@viamrobotics/motion-tools 0.5.4 → 0.5.5

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Files changed (2) hide show
  1. package/dist/hooks/useShapes.svelte.js +45 -62
  2. package/package.json +22 -21
package/dist/hooks/useShapes.svelte.js CHANGED
@@ -15,6 +15,22 @@ const tryParse = (json) => {
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  return;
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  }
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  };
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+ class Float32Reader {
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+ littleEndian = true;
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+ offset = 0;
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+ buffer = new ArrayBuffer();
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+ view = new DataView(this.buffer);
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+ async init(data) {
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+ this.buffer = await data.arrayBuffer();
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+ this.view = new DataView(this.buffer);
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+ return this;
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+ }
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+ read() {
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+ const result = this.view.getFloat32(this.offset, this.littleEndian);
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+ this.offset += 4;
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+ return result;
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+ }
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+ }
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  export const provideShapes = () => {
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  let pointsIndex = 0;
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  let geometryIndex = 0;
@@ -33,8 +49,7 @@ export const provideShapes = () => {
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  const origin = new Vector3();
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  const vec3 = new Vector3();
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  const loader = new GLTFLoader();
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- const addPCD = async (data) => {
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- const buffer = await data.arrayBuffer();
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+ const addPCD = async (buffer) => {
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  const { positions, colors } = await parsePcdInWorker(new Uint8Array(buffer));
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  points.push(new WorldObject(`points ${++pointsIndex}`, undefined, undefined, {
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  case: 'points',
@@ -75,28 +90,20 @@ export const provideShapes = () => {
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  nurbs.push(object);
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  };
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  const batchedArrow = new BatchedArrow();
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- const addPoses = async (data) => {
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- const buffer = await data.arrayBuffer();
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- const view = new DataView(buffer);
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- let offset = 0;
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- function readFloat32() {
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- const val = view.getFloat32(offset, true); // true = little-endian
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- offset += 4;
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- return val;
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- }
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+ const addPoses = async (reader) => {
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  // Read counts
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- const nPoints = readFloat32();
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- const nColors = readFloat32();
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- const arrowHeadAtPose = readFloat32();
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+ const nPoints = reader.read();
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+ const nColors = reader.read();
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+ const arrowHeadAtPose = reader.read();
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  // Read positions
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  const nextPoses = new Float32Array(nPoints * 6);
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  for (let i = 0; i < nPoints * 6; i++) {
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- nextPoses[i] = readFloat32();
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+ nextPoses[i] = reader.read();
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  }
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  // Read raw colors
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  const colors = new Float32Array(nColors * 3);
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  for (let i = 0; i < nColors * 3; i++) {
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- colors[i] = readFloat32();
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+ colors[i] = reader.read();
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  }
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  const length = 0.1;
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  for (let i = 0, j = 0, l = nextPoses.length; i < l; i += 6, j += 3) {
@@ -119,38 +126,30 @@ export const provideShapes = () => {
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  }));
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  }
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  };
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- const addPoints = async (data) => {
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- const buffer = await data.arrayBuffer();
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- const view = new DataView(buffer);
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- let offset = 0;
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- function readFloat32() {
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- const val = view.getFloat32(offset, true); // true = little-endian
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- offset += 4;
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- return val;
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- }
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+ const addPoints = async (reader) => {
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  // Read label length
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- const labelLen = readFloat32();
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+ const labelLen = reader.read();
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  let label = '';
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  for (let i = 0; i < labelLen; i++) {
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- label += String.fromCharCode(readFloat32());
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+ label += String.fromCharCode(reader.read());
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  }
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  // Read counts
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- const nPoints = readFloat32();
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- const nColors = readFloat32();
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+ const nPoints = reader.read();
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+ const nColors = reader.read();
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  // Read default color
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- const r = readFloat32();
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- const g = readFloat32();
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- const b = readFloat32();
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+ const r = reader.read();
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+ const g = reader.read();
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+ const b = reader.read();
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  // Read positions
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  const positions = new Float32Array(nPoints * 3);
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  for (let i = 0; i < nPoints * 3; i++) {
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- positions[i] = readFloat32();
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+ positions[i] = reader.read();
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  }
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  const getColors = () => {
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  // Read raw colors
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  const rawColors = new Float32Array(nColors * 3);
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  for (let i = 0; i < nColors * 3; i++) {
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- rawColors[i] = readFloat32();
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+ rawColors[i] = reader.read();
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  }
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  const colors = new Float32Array(nPoints * 3);
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  colors.set(rawColors);
@@ -187,8 +186,7 @@ export const provideShapes = () => {
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  i += 1;
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  }
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  };
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- const addGLTF = async (data) => {
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- const buffer = await data.arrayBuffer();
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+ const addGLTF = async (buffer) => {
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  const blob = new Blob([buffer], { type: 'model/gltf-binary' });
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  const url = URL.createObjectURL(blob);
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  const gltf = await loader.loadAsync(url);
@@ -240,15 +238,6 @@ export const provideShapes = () => {
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  geometryIndex = 0;
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  poseIndex = 0;
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  };
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- let metadata = undefined;
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- const handleMetadata = (data) => {
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- const json = tryParse(data);
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- if ('type' in json) {
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- metadata = json;
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- return true;
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- }
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- return false;
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- };
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  const { BACKEND_IP, BUN_SERVER_PORT } = globalThis;
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  const scheduleReconnect = () => {
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  setTimeout(() => {
@@ -271,27 +260,21 @@ export const provideShapes = () => {
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  console.log('Websocket error', JSON.stringify(event));
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  ws.close();
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  };
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- const onMessage = (event) => {
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- if (typeof event.data === 'string') {
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- if (handleMetadata(event.data)) {
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- return;
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- }
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- }
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+ const onMessage = async (event) => {
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  if (typeof event.data === 'object' && 'arrayBuffer' in event.data) {
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- if (!metadata) {
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- return console.error('metadata is undefined');
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- }
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- if (metadata.type === 'glb') {
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- return addGLTF(event.data);
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+ const reader = await new Float32Reader().init(event.data);
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+ const type = reader.read();
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+ if (type === 0) {
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+ return addPoints(reader);
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  }
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- else if (metadata.type === 'pcd') {
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- return addPCD(event.data);
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+ else if (type === 1) {
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+ return addPoses(reader);
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  }
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- else if (metadata.type === 'points') {
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- return addPoints(event.data);
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+ else if (type === 2) {
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+ return addPCD(reader.buffer);
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  }
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- else if (metadata.type === 'poses') {
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- return addPoses(event.data);
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+ else {
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+ return addGLTF(reader.buffer);
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  }
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  }
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  const data = tryParse(event.data);
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "@viamrobotics/motion-tools",
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- "version": "0.5.4",
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+ "version": "0.5.5",
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  "description": "Motion visualization with Viam",
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  "license": "Apache-2.0",
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  "type": "module",
@@ -11,8 +11,9 @@
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  "@changesets/cli": "2.29.5",
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  "@dimforge/rapier3d-compat": "0.17.3",
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  "@eslint/compat": "1.3.1",
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- "@eslint/js": "9.29.0",
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- "@playwright/test": "1.53.1",
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+ "@eslint/js": "9.30.1",
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+ "@playwright/test": "1.53.2",
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+ "@sentry/sveltekit": "9.34.0",
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  "@skeletonlabs/skeleton": "3.1.3",
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  "@skeletonlabs/skeleton-svelte": "1.2.3",
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  "@sveltejs/adapter-static": "3.0.8",
@@ -21,8 +22,8 @@
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  "@sveltejs/vite-plugin-svelte": "5.1.0",
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  "@tailwindcss/forms": "0.5.10",
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  "@tailwindcss/vite": "4.1.11",
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- "@tanstack/svelte-query": "5.81.2",
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- "@tanstack/svelte-query-devtools": "5.81.2",
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+ "@tanstack/svelte-query": "5.81.5",
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+ "@tanstack/svelte-query-devtools": "5.81.5",
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  "@testing-library/jest-dom": "6.6.3",
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  "@testing-library/svelte": "5.2.8",
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  "@threlte/core": "8.0.5",
@@ -31,25 +32,25 @@
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  "@threlte/xr": "1.0.8",
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  "@types/bun": "1.2.17",
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  "@types/lodash-es": "4.17.12",
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- "@types/three": "0.177.0",
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- "@typescript-eslint/eslint-plugin": "8.35.0",
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- "@typescript-eslint/parser": "8.35.0",
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+ "@types/three": "0.178.0",
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+ "@typescript-eslint/eslint-plugin": "8.35.1",
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+ "@typescript-eslint/parser": "8.35.1",
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  "@viamrobotics/prime-core": "0.1.5",
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- "@viamrobotics/sdk": "0.44.0",
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- "@viamrobotics/svelte-sdk": "0.4.0",
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- "@vitejs/plugin-basic-ssl": "2.0.0",
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- "@zag-js/svelte": "1.17.1",
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- "@zag-js/tree-view": "1.17.1",
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+ "@viamrobotics/sdk": "0.45.0",
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+ "@viamrobotics/svelte-sdk": "0.4.1",
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+ "@vitejs/plugin-basic-ssl": "2.1.0",
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+ "@zag-js/svelte": "1.18.1",
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+ "@zag-js/tree-view": "1.18.1",
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  "camera-controls": "2.10.1",
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- "eslint": "9.29.0",
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+ "eslint": "9.30.1",
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  "eslint-config-prettier": "10.1.5",
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- "eslint-plugin-svelte": "3.10.0",
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- "globals": "16.2.0",
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+ "eslint-plugin-svelte": "3.10.1",
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+ "globals": "16.3.0",
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  "idb-keyval": "6.2.2",
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  "jsdom": "26.1.0",
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  "lodash-es": "4.17.21",
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- "lucide-svelte": "0.523.0",
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- "prettier": "3.6.1",
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+ "lucide-svelte": "0.525.0",
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+ "prettier": "3.6.2",
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  "prettier-plugin-svelte": "3.4.0",
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  "prettier-plugin-tailwindcss": "0.6.13",
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  "publint": "0.3.12",
@@ -58,13 +59,13 @@
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  "svelte-check": "4.2.2",
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  "svelte-virtuallists": "1.4.2",
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  "tailwindcss": "4.1.11",
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- "three": "0.177.0",
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+ "three": "0.178.0",
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  "threlte-uikit": "1.2.0",
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  "tsx": "4.20.3",
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  "typescript": "5.8.3",
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- "typescript-eslint": "8.35.0",
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+ "typescript-eslint": "8.35.1",
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  "vite": "6.3.5",
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- "vite-plugin-devtools-json": "0.2.0",
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+ "vite-plugin-devtools-json": "0.2.1",
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  "vite-plugin-mkcert": "1.17.8",
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  "vitest": "3.2.4"
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  },