@viamrobotics/motion-tools 1.3.5 → 1.5.0

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/common/v1/common_pb.d.ts

@@ -665,6 +665,14 @@ export declare class GetKinematicsResponse extends Message<GetKinematicsResponse
      * @generated from field: bytes kinematics_data = 2;
      */
     kinematicsData: Uint8Array<ArrayBuffer>;
+    /**
+     * Map of URDF mesh file paths to mesh data
+     *
+     * @generated from field: map<string, viam.common.v1.Mesh> meshes_by_urdf_filepath = 3;
+     */
+    meshesByUrdfFilepath: {
+        [key: string]: Mesh;
+    };
     constructor(data?: PartialMessage<GetKinematicsResponse>);
     static readonly runtime: typeof proto3;
     static readonly typeName = "viam.common.v1.GetKinematicsResponse";

package/dist/common/v1/common_pb.js

@@ -959,6 +959,12 @@ export class GetKinematicsResponse extends Message {
      * @generated from field: bytes kinematics_data = 2;
      */
     kinematicsData = new Uint8Array(0);
+    /**
+     * Map of URDF mesh file paths to mesh data
+     *
+     * @generated from field: map<string, viam.common.v1.Mesh> meshes_by_urdf_filepath = 3;
+     */
+    meshesByUrdfFilepath = {};
     constructor(data) {
         super();
         proto3.util.initPartial(data, this);
@@ -968,6 +974,7 @@ export class GetKinematicsResponse extends Message {
     static fields = proto3.util.newFieldList(() => [
         { no: 1, name: "format", kind: "enum", T: proto3.getEnumType(KinematicsFileFormat) },
         { no: 2, name: "kinematics_data", kind: "scalar", T: 12 /* ScalarType.BYTES */ },
+        { no: 3, name: "meshes_by_urdf_filepath", kind: "map", K: 9 /* ScalarType.STRING */, V: { kind: "message", T: Mesh } },
     ]);
     static fromBinary(bytes, options) {
         return new GetKinematicsResponse().fromBinary(bytes, options);

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/components/Tree/Drawer.svelte

@@ -25,7 +25,6 @@
 			label="unfold more icon"
 			variant="ghost"
 			cx="size-6"
-			onclick={() => (expanded.current = !expanded.current)}
 		/>
 		{name}
 		{@render titleAlert?.()}

package/dist/components/Tree/TreeContainer.svelte

@@ -10,6 +10,7 @@
 	import { useEnvironment } from '../../hooks/useEnvironment.svelte'
 	import { usePartID } from '../../hooks/usePartID.svelte'
 	import { usePartConfig } from '../../hooks/usePartConfig.svelte'
+	import { useFrames } from '../../hooks/useFrames.svelte'
 	import { traits, useQuery, useWorld } from '../../ecs'
 	import { IsExcluded, type Entity } from 'koota'
 	import { buildTreeNodes, type TreeNode } from './buildTree'
@@ -30,13 +31,19 @@
 	)
 	const environment = useEnvironment()
 	const partConfig = usePartConfig()
+	const frames = useFrames()
 	const world = useWorld()
 
 	const worldEntity = world.spawn(IsExcluded, traits.Name('World'))
 
 	const allEntities = useQuery(traits.Name)
 
-	const { rootNodes, nodeMap } = $derived(buildTreeNodes(allEntities.current))
+	const { rootNodes, nodeMap } = $derived.by(() => {
+		// This ensures the tree rebuilds when frame parent relationships change
+		// eslint-disable-next-line @typescript-eslint/no-unused-expressions
+		frames.current
+		return buildTreeNodes(allEntities.current)
+	})
 
 	const rootNode = $derived<TreeNode>({
 		entity: worldEntity,

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);
@@ -370,7 +383,8 @@ export const provideDrawAPI = () => {
                 }
                 else if (type === bufferTypes.DRAW_GLTF) {
                     operation = 'DrawGLTF';
-                    drawGLTF(reader.buffer);
+                    // GLTF payload starts after the 20-byte header (16 bytes UUID + 4 bytes type)
+                    drawGLTF(reader.buffer.slice(20));
                 }
                 else {
                     throw new Error('Invalid buffer');

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/hooks/useWorldState.svelte.js

@@ -7,6 +7,8 @@ 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';
 export const provideWorldStates = () => {
     const partID = usePartID();
     const resourceNames = useResourceNames(() => partID.current, 'world_state_store');
@@ -45,7 +47,22 @@ const createWorldState = (client) => {
             entityTraits.push(traits.VertexColors(metadata.colors));
         }
         if (transform.physicalObject) {
-            entityTraits.push(traits.Geometry(transform.physicalObject));
+            if (transform.physicalObject.geometryType.case === 'pointcloud') {
+                parsePcdInWorker(new Uint8Array(transform.physicalObject.geometryType.value.pointCloud)).then((pointcloud) => {
+                    // pcds are a special case since they have to be loaded in a worker and the trait will be added to the existing entity
+                    const entity = entities.get(transform.uuidString);
+                    if (!entity) {
+                        console.error('Entity not found to add pointcloud trait to', transform.uuidString);
+                        return;
+                    }
+                    const geometry = createBufferGeometry(pointcloud.positions, pointcloud.colors);
+                    entity.add(traits.BufferGeometry(geometry));
+                    entity.add(traits.Points);
+                });
+            }
+            else {
+                entityTraits.push(traits.Geometry(transform.physicalObject));
+            }
         }
         if (metadata.shape === 'line' && metadata.points) {
             const { points } = metadata;

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": "1.5.0",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -129,7 +129,7 @@
     "@neodrag/svelte": "^2.3.3",
     "@tanstack/svelte-query-devtools": "^6.0.2",
     "koota": "^0.5.3",
-    "lodash-es": "4.17.21",
+    "lodash-es": "4.17.23",
     "uuid-tool": "^2.0.3"
   },
   "scripts": {