@viamrobotics/motion-tools 1.33.1 → 1.33.2

package/dist/components/overlay/Details.svelte

@@ -127,9 +127,19 @@
 	let geometryTabIndex = $derived(geometryTypes.indexOf(geometryType))
 
 	$effect(() => {
-		// setGeometryType guards against no-ops, so this is safe to fire on every
-		// tab-index change (whether user-initiated or trait-derived).
-		detailConfigUpdater.setGeometryType(entity, geometryTypes[geometryTabIndex])
+		const nextType = geometryTypes[geometryTabIndex]
+
+		/**
+		 * geometryTabIndex is derived from the entity's geometry traits, so on
+		 * selection (or any trait-driven recompute) nextType already equals
+		 * geometryType — firing then would call updateFrame, dirtying the part
+		 * config and resetting the geometry to default dimensions. Only a user
+		 * tab pick sets geometryTabIndex ahead of the trait, so guard on the two
+		 * differing to fire solely for user-initiated changes.
+		 */
+		if (nextType === geometryType) return
+
+		detailConfigUpdater.setGeometryType(entity, nextType)
 	})
 
 	let copied = $state(false)

package/dist/hooks/usePartConfig.svelte.js

@@ -105,12 +105,14 @@ export const providePartConfig = (partID, params) => {
                 y: pose.y ?? currentPose.y,
                 z: pose.z ?? currentPose.z,
             };
-            component.frame.orientation.type = 'ov_degrees';
-            component.frame.orientation.value = {
-                x: pose.oX ?? currentPose.oX,
-                y: pose.oY ?? currentPose.oY,
-                z: pose.oZ ?? currentPose.oZ,
-                th: pose.theta ?? currentPose.theta,
+            component.frame.orientation = {
+                type: 'ov_degrees',
+                value: {
+                    x: pose.oX ?? currentPose.oX,
+                    y: pose.oY ?? currentPose.oY,
+                    z: pose.oZ ?? currentPose.oZ,
+                    th: pose.theta ?? currentPose.theta,
+                },
             };
             if (geometry) {
                 if (geometry.type === 'none') {

package/dist/hooks/useWorldState.svelte.js

@@ -5,7 +5,7 @@ import { Matrix4 } from 'three';
 import { asFloat32Array, inMeters } from '../buffer';
 import { createChunkLoader } from '../chunking';
 import { drawTransform, updateMetadata } from '../draw';
-import { traits, useWorld } from '../ecs';
+import { hierarchy, traits, useWorld } from '../ecs';
 import { isPointCloud } from '../geometry';
 import { metadataFromStruct } from '../metadata';
 import { createPose, poseToMatrix } from '../transform';
@@ -27,6 +27,10 @@ export const provideWorldStates = () => {
         };
     });
 };
+// FieldMask paths are proto field names; spec-compliant backends emit
+// snake_case (`pose_in_observer_frame`) while some emit camelCase. Normalize
+// to camelCase so matching against the message's accessors is casing-agnostic.
+const snakeToCamel = (path) => path.replaceAll(/_([a-z])/g, (_, char) => char.toUpperCase());
 const decodeBase64 = (encoded) => {
     const binary = atob(encoded);
     const bytes = new Uint8Array(binary.length);
@@ -87,6 +91,11 @@ const createWorldState = (client) => {
     const world = useWorld();
     const relationships = useRelationships();
     const entities = new Map();
+    // UUIDs the stream has removed; guards against a stale initial snapshot or a
+    // self-heal fetch re-creating an entity the server has already deleted.
+    const removedUUIDs = new Set();
+    // UUIDs with an in-flight self-heal `getTransform`, to dedupe concurrent fetches.
+    const pendingSpawns = new Set();
     const chunkLoader = createChunkLoader({
         world,
         invalidate,
@@ -105,7 +114,7 @@ const createWorldState = (client) => {
         },
     });
     const spawnEntity = (transform) => {
-        if (entities.has(transform.uuidString)) {
+        if (entities.has(transform.uuidString) || removedUUIDs.has(transform.uuidString)) {
             return;
         }
         const spawned = drawTransform(world, transform, traits.WorldStateStoreAPI, { removable: false });
@@ -118,6 +127,7 @@ const createWorldState = (client) => {
             invalidate();
     };
     const destroyEntity = (uuid) => {
+        removedUUIDs.add(uuid);
         const entity = entities.get(uuid);
         if (!entity)
             return;
@@ -126,29 +136,54 @@ const createWorldState = (client) => {
         }
         entities.delete(uuid);
     };
+    // Spawn an entity whose UPDATE delta arrived before the initial snapshot
+    // created it. The delta carries only changed fields, so fetch the full
+    // transform; skip if it was removed or already spawned meanwhile.
+    const spawnFromServer = async (uuid) => {
+        if (entities.has(uuid) || removedUUIDs.has(uuid) || pendingSpawns.has(uuid))
+            return;
+        pendingSpawns.add(uuid);
+        try {
+            const transform = await client.current?.getTransform(uuid);
+            if (transform && !removedUUIDs.has(uuid)) {
+                spawnEntity(transform);
+                invalidate();
+            }
+        }
+        catch (error) {
+            console.error('World state self-heal failed for', uuid, error);
+        }
+        finally {
+            pendingSpawns.delete(uuid);
+        }
+    };
     const updateEntity = (transform, changes) => {
         const entity = entities.get(transform.uuidString);
-        if (!entity)
+        if (!entity) {
+            void spawnFromServer(transform.uuidString);
             return;
+        }
         let metadataDirty = false;
-        for (const path of changes) {
-            if (typeof path === 'string') {
-                if (path.startsWith('poseInObserverFrame.pose')) {
-                    const matrix = entity.get(traits.Matrix);
-                    if (matrix) {
-                        poseToMatrix(createPose(transform.poseInObserverFrame?.pose), matrix);
-                        entity.changed(traits.Matrix);
-                    }
-                    else {
-                        entity.add(traits.Matrix(poseToMatrix(createPose(transform.poseInObserverFrame?.pose), new Matrix4())));
-                    }
+        for (const rawPath of changes) {
+            if (typeof rawPath !== 'string')
+                continue;
+            const path = snakeToCamel(rawPath);
+            if (path.startsWith('poseInObserverFrame')) {
+                const matrix = entity.get(traits.Matrix);
+                if (matrix) {
+                    poseToMatrix(createPose(transform.poseInObserverFrame?.pose), matrix);
+                    entity.changed(traits.Matrix);
                 }
-                else if (path.startsWith('physicalObject') && transform.physicalObject) {
-                    traits.updateGeometryTrait(entity, transform.physicalObject);
-                }
-                else if (path.startsWith('metadata')) {
-                    metadataDirty = true;
+                else {
+                    entity.add(traits.Matrix(poseToMatrix(createPose(transform.poseInObserverFrame?.pose), new Matrix4())));
                 }
+                hierarchy.setParent(entity, transform.poseInObserverFrame?.referenceFrame);
+            }
+            else if (path.startsWith('physicalObject') && transform.physicalObject) {
+                traits.updateGeometryTrait(entity, transform.physicalObject);
+            }
+            else if (path.startsWith('metadata')) {
+                metadataDirty = true;
             }
         }
         if (metadataDirty) {
@@ -170,6 +205,7 @@ const createWorldState = (client) => {
     const applyEvents = (events) => {
         for (const event of events) {
             if (event.changeType === TransformChangeType.ADDED) {
+                removedUUIDs.delete(event.transform.uuidString);
                 spawnEntity(event.transform);
             }
             else if (event.changeType === TransformChangeType.REMOVED) {

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.33.1",
+  "version": "1.33.2",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -85,7 +85,7 @@
     "vite-plugin-devtools-json": "1.0.0",
     "vite-plugin-glsl": "^1.5.5",
     "vite-plugin-mkcert": "1.17.9",
-    "vitest": "3.2.4"
+    "vitest": "3.2.6"
   },
   "peerDependencies": {
     "@ag-grid-community/client-side-row-model": ">=32.3.0",