@viamrobotics/motion-tools 1.14.0 → 1.15.0

package/dist/hooks/usePartConfig.svelte.js

@@ -1,8 +1,8 @@
-import { createFrame } from '../frame';
-import { createPoseFromFrame } from '../transform';
-import { Struct, Pose } from '@viamrobotics/sdk';
+import { Pose, Struct } from '@viamrobotics/sdk';
 import { createAppMutation, createAppQuery } from '@viamrobotics/svelte-sdk';
 import { getContext, setContext } from 'svelte';
+import { createFrame } from '../frame';
+import { createPoseFromFrame } from '../transform';
 const key = Symbol('part-config-context');
 export const providePartConfig = (partID, params) => {
     const props = $derived(params());

package/dist/hooks/usePointcloudObjects.svelte.js

@@ -1,15 +1,15 @@
 import { VisionClient } from '@viamrobotics/sdk';
 import { createResourceClient, createResourceQuery, useResourceNames, } from '@viamrobotics/svelte-sdk';
-import { RefreshRates, useMachineSettings } from './useMachineSettings.svelte';
-import { useLogs } from './useLogs.svelte';
-import { parsePcdInWorker } from '../lib';
 import { getContext, setContext, untrack } from 'svelte';
-import { traits, useWorld } from '../ecs';
 import { createBufferGeometry, updateBufferGeometry } from '../attribute';
-import { useEnvironment } from './useEnvironment.svelte';
 import { RefetchRates } from '../components/overlay/RefreshRate.svelte';
-import { createPose } from '../transform';
+import { traits, useWorld } from '../ecs';
 import { updateGeometryTrait } from '../ecs/traits';
+import { parsePcdInWorker } from '../lib';
+import { createPose } from '../transform';
+import { useEnvironment } from './useEnvironment.svelte';
+import { useLogs } from './useLogs.svelte';
+import { RefreshRates, useMachineSettings } from './useMachineSettings.svelte';
 const key = Symbol('pointcloud-object-context');
 export const providePointcloudObjects = (partID) => {
     const world = useWorld();

package/dist/hooks/usePointclouds.svelte.js

@@ -1,13 +1,13 @@
 import { CameraClient } from '@viamrobotics/sdk';
-import { setContext, getContext, untrack } from 'svelte';
 import { createResourceClient, createResourceQuery, useResourceNames, } from '@viamrobotics/svelte-sdk';
-import { parsePcdInWorker } from '../loaders/pcd';
-import { RefreshRates, useMachineSettings } from './useMachineSettings.svelte';
-import { useLogs } from './useLogs.svelte';
+import { getContext, setContext, untrack } from 'svelte';
+import { createBufferGeometry, updateBufferGeometry } from '../attribute';
 import { RefetchRates } from '../components/overlay/RefreshRate.svelte';
 import { traits, useWorld } from '../ecs';
+import { parsePcdInWorker } from '../loaders/pcd';
 import { useEnvironment } from './useEnvironment.svelte';
-import { createBufferGeometry, updateBufferGeometry } from '../attribute';
+import { useLogs } from './useLogs.svelte';
+import { RefreshRates, useMachineSettings } from './useMachineSettings.svelte';
 const key = Symbol('pointcloud-context');
 export const providePointclouds = (partID) => {
     const environment = useEnvironment();

package/dist/hooks/usePose.svelte.js

@@ -1,15 +1,15 @@
-import { createRobotQuery, useRobotClient } from '@viamrobotics/svelte-sdk';
-import { usePartID } from './usePartID.svelte';
-import { commonApi, Pose } from '@viamrobotics/sdk';
-import { RefreshRates, useMachineSettings } from './useMachineSettings.svelte';
-import { useEnvironment } from './useEnvironment.svelte';
 import { observe } from '@threlte/core';
+import { commonApi, Pose } from '@viamrobotics/sdk';
+import { createRobotQuery, useRobotClient } from '@viamrobotics/svelte-sdk';
 import { untrack } from 'svelte';
-import { useFrames } from './useFrames.svelte';
 import { RefetchRates } from '../components/overlay/RefreshRate.svelte';
+import { useEnvironment } from './useEnvironment.svelte';
+import { useFrames } from './useFrames.svelte';
 import { useLogs } from './useLogs.svelte';
-import { useResourceByName } from './useResourceByName.svelte';
+import { RefreshRates, useMachineSettings } from './useMachineSettings.svelte';
+import { usePartID } from './usePartID.svelte';
 import { useRefetchPoses } from './useRefetchPoses';
+import { useResourceByName } from './useResourceByName.svelte';
 const originFrameComponentTypes = new Set(['arm', 'gantry', 'gripper', 'base']);
 export const usePose = (name, parent) => {
     const environment = useEnvironment();

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

@@ -1,5 +1,5 @@
-import { Object3D } from 'three';
 import type { Entity } from 'koota';
+import { Object3D } from 'three';
 interface SelectedEntityContext {
     readonly current: Entity | undefined;
     readonly instance: number | undefined;

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

@@ -3,6 +3,7 @@ export declare const WEBLABS_CONTEXT_KEY: unique symbol;
 interface Context {
     load: (experiments: string[]) => void;
     isActive(experiment: string): boolean;
+    toggle(experiment: string): void;
 }
 export declare const createWeblabs: () => Context;
 export declare const provideWeblabs: () => void;

package/dist/hooks/useWeblabs.svelte.js

@@ -37,11 +37,22 @@ export const createWeblabs = () => {
             }
         }
     };
+    const toggle = (experiment) => {
+        const cookieExperiments = new Set(getCookieExperiments());
+        if (activeExperiments.has(experiment)) {
+            activeExperiments.delete(experiment);
+            cookieExperiments.delete(experiment);
+        }
+        else {
+            activeExperiments.add(experiment);
+            cookieExperiments.add(experiment);
+        }
+        addCookie('weblab_experiments', [...cookieExperiments].join(','));
+    };
     return {
         load,
-        isActive: (experiment) => {
-            return activeExperiments.has(experiment);
-        },
+        isActive: (experiment) => activeExperiments.has(experiment),
+        toggle,
     };
 };
 export const provideWeblabs = () => {
@@ -58,6 +69,7 @@ export const useWeblabs = () => {
         return {
             load: () => { },
             isActive: () => false,
+            toggle: () => { },
         };
     }
     return context;

package/dist/hooks/useWorldState.svelte.js

@@ -1,16 +1,16 @@
-import { WorldStateStoreClient, TransformChangeType, } from '@viamrobotics/sdk';
+import { useThrelte } from '@threlte/core';
+import { TransformChangeType, WorldStateStoreClient, } from '@viamrobotics/sdk';
 import { createResourceClient, createResourceQuery, createResourceStream, useResourceNames, } from '@viamrobotics/svelte-sdk';
-import { parseMetadata } from '../metadata';
-import { asColor, asOpacity, isPerVertexColors, STRIDE } from '../buffer';
 import { Color } from 'three';
-import { usePartID } from './usePartID.svelte';
+import { createBufferGeometry } from '../attribute';
+import { asColor, asOpacity, isPerVertexColors, STRIDE } from '../buffer';
 import { traits, useWorld } from '../ecs';
-import { createPose } from '../transform';
-import { useThrelte } from '@threlte/core';
 import { createBox, createCapsule, createSphere } from '../geometry';
-import { parsePlyInput } from '../ply';
 import { parsePcdInWorker } from '../loaders/pcd';
-import { createBufferGeometry } from '../attribute';
+import { parseMetadata } from '../metadata';
+import { parsePlyInput } from '../ply';
+import { createPose } from '../transform';
+import { usePartID } from './usePartID.svelte';
 const colorUtil = new Color();
 export const provideWorldStates = () => {
     const partID = usePartID();

package/dist/plugins/bvh.svelte.js

@@ -1,6 +1,6 @@
 import { injectPlugin, isInstanceOf } from '@threlte/core';
-import { BatchedMesh, Points, Mesh } from 'three';
-import { acceleratedRaycast, computeBoundsTree, disposeBoundsTree, computeBatchedBoundsTree, disposeBatchedBoundsTree, PointsBVH, SAH, BVHHelper, } from 'three-mesh-bvh';
+import { BatchedMesh, Mesh, Points } from 'three';
+import { acceleratedRaycast, BVHHelper, computeBatchedBoundsTree, computeBoundsTree, disposeBatchedBoundsTree, disposeBoundsTree, PointsBVH, SAH, } from 'three-mesh-bvh';
 export const bvh = (raycaster, options) => {
     const bvhOptions = $derived({
         strategy: SAH,

package/dist/snapshot.d.ts

@@ -1,7 +1,7 @@
-import type { World, Entity } from 'koota';
+import type { Entity, World } 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';
+import { type SceneMetadata } from './buf/draw/v1/scene_pb';
 /**
  * Merges scene-level metadata (grid, camera, point/line settings) into the
  * current viewer settings. Millimetre values from the proto are converted

package/dist/snapshot.js

@@ -1,13 +1,13 @@
+import { Geometry } from '@viamrobotics/sdk';
 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 { RenderArmModels } from './buf/draw/v1/scene_pb';
 import { traits } from './ecs';
-import { Geometry } from '@viamrobotics/sdk';
 import { parseMetadata } from './metadata';
-import { rgbaToHex } from './color';
-import { asColor, asFloat32Array, asOpacity, isPerVertexColors, STRIDE } from './buffer';
 import { createBufferGeometry } from './attribute';
+import { asColor, asFloat32Array, asOpacity, isPerVertexColors, STRIDE } from './buffer';
+import { rgbaToHex } from './color';
 const vec3 = new Vector3();
 const colorUtil = new Color();
 /**

package/dist/three/BatchedArrow.d.ts

@@ -1,5 +1,5 @@
-import { BatchedMesh, Vector3, Color } from 'three';
 import type { OBB } from 'three/addons/math/OBB.js';
+import { BatchedMesh, Color, Vector3 } from 'three';
 export declare class BatchedArrow {
     mesh: BatchedMesh;
     _geometryId: number;

package/dist/three/BatchedArrow.js

@@ -1,4 +1,4 @@
-import { BatchedMesh, MeshBasicMaterial, Object3D, Vector3, Color, Box3 } from 'three';
+import { BatchedMesh, Box3, Color, MeshBasicMaterial, Object3D, Vector3 } from 'three';
 import { createArrowGeometry } from './arrow';
 const black = new Color('black');
 const axis = new Vector3();

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

@@ -1,4 +1,4 @@
-import { Group, Mesh, BufferGeometry, InstancedInterleavedBuffer, type ColorRepresentation, Vector3, Box3 } from 'three';
+import { Box3, BufferGeometry, type ColorRepresentation, Group, InstancedInterleavedBuffer, Mesh, Vector3 } from 'three';
 export declare class InstancedArrows extends Group {
     isInstancedArrows: boolean;
     count: number;

package/dist/three/InstancedArrows/InstancedArrows.js

@@ -1,8 +1,8 @@
-import { RawShaderMaterial, FrontSide, Group, InstancedBufferAttribute, DynamicDrawUsage, Mesh, BufferGeometry, InstancedInterleavedBuffer, InterleavedBufferAttribute, Material, Color, Vector3, Box3, } from 'three';
-import vertexShader from './vertex.glsl';
+import { Box3, BufferGeometry, Color, DynamicDrawUsage, FrontSide, Group, InstancedBufferAttribute, InstancedInterleavedBuffer, InterleavedBufferAttribute, Material, Mesh, RawShaderMaterial, Vector3, } from 'three';
+import { computeBoundingBox } from './box';
 import fragmentShader from './fragment.glsl';
 import { createHeadGeometry, createShaftGeometry, toInstanced } from './geometry';
-import { computeBoundingBox } from './box';
+import vertexShader from './vertex.glsl';
 const defaults = {
     LENGTH: 0.1,
     HEAD_LENGTH: 0.02,

package/dist/three/InstancedArrows/box.js

@@ -1,4 +1,4 @@
-import { RawShaderMaterial, Box3, BufferGeometry } from 'three';
+import { Box3, BufferGeometry, RawShaderMaterial } from 'three';
 const bounds = new Box3();
 export function computeBoundingBox(geometry) {
     const src = this.poses.array;

package/dist/three/InstancedArrows/geometry.js

@@ -1,4 +1,4 @@
-import { BufferGeometry, BufferAttribute, InstancedBufferGeometry } from 'three';
+import { BufferAttribute, BufferGeometry, InstancedBufferGeometry } from 'three';
 export const createShaftGeometry = () => {
     // Triangular prism aligned to +Y, base at y=0, top at y=1.
     // No caps, 6 verts, 6 side triangles.

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

@@ -1,4 +1,4 @@
-import { Raycaster, type Intersection } from 'three';
+import { type Intersection, Raycaster } from 'three';
 import type { InstancedArrows } from './InstancedArrows';
 export declare function meshBoundsRaycast(this: InstancedArrows, raycaster: Raycaster, intersects: Intersection[]): void;
 /**

package/dist/three/InstancedArrows/raycast.js

@@ -1,4 +1,4 @@
-import { Ray, Matrix4, Raycaster, Vector3, Box3, RawShaderMaterial } from 'three';
+import { Box3, Matrix4, RawShaderMaterial, Ray, Raycaster, Vector3 } from 'three';
 const vec3 = new Vector3();
 const inverseMatrix = new Matrix4();
 const localRay = new Ray();

package/dist/three/OBBHelper.d.ts

@@ -1,4 +1,4 @@
-import { Vector3, Object3D } from 'three';
+import { Object3D, Vector3 } from 'three';
 import { LineSegments2 } from 'three/examples/jsm/lines/LineSegments2.js';
 export declare class OBBHelper extends LineSegments2 {
     constructor(color?: number, linewidth?: number);

package/dist/three/OBBHelper.js

@@ -1,4 +1,4 @@
-import { EdgesGeometry, BoxGeometry, Vector3, Quaternion, Matrix4, Object3D, Mesh, BufferGeometry, Matrix3, } from 'three';
+import { BoxGeometry, BufferGeometry, EdgesGeometry, Matrix3, Matrix4, Mesh, Object3D, Quaternion, Vector3, } 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';

package/dist/three/OrientationVector.js

@@ -1,4 +1,4 @@
-import { Euler, Quaternion, Vector3, MathUtils } from 'three';
+import { Euler, MathUtils, Quaternion, Vector3 } from 'three';
 export const EPSILON = 0.0001;
 const xAxis = new Quaternion(-1, 0, 0, 0);
 const zAxis = new Quaternion(0, 0, +1, 0);

package/dist/transform.js

@@ -1,5 +1,5 @@
-import { OrientationVector } from './three/OrientationVector';
 import { Euler, MathUtils, Matrix4, Quaternion, Vector3 } from 'three';
+import { OrientationVector } from './three/OrientationVector';
 const quaternion = new Quaternion();
 const euler = new Euler();
 const ov = new OrientationVector();

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.14.0",
+  "version": "1.15.0",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -51,6 +51,7 @@
     "esbuild": "^0.27.3",
     "eslint": "10.0.2",
     "eslint-config-prettier": "10.1.8",
+    "eslint-plugin-perfectionist": "^5.6.0",
     "eslint-plugin-svelte": "3.15.0",
     "eslint-plugin-unicorn": "^63.0.0",
     "globals": "16.3.0",
@@ -149,7 +150,7 @@
     "preview": "vite preview",
     "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 .",
+    "format": "prettier --write . && eslint . --fix",
     "lint:draw": "golangci-lint run ./draw/...",
     "lint:client": "golangci-lint run ./client/...",
     "lint:prettier": "prettier --check .",

package/dist/hooks/__tests__/fixtures/ResizableTestWrapper.svelte

@@ -1,41 +0,0 @@
-<script lang="ts">
-	import { useResizable } from '../../useResizable.svelte'
-
-	interface Props {
-		name: string
-	}
-
-	let { name }: Props = $props()
-
-	const resizable = useResizable(() => name)
-
-	let container = $state<HTMLDivElement>()
-
-	$effect(() => {
-		if (container) {
-			resizable.observe(container)
-		}
-	})
-</script>
-
-<div data-testid="status">
-	{#if resizable.isLoaded}
-		loaded
-	{:else}
-		loading
-	{/if}
-</div>
-
-<div data-testid="dimensions">
-	{resizable.current.width}x{resizable.current.height}
-</div>
-
-<div
-	bind:this={container}
-	data-testid="container"
-	class="resize"
-	style:width={`${resizable.current.width}px`}
-	style:height={`${resizable.current.height}px`}
->
-	Resizable container
-</div>

package/dist/hooks/__tests__/fixtures/ResizableTestWrapper.svelte.d.ts

@@ -1,6 +0,0 @@
-interface Props {
-    name: string;
-}
-declare const ResizableTestWrapper: import("svelte").Component<Props, {}, "">;
-type ResizableTestWrapper = ReturnType<typeof ResizableTestWrapper>;
-export default ResizableTestWrapper;

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

@@ -1,12 +0,0 @@
-interface Dimensions {
-    width: number;
-    height: number;
-}
-interface Context {
-    readonly current: Dimensions;
-    readonly isLoaded: boolean;
-    observe: (target: HTMLElement) => void;
-}
-export declare const MIN_DIMENSIONS: Dimensions;
-export declare const useResizable: (name: () => string, defaultDimensions?: () => Dimensions) => Context;
-export {};

package/dist/hooks/useResizable.svelte.js

@@ -1,46 +0,0 @@
-import { get, set } from 'idb-keyval';
-export const MIN_DIMENSIONS = { width: 240, height: 320 };
-export const useResizable = (name, defaultDimensions) => {
-    const key = $derived(`${name()}-resizable`);
-    let dimensions = $derived(defaultDimensions?.() ?? MIN_DIMENSIONS);
-    let loaded = $state(false);
-    let observer;
-    $effect(() => {
-        get(key).then((saved) => {
-            if (saved) {
-                dimensions = saved;
-            }
-            loaded = true;
-        });
-    });
-    const observe = (target) => {
-        // Disconnect previous observer if any
-        observer?.disconnect();
-        observer = new ResizeObserver((entries) => {
-            const entry = entries[0];
-            if (!entry)
-                return;
-            const next = {
-                width: Math.max(entry.contentRect.width, MIN_DIMENSIONS.width),
-                height: Math.max(entry.contentRect.height, MIN_DIMENSIONS.height),
-            };
-            set(key, next);
-        });
-        observer.observe(target);
-    };
-    const disconnect = () => {
-        observer?.disconnect();
-    };
-    $effect(() => {
-        return disconnect;
-    });
-    return {
-        get current() {
-            return dimensions;
-        },
-        get isLoaded() {
-            return loaded;
-        },
-        observe,
-    };
-};