npm - @viamrobotics/motion-tools - Versions diffs - 0.19.0 → 0.19.2 - Mend

@viamrobotics/motion-tools 0.19.0 → 0.19.2

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 (18) hide show

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/frame.d.ts +2 -0
package/dist/frame.js +14 -0
package/dist/geometry.js +18 -0
package/dist/hooks/use3DModels.svelte.js +9 -3
package/dist/hooks/useDrawAPI.svelte.js +97 -46
package/dist/hooks/useFrames.svelte.js +41 -69
package/dist/hooks/usePose.svelte.js +1 -1
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 +4 -3

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/frame.d.ts CHANGED Viewed

@@ -1,3 +1,4 @@
+import type { Transform } from '@viamrobotics/sdk';
 import type { ValueOf } from 'type-fest';
 type FrameGeometryMap = {
     none: {
@@ -73,4 +74,5 @@ export interface Frame<T extends FrameGeometry = FrameGeometry, K extends FrameO
     geometry?: FrameGeometryMap[T];
 }
 export declare const createFrame: <T extends FrameGeometry = "box", K extends FrameOrientation = "ov_degrees">(geometry?: FrameGeometryMap[T]) => Frame<T>;
+export declare const createTransformFromFrame: (name: string, frame: Partial<Frame>) => Transform;
 export {};

package/dist/frame.js CHANGED Viewed

@@ -1,4 +1,7 @@
 // TODO: replace with types exported from the sdk when created
+import { UuidTool } from 'uuid-tool';
+import { createPoseFromFrame } from './transform';
+import { createGeometryFromFrame } from './geometry';
 export const createFrame = (geometry) => {
     return {
         parent: 'world',
@@ -10,3 +13,14 @@ export const createFrame = (geometry) => {
         geometry: (geometry ?? { type: 'box', x: 100, y: 100, z: 100 }),
     };
 };
+export const createTransformFromFrame = (name, frame) => {
+    return {
+        uuid: new Uint8Array(UuidTool.toBytes(UuidTool.newUuid())),
+        referenceFrame: name,
+        poseInObserverFrame: {
+            referenceFrame: frame.parent ?? 'world',
+            pose: createPoseFromFrame(frame),
+        },
+        physicalObject: createGeometryFromFrame(frame),
+    };
+};

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/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 +421,90 @@ 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: ${JSON.stringify(error)}`, 'error');
-        }
-        if (!data)
-            return;
-        if ('setCameraPose' in data) {
-            cameraControls.setPose({
-                position: [data.Position.X, data.Position.Y, data.Position.Z],
-                lookAt: [data.LookAt.X, data.LookAt.Y, data.LookAt.Z],
-            }, data.Animate);
-            return;
-        }
-        if ('geometries' in data) {
-            return drawGeometries(data.geometries, data.colors, data.parent);
-        }
-        if ('geometry' in data) {
-            return drawGeometry(data.geometry, data.color);
-        }
-        if ('frames' in data) {
-            return drawFrames(data.frames);
-        }
-        if ('Knots' in data) {
-            return drawNurbs(data, data.Color);
-        }
-        if ('remove' in data) {
-            return remove(data.names);
-        }
-        if ('removeAll' in data) {
-            return removeAll();
+        catch (error) {
+            logs.add(`${error}`, 'error');
+            sendResponse({
+                code: 500,
+                requestID,
+                message: `${operation} failed. Reason: ${error}`,
+            });
         }
+        invalidate();
     };
     const connect = () => {
         if (BACKEND_IP && BUN_SERVER_PORT) {

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

@@ -1,12 +1,12 @@
 import { getContext, setContext, untrack } from 'svelte';
+import { Transform } from '@viamrobotics/sdk';
 import { useRobotClient, createRobotQuery, useMachineStatus } from '@viamrobotics/svelte-sdk';
 import { WorldObject } from '../WorldObject.svelte';
 import { useLogs } from './useLogs.svelte';
 import { resourceNameToColor } from '../color';
+import { createTransformFromFrame } from '../frame';
 import { usePartConfig } from './usePartConfig.svelte';
 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');
@@ -20,7 +20,7 @@ export const provideFrames = (partID) => {
     const partConfig = usePartConfig();
     const environment = useEnvironment();
     const { updateUUIDs } = usePersistentUUIDs();
-    $effect.pre(() => {
+    $effect(() => {
         if (revision) {
             untrack(() => query.refetch());
         }
@@ -33,7 +33,7 @@ export const provideFrames = (partID) => {
             logs.add(`Frames: ${query.error.message}`, 'error');
         }
     });
-    $effect.pre(() => {
+    $effect(() => {
         if (partConfig.isDirty) {
             environment.current.viewerMode = 'edit';
         }
@@ -42,40 +42,33 @@ export const provideFrames = (partID) => {
         }
     });
     const machineFrames = $derived.by(() => {
-        const objects = {};
+        const frames = {};
         for (const { frame } of query.data ?? []) {
             if (frame === undefined) {
                 continue;
             }
-            const resourceName = resourceByName.current[frame.referenceFrame];
-            const frameName = frame.referenceFrame ? frame.referenceFrame : 'Unnamed frame';
-            const color = resourceNameToColor(resourceName);
-            objects[frameName] = new WorldObject(frameName, frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame, frame.physicalObject, color ? { color } : undefined);
+            frames[frame.referenceFrame] = frame;
         }
-        return objects;
+        return frames;
     });
-    const [configFrames, configUnsetFrames] = $derived.by(() => {
+    const [configFrames, configUnsetFrameNames] = $derived.by(() => {
         const components = partConfig.localPartConfig.toJson().components;
-        const objects = [];
-        const unsetObjects = [];
-        // deal with part defined frame config
-        for (const component of components ?? []) {
-            if (!component.frame) {
-                unsetObjects.push(component.name);
+        const results = {};
+        const unsetResults = [];
+        for (const { name, frame } of components ?? []) {
+            if (!frame) {
+                unsetResults.push(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);
+            results[name] = createTransformFromFrame(name, frame);
         }
-        return [objects, unsetObjects];
+        return [results, unsetResults];
     });
-    const [fragmentFrames, fragmentUnsetFrames] = $derived.by(() => {
+    const [fragmentFrames, fragmentUnsetFrameNames] = $derived.by(() => {
         const { fragment_mods: fragmentMods = [] } = partConfig.localPartConfig.toJson() ?? {};
         const fragmentDefinedComponents = Object.keys(partConfig.componentNameToFragmentId);
-        const objects = [];
-        const unsetObjects = [];
+        const results = {};
+        const unsetResults = [];
         // deal with fragment defined components
         for (const fragmentComponentName of fragmentDefinedComponents || []) {
             const fragmentId = partConfig.componentNameToFragmentId[fragmentComponentName];
@@ -86,60 +79,39 @@ export const provideFrames = (partID) => {
             const setComponentModIndex = fragmentMod.mods.findLastIndex((mod) => mod['$set']?.[`components.${fragmentComponentName}.frame`] !== undefined);
             const unsetComponentModIndex = fragmentMod.mods.findLastIndex((mod) => mod['$unset']?.[`components.${fragmentComponentName}.frame`] !== undefined);
             if (setComponentModIndex < unsetComponentModIndex) {
-                unsetObjects.push(fragmentComponentName);
+                unsetResults.push(fragmentComponentName);
             }
             else if (unsetComponentModIndex < setComponentModIndex) {
                 const frameData = fragmentMod.mods[setComponentModIndex]['$set'][`components.${fragmentComponentName}.frame`];
-                const pose = createPoseFromFrame(frameData);
-                const geometry = createGeometryFromFrame(frameData);
-                const worldObject = new WorldObject(fragmentComponentName, pose, frameData.parent, geometry);
-                objects.push(worldObject);
-            }
-        }
-        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;
+                results[fragmentComponentName] = createTransformFromFrame(fragmentComponentName, frameData);
             }
         }
+        return [results, unsetResults];
     });
-    $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;
-            }
+    const frames = $derived.by(() => {
+        const result = {
+            ...machineFrames,
+            ...configFrames,
+            ...fragmentFrames,
+        };
+        // Remove frames that have just been deleted locally for optimistic updates
+        for (const name of configUnsetFrameNames) {
+            delete result[name];
         }
-    });
-    $effect.pre(() => {
-        for (const name of configUnsetFrames) {
-            delete machineFrames[name];
-        }
-    });
-    $effect.pre(() => {
-        for (const name of fragmentUnsetFrames) {
-            delete machineFrames[name];
+        // Remove frames that have been removed by fragment overrides
+        for (const name of fragmentUnsetFrameNames) {
+            delete result[name];
         }
+        return result;
     });
     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);
+        const results = [];
+        for (const frame of Object.values(frames)) {
+            const resourceName = resourceByName.current[frame.referenceFrame];
+            const frameName = frame.referenceFrame ? frame.referenceFrame : 'Unnamed frame';
+            const color = resourceNameToColor(resourceName);
+            results.push(new WorldObject(frameName, frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame, frame.physicalObject, color ? { color } : undefined));
+        }
         updateUUIDs(results);
         return results;
     });

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

@@ -20,7 +20,7 @@ export const usePose = (name, parent) => {
     const currentParent = $derived(parent());
     const resourceByName = useResourceByName();
     const { addQueryToRefetch } = useRefetchPoses();
-    const resource = $derived(resourceByName.current[currentName]);
+    const resource = $derived(currentName ? resourceByName.current[currentName] : undefined);
     const parentResource = $derived(currentParent ? resourceByName.current[currentParent] : undefined);
     const environment = useEnvironment();
     const frames = useFrames();

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": "0.19.0",
+  "version": "0.19.2",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -89,7 +89,7 @@
     "svelte-virtuallists": ">=1"
   },
   "engines": {
-    "node": ">=22.0.0"
+    "node": ">=22.12.0"
   },
   "svelte": "./dist/index.js",
   "types": "./dist/index.d.ts",
@@ -117,7 +117,8 @@
     "!dist/**/*.spec.*"
   ],
   "dependencies": {
-    "@tanstack/svelte-query-devtools": "^6.0.2"
+    "@tanstack/svelte-query-devtools": "^6.0.2",
+    "uuid-tool": "^2.0.3"
   },
   "scripts": {
     "dev": "tsx server/check-bun && bun run server/server.ts",