@viamrobotics/motion-tools 1.10.0 → 1.11.1

package/dist/snapshot.d.ts

@@ -1,6 +1,6 @@
 import type { World, Entity } from 'koota';
-import type { Snapshot } from './draw/v1/snapshot_pb';
-import { type SceneMetadata } from './draw/v1/scene_pb';
+import type { Snapshot } from './buf/draw/v1/snapshot_pb';
+import { type SceneMetadata } from './buf/draw/v1/scene_pb';
 import type { Settings } from './hooks/useSettings.svelte';
 export declare const applySceneMetadata: (settings: Settings, metadata: SceneMetadata) => Settings;
 export declare const spawnSnapshotEntities: (world: World, snapshot: Snapshot) => Entity[];

package/dist/snapshot.js

@@ -1,7 +1,7 @@
 import { Vector3, Vector4 } from 'three';
 import { NURBSCurve } from 'three/addons/curves/NURBSCurve.js';
-import { RenderArmModels } from './draw/v1/scene_pb';
-import {} from './draw/v1/drawing_pb';
+import { RenderArmModels } from './buf/draw/v1/scene_pb';
+import {} from './buf/draw/v1/drawing_pb';
 import { traits } from './ecs';
 import { Geometry } from '@viamrobotics/sdk';
 import { parseMetadata } from './WorldObject.svelte';

package/dist/three/InstancedArrows/raycast.d.ts

@@ -1,8 +1,6 @@
-import { Object3D, BufferGeometry, Raycaster, type Intersection } from 'three';
+import { Raycaster, type Intersection } from 'three';
 import type { InstancedArrows } from './InstancedArrows';
-export declare function meshBoundsRaycast(this: Object3D & {
-    geometry: BufferGeometry;
-}, raycaster: Raycaster, intersects: Intersection[]): void;
+export declare function meshBoundsRaycast(this: InstancedArrows, raycaster: Raycaster, intersects: Intersection[]): void;
 /**
  * Currently unused. In the future will be used for click only (not mousemove) due to complexity.
  */

package/dist/three/InstancedArrows/raycast.js

@@ -1,4 +1,4 @@
-import { Object3D, BufferGeometry, Ray, Matrix4, Raycaster, Vector3, Box3, RawShaderMaterial, } from 'three';
+import { Ray, Matrix4, Raycaster, Vector3, Box3, RawShaderMaterial } from 'three';
 const vec3 = new Vector3();
 const inverseMatrix = new Matrix4();
 const localRay = new Ray();
@@ -41,10 +41,10 @@ function closestPointsRaySegment(ray, a, b, outRay, outSeg) {
     return outRay.distanceToSquared(outSeg);
 }
 export function meshBoundsRaycast(raycaster, intersects) {
-    if (this.geometry.boundingBox === null) {
-        this.geometry.computeBoundingBox();
+    if (this.shaftMesh.geometry.boundingBox === null) {
+        this.shaftMesh.geometry.computeBoundingBox();
     }
-    box.copy(this.geometry.boundingBox ?? box);
+    box.copy(this.shaftMesh.geometry.boundingBox ?? box);
     if (!raycaster.ray.intersectsBox(box)) {
         return;
     }
@@ -119,7 +119,7 @@ export function raycast(raycaster, intersects) {
             distance: bestDistance,
             point: bestPointWorld,
             object: this.shaftMesh,
-            instanceId: bestInstanceId,
+            index: bestInstanceId,
         });
     }
 }

package/dist/transform.js

@@ -8,6 +8,7 @@ const scale = new Vector3();
 export const createPose = (pose) => {
     // We should only default to the 0,0,1,0 orientation vector if the entire vector component is missing
     const oZ = pose?.oX === undefined && pose?.oY === undefined && pose?.oZ === undefined ? 1 : (pose?.oZ ?? 0);
+    // pose expects theta in degrees
     return {
         x: pose?.x ?? 0,
         y: pose?.y ?? 0,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.10.0",
+  "version": "1.11.1",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -30,6 +30,7 @@
     "@threlte/rapier": "3.2.0",
     "@threlte/xr": "1.0.8",
     "@types/bun": "1.2.21",
+    "@types/earcut": "^3.0.0",
     "@types/lodash-es": "4.17.12",
     "@types/three": "0.181.0",
     "@typescript-eslint/eslint-plugin": "8.42.0",
@@ -115,10 +116,6 @@
     "./lib": {
       "types": "./dist/lib.d.ts",
       "svelte": "./dist/lib.js"
-    },
-    "./test": {
-      "types": "./dist/test.d.ts",
-      "svelte": "./dist/test.js"
     }
   },
   "repository": {
@@ -132,11 +129,15 @@
   ],
   "dependencies": {
     "@bufbuild/protobuf": "1.10.1",
+    "@connectrpc/connect": "1.7.0",
+    "@connectrpc/connect-web": "1.7.0",
     "@neodrag/svelte": "^2.3.3",
     "@tanstack/svelte-query-devtools": "^6.0.2",
+    "earcut": "^3.0.2",
     "expr-eval": "^2.0.2",
     "koota": "0.6.5",
     "lodash-es": "4.17.23",
+    "three-mesh-bvh": "^0.9.8",
     "uuid-tool": "^2.0.3"
   },
   "scripts": {
@@ -147,6 +148,7 @@
     "check:watch": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json --watch",
     "format": "prettier --write .",
     "lint": "prettier --check . && eslint .",
+    "knip": "npx knip --include files,exports,types",
     "test:unit": "vitest",
     "test:client": "go test ./client/... -count=1",
     "test:draw": "go test ./draw/... -count=1",

package/dist/assert.d.ts

@@ -1,14 +0,0 @@
-/** Assertion functions for runtime and type safety. */
-export declare class AssertionError extends Error {
-    constructor(message: string);
-}
-/**
- * Assert that a value is defined.
- *
- * @example
- * const stringify = (value: number | undefined): number => {
- *  assertExists(value)
- *  return `${value}` // TS now knows that value is of type `number`
- * }
- */
-export declare const assertExists: <T>(value: T, message: string) => asserts value is NonNullable<T>;

package/dist/assert.js

@@ -1,21 +0,0 @@
-/** Assertion functions for runtime and type safety. */
-export class AssertionError extends Error {
-    constructor(message) {
-        super(message);
-        this.name = 'AssertionError';
-    }
-}
-/**
- * Assert that a value is defined.
- *
- * @example
- * const stringify = (value: number | undefined): number => {
- *  assertExists(value)
- *  return `${value}` // TS now knows that value is of type `number`
- * }
- */
-export const assertExists = (value, message) => {
-    if (value === null || value === undefined) {
-        throw new AssertionError(message);
-    }
-};

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

@@ -1,26 +0,0 @@
-export default BatchedGeometry;
-type BatchedGeometry = SvelteComponent<{
-    [x: string]: never;
-}, {
-    [evt: string]: CustomEvent<any>;
-}, {}> & {
-    $$bindings?: string | undefined;
-};
-declare const BatchedGeometry: $$__sveltets_2_IsomorphicComponent<{
-    [x: string]: never;
-}, {
-    [evt: string]: CustomEvent<any>;
-}, {}, {}, string>;
-interface $$__sveltets_2_IsomorphicComponent<Props extends Record<string, any> = any, Events extends Record<string, any> = any, Slots extends Record<string, any> = any, Exports = {}, Bindings = string> {
-    new (options: import("svelte").ComponentConstructorOptions<Props>): import("svelte").SvelteComponent<Props, Events, Slots> & {
-        $$bindings?: Bindings;
-    } & Exports;
-    (internal: unknown, props: {
-        $$events?: Events;
-        $$slots?: Slots;
-    }): Exports & {
-        $set?: any;
-        $on?: any;
-    };
-    z_$$bindings?: Bindings;
-}

package/dist/components/Detections.svelte

@@ -1,41 +0,0 @@
-<script lang="ts">
-	import { VisionClient } from '@viamrobotics/sdk'
-	import DetectionsPlane from './DetectionsPlane.svelte'
-	import {
-		createResourceClient,
-		createResourceQuery,
-		useResourceNames,
-	} from '@viamrobotics/svelte-sdk'
-	import { usePartID } from '../hooks/usePartID.svelte'
-
-	const partID = usePartID()
-	const cameras = useResourceNames(() => partID.current, 'camera')
-	const services = useResourceNames(() => partID.current, 'vision')
-	const visionClients = $derived(
-		services.current.map((service) =>
-			createResourceClient(
-				VisionClient,
-				() => partID.current,
-				() => service.name
-			)
-		)
-	)
-
-	const queries = $derived(() =>
-		visionClients.map((client) =>
-			createResourceQuery(client, 'captureAllFromCamera', [
-				cameras.current[0].name,
-				{
-					returnImage: true,
-					returnClassifications: false,
-					returnDetections: true,
-					returnObjectPointClouds: false,
-				},
-			])
-		)
-	)
-
-	$inspect(queries)
-</script>
-
-<DetectionsPlane detections={[]} />

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

@@ -1,3 +0,0 @@
-declare const Detections: import("svelte").Component<Record<string, never>, {}, "">;
-type Detections = ReturnType<typeof Detections>;
-export default Detections;

package/dist/components/DetectionsPlane.svelte

@@ -1,23 +0,0 @@
-<script lang="ts">
-	import { T } from '@threlte/core'
-	import { Detection } from '@viamrobotics/sdk'
-
-	export let detections: Detection[]
-</script>
-
-<T.Group scale={0.001}>
-	{#each detections as { xMin, xMax, yMin, yMax }, index (index)}
-		{#if xMin !== undefined && xMax !== undefined && yMin !== undefined && yMax !== undefined}
-			<T.Mesh
-				scale={[Number(xMax - xMin), Number(yMax - yMin), 1]}
-				position={[Number(xMin), Number(yMin), 0]}
-			>
-				<T.PlaneGeometry />
-				<T.MeshStandardMaterial
-					transparent
-					opacity={0.5}
-				/>
-			</T.Mesh>
-		{/if}
-	{/each}
-</T.Group>

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

@@ -1,21 +0,0 @@
-import { Detection } from '@viamrobotics/sdk';
-interface $$__sveltets_2_IsomorphicComponent<Props extends Record<string, any> = any, Events extends Record<string, any> = any, Slots extends Record<string, any> = any, Exports = {}, Bindings = string> {
-    new (options: import('svelte').ComponentConstructorOptions<Props>): import('svelte').SvelteComponent<Props, Events, Slots> & {
-        $$bindings?: Bindings;
-    } & Exports;
-    (internal: unknown, props: Props & {
-        $$events?: Events;
-        $$slots?: Slots;
-    }): Exports & {
-        $set?: any;
-        $on?: any;
-    };
-    z_$$bindings?: Bindings;
-}
-declare const DetectionsPlane: $$__sveltets_2_IsomorphicComponent<{
-    detections: Detection[];
-}, {
-    [evt: string]: CustomEvent<any>;
-}, {}, {}, string>;
-type DetectionsPlane = InstanceType<typeof DetectionsPlane>;
-export default DetectionsPlane;

package/dist/components/Geometry2.svelte

@@ -1,211 +0,0 @@
-<script lang="ts">
-	import { T, useThrelte, type Props as ThrelteProps } from '@threlte/core'
-	import { type Snippet } from 'svelte'
-	import { meshBounds } from '@threlte/extras'
-	import { BufferGeometry, Color, DoubleSide, FrontSide, Group, Mesh } from 'three'
-	import { Line2, LineGeometry, LineMaterial } from 'three/examples/jsm/Addons.js'
-	import { CapsuleGeometry } from '../three/CapsuleGeometry'
-	import { colors, darkenColor } from '../color'
-	import AxesHelper from './AxesHelper.svelte'
-	import type { Entity } from 'koota'
-	import { traits, useTrait } from '../ecs'
-	import { poseToObject3d } from '../transform'
-	import type { Pose } from '@viamrobotics/sdk'
-
-	interface Props extends ThrelteProps<Group> {
-		entity: Entity
-		color?: string
-		model?: Group
-		pose?: Pose
-		renderMode?: 'model' | 'colliders' | 'colliders+model'
-		ref?: Group
-		children?: Snippet<[{ ref: Group }]>
-	}
-
-	let {
-		entity,
-		color: overrideColor,
-		model,
-		renderMode = 'colliders',
-		pose,
-		ref = $bindable(),
-		children,
-		...rest
-	}: Props = $props()
-
-	const colorUtil = new Color()
-
-	const { invalidate } = useThrelte()
-	const name = useTrait(() => entity, traits.Name)
-	const entityColor = useTrait(() => entity, traits.Color)
-	const opacity = useTrait(() => entity, traits.Opacity)
-	const box = useTrait(() => entity, traits.Box)
-	const capsule = useTrait(() => entity, traits.Capsule)
-	const sphere = useTrait(() => entity, traits.Sphere)
-	const bufferGeometry = useTrait(() => entity, traits.BufferGeometry)
-	const linePositions = useTrait(() => entity, traits.LinePositions)
-	const lineWidth = useTrait(() => entity, traits.LineWidth)
-	const center = useTrait(() => entity, traits.Center)
-	const showAxesHelper = useTrait(() => entity, traits.ShowAxesHelper)
-
-	const geometryType = $derived.by(() => {
-		if (box.current) return 'box'
-		if (capsule.current) return 'capsule'
-		if (sphere.current) return 'sphere'
-		if (bufferGeometry.current) return 'buffer'
-		if (linePositions.current) return 'line'
-	})
-
-	const color = $derived.by(() => {
-		if (overrideColor) {
-			return overrideColor
-		}
-		if (entityColor.current) {
-			return colorUtil
-				.setRGB(entityColor.current.r, entityColor.current.g, entityColor.current.b)
-				.getHexString()
-		}
-		return colors.default
-	})
-
-	const group = new Group()
-	ref = group
-
-	const mesh = $derived.by(() => {
-		if (geometryType === undefined) {
-			return
-		}
-
-		const result = geometryType === 'line' ? new Line2() : new Mesh()
-
-		if (geometryType === 'line') {
-			result.raycast = meshBounds
-		}
-
-		return result
-	})
-
-	$effect.pre(() => {
-		if (mesh && center.current) {
-			poseToObject3d(center.current, mesh)
-			invalidate()
-		}
-	})
-
-	const entityPose = useTrait(() => entity, traits.Pose)
-	const resolvedPose = $derived(pose ?? entityPose.current)
-	$effect.pre(() => {
-		if (resolvedPose) {
-			poseToObject3d(resolvedPose, group)
-			invalidate()
-		}
-	})
-
-	let geo = $state.raw<BufferGeometry>()
-
-	const oncreate = (bufferGeometry: BufferGeometry) => {
-		geo = bufferGeometry
-	}
-
-	$effect.pre(() => {
-		if (mesh && bufferGeometry.current) {
-			mesh.geometry = bufferGeometry.current
-			oncreate(bufferGeometry.current)
-
-			return () => {
-				geo = undefined
-				mesh?.geometry?.dispose()
-			}
-		}
-	})
-</script>
-
-<T
-	is={group}
-	{...rest}
->
-	{#if geometryType}
-		{#if showAxesHelper.current}
-			<AxesHelper
-				width={3}
-				length={0.1}
-			/>
-		{/if}
-
-		<T
-			is={mesh}
-			name={entity}
-			userData.name={name}
-			bvh={{ enabled: geometryType === 'buffer' }}
-		>
-			{#if model && renderMode.includes('model')}
-				<T is={model} />
-			{/if}
-
-			{#if !model || renderMode.includes('colliders')}
-				{#if linePositions.current}
-					<T
-						is={LineGeometry}
-						oncreate={(ref) => {
-							if (linePositions.current) {
-								ref.setPositions(linePositions.current)
-							}
-						}}
-					/>
-				{:else if box.current}
-					{@const { x, y, z } = box.current ?? { x: 0, y: 0, z: 0 }}
-					<T.BoxGeometry
-						args={[x * 0.001, y * 0.001, z * 0.001]}
-						{oncreate}
-					/>
-				{:else if sphere.current}
-					{@const { r } = sphere.current ?? { r: 0 }}
-					<T.SphereGeometry
-						args={[r * 0.001]}
-						{oncreate}
-					/>
-				{:else if capsule.current}
-					{@const { r, l } = capsule.current ?? { r: 0, l: 0 }}
-					<T
-						is={CapsuleGeometry}
-						args={[r * 0.001, l * 0.001]}
-						{oncreate}
-					/>
-				{/if}
-			{/if}
-
-			{#if linePositions.current}
-				<T
-					is={LineMaterial}
-					{color}
-					width={lineWidth.current ? lineWidth.current * 0.001 : 0.5}
-				/>
-			{:else}
-				<T.MeshToonMaterial
-					{color}
-					side={geometryType === 'buffer' ? DoubleSide : FrontSide}
-					transparent={(opacity.current ?? 0.7) < 1}
-					opacity={opacity.current ?? 0.7}
-				/>
-
-				{#if geo && renderMode.includes('colliders')}
-					<T.LineSegments
-						raycast={() => null}
-						bvh={{ enabled: false }}
-					>
-						<T.EdgesGeometry args={[geo, 0]} />
-						<T.LineBasicMaterial color={darkenColor(color, 10)} />
-					</T.LineSegments>
-				{/if}
-			{/if}
-		</T>
-	{:else if showAxesHelper.current}
-		<AxesHelper
-			name={name.current}
-			width={3}
-			length={0.1}
-		/>
-	{/if}
-
-	{@render children?.({ ref: group })}
-</T>

package/dist/components/Geometry2.svelte.d.ts

@@ -1,19 +0,0 @@
-import { type Props as ThrelteProps } from '@threlte/core';
-import { type Snippet } from 'svelte';
-import { Group } from 'three';
-import type { Entity } from 'koota';
-import type { Pose } from '@viamrobotics/sdk';
-interface Props extends ThrelteProps<Group> {
-    entity: Entity;
-    color?: string;
-    model?: Group;
-    pose?: Pose;
-    renderMode?: 'model' | 'colliders' | 'colliders+model';
-    ref?: Group;
-    children?: Snippet<[{
-        ref: Group;
-    }]>;
-}
-declare const Geometry2: import("svelte").Component<Props, {}, "ref">;
-type Geometry2 = ReturnType<typeof Geometry2>;
-export default Geometry2;

package/dist/components/overlay/left-pane/Widgets.svelte

@@ -1,65 +0,0 @@
-<script lang="ts">
-	import { Switch } from '@viamrobotics/prime-core'
-	import Drawer from './Drawer.svelte'
-	import { useSettings } from '../../../hooks/useSettings.svelte'
-	import { useResourceByName } from '../../../hooks/useResourceByName.svelte'
-	import { usePartID } from '../../../hooks/usePartID.svelte'
-
-	const settings = useSettings()
-	const resourceByName = useResourceByName()
-	const partID = usePartID()
-
-	const cameras = $derived(
-		Object.values(resourceByName.current).filter((resource) => resource?.subtype === 'camera')
-	)
-
-	const currentRobotCameraWidgets = $derived(
-		settings.current.openCameraWidgets[partID.current] || []
-	)
-</script>
-
-<Drawer name="Widgets">
-	<div class="flex flex-col gap-2 overflow-scroll p-3">
-		<div class="flex items-center justify-between gap-4 py-2">
-			Arm positions
-			<Switch
-				bind:on={settings.current.enableArmPositionsWidget}
-				on:change={(event) => {
-					settings.current.enableArmPositionsWidget = event.detail
-				}}
-			/>
-		</div>
-
-		<div class="mt-4">
-			<h3 class="text-sm"><strong>Camera Widgets</strong></h3>
-			{#each cameras as camera (camera?.name)}
-				{#if camera}
-					{@const isOpen = currentRobotCameraWidgets.includes(camera.name)}
-					<div class="flex items-center justify-between gap-4 py-2">
-						{camera.name}
-						<Switch
-							on={isOpen}
-							on:change={(event) => {
-								if (event.detail) {
-									settings.current.openCameraWidgets = {
-										...settings.current.openCameraWidgets,
-										[partID.current]: [...currentRobotCameraWidgets, camera.name],
-									}
-								} else {
-									settings.current.openCameraWidgets = {
-										...settings.current.openCameraWidgets,
-										[partID.current]: currentRobotCameraWidgets.filter(
-											(widget) => widget !== camera.name
-										),
-									}
-								}
-							}}
-						/>
-					</div>
-				{/if}
-			{:else}
-				<div class="py-2">No cameras detected</div>
-			{/each}
-		</div>
-	</div>
-</Drawer>

package/dist/components/overlay/left-pane/Widgets.svelte.d.ts

@@ -1,3 +0,0 @@
-declare const Widgets: import("svelte").Component<Record<string, never>, {}, "">;
-type Widgets = ReturnType<typeof Widgets>;
-export default Widgets;

package/dist/entries.d.ts

@@ -1 +0,0 @@
-export declare const typeSafeObjectFromEntries: <const T extends ReadonlyArray<readonly [PropertyKey, unknown]>>(entries: T) => { [K in T[number] as K[0]]: K[1]; };

package/dist/entries.js

@@ -1,3 +0,0 @@
-export const typeSafeObjectFromEntries = (entries) => {
-    return Object.fromEntries(entries);
-};

package/dist/hooks/index.js

@@ -1 +0,0 @@
-"use strict";

package/dist/test.d.ts

@@ -1 +0,0 @@
-export { createRandomPcdBinary } from './test/createRandomPcdBinary';

package/dist/test.js

@@ -1 +0,0 @@
-export { createRandomPcdBinary } from './test/createRandomPcdBinary';

package/dist/three/BoxHelper.d.ts

@@ -1,50 +0,0 @@
-import { Box3, LineSegments, Object3D } from 'three';
-/**
- * Helper object to graphically show the world-axis-aligned bounding box
- * around an object. The actual bounding box is handled with {@link Box3},
- * this is just a visual helper for debugging. It can be automatically
- * resized with {@link BoxHelper#update} when the object it's created from
- * is transformed. Note that the object must have a geometry for this to work,
- * so it won't work with sprites.
- *
- * ```js
- * const sphere = new THREE.SphereGeometry();
- * const object = new THREE.Mesh( sphere, new THREE.MeshBasicMaterial( 0xff0000 ) );
- * const box = new THREE.BoxHelper( object, 0xffff00 );
- * scene.add( box );
- * ```
- *
- * @augments LineSegments
- */
-declare class BoxHelper extends LineSegments {
-    type: string;
-    matrixAutoUpdate: boolean;
-    object: Object3D | undefined;
-    /**
-     * Constructs a new box helper.
-     *
-     * @param {Object3D} [object] - The 3D object to show the world-axis-aligned bounding box.
-     * @param {number|Color|string} [color=0xffff00] - The box's color.
-     */
-    constructor(object: Object3D, color?: number);
-    /**
-     * Updates the helper's geometry to match the dimensions of the object,
-     * including any children.
-     */
-    update(): void;
-    /**
-     * Updates the wireframe box for the passed object.
-     *
-     * @param {Object3D} object - The 3D object to create the helper for.
-     * @return {BoxHelper} A reference to this instance.
-     */
-    setFromObject(object: Object3D): this;
-    setFromBox3(box: Box3): this;
-    copy(source: BoxHelper, recursive: boolean): this;
-    /**
-     * Frees the GPU-related resources allocated by this instance. Call this
-     * method whenever this instance is no longer used in your app.
-     */
-    dispose(): void;
-}
-export { BoxHelper };