@viamrobotics/motion-tools 1.13.0 → 1.14.0

package/dist/loaders/pcd/worker.inline.js

@@ -3566,7 +3566,7 @@ void main() {
 	#include <fog_fragment>
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-\`);for(let g=0,y=_.length;g<y;g++){if(_[g]==="")continue;let v=_[g].split(" ");if(d.x!==void 0&&(s.push(parseFloat(v[d.x])),s.push(parseFloat(v[d.y])),s.push(parseFloat(v[d.z]))),d.rgb!==void 0){let b=i.fields.findIndex(U=>U==="rgb"),S=i.type[b],E=parseFloat(v[d.rgb]),T=E;if(S==="F"){let U=new Float32Array(1);U[0]=E,T=new Int32Array(U.buffer)[0]}let A=(T>>16&255)/255,P=(T>>8&255)/255,O=(T>>0&255)/255;c.setRGB(A,P,O,G),a.push(c.r,c.g,c.b)}d.normal_x!==void 0&&(r.push(parseFloat(v[d.normal_x])),r.push(parseFloat(v[d.normal_y])),r.push(parseFloat(v[d.normal_z]))),d.intensity!==void 0&&l.push(parseFloat(v[d.intensity])),d.label!==void 0&&o.push(parseInt(v[d.label]))}}if(i.data==="binary_compressed"){let d=new Uint32Array(e.slice(i.headerLen,i.headerLen+8)),h=d[0],m=d[1],_=t(new Uint8Array(e,i.headerLen+8,h),m),g=new DataView(_.buffer),y=i.offset;for(let v=0;v<i.points;v++){if(y.x!==void 0){let b=i.fields.indexOf("x"),S=i.fields.indexOf("y"),E=i.fields.indexOf("z");s.push(this._getDataView(g,i.points*y.x+i.size[b]*v,i.type[b],i.size[b])),s.push(this._getDataView(g,i.points*y.y+i.size[S]*v,i.type[S],i.size[S])),s.push(this._getDataView(g,i.points*y.z+i.size[E]*v,i.type[E],i.size[E]))}if(y.rgb!==void 0){let b=i.fields.indexOf("rgb"),S=g.getUint8(i.points*y.rgb+i.size[b]*v+2)/255,E=g.getUint8(i.points*y.rgb+i.size[b]*v+1)/255,T=g.getUint8(i.points*y.rgb+i.size[b]*v+0)/255;c.setRGB(S,E,T,G),a.push(c.r,c.g,c.b)}if(y.normal_x!==void 0){let b=i.fields.indexOf("normal_x"),S=i.fields.indexOf("normal_y"),E=i.fields.indexOf("normal_z");r.push(this._getDataView(g,i.points*y.normal_x+i.size[b]*v,i.type[b],i.size[b])),r.push(this._getDataView(g,i.points*y.normal_y+i.size[S]*v,i.type[S],i.size[S])),r.push(this._getDataView(g,i.points*y.normal_z+i.size[E]*v,i.type[E],i.size[E]))}if(y.intensity!==void 0){let b=i.fields.indexOf("intensity");l.push(this._getDataView(g,i.points*y.intensity+i.size[b]*v,i.type[b],i.size[b]))}if(y.label!==void 0){let b=i.fields.indexOf("label");o.push(g.getInt32(i.points*y.label+i.size[b]*v,this.littleEndian))}}}if(i.data==="binary"){let d=new DataView(e,i.headerLen),h=i.offset;for(let m=0,_=0;m<i.points;m++,_+=i.rowSize){if(h.x!==void 0){let g=i.fields.indexOf("x"),y=i.fields.indexOf("y"),v=i.fields.indexOf("z");s.push(this._getDataView(d,_+h.x,i.type[g],i.size[g])),s.push(this._getDataView(d,_+h.y,i.type[y],i.size[y])),s.push(this._getDataView(d,_+h.z,i.type[v],i.size[v]))}if(h.rgb!==void 0){let g=d.getUint8(_+h.rgb+2)/255,y=d.getUint8(_+h.rgb+1)/255,v=d.getUint8(_+h.rgb+0)/255;c.setRGB(g,y,v,G),a.push(c.r,c.g,c.b)}if(h.normal_x!==void 0){let g=i.fields.indexOf("normal_x"),y=i.fields.indexOf("normal_y"),v=i.fields.indexOf("normal_z");r.push(this._getDataView(d,_+h.normal_x,i.type[g],i.size[g])),r.push(this._getDataView(d,_+h.normal_y,i.type[y],i.size[y])),r.push(this._getDataView(d,_+h.normal_z,i.type[v],i.size[v]))}if(h.intensity!==void 0){let g=i.fields.indexOf("intensity");l.push(this._getDataView(d,_+h.intensity,i.type[g],i.size[g]))}h.label!==void 0&&o.push(d.getInt32(_+h.label,this.littleEndian))}}let u=new Ne;s.length>0&&u.setAttribute("position",new oe(s,3)),r.length>0&&u.setAttribute("normal",new oe(r,3)),a.length>0&&u.setAttribute("color",new oe(a,3)),l.length>0&&u.setAttribute("intensity",new oe(l,1)),o.length>0&&u.setAttribute("label",new Ze(o,1)),u.computeBoundingSphere();let f=new Fe({size:.005});return a.length>0&&(f.vertexColors=!0),new Je(u,f)}};var _a=new Ot;self.onmessage=async p=>{let{data:e,id:t}=p.data;if(!(e instanceof Uint8Array)){postMessage({id:t,error:"Invalid data format"});return}try{let n=_a.parse(e.buffer);if(n.geometry){let i=n.geometry.attributes.position?.array??new Float32Array(0),s=n.geometry.attributes.color?.array??null,r=s?new Uint8Array(s.length):null;if(r)for(let a=0,l=s.length;a<l;a++)r[a]=Math.round(s[a]*255);postMessage({positions:i,colors:r,id:t},r?[i.buffer,r.buffer]:[i.buffer])}else postMessage({id:t,error:"Failed to extract geometry"})}catch(n){postMessage({id:t,error:n.message})}};})();
+\`);for(let g=0,y=_.length;g<y;g++){if(_[g]==="")continue;let v=_[g].split(" ");if(d.x!==void 0&&(s.push(parseFloat(v[d.x])),s.push(parseFloat(v[d.y])),s.push(parseFloat(v[d.z]))),d.rgb!==void 0){let b=i.fields.findIndex(U=>U==="rgb"),S=i.type[b],E=parseFloat(v[d.rgb]),T=E;if(S==="F"){let U=new Float32Array(1);U[0]=E,T=new Int32Array(U.buffer)[0]}let A=(T>>16&255)/255,P=(T>>8&255)/255,O=(T>>0&255)/255;c.setRGB(A,P,O,G),a.push(c.r,c.g,c.b)}d.normal_x!==void 0&&(r.push(parseFloat(v[d.normal_x])),r.push(parseFloat(v[d.normal_y])),r.push(parseFloat(v[d.normal_z]))),d.intensity!==void 0&&l.push(parseFloat(v[d.intensity])),d.label!==void 0&&o.push(parseInt(v[d.label]))}}if(i.data==="binary_compressed"){let d=new Uint32Array(e.slice(i.headerLen,i.headerLen+8)),h=d[0],m=d[1],_=t(new Uint8Array(e,i.headerLen+8,h),m),g=new DataView(_.buffer),y=i.offset;for(let v=0;v<i.points;v++){if(y.x!==void 0){let b=i.fields.indexOf("x"),S=i.fields.indexOf("y"),E=i.fields.indexOf("z");s.push(this._getDataView(g,i.points*y.x+i.size[b]*v,i.type[b],i.size[b])),s.push(this._getDataView(g,i.points*y.y+i.size[S]*v,i.type[S],i.size[S])),s.push(this._getDataView(g,i.points*y.z+i.size[E]*v,i.type[E],i.size[E]))}if(y.rgb!==void 0){let b=i.fields.indexOf("rgb"),S=g.getUint8(i.points*y.rgb+i.size[b]*v+2)/255,E=g.getUint8(i.points*y.rgb+i.size[b]*v+1)/255,T=g.getUint8(i.points*y.rgb+i.size[b]*v+0)/255;c.setRGB(S,E,T,G),a.push(c.r,c.g,c.b)}if(y.normal_x!==void 0){let b=i.fields.indexOf("normal_x"),S=i.fields.indexOf("normal_y"),E=i.fields.indexOf("normal_z");r.push(this._getDataView(g,i.points*y.normal_x+i.size[b]*v,i.type[b],i.size[b])),r.push(this._getDataView(g,i.points*y.normal_y+i.size[S]*v,i.type[S],i.size[S])),r.push(this._getDataView(g,i.points*y.normal_z+i.size[E]*v,i.type[E],i.size[E]))}if(y.intensity!==void 0){let b=i.fields.indexOf("intensity");l.push(this._getDataView(g,i.points*y.intensity+i.size[b]*v,i.type[b],i.size[b]))}if(y.label!==void 0){let b=i.fields.indexOf("label");o.push(g.getInt32(i.points*y.label+i.size[b]*v,this.littleEndian))}}}if(i.data==="binary"){let d=new DataView(e,i.headerLen),h=i.offset;for(let m=0,_=0;m<i.points;m++,_+=i.rowSize){if(h.x!==void 0){let g=i.fields.indexOf("x"),y=i.fields.indexOf("y"),v=i.fields.indexOf("z");s.push(this._getDataView(d,_+h.x,i.type[g],i.size[g])),s.push(this._getDataView(d,_+h.y,i.type[y],i.size[y])),s.push(this._getDataView(d,_+h.z,i.type[v],i.size[v]))}if(h.rgb!==void 0){let g=d.getUint8(_+h.rgb+2)/255,y=d.getUint8(_+h.rgb+1)/255,v=d.getUint8(_+h.rgb+0)/255;c.setRGB(g,y,v,G),a.push(c.r,c.g,c.b)}if(h.normal_x!==void 0){let g=i.fields.indexOf("normal_x"),y=i.fields.indexOf("normal_y"),v=i.fields.indexOf("normal_z");r.push(this._getDataView(d,_+h.normal_x,i.type[g],i.size[g])),r.push(this._getDataView(d,_+h.normal_y,i.type[y],i.size[y])),r.push(this._getDataView(d,_+h.normal_z,i.type[v],i.size[v]))}if(h.intensity!==void 0){let g=i.fields.indexOf("intensity");l.push(this._getDataView(d,_+h.intensity,i.type[g],i.size[g]))}h.label!==void 0&&o.push(d.getInt32(_+h.label,this.littleEndian))}}let u=new Ne;s.length>0&&u.setAttribute("position",new oe(s,3)),r.length>0&&u.setAttribute("normal",new oe(r,3)),a.length>0&&u.setAttribute("color",new oe(a,3)),l.length>0&&u.setAttribute("intensity",new oe(l,1)),o.length>0&&u.setAttribute("label",new Ze(o,1)),u.computeBoundingSphere();let f=new Fe({size:.005});return a.length>0&&(f.vertexColors=!0),new Je(u,f)}};var _a=new Ot;globalThis.onmessage=async p=>{let{data:e,id:t}=p.data;if(!(e instanceof Uint8Array)){postMessage({id:t,error:"Invalid data format"});return}try{let n=_a.parse(e.buffer);if(n.geometry){let i=n.geometry.attributes.position?.array??new Float32Array(0),s=n.geometry.attributes.color?.array??null,r=s?new Uint8Array(s.length):null;if(r)for(let a=0,l=s.length;a<l;a++)r[a]=Math.round(s[a]*255);postMessage({positions:i,colors:r,id:t},r?[i.buffer,r.buffer]:[i.buffer])}else postMessage({id:t,error:"Failed to extract geometry"})}catch(n){postMessage({id:t,error:n.message})}};})();
 /*! Bundled license information:
 
 three/build/three.core.js:

package/dist/loaders/pcd/worker.js

@@ -1,6 +1,6 @@
 import { PCDLoader } from 'three/examples/jsm/loaders/PCDLoader.js';
 const loader = new PCDLoader();
-self.onmessage = async (event) => {
+globalThis.onmessage = async (event) => {
     const { data, id } = event.data;
     if (!(data instanceof Uint8Array)) {
         postMessage({ id, error: 'Invalid data format' });

package/dist/metadata.d.ts

@@ -0,0 +1,22 @@
+import type { PlainMessage, Struct } from '@viamrobotics/sdk';
+/**
+ * Metadata for a Viam `Transform`.
+ *
+ * Per the API this can be a struct of any data, so we type this version for
+ * fields we use and how we expect them to be defined.
+ */
+export type Metadata = {
+    colors?: Uint8Array<ArrayBuffer>;
+};
+/** Type guard that checks whether a string is a recognised {@link Metadata} field name. */
+export declare const isMetadataKey: (key: string) => key is keyof Metadata;
+/**
+ * Extracts typed {@link Metadata} from a proto `Struct` fields map.
+ *
+ * The `colors` field is expected as a base64-encoded string (the only way to
+ * represent binary data in a `google.protobuf.Value`), which is decoded into
+ * a `Uint8Array`.
+ *
+ * Unknown keys are silently ignored.
+ */
+export declare const parseMetadata: (fields?: PlainMessage<Struct>["fields"]) => Metadata;

package/dist/metadata.js

@@ -0,0 +1,66 @@
+/** Type guard that checks whether a string is a recognised {@link Metadata} field name. */
+export const isMetadataKey = (key) => {
+    return key === 'colors';
+};
+/**
+ * Extracts typed {@link Metadata} from a proto `Struct` fields map.
+ *
+ * The `colors` field is expected as a base64-encoded string (the only way to
+ * represent binary data in a `google.protobuf.Value`), which is decoded into
+ * a `Uint8Array`.
+ *
+ * Unknown keys are silently ignored.
+ */
+export const parseMetadata = (fields = {}) => {
+    const json = {};
+    for (const [k, v] of Object.entries(fields)) {
+        if (!isMetadataKey(k))
+            continue;
+        const unwrappedValue = unwrapValue(v);
+        switch (k) {
+            case 'colors': {
+                if (typeof unwrappedValue === 'string') {
+                    const binary = atob(unwrappedValue);
+                    const colorBytes = new Uint8Array(binary.length);
+                    for (let i = 0; i < binary.length; i++) {
+                        colorBytes[i] = binary.charCodeAt(i);
+                    }
+                    json.colors = colorBytes;
+                }
+                break;
+            }
+        }
+    }
+    return json;
+};
+// eslint-disable-next-line @typescript-eslint/no-explicit-any
+const unwrapValue = (value) => {
+    if (!value?.kind)
+        return value;
+    switch (value.kind.case) {
+        case 'numberValue':
+        case 'stringValue':
+        case 'boolValue': {
+            return value.kind.value;
+        }
+        case 'structValue': {
+            const result = {};
+            for (const [key, val] of Object.entries(value.kind.value.fields || {})) {
+                // eslint-disable-next-line @typescript-eslint/no-explicit-any
+                result[key] = unwrapValue(val);
+            }
+            return result;
+        }
+        case 'listValue': {
+            return (value.kind.value.values?.map(
+            // eslint-disable-next-line @typescript-eslint/no-explicit-any
+            (v) => unwrapValue(v)) || []);
+        }
+        case 'nullValue': {
+            return null;
+        }
+        default: {
+            return value.kind.value;
+        }
+    }
+};

package/dist/snapshot.d.ts

@@ -2,6 +2,26 @@ import type { World, Entity } from 'koota';
 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';
+/**
+ * Merges scene-level metadata (grid, camera, point/line settings) into the
+ * current viewer settings. Millimetre values from the proto are converted
+ * to metres.
+ */
 export declare const applySceneMetadata: (settings: Settings, metadata: SceneMetadata) => Settings;
+/**
+ * Spawns ECS entities for every transform and drawing in a {@link Snapshot}.
+ *
+ * Each transform produces one entity with Name, Pose, Parent, Geometry, and
+ * optional Color/Opacity traits. Each drawing produces one or more entities
+ * depending on the geometry type (arrows, points, line, nurbs, model, or
+ * simple shapes like box/sphere/capsule).
+ *
+ * @returns The spawned entities — pass them to {@link destroyEntities} to
+ *          clean up before loading a new snapshot.
+ */
 export declare const spawnSnapshotEntities: (world: World, snapshot: Snapshot) => Entity[];
+/**
+ * Destroys a list of entities that are still alive in the given world.
+ * Silently skips entities that have already been removed.
+ */
 export declare const destroyEntities: (world: World, entities: Entity[]) => void;

package/dist/snapshot.js

@@ -1,14 +1,20 @@
-import { Vector3, Vector4 } from 'three';
+import { Color, Vector3, Vector4 } from 'three';
 import { NURBSCurve } from 'three/addons/curves/NURBSCurve.js';
 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';
-import { rgbaBytesToFloat32, rgbaToHex } from './color';
-import { asFloat32Array, STRIDE } from './buffer';
+import { parseMetadata } from './metadata';
+import { rgbaToHex } from './color';
+import { asColor, asFloat32Array, asOpacity, isPerVertexColors, STRIDE } from './buffer';
 import { createBufferGeometry } from './attribute';
 const vec3 = new Vector3();
+const colorUtil = new Color();
+/**
+ * Merges scene-level metadata (grid, camera, point/line settings) into the
+ * current viewer settings. Millimetre values from the proto are converted
+ * to metres.
+ */
 export const applySceneMetadata = (settings, metadata) => {
     const next = { ...settings };
     if (metadata.grid !== undefined) {
@@ -46,6 +52,17 @@ export const applySceneMetadata = (settings, metadata) => {
     }
     return next;
 };
+/**
+ * Spawns ECS entities for every transform and drawing in a {@link Snapshot}.
+ *
+ * Each transform produces one entity with Name, Pose, Parent, Geometry, and
+ * optional Color/Opacity traits. Each drawing produces one or more entities
+ * depending on the geometry type (arrows, points, line, nurbs, model, or
+ * simple shapes like box/sphere/capsule).
+ *
+ * @returns The spawned entities — pass them to {@link destroyEntities} to
+ *          clean up before loading a new snapshot.
+ */
 export const spawnSnapshotEntities = (world, snapshot) => {
     const entities = [];
     for (const transform of snapshot.transforms) {
@@ -59,6 +76,10 @@ export const spawnSnapshotEntities = (world, snapshot) => {
     }
     return entities;
 };
+/**
+ * Destroys a list of entities that are still alive in the given world.
+ * Silently skips entities that have already been removed.
+ */
 export const destroyEntities = (world, entities) => {
     for (const entity of entities) {
         if (world.has(entity)) {
@@ -68,13 +89,16 @@ export const destroyEntities = (world, entities) => {
 };
 const getRenderArmModels = (renderArmModels) => {
     switch (renderArmModels) {
-        case RenderArmModels.COLLIDERS:
+        case RenderArmModels.COLLIDERS: {
             return 'colliders';
+        }
         case RenderArmModels.UNSPECIFIED:
-        case RenderArmModels.COLLIDERS_AND_MODEL:
+        case RenderArmModels.COLLIDERS_AND_MODEL: {
             return 'colliders+model';
-        case RenderArmModels.MODEL:
+        }
+        case RenderArmModels.MODEL: {
             return 'model';
+        }
     }
 };
 const spawnTransformEntity = (world, transform) => {
@@ -86,16 +110,11 @@ const spawnTransformEntity = (world, transform) => {
         traits.Removable,
     ];
     const poseInFrame = transform.poseInObserverFrame;
-    entityTraits.push(traits.Pose(poseInFrame?.pose));
-    entityTraits.push(traits.Parent(poseInFrame?.referenceFrame));
+    entityTraits.push(traits.Pose(poseInFrame?.pose), traits.Parent(poseInFrame?.referenceFrame));
     if (transform.metadata) {
         const metadata = parseMetadata(transform.metadata.fields);
-        if (metadata.color) {
-            entityTraits.push(traits.Color(metadata.color));
-        }
-        if (metadata.opacity !== undefined) {
-            entityTraits.push(traits.Opacity(metadata.opacity));
-        }
+        if (metadata.colors)
+            addColorTraits(entityTraits, metadata.colors);
     }
     return world.spawn(...entityTraits);
 };
@@ -165,15 +184,6 @@ const spawnEntitiesFromDrawing = (world, drawing) => {
         if (parent && parent !== 'world') {
             entityTraits.push(traits.Parent);
         }
-        if (drawing.metadata?.colors) {
-            const colors = rgbaBytesToFloat32(drawing.metadata.colors);
-            if (colors.length === 4) {
-                entityTraits.push(traits.Color({ r: colors[0], g: colors[1], b: colors[2] }), traits.Opacity(colors[3]));
-            }
-            else {
-                entityTraits.push(traits.VertexColors(colors));
-            }
-        }
         if (drawing.physicalObject?.center) {
             entityTraits.push(traits.Center(drawing.physicalObject.center));
         }
@@ -182,9 +192,20 @@ const spawnEntitiesFromDrawing = (world, drawing) => {
             for (let i = 0, l = positions.length; i < l; i += 1) {
                 positions[i] *= 0.001;
             }
-            entityTraits.push(traits.LinePositions(positions), traits.LineWidth(geometryType.value.lineWidth), traits.PointSize(geometryType.value.pointSize));
-            if (geometryType.value.pointSize) {
-                entityTraits.push(traits.PointSize(geometryType.value.pointSize * 0.001));
+            entityTraits.push(traits.LinePositions(positions), traits.LineWidth(geometryType.value.lineWidth), traits.PointSize((geometryType.value.pointSize ?? 0) * 0.001));
+            // Lines pack exactly 2 colors: [lineColor, pointColor]
+            const colors = drawing.metadata?.colors;
+            if (colors && colors.length >= STRIDE.COLORS_RGB) {
+                const stride = colors.length % STRIDE.COLORS_RGBA === 0 ? STRIDE.COLORS_RGBA : STRIDE.COLORS_RGB;
+                asColor(colors, colorUtil, 0);
+                entityTraits.push(traits.Color({ r: colorUtil.r, g: colorUtil.g, b: colorUtil.b }));
+                if (colors.length >= stride * 2) {
+                    asColor(colors, colorUtil, stride);
+                    entityTraits.push(traits.PointColor({ r: colorUtil.r, g: colorUtil.g, b: colorUtil.b }));
+                    if (stride === STRIDE.COLORS_RGBA) {
+                        entityTraits.push(traits.Opacity(asOpacity(colors, 1, 3)));
+                    }
+                }
             }
         }
         else if (geometryType?.case === 'points') {
@@ -193,8 +214,13 @@ const spawnEntitiesFromDrawing = (world, drawing) => {
                 positions[i] *= 0.001;
             }
             const colors = drawing.metadata?.colors;
-            const geometry = createBufferGeometry(positions, colors);
+            const numPoints = positions.length / STRIDE.POSITIONS;
+            const vertexColors = colors && isPerVertexColors(colors, numPoints) ? colors : undefined;
+            const geometry = createBufferGeometry(positions, vertexColors);
             entityTraits.push(traits.BufferGeometry(geometry));
+            if (colors && !vertexColors) {
+                addColorTraits(entityTraits, colors);
+            }
             if (geometryType.value.pointSize) {
                 entityTraits.push(traits.PointSize(geometryType.value.pointSize * 0.001));
             }
@@ -225,9 +251,27 @@ const spawnEntitiesFromDrawing = (world, drawing) => {
                 points[i + 2] = vec3.z;
             }
             entityTraits.push(traits.LinePositions(points));
+            const colors = drawing.metadata?.colors;
+            if (colors) {
+                addColorTraits(entityTraits, colors);
+            }
+        }
+        else {
+            // Box, sphere, capsule, and other geometry shapes with a single color
+            const colors = drawing.metadata?.colors;
+            if (colors) {
+                addColorTraits(entityTraits, colors);
+            }
         }
         const entity = world.spawn(...entityTraits, traits.SnapshotAPI, traits.Removable);
         entities.push(entity);
     }
     return entities;
 };
+const addColorTraits = (entityTraits, bytes) => {
+    asColor(bytes, colorUtil);
+    entityTraits.push(traits.Color(colorUtil));
+    const isRgba = bytes.length % STRIDE.COLORS_RGBA === 0;
+    if (isRgba)
+        entityTraits.push(traits.Opacity(asOpacity(bytes)));
+};

package/dist/three/InstancedArrows/InstancedArrows.js

@@ -18,7 +18,7 @@ const createMaterial = (options) => {
         vertexShader,
         fragmentShader,
         uniforms: {
-            headAtOrigin: { value: 1.0 },
+            headAtOrigin: { value: 1 },
             shaftRadius: { value: defaults.SHAFT_RADIUS },
             headLength: { value: defaults.HEAD_LENGTH },
             headWidth: { value: defaults.HEAD_WIDTH },

package/dist/three/InstancedArrows/box.js

@@ -3,7 +3,7 @@ const bounds = new Box3();
 export function computeBoundingBox(geometry) {
     const src = this.poses.array;
     const poseScale = this.shaftMesh.material.uniforms.poseScale?.value ?? 0.001;
-    const headAtOrigin = this.shaftMesh.material.uniforms.headAtOrigin?.value ?? 1.0;
+    const headAtOrigin = this.shaftMesh.material.uniforms.headAtOrigin?.value ?? 1;
     const r = Math.max(this.shaftRadius, this.headWidth);
     let minX = +Infinity;
     let minY = +Infinity;

package/dist/three/InstancedArrows/raycast.js

@@ -13,29 +13,29 @@ function closestPointsRaySegment(ray, a, b, outRay, outSeg) {
     const O = ray.origin;
     const D = ray.direction; // assume normalized
     const AB = direction.copy(b).sub(a);
-    const a0 = 1.0; // D·D
+    const a0 = 1; // D·D
     const b0 = D.dot(AB);
     const c0 = AB.dot(AB);
     const w0x = O.x - a.x, w0y = O.y - a.y, w0z = O.z - a.z;
     const d0 = D.x * w0x + D.y * w0y + D.z * w0z;
     const e0 = AB.x * w0x + AB.y * w0y + AB.z * w0z;
     const denom = a0 * c0 - b0 * b0;
-    let t = 0.0;
-    let u = 0.0;
+    let t = 0;
+    let u = 0;
     if (denom > 1e-8) {
         t = (b0 * e0 - c0 * d0) / denom;
         u = (a0 * e0 - b0 * d0) / denom;
     }
     else {
-        t = 0.0;
-        u = c0 > 0.0 ? e0 / c0 : 0.0;
+        t = 0;
+        u = c0 > 0 ? e0 / c0 : 0;
     }
-    if (t < 0.0)
-        t = 0.0;
-    if (u < 0.0)
-        u = 0.0;
-    else if (u > 1.0)
-        u = 1.0;
+    if (t < 0)
+        t = 0;
+    if (u < 0)
+        u = 0;
+    else if (u > 1)
+        u = 1;
     outRay.copy(D).multiplyScalar(t).add(O);
     outSeg.copy(AB).multiplyScalar(u).add(a);
     return outRay.distanceToSquared(outSeg);
@@ -68,7 +68,7 @@ export function raycast(raycaster, intersects) {
     localRay.direction.normalize();
     const material = this.shaftMesh.material;
     const poseScale = material.uniforms?.poseScale?.value ?? 0.001;
-    const headAtOrigin = material.uniforms?.headAtOrigin?.value ?? 0.0;
+    const headAtOrigin = material.uniforms?.headAtOrigin?.value ?? 0;
     // pick radius in local space (same units as rendered)
     const radius = Math.max(this.shaftRadius, this.headWidth);
     const array = this.poses.array;

package/dist/three/OBBHelper.d.ts

@@ -1,5 +1,6 @@
-import { LineSegments, Vector3, Object3D } from 'three';
-export declare class OBBHelper extends LineSegments {
+import { Vector3, Object3D } from 'three';
+import { LineSegments2 } from 'three/examples/jsm/lines/LineSegments2.js';
+export declare class OBBHelper extends LineSegments2 {
     constructor(color?: number, linewidth?: number);
     setFromOBB(obb: {
         center: Vector3;

package/dist/three/OBBHelper.js

@@ -1,4 +1,7 @@
-import { LineSegments, LineBasicMaterial, EdgesGeometry, BoxGeometry, Vector3, Quaternion, Matrix4, Object3D, Mesh, BufferGeometry, Matrix3, } from 'three';
+import { EdgesGeometry, BoxGeometry, Vector3, Quaternion, Matrix4, Object3D, Mesh, BufferGeometry, Matrix3, } from 'three';
+import { LineMaterial } from 'three/addons/lines/LineMaterial.js';
+import { LineSegments2 } from 'three/examples/jsm/lines/LineSegments2.js';
+import { LineSegmentsGeometry } from 'three/examples/jsm/lines/LineSegmentsGeometry.js';
 const center = new Vector3();
 const half = new Vector3();
 const size = new Vector3();
@@ -6,13 +9,22 @@ const quaternion = new Quaternion();
 const scale = new Vector3();
 const absScale = new Vector3();
 const worldCenter = new Vector3();
-export class OBBHelper extends LineSegments {
-    constructor(color = 0x000000, linewidth = 1) {
-        const geometry = new EdgesGeometry(new BoxGeometry());
-        const material = new LineBasicMaterial({ color, linewidth });
+export class OBBHelper extends LineSegments2 {
+    constructor(color = 0x000000, linewidth = 2) {
+        const edges = new EdgesGeometry(new BoxGeometry());
+        const geometry = new LineSegmentsGeometry();
+        geometry.setPositions(edges.getAttribute('position').array);
+        const material = new LineMaterial({
+            color,
+            linewidth,
+            depthTest: false,
+            depthWrite: false,
+            transparent: true,
+        });
         super(geometry, material);
         this.matrixAutoUpdate = false;
         this.frustumCulled = false;
+        this.renderOrder = 999;
     }
     setFromOBB(obb) {
         // position/rotation

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.13.0",
+  "version": "1.14.0",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -10,8 +10,8 @@
     "@ag-grid-community/styles": "32.3.9",
     "@changesets/cli": "2.29.6",
     "@dimforge/rapier3d-compat": "0.18.2",
-    "@eslint/compat": "1.3.2",
-    "@eslint/js": "9.34.0",
+    "@eslint/compat": "2.0.2",
+    "@eslint/js": "10.0.1",
     "@playwright/test": "1.55.0",
     "@sentry/sveltekit": "10.10.0",
     "@skeletonlabs/skeleton": "3.2.0",
@@ -33,8 +33,8 @@
     "@types/earcut": "^3.0.0",
     "@types/lodash-es": "4.17.12",
     "@types/three": "0.181.0",
-    "@typescript-eslint/eslint-plugin": "8.42.0",
-    "@typescript-eslint/parser": "8.42.0",
+    "@typescript-eslint/eslint-plugin": "8.56.1",
+    "@typescript-eslint/parser": "8.56.1",
     "@viamrobotics/prime-core": "0.1.5",
     "@viamrobotics/sdk": "0.58.0",
     "@viamrobotics/svelte-sdk": "1.0.1",
@@ -49,9 +49,10 @@
     "@zag-js/tree-view": "1.22.1",
     "camera-controls": "3.1.0",
     "esbuild": "^0.27.3",
-    "eslint": "9.34.0",
+    "eslint": "10.0.2",
     "eslint-config-prettier": "10.1.8",
-    "eslint-plugin-svelte": "3.12.1",
+    "eslint-plugin-svelte": "3.15.0",
+    "eslint-plugin-unicorn": "^63.0.0",
     "globals": "16.3.0",
     "idb-keyval": "6.2.2",
     "jsdom": "26.1.0",
@@ -70,7 +71,7 @@
     "tsx": "4.20.5",
     "type-fest": "^5.0.1",
     "typescript": "5.9.2",
-    "typescript-eslint": "8.42.0",
+    "typescript-eslint": "8.56.1",
     "vite": "7.1.11",
     "vite-plugin-devtools-json": "1.0.0",
     "vite-plugin-glsl": "^1.5.5",
@@ -146,10 +147,14 @@
     "build": "vite build && npm run prepack",
     "build:workers": "node scripts/build-workers.js",
     "preview": "vite preview",
-    "check": "svelte-kit sync && pnpm run build:workers && svelte-check --tsconfig ./tsconfig.json",
-    "check:watch": "svelte-kit sync && pnpm run build:workers && svelte-check --tsconfig ./tsconfig.json --watch",
+    "check": "svelte-kit sync && pnpm build:workers && svelte-check --tsconfig ./tsconfig.json && pnpm vet",
+    "check:watch": "svelte-kit sync && pnpm build:workers && svelte-check --tsconfig ./tsconfig.json --watch",
     "format": "prettier --write .",
-    "lint": "prettier --check . && eslint .",
+    "lint:draw": "golangci-lint run ./draw/...",
+    "lint:client": "golangci-lint run ./client/...",
+    "lint:prettier": "prettier --check .",
+    "lint:eslint": "eslint .",
+    "lint": "pnpm lint:prettier && pnpm lint:eslint && pnpm lint:draw",
     "knip": "npx knip --include files,exports,types",
     "test:unit": "vitest",
     "test:client": "go test ./client/... -count=1",
@@ -158,6 +163,9 @@
     "test:coverage": "npx vitest run --coverage",
     "test:e2e": "playwright test",
     "test:e2e-ui": "playwright test --ui",
+    "vet:draw": "go vet ./draw/...",
+    "vet:client": "go vet ./client/...",
+    "vet": "pnpm vet:draw && pnpm vet:client",
     "model-pipeline:run": "node scripts/model-pipeline.js",
     "release": "changeset publish"
   }

package/dist/WorldObject.svelte.d.ts

@@ -1,27 +0,0 @@
-import type { PlainMessage, Struct } from '@viamrobotics/sdk';
-import { BatchedMesh, Color, Vector3 } from 'three';
-import type { GLTF } from 'three/examples/jsm/Addons.js';
-import type { OBB } from 'three/addons/math/OBB.js';
-declare enum SupportedShapes {
-    points = "points",
-    line = "line",
-    arrow = "arrow"
-}
-type Metadata = {
-    colors?: Float32Array<ArrayBufferLike>;
-    color?: Color;
-    opacity?: number;
-    gltf?: GLTF;
-    points?: Vector3[];
-    pointSize?: number;
-    lineWidth?: number;
-    lineDotColor?: Color;
-    batched?: {
-        id: number;
-        object: BatchedMesh;
-    };
-    shape?: SupportedShapes;
-    getBoundingBoxAt?: (box: OBB) => void;
-};
-export declare const parseMetadata: (fields?: PlainMessage<Struct>["fields"]) => Metadata;
-export {};