@viamrobotics/motion-tools 1.3.5 → 1.4.0

package/dist/attribute.d.ts

@@ -1,3 +1,3 @@
 import { BufferGeometry } from 'three';
-export declare const createBufferGeometry: (positions: Float32Array, colors?: Float32Array | null) => BufferGeometry<import("three").NormalBufferAttributes, import("three").BufferGeometryEventMap>;
-export declare const updateBufferGeometry: (geometry: BufferGeometry, positions: Float32Array, colors?: Float32Array | null) => void;
+export declare const createBufferGeometry: (positions: Float32Array, colors?: Uint8Array | null) => BufferGeometry<import("three").NormalBufferAttributes, import("three").BufferGeometryEventMap>;
+export declare const updateBufferGeometry: (geometry: BufferGeometry, positions: Float32Array, colors?: Uint8Array | null) => void;

package/dist/attribute.js

@@ -3,7 +3,7 @@ export const createBufferGeometry = (positions, colors) => {
     const geometry = new BufferGeometry();
     geometry.setAttribute('position', new BufferAttribute(positions, 3));
     if (colors) {
-        geometry.setAttribute('color', new BufferAttribute(colors, 3));
+        geometry.setAttribute('color', new BufferAttribute(colors, 3, true));
     }
     return geometry;
 };
@@ -24,7 +24,7 @@ export const updateBufferGeometry = (geometry, positions, colors) => {
             colorAttr.needsUpdate = true;
         }
         else {
-            geometry.setAttribute('color', new BufferAttribute(colors, 3));
+            geometry.setAttribute('color', new BufferAttribute(colors, 3, true));
         }
     }
 };

package/dist/components/Details.svelte

@@ -3,7 +3,7 @@
 	lang="ts"
 >
 	import { OrientationVector } from '../three/OrientationVector'
-	import { Quaternion, Vector3, MathUtils } from 'three'
+	import { Quaternion, Vector3, MathUtils, BufferAttribute } from 'three'
 
 	const vec3 = new Vector3()
 	const quaternion = new Quaternion()
@@ -13,7 +13,7 @@
 <script lang="ts">
 	import { draggable } from '@neodrag/svelte'
 	import { Check, Copy } from 'lucide-svelte'
-	import { useTask } from '@threlte/core'
+	import { useTask, isInstanceOf } from '@threlte/core'
 	import { Button, Icon, Select, Input, Tooltip } from '@viamrobotics/prime-core'
 	import {
 		useSelectedEntity,
@@ -596,6 +596,19 @@
 					</div>
 				</div>
 			{/if}
+
+			{#if isInstanceOf(object3d, 'Points')}
+				<div>
+					<strong class="font-semibold">points</strong>
+					{@render ImmutableField({
+						label: 'count',
+						ariaLabel: 'points count',
+						value: new Intl.NumberFormat().format(
+							(object3d.geometry.getAttribute('position') as BufferAttribute).array.length / 3
+						),
+					})}
+				</div>
+			{/if}
 		</div>
 
 		<h3 class="text-subtle-2 pt-3 pb-2">Actions</h3>

package/dist/hooks/useDrawAPI.svelte.js

@@ -71,6 +71,11 @@ class BinaryReader {
         this.offsetBytes += 4;
         return v;
     }
+    readU32() {
+        const v = this.view.getUint32(this.offsetBytes, this.littleEndian);
+        this.offsetBytes += 4;
+        return v;
+    }
     /**
      * Get a Float32Array VIEW into the underlying buffer (no copy) and advance.
      * Requires current offset to be 4-byte aligned (it will be, if you only readF32 so far).
@@ -222,24 +227,32 @@ export const provideDrawAPI = () => {
             label += String.fromCharCode(reader.read());
         }
         // Read counts
-        const nPoints = reader.read();
-        const nColors = reader.read();
+        const nPoints = reader.readU32();
+        const nColors = reader.readU32();
         // Read default color
-        const r = reader.read();
-        const g = reader.read();
-        const b = reader.read();
+        let r = reader.read();
+        let g = reader.read();
+        let b = reader.read();
         const nPointsElements = nPoints * 3;
         const positions = reader.readF32Array(nPointsElements);
         const nColorsElements = nColors * 3;
-        const rawColors = reader.readF32Array(nColorsElements);
-        const colors = new Float32Array(nPointsElements);
-        colors.set(rawColors);
-        // Cover the gap for any points not colored
-        for (let i = nColors; i < nPoints; i++) {
-            const offset = i * 3;
-            colors[offset] = r;
-            colors[offset + 1] = g;
-            colors[offset + 2] = b;
+        const rawColors = reader.readU8Array(nColorsElements);
+        let colors = null;
+        if (nColors > 1) {
+            colors = new Uint8Array(nPointsElements);
+            colors.set(rawColors);
+            // Cover the gap for any points not colored
+            for (let i = nColors; i < nPoints; i++) {
+                const offset = i * 3;
+                colors[offset] = Math.round(r * 255);
+                colors[offset + 1] = Math.round(g * 255);
+                colors[offset + 2] = Math.round(b * 255);
+            }
+        }
+        else if (nColors === 1) {
+            r = rawColors[0] / 255;
+            g = rawColors[1] / 255;
+            b = rawColors[2] / 255;
         }
         const entities = world.query(traits.DrawAPI);
         const entity = entities.find((entity) => entity.get(traits.Name) === label);

package/dist/hooks/useFrames.svelte.js

@@ -22,11 +22,6 @@ export const provideFrames = (partID) => {
     }));
     const revision = $derived(machineStatus.current?.config?.revision);
     const partConfig = usePartConfig();
-    $effect(() => {
-        if (revision) {
-            untrack(() => query.refetch());
-        }
-    });
     $effect(() => {
         if (query.isFetching) {
             logs.add('Fetching frames...');
@@ -118,15 +113,24 @@ export const provideFrames = (partID) => {
     const current = $derived(Object.values(frames));
     const entities = new Map();
     $effect.pre(() => {
-        for (const [name, machineFrame] of Object.entries(machineFrames)) {
-            if (machineFrame === undefined) {
-                continue;
-            }
-            const existing = entities.get(name);
-            if (existing) {
-                const pose = createPose(machineFrame.transform.poseInObserverFrame?.pose);
-                existing.set(traits.Pose, pose);
-            }
+        if (revision) {
+            untrack(async () => {
+                await query.refetch();
+                for (const [name, machineFrame] of Object.entries(machineFrames)) {
+                    if (machineFrame === undefined) {
+                        continue;
+                    }
+                    const existing = entities.get(name);
+                    if (existing) {
+                        const pose = createPose(machineFrame.transform.poseInObserverFrame?.pose);
+                        existing.set(traits.Pose, pose);
+                        if (environment.current.viewerMode === 'monitor') {
+                            // if we are in monitor mode, we want the network pose to overwrite any leftover edited poses
+                            existing.set(traits.EditedPose, pose);
+                        }
+                    }
+                }
+            });
         }
     });
     $effect.pre(() => {

package/dist/hooks/usePose.svelte.js

@@ -10,7 +10,7 @@ import { RefetchRates } from '../components/RefreshRate.svelte';
 import { useLogs } from './useLogs.svelte';
 import { useResourceByName } from './useResourceByName.svelte';
 import { useRefetchPoses } from './useRefetchPoses';
-const origingFrameComponentTypes = ['arm', 'gantry', 'gripper'];
+const origingFrameComponentTypes = ['arm', 'gantry', 'gripper', 'base'];
 export const usePose = (name, parent) => {
     const environment = useEnvironment();
     const logs = useLogs();

package/dist/loaders/pcd/worker.d.ts

@@ -1,7 +1,7 @@
 export interface SuccessMessage {
     id: number;
     positions: Float32Array<ArrayBuffer>;
-    colors: Float32Array<ArrayBuffer> | null;
+    colors: Uint8Array<ArrayBuffer> | null;
 }
 export type Message = SuccessMessage | {
     id: number;

package/dist/loaders/pcd/worker.js

@@ -15,7 +15,13 @@ self.onmessage = async (event) => {
              */
             const positions = pcd.geometry.attributes.position?.array ??
                 new Float32Array(0);
-            const colors = pcd.geometry.attributes.color?.array ?? null;
+            const colorsFloat = pcd.geometry.attributes.color?.array ?? null;
+            const colors = colorsFloat ? new Uint8Array(colorsFloat.length) : null;
+            if (colors) {
+                for (let i = 0, l = colorsFloat.length; i < l; i++) {
+                    colors[i] = Math.round(colorsFloat[i] * 255);
+                }
+            }
             postMessage({ positions, colors, id }, colors ? [positions.buffer, colors.buffer] : [positions.buffer]);
         }
         else {

package/dist/snapshot.js

@@ -192,9 +192,7 @@ const spawnEntitiesFromDrawing = (world, drawing) => {
             for (let i = 0, l = positions.length; i < l; i += 1) {
                 positions[i] *= 0.001;
             }
-            const colors = drawing.metadata?.colors
-                ? rgbaBytesToFloat32(drawing.metadata.colors)
-                : undefined;
+            const colors = drawing.metadata?.colors;
             const geometry = createBufferGeometry(positions, colors);
             entityTraits.push(traits.BufferGeometry(geometry));
             if (geometryType.value.pointSize) {

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.3.5",
+  "version": "1.4.0",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",