@viamrobotics/motion-tools 0.3.4 → 0.3.6

package/dist/components/App.svelte

@@ -8,7 +8,7 @@
 	import SceneProviders from './SceneProviders.svelte'
 	import DomPortal from './DomPortal.svelte'
 	import { PersistedState } from 'runed'
-	import XR from './XR.svelte'
+	import XR from './xr/XR.svelte'
 	import { World } from '@threlte/rapier'
 	import { createPartIDContext } from '../hooks/usePartID.svelte'
 

package/dist/components/Tree/Drawer.svelte

@@ -5,12 +5,13 @@
 
 	interface Props {
 		name: string
+		defaultOpen?: boolean
 		children: Snippet
 	}
 
-	let { name, children }: Props = $props()
+	let { name, children, defaultOpen = false }: Props = $props()
 
-	const expanded = $derived(new PersistedState(`${name}-expanded`, false))
+	const expanded = $derived(new PersistedState(`${name}-expanded`, defaultOpen))
 </script>
 
 <button

package/dist/components/Tree/Drawer.svelte.d.ts

@@ -1,6 +1,7 @@
 import type { Snippet } from 'svelte';
 interface Props {
     name: string;
+    defaultOpen?: boolean;
     children: Snippet;
 }
 declare const Drawer: import("svelte").Component<Props, {}, "">;

package/dist/components/Tree/Settings.svelte

@@ -7,7 +7,10 @@
 	const motionClient = useMotionClient()
 </script>
 
-<Drawer name="Settings">
+<Drawer
+	name="Settings"
+	defaultOpen
+>
 	<div class="flex flex-col gap-2 p-3">
 		<RefreshRate name="Frames">
 			<option value="0">Do not fetch</option>

package/dist/components/Tree/Tree.svelte

@@ -153,7 +153,7 @@
 		>
 			{#if rootChildren.length === 0}
 				<p class="text-subtle-2 px-2 py-4">No objects displayed</p>
-			{:else}
+			{:else if rootChildren.length > 200}
 				<VirtualList
 					class="w-full"
 					style="height:{Math.min(8, Math.max(rootChildren.length, 5)) * 32}px;"
@@ -163,6 +163,15 @@
 						{@render treeNode({ node: item, indexPath: [Number(index)], api })}
 					{/snippet}
 				</VirtualList>
+			{:else}
+				<div
+					style="height:{Math.min(8, Math.max(rootChildren.length, 5)) * 32}px;"
+					class="overflow-auto"
+				>
+					{#each rootChildren as node, index (node.id)}
+						{@render treeNode({ node, indexPath: [Number(index)], api })}
+					{/each}
+				</div>
 			{/if}
 		</div>
 	</div>

package/dist/components/{XR.svelte → xr/XR.svelte}

@@ -1,6 +1,6 @@
 <script lang="ts">
 	import { useXR, XR } from '@threlte/xr'
-	import OriginMarker from './xr/OriginMarker.svelte'
+	import OriginMarker from './OriginMarker.svelte'
 	import { useThrelte } from '@threlte/core'
 
 	const { renderer } = useThrelte()

package/dist/hooks/index.d.ts

@@ -1 +0,0 @@
-export { provideConnectionConfigs, useConnectionConfigs, useActiveConnectionConfig, } from './useConnectionConfigs.svelte';

package/dist/hooks/index.js

@@ -1 +1 @@
-export { provideConnectionConfigs, useConnectionConfigs, useActiveConnectionConfig, } from './useConnectionConfigs.svelte';
+"use strict";

package/dist/hooks/useFrames.svelte.js

@@ -29,7 +29,7 @@ export const provideFrames = (partID) => {
         }
         for (const { frame } of query.current.data ?? []) {
             if (frame) {
-                objects.push(new WorldObject(frame.referenceFrame, frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame, frame.physicalObject?.geometryType));
+                objects.push(new WorldObject(frame.referenceFrame ?? 'Unnamed frame', frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame, frame.physicalObject?.geometryType));
             }
         }
         return objects;

package/dist/hooks/useGeometries.svelte.js

@@ -1,4 +1,4 @@
-import { ArmClient, CameraClient, Geometry } from '@viamrobotics/sdk';
+import { ArmClient, CameraClient, Geometry, GripperClient } from '@viamrobotics/sdk';
 import { createQueries, queryOptions } from '@tanstack/svelte-query';
 import { createResourceClient, useResourceNames } from '@viamrobotics/svelte-sdk';
 import { setContext, getContext } from 'svelte';
@@ -8,15 +8,17 @@ import { WorldObject } from '../WorldObject';
 import { usePersistentUUIDs } from './usePersistentUUIDs.svelte';
 import { useLogs } from './useLogs.svelte';
 const key = Symbol('geometries-context');
+let index = 0;
 export const provideGeometries = (partID) => {
     const logs = useLogs();
     const refreshRates = useRefreshRates();
     const arms = useResourceNames(partID, 'arm');
     const cameras = useResourceNames(partID, 'camera');
-    const clients = $derived([
-        ...arms.current.map((arm) => createResourceClient(ArmClient, partID, () => arm.name)),
-        ...cameras.current.map((camera) => createResourceClient(CameraClient, partID, () => camera.name)),
-    ]);
+    const grippers = useResourceNames(partID, 'gripper');
+    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 clients = $derived([...armClients, ...gripperClients, ...cameraClients]);
     if (!refreshRates.has('Geometries')) {
         refreshRates.set('Geometries', 1000);
     }
@@ -44,7 +46,7 @@ export const provideGeometries = (partID) => {
             if (!query.data)
                 continue;
             for (const { center, label, geometryType } of query.data.geometries) {
-                results.push(new WorldObject(label, center, query.data.name, geometryType));
+                results.push(new WorldObject(label ? label : `Unnamed geometry ${++index}`, center, query.data.name, geometryType));
             }
         }
         updateUUIDs(results);

package/dist/hooks/useMotionClient.svelte.js

@@ -11,6 +11,7 @@ export const provideMotionClient = (partID) => {
         }
         if (motionNames.includes('builtin')) {
             current = 'builtin';
+            return;
         }
         current = motionNames[0];
     });

package/dist/hooks/usePersistentUUIDs.svelte.js

@@ -1,13 +1,12 @@
 export const usePersistentUUIDs = () => {
     const uuids = new Map();
     const updateUUIDs = (objects) => {
-        if (uuids.size === 0) {
-            for (const object of objects) {
-                uuids.set(object.name, object.uuid);
-            }
-        }
         for (const object of objects) {
-            object.uuid = uuids.get(object.name) ?? object.uuid;
+            const ref = `${object.referenceFrame}-${object.name}`;
+            if (uuids.has(ref) === false) {
+                uuids.set(ref, object.uuid);
+            }
+            object.uuid = uuids.get(ref) ?? object.uuid;
         }
     };
     return { uuids, updateUUIDs };

package/dist/hooks/usePointclouds.svelte.js

@@ -14,7 +14,7 @@ export const providePointclouds = (partID) => {
     const refreshRates = useRefreshRates();
     const cameras = useResourceNames(partID, 'camera');
     if (!refreshRates.has('Pointclouds')) {
-        refreshRates.set('Pointclouds', 5000);
+        refreshRates.set('Pointclouds', -1);
     }
     const clients = $derived(cameras.current.map((camera) => createResourceClient(CameraClient, partID, () => camera.name)));
     const options = $derived(clients.map((cameraClient) => {

package/dist/index.d.ts

@@ -1 +1,4 @@
 export { default as MotionTools } from './components/App.svelte';
+export { AxesHelper } from './three/AxesHelper';
+export { BatchedArrow } from './three/BatchedArrow';
+export { CapsuleGeometry } from './three/CapsuleGeometry';

package/dist/index.js

@@ -1 +1,4 @@
 export { default as MotionTools } from './components/App.svelte';
+export { AxesHelper } from './three/AxesHelper';
+export { BatchedArrow } from './three/BatchedArrow';
+export { CapsuleGeometry } from './three/CapsuleGeometry';

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "0.3.4",
+  "version": "0.3.6",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -20,20 +20,20 @@
     "@sveltejs/package": "^2.3.11",
     "@sveltejs/vite-plugin-svelte": "^5.0.3",
     "@tailwindcss/forms": "^0.5.10",
-    "@tailwindcss/vite": "^4.1.7",
-    "@tanstack/svelte-query": "^5.77.2",
-    "@tanstack/svelte-query-devtools": "^5.77.2",
+    "@tailwindcss/vite": "^4.1.8",
+    "@tanstack/svelte-query": "^5.79.0",
+    "@tanstack/svelte-query-devtools": "^5.79.0",
     "@testing-library/jest-dom": "^6.6.3",
     "@testing-library/svelte": "^5.2.8",
     "@threlte/core": "^8.0.4",
     "@threlte/extras": "^9.2.1",
     "@threlte/rapier": "^3.1.4",
     "@threlte/xr": "^1.0.5",
-    "@types/bun": "^1.2.14",
+    "@types/bun": "^1.2.15",
     "@types/lodash-es": "^4.17.12",
     "@types/three": "^0.176.0",
-    "@typescript-eslint/eslint-plugin": "^8.32.1",
-    "@typescript-eslint/parser": "^8.32.1",
+    "@typescript-eslint/eslint-plugin": "^8.33.0",
+    "@typescript-eslint/parser": "^8.33.0",
     "@viamrobotics/prime-core": "^0.1.5",
     "@viamrobotics/sdk": "0.42.0",
     "@viamrobotics/svelte-sdk": "0.1.4",
@@ -55,15 +55,15 @@
     "prettier-plugin-tailwindcss": "^0.6.11",
     "publint": "^0.3.12",
     "runed": "^0.28.0",
-    "svelte": "5.33.4",
+    "svelte": "5.33.8",
     "svelte-check": "^4.2.1",
     "svelte-virtuallists": "^1.4.2",
-    "tailwindcss": "^4.1.7",
+    "tailwindcss": "^4.1.8",
     "three": "^0.176.0",
     "threlte-uikit": "^1.0.0",
     "tsx": "^4.19.4",
     "typescript": "^5.8.3",
-    "typescript-eslint": "^8.32.1",
+    "typescript-eslint": "^8.33.0",
     "vite": "^6.3.5",
     "vite-plugin-mkcert": "^1.17.8",
     "vitest": "^3.1.4"

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

@@ -1,20 +0,0 @@
-interface ConnectionConfig {
-    host: string;
-    partId: string;
-    apiKeyId: string;
-    apiKeyValue: string;
-    signalingAddress: string;
-}
-interface Context {
-    current: ConnectionConfig[];
-    add: () => void;
-    remove: (index: number) => void;
-    isEnvConfig: (config: ConnectionConfig) => boolean;
-}
-export declare const provideConnectionConfigs: () => void;
-export declare const useConnectionConfigs: () => Context;
-export declare const useActiveConnectionConfig: () => {
-    readonly current: ConnectionConfig | undefined;
-    set(index: number | undefined): void;
-};
-export {};

package/dist/hooks/useConnectionConfigs.svelte.js

@@ -1,59 +0,0 @@
-import { get, set } from 'idb-keyval';
-import { PersistedState } from 'runed';
-import { getContext, setContext } from 'svelte';
-import { envConfigs } from '../../routes/lib/configs';
-import { isEqual } from 'lodash-es';
-const key = Symbol('connection-config-context');
-const activeConfig = new PersistedState('active-connection-config', 0);
-export const provideConnectionConfigs = () => {
-    let connectionConfigs = $state([]);
-    get('connection-configs').then((response) => {
-        if (Array.isArray(response)) {
-            connectionConfigs = response;
-        }
-    });
-    $effect(() => {
-        set('connection-configs', $state.snapshot(connectionConfigs));
-    });
-    const merged = $derived([...envConfigs, ...connectionConfigs]);
-    const add = () => {
-        connectionConfigs.push({
-            host: '',
-            partId: '',
-            apiKeyId: '',
-            apiKeyValue: '',
-            signalingAddress: '',
-        });
-    };
-    const remove = (index) => {
-        connectionConfigs.splice(index - envConfigs.length, 1);
-    };
-    const isEnvConfig = (config) => {
-        return envConfigs.some((value) => isEqual(config, value));
-    };
-    setContext(key, {
-        get current() {
-            return merged;
-        },
-        add,
-        remove,
-        isEnvConfig,
-    });
-};
-export const useConnectionConfigs = () => {
-    return getContext(key);
-};
-export const useActiveConnectionConfig = () => {
-    const connectionConfigs = useConnectionConfigs();
-    return {
-        get current() {
-            if (activeConfig.current === -1) {
-                return undefined;
-            }
-            return connectionConfigs.current.at(activeConfig.current);
-        },
-        set(index) {
-            activeConfig.current = index ?? -1;
-        },
-    };
-};