@viamrobotics/motion-tools 1.15.6 → 1.15.8

package/dist/buf/common/v1/common_pb.d.ts

@@ -668,6 +668,44 @@ export declare class DoCommandResponse extends Message<DoCommandResponse> {
     static fromJsonString(jsonString: string, options?: Partial<JsonReadOptions>): DoCommandResponse;
     static equals(a: DoCommandResponse | PlainMessage<DoCommandResponse> | undefined, b: DoCommandResponse | PlainMessage<DoCommandResponse> | undefined): boolean;
 }
+/**
+ * GetStatusRequest represents a generic GetStatus input
+ *
+ * @generated from message viam.common.v1.GetStatusRequest
+ */
+export declare class GetStatusRequest extends Message<GetStatusRequest> {
+    /**
+     * @generated from field: string name = 1;
+     */
+    name: string;
+    constructor(data?: PartialMessage<GetStatusRequest>);
+    static readonly runtime: typeof proto3;
+    static readonly typeName = "viam.common.v1.GetStatusRequest";
+    static readonly fields: FieldList;
+    static fromBinary(bytes: Uint8Array, options?: Partial<BinaryReadOptions>): GetStatusRequest;
+    static fromJson(jsonValue: JsonValue, options?: Partial<JsonReadOptions>): GetStatusRequest;
+    static fromJsonString(jsonString: string, options?: Partial<JsonReadOptions>): GetStatusRequest;
+    static equals(a: GetStatusRequest | PlainMessage<GetStatusRequest> | undefined, b: GetStatusRequest | PlainMessage<GetStatusRequest> | undefined): boolean;
+}
+/**
+ * GetStatusResponse represents a generic GetStatus output
+ *
+ * @generated from message viam.common.v1.GetStatusResponse
+ */
+export declare class GetStatusResponse extends Message<GetStatusResponse> {
+    /**
+     * @generated from field: google.protobuf.Struct result = 1;
+     */
+    result?: Struct;
+    constructor(data?: PartialMessage<GetStatusResponse>);
+    static readonly runtime: typeof proto3;
+    static readonly typeName = "viam.common.v1.GetStatusResponse";
+    static readonly fields: FieldList;
+    static fromBinary(bytes: Uint8Array, options?: Partial<BinaryReadOptions>): GetStatusResponse;
+    static fromJson(jsonValue: JsonValue, options?: Partial<JsonReadOptions>): GetStatusResponse;
+    static fromJsonString(jsonString: string, options?: Partial<JsonReadOptions>): GetStatusResponse;
+    static equals(a: GetStatusResponse | PlainMessage<GetStatusResponse> | undefined, b: GetStatusResponse | PlainMessage<GetStatusResponse> | undefined): boolean;
+}
 /**
  * @generated from message viam.common.v1.GetKinematicsRequest
  */

package/dist/buf/common/v1/common_pb.js

@@ -968,6 +968,70 @@ export class DoCommandResponse extends Message {
         return proto3.util.equals(DoCommandResponse, a, b);
     }
 }
+/**
+ * GetStatusRequest represents a generic GetStatus input
+ *
+ * @generated from message viam.common.v1.GetStatusRequest
+ */
+export class GetStatusRequest extends Message {
+    /**
+     * @generated from field: string name = 1;
+     */
+    name = "";
+    constructor(data) {
+        super();
+        proto3.util.initPartial(data, this);
+    }
+    static runtime = proto3;
+    static typeName = "viam.common.v1.GetStatusRequest";
+    static fields = proto3.util.newFieldList(() => [
+        { no: 1, name: "name", kind: "scalar", T: 9 /* ScalarType.STRING */ },
+    ]);
+    static fromBinary(bytes, options) {
+        return new GetStatusRequest().fromBinary(bytes, options);
+    }
+    static fromJson(jsonValue, options) {
+        return new GetStatusRequest().fromJson(jsonValue, options);
+    }
+    static fromJsonString(jsonString, options) {
+        return new GetStatusRequest().fromJsonString(jsonString, options);
+    }
+    static equals(a, b) {
+        return proto3.util.equals(GetStatusRequest, a, b);
+    }
+}
+/**
+ * GetStatusResponse represents a generic GetStatus output
+ *
+ * @generated from message viam.common.v1.GetStatusResponse
+ */
+export class GetStatusResponse extends Message {
+    /**
+     * @generated from field: google.protobuf.Struct result = 1;
+     */
+    result;
+    constructor(data) {
+        super();
+        proto3.util.initPartial(data, this);
+    }
+    static runtime = proto3;
+    static typeName = "viam.common.v1.GetStatusResponse";
+    static fields = proto3.util.newFieldList(() => [
+        { no: 1, name: "result", kind: "message", T: Struct },
+    ]);
+    static fromBinary(bytes, options) {
+        return new GetStatusResponse().fromBinary(bytes, options);
+    }
+    static fromJson(jsonValue, options) {
+        return new GetStatusResponse().fromJson(jsonValue, options);
+    }
+    static fromJsonString(jsonString, options) {
+        return new GetStatusResponse().fromJsonString(jsonString, options);
+    }
+    static equals(a, b) {
+        return proto3.util.equals(GetStatusResponse, a, b);
+    }
+}
 /**
  * @generated from message viam.common.v1.GetKinematicsRequest
  */

package/dist/buf/draw/v1/scene_pb.d.ts

@@ -52,11 +52,15 @@ export declare enum RenderShapes {
     NURBS = 5
 }
 /**
- * for orthographic camera props
- *
  * @generated from message draw.v1.OrthographicCamera
  */
 export declare class OrthographicCamera extends Message<OrthographicCamera> {
+    /**
+     * for orthographic camera props
+     *
+     * @generated from field: optional float zoom = 1;
+     */
+    zoom?: number;
     constructor(data?: PartialMessage<OrthographicCamera>);
     static readonly runtime: typeof proto3;
     static readonly typeName = "draw.v1.OrthographicCamera";

package/dist/buf/draw/v1/scene_pb.js

@@ -73,18 +73,24 @@ proto3.util.setEnumType(RenderShapes, "draw.v1.RenderShapes", [
     { no: 5, name: "RENDER_SHAPES_NURBS" },
 ]);
 /**
- * for orthographic camera props
- *
  * @generated from message draw.v1.OrthographicCamera
  */
 export class OrthographicCamera extends Message {
+    /**
+     * for orthographic camera props
+     *
+     * @generated from field: optional float zoom = 1;
+     */
+    zoom;
     constructor(data) {
         super();
         proto3.util.initPartial(data, this);
     }
     static runtime = proto3;
     static typeName = "draw.v1.OrthographicCamera";
-    static fields = proto3.util.newFieldList(() => []);
+    static fields = proto3.util.newFieldList(() => [
+        { no: 1, name: "zoom", kind: "scalar", T: 2 /* ScalarType.FLOAT */, opt: true },
+    ]);
     static fromBinary(bytes, options) {
         return new OrthographicCamera().fromBinary(bytes, options);
     }

package/dist/components/Entities/Geometry.svelte

@@ -49,7 +49,7 @@ Renders a Viam Geometry object
 			return
 		}
 
-		return models.current[componentName]?.[id].clone()
+		return models.current[componentName]?.[id]?.clone() ?? undefined
 	})
 
 	$effect.pre(() => {

package/dist/components/PCD.svelte

@@ -9,9 +9,10 @@
 		data: Uint8Array
 		name?: string
 		renderOrder?: number
+		oncreate?: (positions: Float32Array, colors: Uint8Array | null) => void
 	}
 
-	let { data, name, renderOrder }: Props = $props()
+	let { data, name, renderOrder, oncreate }: Props = $props()
 
 	const world = useWorld()
 
@@ -32,6 +33,8 @@
 			}
 
 			entity = world.spawn(...entityTraits)
+
+			oncreate?.(positions, colors)
 		})
 
 		return () => {

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

@@ -2,6 +2,7 @@ interface Props {
     data: Uint8Array;
     name?: string;
     renderOrder?: number;
+    oncreate?: (positions: Float32Array, colors: Uint8Array | null) => void;
 }
 declare const PCD: import("svelte").Component<Props, {}, "">;
 type PCD = ReturnType<typeof PCD>;

package/dist/components/Scene.svelte

@@ -61,7 +61,6 @@
 
 <T.Group
 	position={origin.position}
-	rotation.x={$isPresenting ? -Math.PI / 2 : 0}
 	rotation.z={origin.rotation}
 >
 	<PointerMissBox />

package/dist/components/SceneProviders.svelte

@@ -16,7 +16,6 @@
 	import { provideGeometries } from '../hooks/useGeometries.svelte'
 	import { provideLinkedEntities } from '../hooks/useLinked.svelte'
 	import { provideLogs } from '../hooks/useLogs.svelte'
-	import { provideMachineSettings } from '../hooks/useMachineSettings.svelte'
 	import { usePartID } from '../hooks/usePartID.svelte'
 	import { providePointcloudObjects } from '../hooks/usePointcloudObjects.svelte'
 	import { providePointclouds } from '../hooks/usePointclouds.svelte'
@@ -37,7 +36,6 @@
 
 	provideCameraControls(() => cameraPose)
 	provideTransformControls()
-	provideMachineSettings()
 	provideLogs()
 
 	provideOrigin()

package/dist/components/Snapshot.svelte

@@ -66,6 +66,14 @@ Renders a Snapshot protobuf by spawning its transforms and drawings as entities
 				position: [x * 0.001, y * 0.001, z * 0.001],
 				lookAt: [lx * 0.001, ly * 0.001, lz * 0.001],
 			})
+
+			if (sceneCamera.cameraType.case === 'orthographicCamera') {
+				const orthographicCamera = sceneCamera.cameraType.value as { zoom?: number }
+				const zoom = orthographicCamera.zoom
+				if (zoom !== undefined) {
+					cameraControls.setZoom(zoom)
+				}
+			}
 		}
 	})
 

package/dist/components/hover/LinkedHoveredEntity.svelte

@@ -1,15 +1,8 @@
-<script
-	lang="ts"
-	module
->
-	import { Parser } from 'expr-eval'
-
-	export const parser = new Parser()
-</script>
-
 <script lang="ts">
 	import type { Entity } from 'koota'
 
+	import { compileExpression } from 'filtrex'
+
 	import { relations, traits } from '../../ecs'
 	import { useTrait } from '../../ecs'
 	import { SubEntityLinkType } from '../../ecs/relations'
@@ -39,11 +32,12 @@
 			if (linkType !== SubEntityLinkType.HoverLink) {
 				return
 			}
-			// Index  Mapping is a formula with the variable 'index' in it, available operations can be found here: https://github.com/silentmatt/expr-eval/tree/master
+			// Index mapping is a formula with the variable 'index' in it.
+			// Supported operations: https://github.com/cshaa/filtrex#expressions
 			const indexMapping =
 				displayEntity?.get(relations.SubEntityLink(linkedEntity))?.indexMapping ?? 'index'
-			const expression = parser.parse(indexMapping)
-			const resolvedIndex = expression.evaluate({ index: displayedHoverInfo.current.index })
+			const evaluate = compileExpression(indexMapping)
+			const resolvedIndex = evaluate({ index: displayedHoverInfo.current.index })
 			const linkedHoverInfo = getLinkedHoverInfo(resolvedIndex, linkedEntity)
 			hoverInfo = linkedHoverInfo
 		} else {

package/dist/components/hover/LinkedHoveredEntity.svelte.d.ts

@@ -1,5 +1,3 @@
-import { Parser } from 'expr-eval';
-export declare const parser: Parser;
 import type { Entity } from 'koota';
 interface Props {
     linkedEntity: Entity;

package/dist/components/overlay/RefreshRate.svelte

@@ -20,10 +20,10 @@
 
 	import { IconButton, Select } from '@viamrobotics/prime-core'
 
-	import { useMachineSettings } from '../../hooks/useMachineSettings.svelte'
+	import { useSettings } from '../../hooks/useSettings.svelte'
 
 	interface Props {
-		id: string
+		id: 'poses' | 'pointclouds' | 'vision'
 		label: string
 		allowLive?: boolean
 		onManualRefetch: () => void
@@ -32,8 +32,9 @@
 
 	let { id, label, allowLive = false, onManualRefetch, children }: Props = $props()
 
-	const { refreshRates } = useMachineSettings()
-	const rate = $derived(refreshRates.get(id) ?? RefetchRates.MANUAL)
+	const settings = useSettings()
+	const { refreshRates } = $derived(settings.current)
+	const rate = $derived(refreshRates[id] ?? RefetchRates.MANUAL)
 </script>
 
 <label class="flex flex-col gap-1">
@@ -48,7 +49,7 @@
 			onchange={(event: InputEvent) => {
 				if (event.target instanceof HTMLSelectElement) {
 					const { value } = event.target
-					refreshRates.set(id, Number.parseInt(value, 10))
+					refreshRates[id] = Number.parseInt(value, 10)
 				}
 			}}
 			value={String(rate)}
@@ -87,7 +88,7 @@
 				variant="secondary"
 				cx="border-light border"
 				onclick={() => {
-					refreshRates.set(id, RefetchRates.MANUAL)
+					refreshRates[id] = RefetchRates.MANUAL
 				}}
 			/>
 		{/if}

package/dist/components/overlay/RefreshRate.svelte.d.ts

@@ -11,7 +11,7 @@ export declare const RefetchRates: {
 };
 import type { Snippet } from 'svelte';
 interface Props {
-    id: string;
+    id: 'poses' | 'pointclouds' | 'vision';
     label: string;
     allowLive?: boolean;
     onManualRefetch: () => void;

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

@@ -9,11 +9,11 @@
 	import DashboardButton from '../dashboard/Button.svelte'
 	import XRControllerSettings from '../../xr/XRControllerSettings.svelte'
 	import { useGeometries } from '../../../hooks/useGeometries.svelte'
-	import { RefreshRates, useMachineSettings } from '../../../hooks/useMachineSettings.svelte'
 	import { usePartID } from '../../../hooks/usePartID.svelte'
+	import { usePointcloudObjects } from '../../../hooks/usePointcloudObjects.svelte'
 	import { usePointClouds } from '../../../hooks/usePointclouds.svelte'
 	import { useRefetchPoses } from '../../../hooks/useRefetchPoses'
-	import { useSettings } from '../../../hooks/useSettings.svelte'
+	import { RefreshRates, useSettings } from '../../../hooks/useSettings.svelte'
 	import { useWeblabs, WEBLABS_EXPERIMENTS } from '../../../hooks/useWeblabs.svelte'
 
 	import FloatingPanel from '../FloatingPanel.svelte'
@@ -26,9 +26,10 @@
 	const cameras = useResourceNames(() => partID.current, 'camera')
 	const visionServices = useResourceNames(() => partID.current, 'vision')
 	const settings = useSettings()
-	const { disabledCameras, disabledVisionServices } = useMachineSettings()
+	const { disabledCameras, disabledVisionServices } = $derived(settings.current)
 	const geometries = useGeometries()
 	const pointclouds = usePointClouds()
+	const pointcloudObjects = usePointcloudObjects()
 	const { refetchPoses } = useRefetchPoses()
 	const weblabs = useWeblabs()
 	const knownWeblabs = Object.keys(WEBLABS_EXPERIMENTS)
@@ -87,11 +88,18 @@
 		/>
 		<RefreshRate
 			id={RefreshRates.pointclouds}
-			label="Pointclouds"
+			label="Pointclouds from cameras"
 			onManualRefetch={() => {
 				pointclouds.refetch()
 			}}
 		/>
+		<RefreshRate
+			id={RefreshRates.vision}
+			label="Vision service pointcloud segments and objects"
+			onManualRefetch={() => {
+				pointcloudObjects.refetch()
+			}}
+		/>
 	</div>
 {/snippet}
 
@@ -126,9 +134,9 @@
 			<div class="flex items-center justify-between py-0.5 text-xs">
 				{camera.name}
 				<Switch
-					on={disabledCameras.get(camera.name) !== true}
+					on={disabledCameras[camera.name] !== true}
 					on:change={(event) => {
-						disabledCameras.set(camera.name, !event.detail)
+						disabledCameras[camera.name] = !event.detail
 					}}
 				/>
 			</div>
@@ -146,9 +154,9 @@
 			<div class="flex items-center justify-between py-0.5">
 				{visionService.name}
 				<Switch
-					on={disabledVisionServices.get(visionService.name) !== true}
+					on={disabledVisionServices[visionService.name] !== true}
 					on:change={(event) => {
-						disabledVisionServices.set(visionService.name, !event.detail)
+						disabledVisionServices[visionService.name] = !event.detail
 					}}
 				/>
 			</div>

package/dist/components/xr/OriginMarker.svelte

@@ -1,113 +1,74 @@
 <script lang="ts">
-	import { RigidBody as RigidBodyType } from '@dimforge/rapier3d-compat'
-	import { T, useTask } from '@threlte/core'
+	import { T } from '@threlte/core'
 	import { Grid, useGamepad } from '@threlte/extras'
-	import { Collider, RigidBody } from '@threlte/rapier'
-	import { useController } from '@threlte/xr'
-	import { Euler, Group, Quaternion, Vector3 } from 'three'
+	import { Group, Quaternion, Vector2, Vector3 } from 'three'
 
+	import { useAnchors } from './useAnchors.svelte'
 	import { useOrigin } from './useOrigin.svelte'
 
 	const origin = useOrigin()
-
-	const height = 0.1
-	const radius = 0.05
+	const anchors = useAnchors()
 
 	const group = new Group()
-	const innerGroup = new Group()
-
-	const vec3 = new Vector3()
-
-	const quaternion = new Quaternion()
-	const euler = new Euler()
-
-	const offset = new Vector3()
-
-	const position = new Vector3()
-
-	let dragging = $state(false)
-	let rotating = $state(false)
-
-	let currentDistance = 0
-	const rotateDown = new Vector3()
-
-	let rigidBody = $state<RigidBodyType>()
-
-	const left = useController('left')
-	const right = useController('right')
+	const anchorObject = new Group()
 
 	const leftPad = useGamepad({ xr: true, hand: 'left' })
+	const rightPad = useGamepad({ xr: true, hand: 'right' })
 
-	leftPad.trigger.on('down', () => {
-		const grip = $left?.grip
+	const speed = 0.05
 
-		if (!grip) {
+	const vec2 = new Vector2()
+	const target = new Vector2()
+
+	leftPad.thumbstick.on('change', ({ value }) => {
+		if (typeof value === 'number') {
 			return
 		}
 
-		dragging = true
-		innerGroup.getWorldPosition(vec3)
-		offset.copy($left!.grip.position).sub(vec3)
-	})
-	leftPad.trigger.on('up', () => (dragging = false))
+		const { x: vx, y: vy } = value
+		const [x, y, z] = origin.position
+		const r = origin.rotation
 
-	useTask(
-		() => {
-			if (!$left || !rigidBody) return
+		origin.set([x, y, z + vy * speed], r + vx * speed)
+	})
 
-			position.copy($left.grip.position).sub(offset)
+	rightPad.thumbstick.on('change', ({ value }) => {
+		if (typeof value === 'number') {
+			return
+		}
 
-			origin.set([position.x, position.y, position.z])
+		const { x: vx, y: vy } = value
+		const [x, y, z] = origin.position
+		const r = origin.rotation
 
-			rigidBody.setNextKinematicTranslation({ x: position.x, y: position.y, z: position.z })
-		},
-		{
-			running: () => dragging,
-		}
-	)
+		vec2.set(x, y).lerp(target.set(x + vx * speed, y + vy * speed), 0.5)
 
-	useTask(
-		() => {
-			if (!$right || !rigidBody) return
+		origin.set([vec2.x, vec2.y, z], r)
+	})
 
-			const distance = rotateDown.distanceToSquared($right.grip.position)
+	const vec3 = new Vector3()
+	const quaternion = new Quaternion()
 
-			const rotation = rigidBody.rotation()
-			quaternion.copy(rotation)
-			euler.setFromQuaternion(quaternion)
-			euler.z = distance + currentDistance
-			origin.set(undefined, euler.z)
+	$effect(() => {
+		vec3.fromArray(origin.position)
 
-			rigidBody.setNextKinematicRotation(quaternion.setFromEuler(euler))
-		},
-		{ running: () => rotating }
-	)
+		anchors.createAnchor(vec3, quaternion)?.then((anchor) => {
+			anchors.bindAnchorObject(anchor, anchorObject)
+		})
+	})
 </script>
 
 <T
 	is={group}
 	position={[0, 0.05, 0]}
 >
-	<RigidBody
-		bind:rigidBody
-		type="kinematicPosition"
-	>
-		<Collider
-			sensor
-			shape="cone"
-			args={[height / 2, radius]}
-		>
-			<T is={innerGroup}>
-				<Grid
-					plane="xy"
-					position.y={0.05}
-					fadeDistance={5}
-					fadeOrigin={new Vector3()}
-					cellSize={0.1}
-					cellColor="#fff"
-					sectionColor="#fff"
-				/>
-			</T>
-		</Collider>
-	</RigidBody>
+	<Grid
+		plane="xy"
+		position.y={0.05}
+		fadeDistance={5}
+		fadeOrigin={new Vector3()}
+		cellSize={0.1}
+		cellColor="#fff"
+		sectionColor="#fff"
+	/>
 </T>

package/dist/components/xr/PointDistance.svelte

@@ -3,8 +3,6 @@
 	import { Billboard, Text } from '@threlte/extras'
 	import { Mesh, Vector3 } from 'three'
 
-	import Draggable from './Draggable.svelte'
-
 	const mesh1 = new Mesh()
 	const mesh2 = new Mesh()
 	const distance = new Vector3()
@@ -29,12 +27,10 @@
 </script>
 
 <T.Group position={[-1, 1, 0]}>
-	<Draggable onPointerEnter={() => null}>
-		<T is={mesh1}>
-			<T.SphereGeometry args={[0.05]} />
-			<T.MeshStandardMaterial />
-		</T>
-	</Draggable>
+	<T is={mesh1}>
+		<T.SphereGeometry args={[0.05]} />
+		<T.MeshStandardMaterial />
+	</T>
 </T.Group>
 
 <T.Group position={textPosition}>
@@ -44,10 +40,8 @@
 </T.Group>
 
 <T.Group position={[-1.5, 1, 0]}>
-	<Draggable>
-		<T is={mesh2}>
-			<T.SphereGeometry args={[0.05]} />
-			<T.MeshStandardMaterial />
-		</T>
-	</Draggable>
+	<T is={mesh2}>
+		<T.SphereGeometry args={[0.05]} />
+		<T.MeshStandardMaterial />
+	</T>
 </T.Group>