.name, createResourceQuery(client, 'getGeometries', () => options)]));
+    $effect(() => {
+        for (const [name, query] of queries) {
+            if (query.isFetching) {
+                logs.add(`Fetching geometries for ${name}...`);
+            }
+            else if (query.error) {
+                logs.add(`Error fetching geometries from ${name}: ${query.error.message}`, 'error');
+            }
         }
-        return results;
     });
     const { updateUUIDs } = usePersistentUUIDs();
-    const queries = fromStore(createQueries({ queries: toStore(() => options) }));
-    const errors = $derived(queries.current.map((query) => query.error).filter((error) => error !== null));
+    const queries = $derived([...armQueries, ...gripperQueries, ...cameraQueries, ...gantryQueries]);
     const geometries = $derived.by(() => {
         const results = [];
-        for (const query of queries.current) {
-            if (!query.data)
+        for (const [name, query] of queries) {
+            if (!name || !query.data) {
                 continue;
-            for (const geometry of query.data.geometries) {
-                const resourceName = resourceNames.current.find((item) => item.name === query.data.name);
-                const worldObject = new WorldObject(geometry.label ? geometry.label : `${query.data.name} geometry`, undefined, query.data.name, geometry, resourceName
+            }
+            for (const geometry of query.data) {
+                const resourceName = resourceByName.current[name];
+                const worldObject = new WorldObject(geometry.label ? geometry.label : `${name} geometry`, undefined, name, geometry, resourceName
                     ? {
                         color: new Color(resourceColors[resourceName.subtype]),
                     }
@@ -74,8 +68,10 @@ export const provideGeometries = (partID) => {
         get current() {
             return geometries;
         },
-        get errors() {
-            return errors;
+        refetch() {
+            for (const [, query] of queries) {
+                query.refetch();
+            }
         },
     });
 };

package/dist/hooks/usePointclouds.svelte.d.ts CHANGED Viewed

@@ -1,7 +1,7 @@
 import { WorldObject, type PointsGeometry } from '../WorldObject.svelte';
 interface Context {
     current: WorldObject<PointsGeometry>[];
-    errors: Error[];
+    refetch: () => void;
 }
 export declare const providePointclouds: (partID: () => string) => void;
 export declare const usePointClouds: () => Context;

package/dist/hooks/usePointclouds.svelte.js CHANGED Viewed

@@ -1,8 +1,6 @@
-import { createQueries, queryOptions } from '@tanstack/svelte-query';
 import { CameraClient } from '@viamrobotics/sdk';
 import { setContext, getContext } from 'svelte';
-import { fromStore, toStore } from 'svelte/store';
-import { createResourceClient, useResourceNames } from '@viamrobotics/svelte-sdk';
+import { createResourceClient, createResourceQuery, useResourceNames, } from '@viamrobotics/svelte-sdk';
 import { parsePcdInWorker } from '../loaders/pcd';
 import { RefreshRates, useMachineSettings } from './useMachineSettings.svelte';
 import { WorldObject } from '../WorldObject.svelte';
@@ -15,54 +13,85 @@ export const providePointclouds = (partID) => {
     const { refreshRates, disabledCameras } = useMachineSettings();
     const cameras = useResourceNames(partID, 'camera');
     const clients = $derived(cameras.current.map((camera) => createResourceClient(CameraClient, partID, () => camera.name)));
-    const options = $derived.by(() => {
-        const interval = refreshRates.get(RefreshRates.pointclouds);
-        const results = [];
-        for (const cameraClient of clients) {
-            const name = cameraClient.current?.name ?? '';
-            const options = queryOptions({
-                enabled: interval !== RefetchRates.OFF &&
-                    cameraClient.current !== undefined &&
-                    disabledCameras.get(name) !== true,
-                refetchInterval: interval === RefetchRates.MANUAL ? false : interval,
-                queryKey: ['getPointCloud', 'partID', partID(), name],
-                queryFn: async () => {
-                    if (!cameraClient.current) {
-                        throw new Error('No camera client');
-                    }
-                    logs.add(`Fetching pointcloud for ${cameraClient.current.name}`);
-                    const response = await cameraClient.current.getPointCloud();
-                    if (!response)
-                        return null;
-                    const { positions, colors } = await parsePcdInWorker(new Uint8Array(response));
-                    return new WorldObject(`${name}:pointcloud`, undefined, name, { center: undefined, geometryType: { case: 'points', value: positions } }, colors ? { colors } : undefined);
-                },
-            });
-            results.push(options);
+    const propQueries = $derived(clients.map((client) => [
+        client.current?.name,
+        createResourceQuery(client, 'getProperties', {
+            staleTime: Infinity,
+            refetchOnMount: false,
+            refetchInterval: false,
+        }),
+    ]));
+    const fetchedPropQueries = propQueries.every(([, query]) => query.isPending === false);
+    const interval = $derived(refreshRates.get(RefreshRates.pointclouds));
+    const enabledClients = $derived(clients.filter((client) => fetchedPropQueries &&
+        client.current?.name &&
+        interval !== RefetchRates.OFF &&
+        disabledCameras.get(client.current?.name) !== true));
+    /**
+     * Some machines have a lot of cameras, so before enabling all of them
+     * we'll first check pointcloud support.
+     *
+     * We'll disable cameras that don't support pointclouds,
+     * but still allow users to manually enable if they want to.
+     */
+    $effect(() => {
+        for (const [name, query] of propQueries) {
+            if (name && query.data?.supportsPcd === false) {
+                if (disabledCameras.get(name) === undefined) {
+                    disabledCameras.set(name, true);
+                }
+            }
         }
-        return results;
     });
+    const queries = $derived(enabledClients.map((client) => [
+        client.current?.name,
+        createResourceQuery(client, 'getPointCloud', () => ({ refetchInterval: interval })),
+    ]));
     const { updateUUIDs } = usePersistentUUIDs();
-    const queries = fromStore(createQueries({
-        queries: toStore(() => options),
-        combine: (results) => {
-            const data = results
-                .flatMap((result) => result.data)
-                .filter((data) => data !== null && data !== undefined);
-            const errors = results.flatMap((result) => result.error).filter((error) => error !== null);
-            updateUUIDs(data);
-            return {
-                data,
-                errors,
-            };
-        },
-    }));
+    let current = $state.raw([]);
+    $effect(() => {
+        for (const [name, query] of queries) {
+            if (query.isFetching) {
+                logs.add(`Fetching pointcloud for ${name}...`);
+            }
+            else if (query.error) {
+                logs.add(`Error fetching pointcloud from ${name}: ${query.error.message}`, 'error');
+            }
+        }
+    });
+    $effect(() => {
+        const binaries = [];
+        for (const [name, query] of queries) {
+            const { data } = query;
+            if (name && data) {
+                binaries.push([name, data]);
+            }
+        }
+        Promise.allSettled(binaries.map(async ([name, uint8array]) => {
+            const { positions, colors } = await parsePcdInWorker(new Uint8Array(uint8array));
+            return new WorldObject(`${name}:pointcloud`, undefined, name, { center: undefined, geometryType: { case: 'points', value: positions } }, colors ? { colors } : undefined);
+        })).then((results) => {
+            const worldObjects = [];
+            for (const result of results) {
+                if (result.status === 'fulfilled') {
+                    worldObjects.push(result.value);
+                }
+                else if (result.status === 'rejected') {
+                    logs.add(result.reason, 'error');
+                }
+            }
+            updateUUIDs(worldObjects);
+            current = worldObjects;
+        });
+    });
     setContext(key, {
         get current() {
-            return queries.current.data;
+            return current;
         },
-        get errors() {
-            return queries.current.errors;
+        refetch() {
+            for (const [, query] of queries) {
+                query.refetch();
+            }
         },
     });
 };

package/dist/hooks/usePose.svelte.js CHANGED Viewed

@@ -1,9 +1,7 @@
-import { createResourceClient, useResourceNames } from '@viamrobotics/svelte-sdk';
+import { createResourceClient, createResourceQuery } from '@viamrobotics/svelte-sdk';
 import { usePartID } from './usePartID.svelte';
-import { MotionClient } from '@viamrobotics/sdk';
-import { createQuery, queryOptions } from '@tanstack/svelte-query';
+import { MotionClient, Transform } from '@viamrobotics/sdk';
 import { RefreshRates, useMachineSettings } from './useMachineSettings.svelte';
-import { fromStore, toStore } from 'svelte/store';
 import { useMotionClient } from './useMotionClient.svelte';
 import { useEnvironment } from './useEnvironment.svelte';
 import { observe } from '@threlte/core';
@@ -11,43 +9,40 @@ import { untrack } from 'svelte';
 import { useFrames } from './useFrames.svelte';
 import { RefetchRates } from '../components/RefreshRate.svelte';
 import { useLogs } from './useLogs.svelte';
+import { useResourceByName } from './useResourceByName.svelte';
+import { useRefetchPoses } from './useRefetchPoses';
 export const usePose = (name, parent) => {
     const logs = useLogs();
     const { refreshRates } = useMachineSettings();
     const partID = usePartID();
     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 currentName = $derived(name());
+    const currentParent = $derived(parent());
+    const resourceByName = useResourceByName();
+    const { addQueryToRefetch } = useRefetchPoses();
+    const resource = $derived(currentName ? resourceByName.current[currentName] : undefined);
+    const parentResource = $derived(currentParent ? resourceByName.current[currentParent] : undefined);
     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({
-        enabled: interval !== RefetchRates.OFF &&
-            client.current !== undefined &&
-            environment.current.viewerMode === 'monitor',
+    const resolvedParent = $derived(parentResource?.subtype === 'arm' ? `${parent()}_origin` : parent());
+    const query = createResourceQuery(client, 'getPose', () => [currentName, resolvedParent ?? 'world', []], () => ({
+        enabled: interval !== RefetchRates.OFF,
         refetchInterval: interval === RefetchRates.MANUAL ? false : interval,
-        queryKey: ['getPose', 'partID', partID.current, client.current?.name, name(), parent()],
-        queryFn: async () => {
-            if (!client.current) {
-                throw new Error('No client');
-            }
-            logs.add(`Fetching pose for ${name()}...`);
-            const resolvedParent = parentResource?.subtype === 'arm' ? `${parent()}_origin` : parent();
-            const pose = await client.current.getPose(name(), resolvedParent ?? 'world', []);
-            return pose;
-        },
     }));
-    const query = fromStore(createQuery(toStore(() => options)));
-    observe.pre(() => [environment.current.viewerMode, frames.current], () => {
-        if (environment.current.viewerMode === 'monitor') {
-            untrack(() => query.current).refetch();
+    $effect(() => addQueryToRefetch(query));
+    $effect(() => {
+        if (query.isFetching) {
+            logs.add(`Fetching pose for ${currentName}...`);
+        }
+        else if (query.error) {
+            logs.add(`Error fetching pose for ${currentName}: ${query.error.message}`, 'error');
         }
     });
-    $effect(() => {
-        if (query.current.error) {
-            logs.add(query.current.error.message, 'error');
+    observe.pre(() => [environment.current.viewerMode, frames.current], () => {
+        if (environment.current.viewerMode === 'monitor') {
+            untrack(() => query.refetch());
         }
     });
     return {
@@ -59,7 +54,7 @@ export const usePose = (name, parent) => {
             if (resource?.subtype === 'arm') {
                 return;
             }
-            return query.current.data?.pose;
+            return query.data?.pose;
         },
     };
 };

package/dist/hooks/useRefetchPoses.d.ts ADDED Viewed

@@ -0,0 +1,8 @@
+type RefetchFn = () => void;
+export declare const useRefetchPoses: () => {
+    addQueryToRefetch: (query: {
+        refetch: RefetchFn;
+    }) => () => boolean;
+    refetchPoses: () => void;
+};
+export {};

package/dist/hooks/useRefetchPoses.js ADDED Viewed

@@ -0,0 +1,16 @@
+const queries = new Set();
+const addQueryToRefetch = (query) => {
+    queries.add(query);
+    return () => queries.delete(query);
+};
+const refetchPoses = () => {
+    for (const query of queries) {
+        query.refetch();
+    }
+};
+export const useRefetchPoses = () => {
+    return {
+        addQueryToRefetch,
+        refetchPoses,
+    };
+};

package/dist/hooks/useResourceByName.svelte.d.ts CHANGED Viewed

@@ -1,6 +1,6 @@
 import type { ResourceName } from '@viamrobotics/sdk';
 interface Context {
-    current: Record<string, ResourceName>;
+    current: Record<string, ResourceName | undefined>;
 }
 export declare const provideResourceByName: (partID: () => string) => void;
 export declare const useResourceByName: () => Context;

package/dist/hooks/useWorldState.svelte.js CHANGED Viewed

@@ -39,7 +39,7 @@ const createWorldState = (partID, resourceName) => {
     let pendingEvents = [];
     let flushScheduled = false;
     const listUUIDs = createResourceQuery(client, 'listUUIDs');
-    const getTransforms = $derived(listUUIDs.current.data?.map((uuid) => {
+    const getTransforms = $derived(listUUIDs.data?.map((uuid) => {
         return createResourceQuery(client, 'getTransform', () => [uuid], () => ({ refetchInterval: false }));
     }));
     const changeStream = createResourceStream(client, 'streamTransformChanges', {
@@ -99,10 +99,9 @@ const createWorldState = (partID, resourceName) => {
             return;
         if (initialized)
             return;
-        const queries = getTransforms.map((query) => query.current);
-        if (queries.some((query) => query?.isLoading))
+        if (getTransforms.some((query) => query?.isLoading))
             return;
-        const data = queries
+        const data = getTransforms
             .flatMap((query) => query?.data ?? [])
             .filter((transform) => transform !== undefined);
         if (data.length === 0)
@@ -124,9 +123,9 @@ const createWorldState = (partID, resourceName) => {
         };
     });
     $effect.pre(() => {
-        if (changeStream.current?.data === undefined)
+        if (changeStream?.data === undefined)
             return;
-        const events = changeStream.current.data.filter((event) => event.transform !== undefined);
+        const events = changeStream.data.filter((event) => event.transform !== undefined);
         if (events.length === 0)
             return;
         worker.postMessage({ type: 'change', events });
@@ -142,10 +141,10 @@ const createWorldState = (partID, resourceName) => {
             return worldObjectsList;
         },
         get listUUIDs() {
-            return listUUIDs.current;
+            return listUUIDs;
         },
         get getTransforms() {
-            return getTransforms?.map((query) => query.current);
+            return getTransforms;
         },
     };
 };

package/dist/loaders/pcd/worker.d.ts CHANGED Viewed

@@ -1,7 +1,7 @@
 export interface SuccessMessage {
     id: number;
     positions: Float32Array<ArrayBuffer>;
-    colors: Float32Array | null;
+    colors: Float32Array<ArrayBuffer> | null;
 }
 export type Message = SuccessMessage | {
     id: number;

package/dist/ply.d.ts ADDED Viewed

	@@ -0,0 +1,2 @@
1	+ import type { BufferGeometry } from 'three';
2	+ export declare const parsePlyInput: (mesh: string \| Uint8Array) => BufferGeometry;

package/dist/ply.js ADDED Viewed

@@ -0,0 +1,18 @@
+import { PLYLoader } from 'three/addons/loaders/PLYLoader.js';
+const plyLoader = new PLYLoader();
+export const parsePlyInput = (mesh) => {
+    // Case 1: already a base64 or ASCII string
+    if (typeof mesh === 'string') {
+        return plyLoader.parse(atob(mesh));
+    }
+    // Case 2: detect text vs binary PLY in Uint8Array
+    const header = new TextDecoder().decode(mesh.slice(0, 50));
+    const isAscii = header.includes('format ascii');
+    // Case 3: text-mode PLY → decode bytes to string
+    if (isAscii) {
+        const text = new TextDecoder().decode(mesh);
+        return plyLoader.parse(text);
+    }
+    // Case 4: binary PLY → pass ArrayBuffer directly
+    return plyLoader.parse(mesh.buffer);
+};

package/dist/transform.js CHANGED Viewed

@@ -66,12 +66,14 @@ export const object3dToPose = (object3d, pose) => {
     return pose;
 };
 export const poseToQuaternion = (pose, quaternion) => {
-    const th = MathUtils.degToRad(pose.theta ?? 0);
-    ov.set(pose.oX, pose.oY, pose.oZ, th);
-    ov.toQuaternion(quaternion);
+    const th = MathUtils.degToRad(pose?.theta ?? 0);
+    ov.set(pose?.oX, pose?.oY, pose?.oZ, th);
+    if (quaternion) {
+        ov.toQuaternion(quaternion);
+    }
 };
 export const poseToVector3 = (pose, vec3) => {
-    vec3.set(pose.x ?? 0, pose.y ?? 0, pose.z ?? 0).multiplyScalar(0.001);
+    vec3?.set(pose?.x ?? 0, pose?.y ?? 0, pose?.z ?? 0).multiplyScalar(0.001);
 };
 export const poseToObject3d = (pose, object3d) => {
     poseToVector3(pose, object3d.position);

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "0.18.3",
+  "version": "0.19.1",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -22,8 +22,6 @@
     "@sveltejs/vite-plugin-svelte": "6.1.4",
     "@tailwindcss/forms": "0.5.10",
     "@tailwindcss/vite": "4.1.13",
-    "@tanstack/svelte-query": "5.87.1",
-    "@tanstack/svelte-query-devtools": "5.87.3",
     "@testing-library/jest-dom": "6.8.0",
     "@testing-library/svelte": "5.2.8",
     "@thi.ng/paths": "5.2.21",
@@ -37,8 +35,8 @@
     "@typescript-eslint/eslint-plugin": "8.42.0",
     "@typescript-eslint/parser": "8.42.0",
     "@viamrobotics/prime-core": "0.1.5",
-    "@viamrobotics/sdk": "0.55.0",
-    "@viamrobotics/svelte-sdk": "0.7.1",
+    "@viamrobotics/sdk": "0.56.0",
+    "@viamrobotics/svelte-sdk": "1.0.1",
     "@vitejs/plugin-basic-ssl": "2.1.0",
     "@vitest/coverage-v8": "^3.2.4",
     "@zag-js/svelte": "1.22.1",
@@ -75,7 +73,6 @@
   },
   "peerDependencies": {
     "@dimforge/rapier3d-compat": ">=0.17",
-    "@tanstack/svelte-query": ">=5",
     "@threlte/core": ">=8",
     "@threlte/extras": ">=9",
     "@threlte/rapier": ">=3",
@@ -92,7 +89,7 @@
     "svelte-virtuallists": ">=1"
   },
   "engines": {
-    "node": ">=22.0.0"
+    "node": ">=22.12.0"
   },
   "svelte": "./dist/index.js",
   "types": "./dist/index.d.ts",
@@ -119,6 +116,10 @@
     "!dist/**/*.test.*",
     "!dist/**/*.spec.*"
   ],
+  "dependencies": {
+    "@tanstack/svelte-query-devtools": "^6.0.2",
+    "uuid-tool": "^2.0.3"
+  },
   "scripts": {
     "dev": "tsx server/check-bun && bun run server/server.ts",
     "build": "vite build && npm run prepack",