@viamrobotics/motion-tools 1.34.1 → 1.34.3

package/dist/hooks/useFrames.svelte.js

@@ -203,7 +203,7 @@ export const provideFrames = (partID) => {
                     // values would shift entities whose parents the user is portaling
                     // into — the gizmo's drag target moves underneath it. Once we're
                     // back in monitor mode, the next sync resumes the overwrite.
-                    if (!isEditMode) {
+                    if (!isEditMode || !editSession.current) {
                         const edited = existing.get(traits.EditedMatrix);
                         if (edited) {
                             poseToMatrix(pose, edited);

package/dist/plugins/LLMSceneBuilder/SceneBuilder.svelte

@@ -1,5 +1,6 @@
 <script lang="ts">
 	import { Portal } from '@threlte/extras'
+	import { Icon } from '@viamrobotics/prime-core'
 
 	import DashboardButton from '../../components/overlay/dashboard/Button.svelte'
 	import FloatingPanel from '../../components/overlay/FloatingPanel.svelte'
@@ -37,7 +38,7 @@
 			<div class="flex gap-2">
 				<textarea
 					class="flex-1 resize-none rounded border border-gray-300 p-2 text-xs focus:ring-1 focus:ring-gray-400 focus:outline-none disabled:bg-gray-50 disabled:text-gray-400"
-					placeholder="Describe the frame change, e.g. 'Move the arm 200mm forward along X'"
+					placeholder="Describe a frame change — translation, rotation, or parent. e.g. 'Move arm 200mm forward and rotate 90° left'"
 					rows={3}
 					disabled={sceneBuilder.uiState === 'loading' || sceneBuilder.uiState === 'diff'}
 					bind:value={prompt}
@@ -69,10 +70,6 @@
 
 			<!-- diff ready -->
 			{#if sceneBuilder.uiState === 'diff'}
-				{#if sceneBuilder.explanation}
-					<p class="text-gray-6 italic">{sceneBuilder.explanation}</p>
-				{/if}
-
 				{#if sceneBuilder.diffGroups.length > 0}
 					<div class="flex flex-col gap-2 overflow-auto">
 						{#each sceneBuilder.diffGroups as group (group.componentName)}
@@ -111,11 +108,13 @@
 				{/if}
 
 				{#if sceneBuilder.updateErrors.length > 0}
-					<ul class="text-red-6 space-y-0.5">
-						{#each sceneBuilder.updateErrors as err (err.componentName)}
-							<li><span class="font-mono">{err.componentName}</span>: {err.reason}</li>
-						{/each}
-					</ul>
+					<div class="border-danger-medium bg-danger-light rounded border p-2">
+						<ul class="text-danger-dark space-y-0.5">
+							{#each sceneBuilder.updateErrors as err (err.componentName)}
+								<li><span class="font-mono">{err.componentName}</span>: {err.reason}</li>
+							{/each}
+						</ul>
+					</div>
 				{/if}
 
 				<div class="mt-auto flex gap-2">
@@ -136,13 +135,22 @@
 
 			<!-- error -->
 			{#if sceneBuilder.uiState === 'error'}
-				<p class="text-red-6">{sceneBuilder.errorMessage}</p>
-				<button
-					class="self-start rounded border border-gray-300 px-3 py-1.5 hover:bg-gray-50"
-					onclick={sceneBuilder.resetError}
-				>
-					Try again
-				</button>
+				<div class="border-danger-medium bg-danger-light flex flex-col gap-2 rounded border p-2.5">
+					<div class="text-danger-dark flex items-center gap-1.5 font-medium">
+						<Icon
+							name="alert-circle-outline"
+							aria-hidden="true"
+						/>
+						Error
+					</div>
+					<p class="text-danger-dark">{sceneBuilder.errorMessage}</p>
+					<button
+						class="border-danger-medium text-danger-dark self-start rounded border px-3 py-1.5 hover:bg-[#F8E1DF]"
+						onclick={sceneBuilder.resetError}
+					>
+						Try again
+					</button>
+				</div>
 			{/if}
 		</div>
 	</FloatingPanel>

package/dist/plugins/LLMSceneBuilder/frameDeltaAdapter.js

@@ -1,4 +1,12 @@
 import { applyEulerDeltaToPose, createPoseFromFrame } from '../../transform';
+function mergeTranslation(a, b) {
+    return a || b ? { x: b?.x ?? a?.x, y: b?.y ?? a?.y, z: b?.z ?? a?.z } : undefined;
+}
+function mergeOrientation(a, b) {
+    return a || b
+        ? { roll: b?.roll ?? a?.roll, pitch: b?.pitch ?? a?.pitch, yaw: b?.yaw ?? a?.yaw }
+        : undefined;
+}
 /**
  * Validates LLM-proposed frame deltas and computes the resulting changes without
  * applying them. Each PreparedUpdate carries old and new values so the caller
@@ -8,7 +16,25 @@ export function validateProposedFrameDeltas(deltas, config) {
     const errors = [];
     const prepared = [];
     const knownNames = new Set(config.components.map((c) => c.name));
+    // Merge multiple deltas for the same component — the LLM sometimes splits
+    // translation and orientation into separate entries despite the schema saying one per component.
+    const mergedDeltas = new Map();
     for (const delta of deltas) {
+        const existing = mergedDeltas.get(delta.componentName);
+        if (existing) {
+            mergedDeltas.set(delta.componentName, {
+                componentName: delta.componentName,
+                translation: mergeTranslation(existing.translation, delta.translation),
+                orientation: mergeOrientation(existing.orientation, delta.orientation),
+                parent: delta.parent ?? existing.parent,
+                explanation: [existing.explanation, delta.explanation].filter(Boolean).join(', ') || undefined,
+            });
+        }
+        else {
+            mergedDeltas.set(delta.componentName, delta);
+        }
+    }
+    for (const delta of mergedDeltas.values()) {
         const component = config.components.find((c) => c.name === delta.componentName);
         if (!component) {
             errors.push({ componentName: delta.componentName, reason: 'Component not found in config' });

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.34.1",
+  "version": "1.34.3",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -11,6 +11,7 @@
     "@changesets/cli": "2.29.6",
     "@connectrpc/connect": "1.7.0",
     "@connectrpc/connect-web": "1.7.0",
+    "@langchain/anthropic": "^1.4.0",
     "@dimforge/rapier3d-compat": "0.18.2",
     "@eslint/compat": "2.0.2",
     "@eslint/js": "10.0.1",
@@ -85,7 +86,8 @@
     "vite-plugin-devtools-json": "1.0.0",
     "vite-plugin-glsl": "^1.5.5",
     "vite-plugin-mkcert": "1.17.9",
-    "vitest": "3.2.6"
+    "vitest": "3.2.6",
+    "zod": "^4.4.3"
   },
   "peerDependencies": {
     "@ag-grid-community/client-side-row-model": ">=32.3.0",
@@ -163,17 +165,13 @@
   ],
   "dependencies": {
     "@bufbuild/protobuf": "1.10.1",
-    "@connectrpc/connect": "1.7.0",
-    "@connectrpc/connect-web": "1.7.0",
-    "@langchain/anthropic": "^1.4.0",
     "@neodrag/svelte": "^2.3.3",
     "d3-force": "^3.0.0",
     "filtrex": "^3.1.0",
     "koota": "0.6.5",
     "lodash-es": "4.18.1",
     "three-mesh-bvh": "^0.9.8",
-    "uuid-tool": "^2.0.3",
-    "zod": "^4.4.3"
+    "uuid-tool": "^2.0.3"
   },
   "scripts": {
     "dev": "concurrently \"pnpm dev:bun\" \"go run cmd/draw-server/main.go -port 3030\"",