@viamrobotics/motion-tools 0.9.5 → 0.10.0

package/dist/{WorldObject.d.ts → WorldObject.svelte.d.ts}

@@ -29,7 +29,7 @@ export declare class WorldObject<T extends Geometries = Geometries> {
     uuid: string;
     name: string;
     referenceFrame: string;
-    pose: Pose;
+    pose: import("@viamrobotics/sdk").PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").Pose>;
     geometry?: T;
     metadata: Metadata;
     constructor(name: string, pose?: Pose, parent?: string, geometry?: T, metadata?: Metadata);

package/dist/{WorldObject.js → WorldObject.svelte.js}

@@ -4,16 +4,18 @@ export class WorldObject {
     uuid;
     name;
     referenceFrame;
-    pose;
+    pose = $state.raw(createPose());
     geometry;
     metadata;
     constructor(name, pose, parent = 'world', geometry, metadata) {
         this.uuid = MathUtils.generateUUID();
         this.name = name;
         this.referenceFrame = parent;
-        this.pose = pose ?? createPose();
         this.geometry = geometry;
         this.metadata = metadata ?? {};
+        if (pose) {
+            this.pose = pose;
+        }
     }
 }
 export const fromTransform = (transform) => {

package/dist/components/Frame.svelte

@@ -6,7 +6,7 @@
 
 <script lang="ts">
 	import type { Snippet } from 'svelte'
-	import type { WorldObject } from '../WorldObject'
+	import type { WorldObject } from '../WorldObject.svelte'
 	import { useObjectEvents } from '../hooks/useObjectEvents.svelte'
 	import Geometry from './Geometry.svelte'
 	import { useSelected } from '../hooks/useSelection.svelte'

package/dist/components/Frame.svelte.d.ts

@@ -1,6 +1,6 @@
 import { type Object3D } from 'three';
 import type { Snippet } from 'svelte';
-import type { WorldObject } from '../WorldObject';
+import type { WorldObject } from '../WorldObject.svelte';
 interface Props {
     uuid: string;
     name: string;

package/dist/components/Geometry.svelte

@@ -7,7 +7,7 @@
 	import { poseToObject3d } from '../transform'
 	import { colors, darkenColor } from '../color'
 	import AxesHelper from './AxesHelper.svelte'
-	import type { WorldObject } from '../WorldObject'
+	import type { WorldObject } from '../WorldObject.svelte'
 	import { PLYLoader } from 'three/addons/loaders/PLYLoader.js'
 
 	const plyLoader = new PLYLoader()

package/dist/components/Geometry.svelte.d.ts

@@ -1,7 +1,7 @@
 import { type Props as ThrelteProps } from '@threlte/core';
 import { type Snippet } from 'svelte';
 import { Object3D } from 'three';
-import type { WorldObject } from '../WorldObject';
+import type { WorldObject } from '../WorldObject.svelte';
 interface Props extends ThrelteProps<Object3D> {
     uuid: string;
     name: string;

package/dist/components/Line.svelte

@@ -2,7 +2,7 @@
 	import { T } from '@threlte/core'
 	import { Instance, InstancedMesh } from '@threlte/extras'
 	import Frame from './Frame.svelte'
-	import type { WorldObject } from '../WorldObject'
+	import type { WorldObject } from '../WorldObject.svelte'
 	import { useSettings } from '../hooks/useSettings.svelte'
 	import type { Snippet } from 'svelte'
 

package/dist/components/Line.svelte.d.ts

@@ -1,4 +1,4 @@
-import type { WorldObject } from '../WorldObject';
+import type { WorldObject } from '../WorldObject.svelte';
 import type { Snippet } from 'svelte';
 interface Props {
     object: WorldObject;

package/dist/components/Pointcloud.svelte

@@ -7,7 +7,7 @@
 		OrthographicCamera,
 	} from 'three'
 	import { T, useTask, useThrelte } from '@threlte/core'
-	import type { WorldObject } from '../WorldObject'
+	import type { WorldObject } from '../WorldObject.svelte'
 	import { useObjectEvents } from '../hooks/useObjectEvents.svelte'
 	import { poseToObject3d } from '../transform'
 	import { useSettings } from '../hooks/useSettings.svelte'

package/dist/components/Pointcloud.svelte.d.ts

@@ -1,4 +1,4 @@
-import type { WorldObject } from '../WorldObject';
+import type { WorldObject } from '../WorldObject.svelte';
 import type { Snippet } from 'svelte';
 interface Props {
     object: WorldObject<{

package/dist/components/Tree/buildTree.d.ts

@@ -1,4 +1,4 @@
-import type { WorldObject } from '../../WorldObject';
+import type { WorldObject } from '../../WorldObject.svelte';
 export interface TreeNode {
     id: string;
     name: string;

package/dist/components/WorldObject.svelte

@@ -2,7 +2,7 @@
 	import { T, type Props as ThrelteProps } from '@threlte/core'
 	import type { Snippet } from 'svelte'
 	import type { Object3D } from 'three'
-	import type { WorldObject } from '../WorldObject'
+	import type { WorldObject } from '../WorldObject.svelte'
 	import { useObjectEvents } from '../hooks/useObjectEvents.svelte'
 
 	interface Props extends ThrelteProps<Object3D> {

package/dist/components/WorldObject.svelte.d.ts

@@ -1,7 +1,7 @@
 import { type Props as ThrelteProps } from '@threlte/core';
 import type { Snippet } from 'svelte';
 import type { Object3D } from 'three';
-import type { WorldObject } from '../WorldObject';
+import type { WorldObject } from '../WorldObject.svelte';
 interface Props extends ThrelteProps<Object3D> {
     object: WorldObject;
     children?: Snippet;

package/dist/components/WorldState.svelte

@@ -3,7 +3,7 @@
 	import Label from './Label.svelte'
 	import Portal from './portal/Portal.svelte'
 	import PortalTarget from './portal/PortalTarget.svelte'
-	import { WorldObject } from '../WorldObject'
+	import { WorldObject } from '../WorldObject.svelte'
 
 	interface Props {
 		objects: WorldObject[]

package/dist/components/WorldState.svelte.d.ts

@@ -1,4 +1,4 @@
-import { WorldObject } from '../WorldObject';
+import { WorldObject } from '../WorldObject.svelte';
 interface Props {
     objects: WorldObject[];
 }

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

@@ -1,6 +1,6 @@
 import { Vector3 } from 'three';
 import { BatchedArrow } from '../three/BatchedArrow';
-import { WorldObject, type PointsGeometry } from '../WorldObject';
+import { WorldObject, type PointsGeometry } from '../WorldObject.svelte';
 type ConnectionStatus = 'connecting' | 'open' | 'closed';
 interface Context {
     points: WorldObject<PointsGeometry>[];

package/dist/hooks/useDrawAPI.svelte.js

@@ -4,7 +4,7 @@ import { NURBSCurve } from 'three/addons/curves/NURBSCurve.js';
 import { parsePcdInWorker } from '../loaders/pcd';
 import { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader.js';
 import { BatchedArrow } from '../three/BatchedArrow';
-import { WorldObject } from '../WorldObject';
+import { WorldObject } from '../WorldObject.svelte';
 const key = Symbol('draw-api-context-key');
 const tryParse = (json) => {
     try {
@@ -59,8 +59,13 @@ export const provideDrawAPI = () => {
         }, colors ? { colors } : undefined));
     };
     // eslint-disable-next-line @typescript-eslint/no-explicit-any
-    const addGeometry = (data, color, parent) => {
+    const drawGeometry = (data, color, parent) => {
         let geometry;
+        const existingMesh = meshes.find((mesh) => mesh.name === data.label);
+        if (existingMesh) {
+            existingMesh.pose = data.center;
+            return;
+        }
         if ('mesh' in data) {
             geometry = {
                 case: 'mesh',
@@ -214,10 +219,10 @@ export const provideDrawAPI = () => {
         }));
     };
     // eslint-disable-next-line @typescript-eslint/no-explicit-any
-    const addGeometries = (geometries, colors, parent) => {
+    const drawGeometries = (geometries, colors, parent) => {
         let i = 0;
         for (const geometry of geometries) {
-            addGeometry(geometry, colors[i], parent);
+            drawGeometry(geometry, colors[i], parent);
             i += 1;
         }
     };
@@ -332,7 +337,13 @@ export const provideDrawAPI = () => {
             };
         }
         if ('geometries' in data) {
-            return addGeometries(data.geometries, data.colors, data.parent);
+            return drawGeometries(data.geometries, data.colors, data.parent);
+        }
+        if ('geometry' in data) {
+            return drawGeometry(data.geometry, data.color);
+        }
+        if ('Knots' in data) {
+            return addNurbs(data, data.Color);
         }
         if ('remove' in data) {
             return remove(data.names);
@@ -340,12 +351,6 @@ export const provideDrawAPI = () => {
         if ('removeAll' in data) {
             return removeAll();
         }
-        if ('Knots' in data) {
-            return addNurbs(data, data.Color);
-        }
-        if ('geometry' in data) {
-            addGeometry(data.geometry, data.color);
-        }
     };
     const connect = () => {
         if (BACKEND_IP && BUN_SERVER_PORT) {

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

@@ -1,4 +1,4 @@
-import { WorldObject } from '../WorldObject';
+import { WorldObject } from '../WorldObject.svelte';
 interface FramesContext {
     current: WorldObject[];
     error?: Error;

package/dist/hooks/useFrames.svelte.js

@@ -1,6 +1,6 @@
 import { getContext, setContext, untrack } from 'svelte';
 import { useRobotClient, createRobotQuery, useMachineStatus, useResourceNames, } from '@viamrobotics/svelte-sdk';
-import { WorldObject } from '../WorldObject';
+import { WorldObject } from '../WorldObject.svelte';
 import { observe } from '@threlte/core';
 import { useLogs } from './useLogs.svelte';
 import { resourceColors } from '../color';

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

@@ -1,4 +1,4 @@
-import { WorldObject } from '../WorldObject';
+import { WorldObject } from '../WorldObject.svelte';
 interface Context {
     current: WorldObject[];
 }

package/dist/hooks/useGeometries.svelte.js

@@ -4,7 +4,7 @@ import { createResourceClient, useResourceNames } from '@viamrobotics/svelte-sdk
 import { setContext, getContext } from 'svelte';
 import { fromStore, toStore } from 'svelte/store';
 import { useMachineSettings } from './useMachineSettings.svelte';
-import { WorldObject } from '../WorldObject';
+import { WorldObject } from '../WorldObject.svelte';
 import { usePersistentUUIDs } from './usePersistentUUIDs.svelte';
 import { useLogs } from './useLogs.svelte';
 import { resourceColors } from '../color';

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

@@ -1,4 +1,4 @@
-import type { WorldObject } from '../WorldObject';
+import type { WorldObject } from '../WorldObject.svelte';
 interface Context {
     current: WorldObject[];
 }

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

@@ -1,4 +1,4 @@
-import type { WorldObject } from '../WorldObject';
+import type { WorldObject } from '../WorldObject.svelte';
 export declare const usePersistentUUIDs: () => {
     uuids: Map<string, string>;
     updateUUIDs: (objects: WorldObject[]) => void;

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

@@ -1,4 +1,4 @@
-import { WorldObject, type PointsGeometry } from '../WorldObject';
+import { WorldObject, type PointsGeometry } from '../WorldObject.svelte';
 interface Context {
     current: WorldObject<PointsGeometry>[];
 }

package/dist/hooks/usePointclouds.svelte.js

@@ -5,7 +5,7 @@ import { fromStore, toStore } from 'svelte/store';
 import { createResourceClient, useResourceNames } from '@viamrobotics/svelte-sdk';
 import { parsePcdInWorker } from '../loaders/pcd';
 import { useMachineSettings } from './useMachineSettings.svelte';
-import { WorldObject } from '../WorldObject';
+import { WorldObject } from '../WorldObject.svelte';
 import { usePersistentUUIDs } from './usePersistentUUIDs.svelte';
 import { useLogs } from './useLogs.svelte';
 const key = Symbol('pointcloud-context');

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

@@ -1,5 +1,5 @@
 import { Object3D } from 'three';
-import type { WorldObject } from '../WorldObject';
+import type { WorldObject } from '../WorldObject.svelte';
 interface SelectionContext {
     readonly current: string | undefined;
     set(value?: string): void;

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

@@ -1,4 +1,4 @@
-import { WorldObject } from '../WorldObject';
+import { WorldObject } from '../WorldObject.svelte';
 interface Context {
     current: WorldObject[];
     add: () => void;

package/dist/hooks/useStaticGeometries.svelte.js

@@ -2,7 +2,7 @@ import { getContext, setContext } from 'svelte';
 import { get, set } from 'idb-keyval';
 import { Debounced } from 'runed';
 import { createGeometry } from '../transform';
-import { WorldObject } from '../WorldObject';
+import { WorldObject } from '../WorldObject.svelte';
 const key = Symbol('static-geometries-context');
 export const provideStaticGeometries = () => {
     let geometries = $state([]);

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

@@ -1,10 +1,10 @@
 import { type TransformChangeEvent } from '@viamrobotics/sdk';
-import { WorldObject } from '../WorldObject';
+import { WorldObject } from '../WorldObject.svelte';
 export declare const useWorldStates: () => {
     readonly names: import("@viamrobotics/sdk").PlainMessage<import("@viamrobotics/sdk/dist/gen/common/v1/common_pb").ResourceName>[];
     readonly current: {
         readonly name: string;
-        readonly objects: WorldObject<import("../WorldObject").Geometries>[];
+        readonly objects: WorldObject<import("../WorldObject.svelte").Geometries>[];
         readonly listUUIDs: import("@tanstack/svelte-query").QueryObserverResult<string[]>;
         readonly getTransforms: import("@tanstack/svelte-query").QueryObserverResult<import("@viamrobotics/sdk").TransformWithUUID>[] | undefined;
         readonly changeStream: import("@tanstack/svelte-query").DefinedQueryObserverResult<TransformChangeEvent[], Error> | import("@tanstack/svelte-query").QueryObserverLoadingErrorResult<TransformChangeEvent[], Error> | import("@tanstack/svelte-query").QueryObserverLoadingResult<TransformChangeEvent[], Error> | import("@tanstack/svelte-query").QueryObserverPendingResult<TransformChangeEvent[], Error> | import("@tanstack/svelte-query").QueryObserverPlaceholderResult<TransformChangeEvent[], Error>;
@@ -12,7 +12,7 @@ export declare const useWorldStates: () => {
 };
 export declare const useWorldState: (partID: () => string, resourceName: () => string) => {
     readonly name: string;
-    readonly objects: WorldObject<import("../WorldObject").Geometries>[];
+    readonly objects: WorldObject<import("../WorldObject.svelte").Geometries>[];
     readonly listUUIDs: import("@tanstack/svelte-query").QueryObserverResult<string[]>;
     readonly getTransforms: import("@tanstack/svelte-query").QueryObserverResult<import("@viamrobotics/sdk").TransformWithUUID>[] | undefined;
     readonly changeStream: import("@tanstack/svelte-query").DefinedQueryObserverResult<TransformChangeEvent[], Error> | import("@tanstack/svelte-query").QueryObserverLoadingErrorResult<TransformChangeEvent[], Error> | import("@tanstack/svelte-query").QueryObserverLoadingResult<TransformChangeEvent[], Error> | import("@tanstack/svelte-query").QueryObserverPendingResult<TransformChangeEvent[], Error> | import("@tanstack/svelte-query").QueryObserverPlaceholderResult<TransformChangeEvent[], Error>;

package/dist/hooks/useWorldState.svelte.js

@@ -1,7 +1,7 @@
 import { toPath, getInUnsafe, mutInUnsafe } from '@thi.ng/paths';
 import { WorldStateStoreClient, TransformChangeType, } from '@viamrobotics/sdk';
 import { createResourceClient, createResourceQuery, createResourceStream, useResourceNames, } from '@viamrobotics/svelte-sdk';
-import { fromTransform, WorldObject } from '../WorldObject';
+import { fromTransform, WorldObject } from '../WorldObject.svelte';
 import { usePartID } from './usePartID.svelte';
 export const useWorldStates = () => {
     const partID = usePartID();

package/dist/lib.d.ts

@@ -3,5 +3,5 @@ export { default as AxesHelper } from './components/AxesHelper.svelte';
 export { BatchedArrow } from './three/BatchedArrow';
 export { CapsuleGeometry } from './three/CapsuleGeometry';
 export { OrientationVector } from './three/OrientationVector';
-export { WorldObject } from './WorldObject';
+export { WorldObject } from './WorldObject.svelte';
 export { parsePcdInWorker } from './loaders/pcd';

package/dist/lib.js

@@ -5,6 +5,6 @@ export { default as AxesHelper } from './components/AxesHelper.svelte';
 export { BatchedArrow } from './three/BatchedArrow';
 export { CapsuleGeometry } from './three/CapsuleGeometry';
 export { OrientationVector } from './three/OrientationVector';
-export { WorldObject } from './WorldObject';
+export { WorldObject } from './WorldObject.svelte';
 // Functions
 export { parsePcdInWorker } from './loaders/pcd';

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "0.9.5",
+  "version": "0.10.0",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",