@viamrobotics/motion-tools 1.24.0 → 1.25.1

package/dist/hooks/useGeometries.svelte.js

@@ -5,7 +5,7 @@ import { getContext, setContext, untrack } from 'svelte';
 import { Color } from 'three';
 import { resourceColors } from '../color';
 import { RefetchRates } from '../components/overlay/RefreshRate.svelte';
-import { traits, useWorld } from '../ecs';
+import { hierarchy, traits, useWorld } from '../ecs';
 import { updateGeometryTrait } from '../ecs/traits';
 import { createPose } from '../transform';
 import { useEnvironment } from './useEnvironment.svelte';
@@ -90,12 +90,13 @@ export const provideGeometries = (partID) => {
                         const center = createPose(geometry.center);
                         const existing = entities.get(entityKey);
                         if (existing) {
+                            hierarchy.setParent(existing, name);
                             existing.set(traits.Center, center);
                             updateGeometryTrait(existing, geometry);
                             continue;
                         }
                         const entityTraits = [
-                            traits.Parent(name),
+                            ...hierarchy.parentTraits(name),
                             traits.Name(label),
                             traits.Center(center),
                             traits.GeometriesAPI,

package/dist/hooks/usePointcloudObjects.svelte.js

@@ -4,7 +4,7 @@ import { getContext, setContext, untrack } from 'svelte';
 import { createBufferGeometry, updateBufferGeometry } from '../attribute';
 import { ColorFormat } from '../buf/draw/v1/metadata_pb';
 import { RefetchRates } from '../components/overlay/RefreshRate.svelte';
-import { traits, useWorld } from '../ecs';
+import { hierarchy, traits, useWorld } from '../ecs';
 import { parsePcdInWorker } from '../lib';
 import { createPose } from '../transform';
 import { useEnvironment } from './useEnvironment.svelte';
@@ -160,13 +160,14 @@ export const providePointcloudObjects = (partID) => {
                             const center = createPose(geometry.center);
                             const existing = entities.get(geometryLabel);
                             if (existing) {
+                                hierarchy.setParent(existing, geometriesInFrame.referenceFrame);
                                 existing.set(traits.Center, center);
                                 traits.updateGeometryTrait(existing, geometry);
                             }
                             else {
                                 const entityTraits = [
                                     traits.Name(geometryLabel),
-                                    ...traits.getParentTrait(geometriesInFrame.referenceFrame),
+                                    ...hierarchy.parentTraits(geometriesInFrame.referenceFrame),
                                     traits.Center(center),
                                     traits.GeometriesAPI,
                                     traits.Geometry(geometry),

package/dist/hooks/usePointclouds.svelte.js

@@ -4,7 +4,7 @@ import { getContext, setContext, untrack } from 'svelte';
 import { createBufferGeometry, updateBufferGeometry } from '../attribute';
 import { ColorFormat } from '../buf/draw/v1/metadata_pb';
 import { RefetchRates } from '../components/overlay/RefreshRate.svelte';
-import { traits, useWorld } from '../ecs';
+import { hierarchy, traits, useWorld } from '../ecs';
 import { parsePcdInWorker } from '../loaders/pcd';
 import { useEnvironment } from './useEnvironment.svelte';
 import { useLogs } from './useLogs.svelte';
@@ -108,6 +108,7 @@ export const providePointclouds = (partID) => {
                         colorFormat: ColorFormat.RGB,
                     };
                     if (existing) {
+                        hierarchy.setParent(existing, name);
                         const geometry = existing.get(traits.BufferGeometry);
                         if (geometry) {
                             updateBufferGeometry(geometry, positions, metadata);
@@ -115,7 +116,7 @@ export const providePointclouds = (partID) => {
                         }
                     }
                     const geometry = createBufferGeometry(positions, metadata);
-                    const entity = world.spawn(traits.Parent(name), traits.Name(`${name} pointcloud`), traits.BufferGeometry(geometry), traits.Points);
+                    const entity = world.spawn(...hierarchy.parentTraits(name), traits.Name(`${name} pointcloud`), traits.BufferGeometry(geometry), traits.Points);
                     entities.set(queryKey, entity);
                 })
                     .catch((error) => {

package/dist/hooks/usePose.svelte.js

@@ -1,6 +1,5 @@
-import { observe } from '@threlte/core';
-import { commonApi, Pose } from '@viamrobotics/sdk';
-import { createRobotQuery, useRobotClient } from '@viamrobotics/svelte-sdk';
+import { commonApi, MachineConnectionEvent, Pose } from '@viamrobotics/sdk';
+import { createRobotQuery, useConnectionStatus, useRobotClient } from '@viamrobotics/svelte-sdk';
 import { untrack } from 'svelte';
 import { RefetchRates } from '../components/overlay/RefreshRate.svelte';
 import { useEnvironment } from './useEnvironment.svelte';
@@ -12,10 +11,11 @@ import { useResourceByName } from './useResourceByName.svelte';
 import { RefreshRates, useSettings } from './useSettings.svelte';
 const originFrameComponentTypes = new Set(['arm', 'gantry', 'gripper', 'base']);
 export const usePose = (name, parent) => {
+    const partID = usePartID();
+    const connectionStatus = useConnectionStatus(() => partID.current);
     const environment = useEnvironment();
     const logs = useLogs();
     const settings = useSettings();
-    const partID = usePartID();
     const robotClient = useRobotClient(() => partID.current);
     const currentName = $derived(name());
     const currentParent = $derived(parent());
@@ -49,8 +49,10 @@ export const usePose = (name, parent) => {
             logs.add(`Error fetching pose for ${currentName}: ${query.error.message}`, 'error');
         }
     });
-    observe.pre(() => [environment.current.viewerMode, frames.current], () => {
-        if (environment.current.viewerMode === 'monitor') {
+    $effect(() => {
+        if (environment.current.viewerMode === 'monitor' &&
+            frames.current &&
+            connectionStatus.current === MachineConnectionEvent.CONNECTED) {
             untrack(() => query.refetch());
         }
     });

package/dist/snapshot.d.ts

@@ -24,3 +24,10 @@ export declare const applySceneMetadata: (settings: Settings, metadata: SceneMet
  * @returns The spawned entities
  */
 export declare const spawnSnapshotEntities: (world: World, snapshot: Snapshot) => SnapshotEntity[];
+export interface ReconcileResult {
+    current: Map<string, SnapshotEntity>;
+    unkeyed: SnapshotEntity[];
+    spawned: SnapshotEntity[];
+    updated: SnapshotEntity[];
+}
+export declare const reconcileSnapshotEntities: (world: World, snapshot: Snapshot, prev: Map<string, SnapshotEntity>) => ReconcileResult;

package/dist/snapshot.js

@@ -1,7 +1,7 @@
 import { RenderArmModels } from './buf/draw/v1/scene_pb';
 import { traits } from './ecs';
 import { rgbToHex } from './color';
-import { drawDrawing, drawTransform } from './draw';
+import { drawDrawing, drawTransform, updateDrawing, updateModel, updateTransform, uuidBytesToString, } from './draw';
 /**
  * Merges scene-level metadata (grid, camera, point/line settings) into the
  * current viewer settings. Millimeter values from the proto are converted
@@ -73,6 +73,79 @@ export const spawnSnapshotEntities = (world, snapshot) => {
     }
     return entities;
 };
+export const reconcileSnapshotEntities = (world, snapshot, prev) => {
+    const options = { removable: true, showAxesHelper: false };
+    const next = new Map(prev);
+    const seen = new Set();
+    const unkeyed = [];
+    const spawned = [];
+    const updated = [];
+    for (const transform of snapshot.transforms) {
+        const uuidStr = uuidBytesToString(transform.uuid);
+        if (!uuidStr) {
+            const result = drawTransform(world, transform, traits.SnapshotAPI, options);
+            const entry = { entity: result.entity, relationships: result.relationships };
+            unkeyed.push(entry);
+            spawned.push(entry);
+            continue;
+        }
+        const existing = next.get(uuidStr);
+        if (existing && world.has(existing.entity)) {
+            const result = updateTransform(existing.entity, transform, options);
+            const entry = { entity: result.entity, relationships: result.relationships };
+            next.set(uuidStr, entry);
+            updated.push(entry);
+        }
+        else {
+            const result = drawTransform(world, transform, traits.SnapshotAPI, options);
+            const entry = { entity: result.entity, relationships: result.relationships };
+            next.set(uuidStr, entry);
+            spawned.push(entry);
+        }
+        seen.add(uuidStr);
+    }
+    for (const drawing of snapshot.drawings) {
+        const uuidStr = uuidBytesToString(drawing.uuid);
+        if (!uuidStr) {
+            const result = drawDrawing(world, drawing, traits.SnapshotAPI, options);
+            const entry = { entity: result.entity, relationships: result.relationships };
+            unkeyed.push(entry);
+            spawned.push(entry);
+            continue;
+        }
+        const existing = next.get(uuidStr);
+        const isModel = drawing.physicalObject?.geometryType.case === 'model';
+        if (existing && world.has(existing.entity)) {
+            if (isModel) {
+                const result = updateModel(world, existing.entity, drawing, traits.SnapshotAPI, options);
+                const entry = { entity: result.entity, relationships: result.relationships };
+                next.set(uuidStr, entry);
+                spawned.push(entry);
+            }
+            else {
+                const result = updateDrawing(world, existing.entity, drawing, options);
+                const entry = { entity: result.entity, relationships: result.relationships };
+                next.set(uuidStr, entry);
+                updated.push(entry);
+            }
+        }
+        else {
+            const result = drawDrawing(world, drawing, traits.SnapshotAPI, options);
+            const entry = { entity: result.entity, relationships: result.relationships };
+            next.set(uuidStr, entry);
+            spawned.push(entry);
+        }
+        seen.add(uuidStr);
+    }
+    for (const [uuid, entry] of prev) {
+        if (seen.has(uuid))
+            continue;
+        if (world.has(entry.entity))
+            entry.entity.destroy();
+        next.delete(uuid);
+    }
+    return { current: next, unkeyed, spawned, updated };
+};
 const getRenderArmModels = (renderArmModels) => {
     switch (renderArmModels) {
         case RenderArmModels.COLLIDERS: {

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.24.0",
+  "version": "1.25.1",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -37,8 +37,8 @@
     "@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",
+    "@viamrobotics/sdk": "0.69.0",
+    "@viamrobotics/svelte-sdk": "1.2.2",
     "@vitest/browser": "3.2.4",
     "@vitest/coverage-v8": "^3.2.4",
     "@zag-js/collapsible": "1.22.1",