@viamrobotics/motion-tools 1.13.0 → 1.13.1

package/dist/components/FileDrop/snapshot-dropper.js

@@ -81,16 +81,20 @@ const decodeGzip = async (params) => {
 };
 export const snapshotDropper = async (params) => {
     switch (params.extension) {
-        case 'json':
+        case 'json': {
             return decodeJson(params);
-        case 'pb':
+        }
+        case 'pb': {
             return decodeBinary(params);
-        case 'pb.gz':
+        }
+        case 'pb.gz': {
             return decodeGzip(params);
-        default:
+        }
+        default: {
             return {
                 success: false,
                 error: new FileDropperError(`Only ${Extensions.JSON}, ${Extensions.PB} and ${Extensions.PB_GZ} snapshot files are supported.`),
             };
+        }
     }
 };

package/dist/components/FileDrop/useFileDrop.svelte.js

@@ -4,14 +4,17 @@ import { plyDropper } from './ply-dropper';
 import { snapshotDropper } from './snapshot-dropper';
 const createFileDropper = (extension, prefix) => {
     switch (prefix) {
-        case Prefixes.Snapshot:
+        case Prefixes.Snapshot: {
             return snapshotDropper;
+        }
     }
     switch (extension) {
-        case Extensions.PCD:
+        case Extensions.PCD: {
             return pcdDropper;
-        case Extensions.PLY:
+        }
+        case Extensions.PLY: {
             return plyDropper;
+        }
     }
     return undefined;
 };
@@ -74,11 +77,11 @@ export const useFileDrop = (onSuccess, onError) => {
                     prefix,
                     content,
                 });
-                if (!result.success) {
-                    handleError(result.error.message);
+                if (result.success) {
+                    onSuccess(result);
                 }
                 else {
-                    onSuccess(result);
+                    handleError(result.error.message);
                 }
             });
             readFile(file, reader, extension);

package/dist/components/Lasso/Lasso.svelte

@@ -245,16 +245,16 @@
 	}
 
 	$effect(() => {
-		window.addEventListener('keydown', onkeydown)
-		window.addEventListener('keyup', onkeyup)
+		globalThis.addEventListener('keydown', onkeydown)
+		globalThis.addEventListener('keyup', onkeyup)
 		dom.addEventListener('pointerdown', onpointerdown)
 		dom.addEventListener('pointermove', onpointermove)
 		dom.addEventListener('pointerup', onpointerup)
 		dom.addEventListener('pointerleave', onpointerleave)
 
 		return () => {
-			window.removeEventListener('keydown', onkeydown)
-			window.removeEventListener('keyup', onkeyup)
+			globalThis.removeEventListener('keydown', onkeydown)
+			globalThis.removeEventListener('keyup', onkeyup)
 			dom.removeEventListener('pointerdown', onpointerdown)
 			dom.removeEventListener('pointermove', onpointermove)
 			dom.removeEventListener('pointerup', onpointerup)

package/dist/components/PCD.svelte

@@ -2,13 +2,15 @@
 	import { parsePcdInWorker } from '../lib'
 	import { traits, useWorld } from '../ecs'
 	import { createBufferGeometry } from '../attribute'
-	import type { Entity } from 'koota'
+	import type { ConfigurableTrait, Entity } from 'koota'
 
 	interface Props {
 		data: Uint8Array
+		name?: string
+		renderOrder?: number
 	}
 
-	let { data }: Props = $props()
+	let { data, name, renderOrder }: Props = $props()
 
 	const world = useWorld()
 
@@ -18,11 +20,17 @@
 		parsePcdInWorker(data).then(({ positions, colors }) => {
 			const geometry = createBufferGeometry(positions, colors)
 
-			entity = world.spawn(
-				traits.Name('Random points'),
+			const entityTraits: ConfigurableTrait[] = [
+				traits.Name(name ?? 'Random points'),
 				traits.Points,
-				traits.BufferGeometry(geometry)
-			)
+				traits.BufferGeometry(geometry),
+			]
+
+			if (renderOrder) {
+				entityTraits.push(traits.RenderOrder(renderOrder))
+			}
+
+			entity = world.spawn(...entityTraits)
 		})
 
 		return () => {

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

@@ -1,5 +1,7 @@
 interface Props {
     data: Uint8Array;
+    name?: string;
+    renderOrder?: number;
 }
 declare const PCD: import("svelte").Component<Props, {}, "">;
 type PCD = ReturnType<typeof PCD>;

package/dist/components/Scene.svelte

@@ -2,7 +2,7 @@
 	import { ShaderMaterial, Vector3 } from 'three'
 	import { T } from '@threlte/core'
 	import { Environment, Grid, interactivity, PerfMonitor, PortalTarget } from '@threlte/extras'
-	import Entities from './Entities.svelte'
+	import Entities from './Entities/Entities.svelte'
 	import Selected from './Selected.svelte'
 	import Focus from './Focus.svelte'
 	import StaticGeometries from './StaticGeometries.svelte'
@@ -17,7 +17,6 @@
 	import MeasureTool from './MeasureTool/MeasureTool.svelte'
 	import PointerMissBox from './PointerMissBox.svelte'
 	import BatchedArrows from './BatchedArrows.svelte'
-	import Arrows from './Arrows/ArrowGroups.svelte'
 	import hdrImage from '../assets/ferndale_studio_11_1k.hdr'
 
 	interface Props {
@@ -103,7 +102,6 @@
 
 		<Entities />
 		<BatchedArrows />
-		<Arrows />
 	</T.Group>
 
 	{@render children?.()}

package/dist/components/StaticGeometries.svelte

@@ -12,7 +12,7 @@
 	import { PressedKeys } from 'runed'
 	import { quaternionToPose, vector3ToPose } from '../transform'
 	import { Quaternion, Vector3 } from 'three'
-	import Frame from './Frame.svelte'
+	import Frame from './Entities/Frame.svelte'
 	import { useSettings } from '../hooks/useSettings.svelte'
 	import { useWorld, traits } from '../ecs'
 	import type { Entity } from 'koota'

package/dist/components/overlay/AddRelationship.svelte

@@ -17,7 +17,7 @@
 		return allEntities.current
 			.map((e: Entity) => e.get(traits.Name))
 			.filter((n: string | undefined): n is string => n !== undefined && n !== currentEntityName)
-			.sort()
+			.toSorted()
 	})
 
 	let showRelationshipOptions = $state(false)

package/dist/components/overlay/LiveUpdatesBanner.svelte

@@ -13,12 +13,10 @@
 
 <svelte:window
 	onkeydown={(event) => {
-		if (event.metaKey) {
-			if (event.key.toLowerCase() === 's') {
-				event.preventDefault()
-				event.stopImmediatePropagation()
-				partConfig.save()
-			}
+		if (event.metaKey && event.key.toLowerCase() === 's') {
+			event.preventDefault()
+			event.stopImmediatePropagation()
+			partConfig.save()
 		}
 	}}
 />

package/dist/components/overlay/settings/Settings.svelte

@@ -285,19 +285,17 @@
 				<Switch
 					on={isWidgetOpen}
 					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
-								),
-							}
-						}
+						settings.current.openCameraWidgets = event.detail
+							? {
+									...settings.current.openCameraWidgets,
+									[partID.current]: [...currentRobotCameraWidgets, camera.name],
+								}
+							: {
+									...settings.current.openCameraWidgets,
+									[partID.current]: currentRobotCameraWidgets.filter(
+										(widget) => widget !== camera.name
+									),
+								}
 					}}
 				/>
 			</div>

package/dist/components/overlay/widgets/Camera.svelte

@@ -31,12 +31,14 @@
 	let fpsInterval: ReturnType<typeof setInterval> | undefined
 	let fpsCounterActive = false
 
+	const cleanup = () => {
+		if (fpsInterval) clearInterval(fpsInterval)
+		fpsCounterActive = false
+	}
+
 	// Cleanup on destroy
 	$effect(() => {
-		return () => {
-			if (fpsInterval) clearInterval(fpsInterval)
-			fpsCounterActive = false
-		}
+		return cleanup
 	})
 
 	const onMediaLoad = (e: Event) => {
@@ -89,8 +91,8 @@
 					resolutions = options.map((opt) => ({ width: opt.width, height: opt.height }))
 					isLoading = false
 				})
-				.catch((e) => {
-					error = e instanceof Error ? e.message : 'Failed to get stream options'
+				.catch((error_) => {
+					error = error_ instanceof Error ? error_.message : 'Failed to get stream options'
 					isLoading = false
 				})
 		}
@@ -101,13 +103,13 @@
 		if (!target.value || !streamClient) return
 
 		const [w, h] = target.value.split('x').map(Number)
-		if (isNaN(w) || isNaN(h)) return
+		if (Number.isNaN(w) || Number.isNaN(h)) return
 
 		try {
 			await streamClient.setOptions(name, w, h)
 			error = undefined
-		} catch (err) {
-			error = err instanceof Error ? err.message : 'Failed to set resolution'
+		} catch (error_) {
+			error = error_ instanceof Error ? error_.message : 'Failed to set resolution'
 		}
 	}
 </script>

package/dist/components/xr/ArmTeleop.svelte

@@ -24,7 +24,7 @@
 	let {
 		armName,
 		gripperName,
-		scaleFactor = 1.0,
+		scaleFactor = 1,
 		hand = 'right',
 		rotationEnabled = true,
 	}: Props = $props()
@@ -33,6 +33,7 @@
 
 	// Capture initial prop values — parent uses {#key} to force remount on changes.
 	// Wrapped in an IIFE to avoid Svelte's state_referenced_locally warning.
+	// eslint-disable-next-line unicorn/no-unreadable-iife
 	const { initialHand, initialGripperName } = (() => ({
 		initialHand: hand,
 		initialGripperName: gripperName,
@@ -101,16 +102,14 @@
 		const currentSession = $session
 		if (!currentSession) return
 
-		const inputSource = Array.from(currentSession.inputSources).find(
-			(s) => s.handedness === initialHand
-		)
+		const inputSource = [...currentSession.inputSources].find((s) => s.handedness === initialHand)
 		if (!inputSource?.gamepad?.hapticActuators?.length) return
 
 		const actuator = inputSource.gamepad.hapticActuators[0]
 		if ('pulse' in actuator) {
 			actuator
 				.pulse(intensity, duration)
-				.catch((e) => console.warn('[ArmTeleop] Haptic pulse failed:', e))
+				.catch((error) => console.warn('[ArmTeleop] Haptic pulse failed:', error))
 		}
 	}
 
@@ -143,9 +142,7 @@
 		const currentSession = $session
 		if (!currentSession || !controller.current) return
 
-		const inputSource = Array.from(currentSession.inputSources).find(
-			(s) => s.handedness === initialHand
-		)
+		const inputSource = [...currentSession.inputSources].find((s) => s.handedness === initialHand)
 
 		if (!inputSource || !inputSource.gamepad) return
 
@@ -166,15 +163,16 @@
 			if (armClient.current) {
 				handleStartControl(controller.current)
 			}
-		} else if (!isPressed && wasPressed) {
-			// Falling Edge: Stop Control
-			if (isControlling) {
-				isControlling = false
-				// Haptic feedback: short pulse on teleop end
-				triggerHapticFeedback(0.3, 80)
-				// Log final position
-				handleStopControl()
-			}
+		} else if (
+			!isPressed &&
+			wasPressed && // Falling Edge: Stop Control
+			isControlling
+		) {
+			isControlling = false
+			// Haptic feedback: short pulse on teleop end
+			triggerHapticFeedback(0.3, 80)
+			// Log final position
+			handleStopControl()
 		}
 
 		// 4. Edge Detection - GRIPPER CONTROL (Trigger)
@@ -186,7 +184,7 @@
 					clearTimeout(gripperStopTimeout)
 					gripperStopTimeout = null
 				}
-				gripperClient.current.grab().catch((e) => console.warn('Gripper grab failed:', e))
+				gripperClient.current.grab().catch((error) => console.warn('Gripper grab failed:', error))
 			} else if (!isTriggerPressed && wasTriggerPressed) {
 				// Trigger released: Open gripper, then stop after 1 second
 				// Clear any pending stop timeout
@@ -194,11 +192,13 @@
 					clearTimeout(gripperStopTimeout)
 					gripperStopTimeout = null
 				}
-				gripperClient.current.open().catch((e) => console.warn('Gripper open failed:', e))
+				gripperClient.current.open().catch((error) => console.warn('Gripper open failed:', error))
 
 				// Schedule stop after 1 second
 				gripperStopTimeout = setTimeout(() => {
-					gripperClient?.current?.stop().catch((e) => console.warn('Gripper stop failed:', e))
+					gripperClient?.current
+						?.stop()
+						.catch((error) => console.warn('Gripper stop failed:', error))
 					gripperStopTimeout = null
 				}, 1000)
 			}
@@ -275,16 +275,16 @@
 
 			// Haptic feedback: short pulse on teleop start
 			triggerHapticFeedback(0.5, 100)
-		} catch (e) {
-			console.error('[ArmTeleop] Failed to start teleop:', e)
+		} catch (error) {
+			console.error('[ArmTeleop] Failed to start teleop:', error)
 		}
 	}
 
 	async function handleStopControl() {
 		try {
 			await armClient.current!.getEndPosition()
-		} catch (e) {
-			console.error('[ArmTeleop] Failed to get final position:', e)
+		} catch (error) {
+			console.error('[ArmTeleop] Failed to get final position:', error)
 		}
 	}
 
@@ -361,7 +361,7 @@
 		lastCommandTime = now
 		isSending = true
 
-		if (isNaN(targetPos.x) || isNaN(targetOV.th)) {
+		if (Number.isNaN(targetPos.x) || Number.isNaN(targetOV.th)) {
 			console.warn('Teleop Safety: NaN detected', targetPos, targetOV)
 			isSending = false
 			return
@@ -387,12 +387,12 @@
 			if (client) {
 				client
 					.doCommand(VIAM.Struct.fromJson(command))
-					.catch((e) => {
-						console.warn('Move failed:', e)
+					.catch((error) => {
+						console.warn('Move failed:', error)
 						errorTimeout = Date.now() + ERROR_COOLDOWN
 						triggerHapticFeedback(0.8, 200)
 						lastErrorHapticTime = Date.now()
-						showArmErrorToast(e)
+						showArmErrorToast(error)
 					})
 					.finally(() => {
 						isSending = false
@@ -409,12 +409,12 @@
 					oZ: targetOV.z,
 					theta: (targetOV.th * 180) / Math.PI,
 				})
-				.catch((e) => {
-					console.warn('Move failed:', e)
+				.catch((error) => {
+					console.warn('Move failed:', error)
 					errorTimeout = Date.now() + ERROR_COOLDOWN
 					triggerHapticFeedback(0.8, 200)
 					lastErrorHapticTime = Date.now()
-					showArmErrorToast(e)
+					showArmErrorToast(error)
 				})
 				.finally(() => {
 					isSending = false
@@ -434,8 +434,8 @@
 			// Use moveToPosition to return to the saved pose
 			await armClient.current.moveToPosition(savedPose)
 			xrToast.success('Returned to saved position')
-		} catch (e) {
-			console.error('[ArmTeleop] Failed to return to saved pose:', e)
+		} catch (error) {
+			console.error('[ArmTeleop] Failed to return to saved pose:', error)
 			xrToast.danger('Failed to return to position')
 		} finally {
 			isReturning = false

package/dist/components/xr/CameraFeed.svelte

@@ -86,7 +86,7 @@
 			}
 
 			// Force play to ensure stream is active
-			video.play().catch((e) => console.warn('Video play failed:', e))
+			video.play().catch((error) => console.warn('Video play failed:', error))
 			ready = true
 
 			// PROFILING: Video ready
@@ -153,28 +153,26 @@
 				const captureTime = metadata.captureTime || metadata.mediaTime
 				const presentationTime = metadata.presentationTime || metadata.expectedDisplayTime
 
-				if (captureTime) {
-					// The times might be in different epochs, so we can only reliably calculate
-					// the difference between capture and presentation
-					if (presentationTime) {
-						// Encoding + Network + Decoding time
-						const captureToPresentMs = (presentationTime - captureTime) / 1000
-						metrics.captureToPresent = captureToPresentMs
-
-						// Time since video element presented the frame to when we render it
-						// This should be very small (< 16ms ideally)
-						const presentMsRelative = presentationTime / 1000
-						const timeSincePresentation = now - presentMsRelative
-
-						// Only use this if the time domains seem aligned (value is reasonable)
-						if (Math.abs(timeSincePresentation) < 1000) {
-							metrics.presentToRender = timeSincePresentation
-							metrics.totalLatency = captureToPresentMs + timeSincePresentation
-						} else {
-							// Time domains don't align - just use capture to present as approximation
-							metrics.presentToRender = undefined
-							metrics.totalLatency = captureToPresentMs
-						}
+				// The times might be in different epochs, so we can only reliably calculate
+				// the difference between capture and presentation
+				if (captureTime && presentationTime) {
+					// Encoding + Network + Decoding time
+					const captureToPresentMs = (presentationTime - captureTime) / 1000
+					metrics.captureToPresent = captureToPresentMs
+
+					// Time since video element presented the frame to when we render it
+					// This should be very small (< 16ms ideally)
+					const presentMsRelative = presentationTime / 1000
+					const timeSincePresentation = now - presentMsRelative
+
+					// Only use this if the time domains seem aligned (value is reasonable)
+					if (Math.abs(timeSincePresentation) < 1000) {
+						metrics.presentToRender = timeSincePresentation
+						metrics.totalLatency = captureToPresentMs + timeSincePresentation
+					} else {
+						// Time domains don't align - just use capture to present as approximation
+						metrics.presentToRender = undefined
+						metrics.totalLatency = captureToPresentMs
 					}
 				}
 			}

package/dist/components/xr/JointLimitsWidget.svelte

@@ -36,7 +36,7 @@
 		return jointLimits.map((limit, index) => {
 			const current = currentPositions[index] ?? 0
 			const range = limit.max - limit.min
-			const percentage = range !== 0 ? ((current - limit.min) / range) * 100 : 50
+			const percentage = range === 0 ? 50 : ((current - limit.min) / range) * 100
 
 			let status: 'safe' | 'caution' | 'danger'
 			if (percentage < 10 || percentage > 90) {
@@ -122,6 +122,18 @@
 		ctx.stroke()
 	}
 
+	const getJointColor = (status: 'safe' | 'caution' | 'danger') => {
+		if (status === 'danger') {
+			return '#ff4444'
+		}
+
+		if (status === 'caution') {
+			return '#ffaa00'
+		}
+
+		return '#44ff44'
+	}
+
 	// Render joint data to canvas
 	function renderJointLimits(
 		ctx: CanvasRenderingContext2D,
@@ -132,7 +144,8 @@
 		const s = RESOLUTION_SCALE
 		const rowHeight = (height - HEADER_HEIGHT) / joints.length
 
-		joints.forEach((joint, index) => {
+		let index = 0
+		for (const joint of joints) {
 			const y = HEADER_HEIGHT + index * rowHeight
 
 			// Background row
@@ -157,8 +170,7 @@
 
 			// Progress bar fill (colored by status)
 			const fillWidth = barWidth * (joint.percentage / 100)
-			ctx.fillStyle =
-				joint.status === 'danger' ? '#ff4444' : joint.status === 'caution' ? '#ffaa00' : '#44ff44'
+			ctx.fillStyle = getJointColor(joint.status)
 			ctx.fillRect(barX, barY, fillWidth, barHeight)
 
 			// Progress bar border
@@ -174,7 +186,9 @@
 				barX + barWidth + 20 * s,
 				y + rowHeight / 2
 			)
-		})
+
+			index += 1
+		}
 	}
 
 	// Update canvas when joint data changes

package/dist/components/xr/XRConfigPanel.svelte

@@ -21,8 +21,8 @@
 	let resources: ReturnType<typeof useResourceNames> | undefined
 	try {
 		resources = useResourceNames(() => partID.current)
-	} catch (e) {
-		console.warn('Failed to get resources, robot may not be connected yet:', e)
+	} catch (error) {
+		console.warn('Failed to get resources, robot may not be connected yet:', error)
 	}
 
 	// Get available arms and grippers
@@ -41,9 +41,9 @@
 	const currentConfig = $derived(settings.current.xrController[selectedHand])
 
 	// Local form state (editable) — synced from currentConfig via effect
-	let formArmName = $state<string | undefined>(undefined)
-	let formGripperName = $state<string | undefined>(undefined)
-	let formScaleFactor = $state<number>(1.0)
+	let formArmName = $state<string>()
+	let formGripperName = $state<string>()
+	let formScaleFactor = $state<number>(1)
 	let formRotationEnabled = $state<boolean>(true)
 
 	// Sync form state when selected hand or config changes
@@ -59,9 +59,9 @@
 	const CANVAS_WIDTH = 600
 	const CANVAS_HEIGHT = 500
 
-	let canvas: HTMLCanvasElement | undefined = $state()
-	let texture: CanvasTexture | undefined = $state()
-	let geometry: PlaneGeometry | undefined = $state()
+	let canvas = $state<HTMLCanvasElement>()
+	let texture = $state<CanvasTexture>()
+	let geometry = $state<PlaneGeometry>()
 
 	// Initialize canvas
 	$effect(() => {
@@ -90,14 +90,14 @@
 	let uiElements: UIElement[] = []
 
 	// Mesh ref for raycasting
-	let meshRef = $state<Mesh | undefined>()
+	let meshRef = $state<Mesh>()
 
 	// Controller interaction
 	const rightController = useController('right')
 	const leftController = useController('left')
 
 	// Interaction state
-	let hoveredElement = $state<UIElement | undefined>()
+	let hoveredElement = $state<UIElement>()
 	let lastButtonPressed = $state(false)
 
 	// Handle click on UI element
@@ -340,7 +340,7 @@
 		ctx.fillRect(sliderX, sliderY, sliderWidth, sliderHeight)
 
 		// Slider thumb
-		const thumbPos = ((formScaleFactor - 0.1) / (3.0 - 0.1)) * sliderWidth
+		const thumbPos = ((formScaleFactor - 0.1) / (3 - 0.1)) * sliderWidth
 		ctx.fillStyle = '#4CAF50'
 		ctx.beginPath()
 		ctx.arc(sliderX + thumbPos, sliderY + sliderHeight / 2, 12, 0, Math.PI * 2)
@@ -428,12 +428,13 @@
 		}
 	})
 
-	// Clean up on unmount
+	const cleanup = () => {
+		texture?.dispose()
+		geometry?.dispose()
+	}
+
 	$effect(() => {
-		return () => {
-			texture?.dispose()
-			geometry?.dispose()
-		}
+		return cleanup
 	})
 </script>
 

package/dist/components/xr/XRControllerSettings.svelte

@@ -105,8 +105,8 @@
 			max="3.0"
 			step="0.1"
 			value={config.left.scaleFactor}
-			style="--value: {((config.left.scaleFactor - 0.1) / (3.0 - 0.1)) * 100}%"
-			oninput={(e) => updateConfig('left', 'scaleFactor', parseFloat(e.currentTarget.value))}
+			style="--value: {((config.left.scaleFactor - 0.1) / (3 - 0.1)) * 100}%"
+			oninput={(e) => updateConfig('left', 'scaleFactor', Number.parseFloat(e.currentTarget.value))}
 		/>
 	</label>
 
@@ -166,8 +166,9 @@
 			max="3.0"
 			step="0.1"
 			value={config.right.scaleFactor}
-			style="--value: {((config.right.scaleFactor - 0.1) / (3.0 - 0.1)) * 100}%"
-			oninput={(e) => updateConfig('right', 'scaleFactor', parseFloat(e.currentTarget.value))}
+			style="--value: {((config.right.scaleFactor - 0.1) / (3 - 0.1)) * 100}%"
+			oninput={(e) =>
+				updateConfig('right', 'scaleFactor', Number.parseFloat(e.currentTarget.value))}
 		/>
 	</label>