@viamrobotics/motion-tools 1.1.3 → 1.1.4

package/dist/color.js

@@ -1,6 +1,5 @@
 import { Color } from 'three';
 import twColors from 'tailwindcss/colors';
-import { isNumber } from 'lodash-es';
 import { ResourceName } from '@viamrobotics/sdk';
 // Step 3: linear sRGB → sRGB
 const linearToSrgb = (x) => {
@@ -104,7 +103,7 @@ export const isRGB = (color) => {
         !('b' in color)) {
         return false;
     }
-    return isNumber(color.r) && isNumber(color.g) && isNumber(color.b);
+    return typeof color.r === 'number' && typeof color.g === 'number' && typeof color.b === 'number';
 };
 export const parseRGB = (color, defaultColor = { r: 0, g: 0, b: 0 }) => {
     if (!isRGB(color))
@@ -112,8 +111,9 @@ export const parseRGB = (color, defaultColor = { r: 0, g: 0, b: 0 }) => {
     return new Color().setRGB(color.r > 1 ? color.r / 255 : color.r, color.g > 1 ? color.g / 255 : color.g, color.b > 1 ? color.b / 255 : color.b);
 };
 export const parseOpacity = (opacity, defaultOpacity = 1) => {
-    if (!isNumber(opacity))
+    if (typeof opacity !== 'number') {
         return defaultOpacity;
+    }
     return opacity > 1 ? opacity / 100 : opacity;
 };
 const isColor = (color) => {

package/dist/components/SceneProviders.svelte

@@ -13,7 +13,6 @@
 		provideTransformControls,
 		type CameraPose,
 	} from '../hooks/useControls.svelte'
-	import { provideMotionClient } from '../hooks/useMotionClient.svelte'
 	import { provideLogs } from '../hooks/useLogs.svelte'
 	import { provideOrigin } from './xr/useOrigin.svelte'
 	import { provideWorldStates } from '../hooks/useWorldState.svelte'
@@ -45,7 +44,6 @@
 	provideGeometries(() => partID.current)
 	provide3DModels(() => partID.current)
 	providePointclouds(() => partID.current)
-	provideMotionClient(() => partID.current)
 	provideArmClient(() => partID.current)
 	provideWorldStates()
 	provideFramelessComponents()

package/dist/components/Tree/Settings.svelte

@@ -1,7 +1,6 @@
 <script lang="ts">
 	import { Select, Switch, Input } from '@viamrobotics/prime-core'
 	import RefreshRate from '../RefreshRate.svelte'
-	import { useMotionClient } from '../../hooks/useMotionClient.svelte'
 	import Drawer from './Drawer.svelte'
 	import { useSettings } from '../../hooks/useSettings.svelte'
 	import { useResourceNames } from '@viamrobotics/svelte-sdk'
@@ -19,10 +18,8 @@
 	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
@@ -76,22 +73,6 @@
 			{/each}
 		</div>
 
-		<label class="flex flex-col gap-1">
-			Motion client
-			<Select
-				onchange={(event: InputEvent) => {
-					if (event.target instanceof HTMLSelectElement) {
-						motionClient.set(event.target.value)
-					}
-				}}
-				value={motionClient.current}
-			>
-				{#each motionClient.names as name (name)}
-					<option>{name}</option>
-				{/each}
-			</Select>
-		</label>
-
 		<h3 class="pt-2 text-sm"><strong>Pointclouds</strong></h3>
 		<div class="flex flex-col gap-2.5">
 			<label class="flex items-center justify-between gap-2">

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

@@ -0,0 +1,4 @@
+import { commonApi } from '@viamrobotics/sdk';
+export declare const usePose: (name: () => string | undefined, parent: () => string | undefined) => {
+    readonly current: import("@bufbuild/protobuf").PlainMessage<commonApi.Pose> | undefined;
+};

package/dist/hooks/usePose.svelte.js

@@ -1,8 +1,7 @@
-import { createResourceClient, createResourceQuery } from '@viamrobotics/svelte-sdk';
+import { createRobotQuery, useRobotClient } from '@viamrobotics/svelte-sdk';
 import { usePartID } from './usePartID.svelte';
-import { MotionClient, Pose, Transform } from '@viamrobotics/sdk';
+import { commonApi, Pose } from '@viamrobotics/sdk';
 import { RefreshRates, useMachineSettings } from './useMachineSettings.svelte';
-import { useMotionClient } from './useMotionClient.svelte';
 import { useEnvironment } from './useEnvironment.svelte';
 import { observe } from '@threlte/core';
 import { untrack } from 'svelte';
@@ -16,7 +15,7 @@ export const usePose = (name, parent) => {
     const logs = useLogs();
     const { refreshRates } = useMachineSettings();
     const partID = usePartID();
-    const motionClient = useMotionClient();
+    const robotClient = useRobotClient(() => partID.current);
     const currentName = $derived(name());
     const currentParent = $derived(parent());
     const resourceByName = useResourceByName();
@@ -25,7 +24,6 @@ export const usePose = (name, parent) => {
     const parentResource = $derived(currentParent ? resourceByName.current[currentParent] : undefined);
     const frames = useFrames();
     let pose = $state(undefined);
-    const client = createResourceClient(MotionClient, () => partID.current, () => motionClient.current ?? '');
     const interval = $derived(refreshRates.get(RefreshRates.poses));
     const resolvedParent = $derived(parentResource?.subtype === 'arm' || parentResource?.subtype === 'gantry'
         ? `${parent()}_origin`
@@ -33,7 +31,7 @@ export const usePose = (name, parent) => {
     const resolvedName = $derived(resource?.subtype === 'arm' || resource?.subtype === 'gantry'
         ? `${currentName}_origin`
         : currentName);
-    const query = createResourceQuery(client, 'getPose', () => [resolvedName, resolvedParent ?? 'world', []], () => ({
+    const query = createRobotQuery(robotClient, 'getPose', () => [resolvedName, resolvedParent ?? 'world', []], () => ({
         enabled: interval !== RefetchRates.OFF && environment.current.viewerMode === 'monitor',
         refetchInterval: interval === RefetchRates.MANUAL ? false : interval,
     }));

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.1.3",
+  "version": "1.1.4",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -25,7 +25,6 @@
     "@testing-library/jest-dom": "6.8.0",
     "@testing-library/svelte": "5.2.8",
     "@testing-library/user-event": "^14.6.1",
-    "@thi.ng/paths": "5.2.21",
     "@threlte/core": "8.3.0",
     "@threlte/extras": "9.7.0",
     "@threlte/rapier": "3.2.0",
@@ -36,7 +35,7 @@
     "@typescript-eslint/eslint-plugin": "8.42.0",
     "@typescript-eslint/parser": "8.42.0",
     "@viamrobotics/prime-core": "0.1.5",
-    "@viamrobotics/sdk": "0.56.0",
+    "@viamrobotics/sdk": "0.58.0",
     "@viamrobotics/svelte-sdk": "1.0.1",
     "@vitejs/plugin-basic-ssl": "2.1.0",
     "@vitest/coverage-v8": "^3.2.4",
@@ -49,8 +48,6 @@
     "globals": "16.3.0",
     "idb-keyval": "6.2.2",
     "jsdom": "26.1.0",
-    "koota": "^0.5.3",
-    "lodash-es": "4.17.21",
     "lucide-svelte": "0.542.0",
     "prettier": "3.6.2",
     "prettier-plugin-svelte": "3.4.0",
@@ -62,7 +59,6 @@
     "svelte-virtuallists": "1.4.2",
     "tailwindcss": "4.1.13",
     "three": "0.182.0",
-    "three-mesh-bvh": "^0.9.1",
     "threlte-uikit": "1.2.1",
     "tsx": "4.20.5",
     "type-fest": "^5.0.1",
@@ -84,6 +80,7 @@
     "@viamrobotics/svelte-sdk": ">=0.1",
     "@zag-js/svelte": ">=1",
     "@zag-js/tree-view": ">=1",
+    "camera-controls": ">=3",
     "idb-keyval": ">=6",
     "lucide-svelte": ">=0.511",
     "runed": ">=0.28",
@@ -122,6 +119,8 @@
     "@bufbuild/protobuf": "1.10.1",
     "@neodrag/svelte": "^2.3.3",
     "@tanstack/svelte-query-devtools": "^6.0.2",
+    "koota": "^0.5.3",
+    "lodash-es": "4.17.21",
     "uuid-tool": "^2.0.3"
   },
   "scripts": {

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

@@ -1,8 +0,0 @@
-interface Context {
-    names: string[];
-    current: string | undefined;
-    set(value?: string | undefined): void;
-}
-export declare const provideMotionClient: (partID: () => string) => void;
-export declare const useMotionClient: () => Context;
-export {};

package/dist/hooks/useMotionClient.svelte.js

@@ -1,32 +0,0 @@
-import { useResourceNames } from '@viamrobotics/svelte-sdk';
-import { getContext, setContext } from 'svelte';
-const key = Symbol('motion-client-context');
-export const provideMotionClient = (partID) => {
-    const motionResources = useResourceNames(partID, 'motion');
-    const motionNames = $derived(motionResources.current.map((resource) => resource.name));
-    let current = $state();
-    $effect.pre(() => {
-        if (current) {
-            return;
-        }
-        if (motionNames.includes('builtin')) {
-            current = 'builtin';
-            return;
-        }
-        current = motionNames[0];
-    });
-    setContext(key, {
-        get names() {
-            return motionNames;
-        },
-        get current() {
-            return current;
-        },
-        set(value) {
-            current = value;
-        },
-    });
-};
-export const useMotionClient = () => {
-    return getContext(key);
-};