@viamrobotics/motion-tools 1.34.2 → 1.34.4

package/dist/components/App.svelte

@@ -30,7 +30,6 @@
 	import HoveredEntities from './hover/HoveredEntities.svelte'
 	import AddFrames from './overlay/AddFrames.svelte'
 	import LiveUpdatesBanner from './overlay/LiveUpdatesBanner.svelte'
-	import Logs from './overlay/Logs.svelte'
 	import ArmPositions from './overlay/widgets/ArmPositions.svelte'
 	import Camera from './overlay/widgets/Camera.svelte'
 	import FramePov from './overlay/widgets/FramePov.svelte'
@@ -173,7 +172,6 @@
 				<PortalTarget id="dom" />
 
 				<Settings {settingsTabs} />
-				<Logs />
 				<AddFrames />
 			</div>
 		</SceneProviders>

package/dist/components/SceneProviders.svelte

@@ -13,7 +13,6 @@
 	import { provideGeometries } from '../hooks/useGeometries.svelte'
 	import { provideInheritedInvisible } from '../hooks/useInheritedInvisible.svelte'
 	import { provideLinkedEntities } from '../hooks/useLinked.svelte'
-	import { provideLogs } from '../hooks/useLogs.svelte'
 	import { usePartID } from '../hooks/usePartID.svelte'
 	import { providePointcloudObjects } from '../hooks/usePointcloudObjects.svelte'
 	import { providePointclouds } from '../hooks/usePointclouds.svelte'
@@ -30,7 +29,6 @@
 	const partID = usePartID()
 
 	provideTransformControls()
-	provideLogs()
 
 	provideHierarchy()
 	provideWorldMatrix()

package/dist/hooks/useFrames.svelte.js

@@ -5,11 +5,11 @@ import { getContext, setContext, untrack } from 'svelte';
 import { Matrix4 } from 'three';
 import { resourceNameToColor, subtypeToColor } from '../color';
 import { hierarchy, traits, useWorld } from '../ecs';
+import { useLogs } from '../plugins';
 import { createPose, isPoseEqual, poseToMatrix } from '../transform';
 import { useConfigFrames } from './useConfigFrames.svelte';
 import { useEnvironment } from './useEnvironment.svelte';
 import { useFrameEditSession } from './useFrameEditSession.svelte';
-import { useLogs } from './useLogs.svelte';
 import { usePartConfig } from './usePartConfig.svelte';
 import { useResourceByName } from './useResourceByName.svelte';
 const key = Symbol('frames-context');

package/dist/hooks/useGeometries.svelte.js

@@ -7,9 +7,9 @@ import { resourceColors } from '../color';
 import { RefetchRates } from '../components/overlay/RefreshRate.svelte';
 import { hierarchy, traits, useWorld } from '../ecs';
 import { updateGeometryTrait } from '../ecs/traits';
+import { useLogs } from '../plugins';
 import { createPose, poseToMatrix } from '../transform';
 import { useEnvironment } from './useEnvironment.svelte';
-import { useLogs } from './useLogs.svelte';
 import { useResourceByName } from './useResourceByName.svelte';
 import { RefreshRates, useSettings } from './useSettings.svelte';
 const key = Symbol('geometries-context');

package/dist/hooks/usePointcloudObjects.svelte.js

@@ -6,9 +6,9 @@ import { ColorFormat } from '../buf/draw/v1/metadata_pb';
 import { RefetchRates } from '../components/overlay/RefreshRate.svelte';
 import { hierarchy, traits, useWorld } from '../ecs';
 import { parsePcdInWorker } from '../lib';
+import { useLogs } from '../plugins';
 import { createPose } from '../transform';
 import { useEnvironment } from './useEnvironment.svelte';
-import { useLogs } from './useLogs.svelte';
 import { RefreshRates, useSettings } from './useSettings.svelte';
 const key = Symbol('pointcloud-object-context');
 export const providePointcloudObjects = (partID) => {

package/dist/hooks/usePointclouds.svelte.js

@@ -6,8 +6,8 @@ import { ColorFormat } from '../buf/draw/v1/metadata_pb';
 import { RefetchRates } from '../components/overlay/RefreshRate.svelte';
 import { hierarchy, traits, useWorld } from '../ecs';
 import { parsePcdInWorker } from '../loaders/pcd';
+import { useLogs } from '../plugins';
 import { useEnvironment } from './useEnvironment.svelte';
-import { useLogs } from './useLogs.svelte';
 import { RefreshRates, useSettings } from './useSettings.svelte';
 const key = Symbol('pointcloud-context');
 export const providePointclouds = (partID) => {

package/dist/hooks/usePose.svelte.js

@@ -2,9 +2,9 @@ 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 { useLogs } from '../plugins';
 import { useEnvironment } from './useEnvironment.svelte';
 import { useFrames } from './useFrames.svelte';
-import { useLogs } from './useLogs.svelte';
 import { usePartID } from './usePartID.svelte';
 import { useRefetchPoses } from './useRefetchPoses';
 import { useResourceByName } from './useResourceByName.svelte';

package/dist/plugins/DrawService/useDrawAPI.svelte.js

@@ -11,7 +11,7 @@ import { asRGB, STRIDE } from '../../buffer';
 import { hierarchy, traits, useWorld } from '../../ecs';
 import { createBox, createCapsule, createSphere } from '../../geometry';
 import { useCameraControls } from '../../hooks/useControls.svelte';
-import { useLogs } from '../../hooks/useLogs.svelte';
+import { useLogs } from '..';
 import { parsePlyInput } from '../../ply';
 import { createPose, createPoseFromFrame, poseToMatrix } from '../../transform';
 import { useDrawConnectionConfig } from './useDrawConnectionConfig.svelte';

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/dist/plugins/Logs/Logs.svelte

@@ -0,0 +1,146 @@
+<script lang="ts">
+	import { Portal } from '@threlte/extras'
+	import { PersistedState } from 'runed'
+
+	import DashboardButton from '../../components/overlay/dashboard/Button.svelte'
+	import FloatingPanel from '../../components/overlay/FloatingPanel.svelte'
+
+	import { provideLogs } from './useLogs.svelte'
+
+	const logs = provideLogs()
+
+	const isOpen = new PersistedState('logs-is-open', false)
+
+	let levels = new PersistedState('logs-selected-levels', {
+		info: true,
+		warn: true,
+		error: true,
+	})
+</script>
+
+<Portal id="dashboard">
+	<fieldset class="relative">
+		<DashboardButton
+			active={isOpen.current}
+			icon="article"
+			description="Logs"
+			onclick={() => {
+				isOpen.current = !isOpen.current
+			}}
+		/>
+		{#if logs.warnings.length > 0}
+			<span
+				class="absolute z-4 -mt-1.5 -ml-1.5 h-4 w-4 rounded-full bg-yellow-700 text-center text-[10px] text-white"
+			>
+				{logs.warnings.length}
+			</span>
+		{/if}
+
+		{#if logs.errors.length > 0}
+			<span
+				class="absolute z-4 -mt-1.5 -ml-1.5 h-4 rounded-full bg-red-700 px-1.25 text-center text-[10px] text-white"
+			>
+				{logs.errors.length}
+			</span>
+		{/if}
+	</fieldset>
+</Portal>
+
+<Portal id="dom">
+	<FloatingPanel
+		title="Logs"
+		bind:isOpen={isOpen.current}
+		defaultSize={{ width: 240, height: 315 }}
+		resizable
+	>
+		<div class="flex h-full flex-col">
+			<div class="flex gap-1 px-3 py-2">
+				<button
+					type="button"
+					class={[
+						'chip border px-2',
+						{
+							'border-danger-dark bg-danger-dark text-white hover:border-red-700 hover:bg-red-700':
+								levels.current.error,
+							'bg-light hover:bg-ghost-light hover:border-light border-light text-subtle-1':
+								!levels.current.error,
+						},
+					]}
+					onclick={() => {
+						levels.current.error = !levels.current.error
+					}}
+				>
+					error
+				</button>
+
+				<button
+					type="button"
+					class={[
+						'chip border',
+						{
+							'border-amber-400 bg-amber-400 text-white hover:border-amber-500 hover:bg-amber-500':
+								levels.current.warn,
+							'bg-light hover:bg-ghost-light hover:border-light border-light text-subtle-1':
+								!levels.current.warn,
+						},
+					]}
+					onclick={() => {
+						levels.current.warn = !levels.current.warn
+					}}
+				>
+					warn
+				</button>
+
+				<button
+					type="button"
+					class={[
+						'chip border',
+						{
+							'border-blue-400 bg-blue-400 text-white hover:border-blue-500 hover:bg-blue-500':
+								levels.current.info,
+							'bg-light hover:bg-ghost-light hover:border-light border-light text-subtle-1':
+								!levels.current.info,
+						},
+					]}
+					onclick={() => {
+						levels.current.info = !levels.current.info
+					}}
+				>
+					info
+				</button>
+			</div>
+
+			<div class="flex flex-col gap-2 overflow-auto px-3 pb-3 text-xs">
+				{#each logs.current as log (log.uuid)}
+					{#if levels.current[log.level]}
+						<div>
+							<div class="flex flex-wrap items-center gap-1.5">
+								<div
+									class={[
+										'h-2 w-2 rounded-full',
+										{
+											'bg-danger-dark': log.level === 'error',
+											'bg-amber-300': log.level === 'warn',
+											'bg-blue-400': log.level === 'info',
+										},
+									]}
+								></div>
+								<div class="text-subtle-2">{log.timestamp}</div>
+							</div>
+							<div>
+								{#if log.count > 1}
+									<span class="mr-1 rounded bg-green-700 px-1 py-0.5 text-xs text-white">
+										{log.count}
+									</span>
+								{/if}
+								{log.message}
+							</div>
+						</div>
+					{/if}
+				{:else}
+					No logs
+				{/each}
+			</div>
+		</div>
+	</FloatingPanel>
+</Portal>

package/dist/{hooks → plugins/Logs}/useLogs.svelte.d.ts

@@ -12,6 +12,6 @@ interface Context {
     warnings: Log[];
     add(message: string, level?: Level): void;
 }
-export declare const provideLogs: () => void;
+export declare const provideLogs: () => Context;
 export declare const useLogs: () => Context;
 export {};

package/dist/{hooks → plugins/Logs}/useLogs.svelte.js

@@ -1,7 +1,8 @@
-import { getContext, setContext, untrack } from 'svelte';
+import { untrack } from 'svelte';
 import { MathUtils } from 'three';
-const key = Symbol('logs-context');
 const MAX_LOGS = 200;
+// Logs is a singleton. We only have one logger per app and we need to access it anywhere.
+let context;
 export const provideLogs = () => {
     // Plain insertion-ordered Map keyed by `${level}|${timestamp}|${message}`
     // drives storage; a single `$state` version counter drives reactivity.
@@ -23,7 +24,7 @@ export const provideLogs = () => {
     });
     const errors = $derived(all.filter((l) => l.level === 'error'));
     const warnings = $derived(all.filter((l) => l.level === 'warn'));
-    setContext(key, {
+    context = {
         get current() {
             return all;
         },
@@ -58,8 +59,15 @@ export const provideLogs = () => {
                 version++;
             });
         },
-    });
+    };
+    return context;
 };
 export const useLogs = () => {
-    return getContext(key);
+    // return a no-op context if the plugin isn't installed
+    return (context ?? {
+        current: [],
+        errors: [],
+        warnings: [],
+        add: () => undefined,
+    });
 };

package/dist/plugins/index.d.ts

@@ -6,6 +6,8 @@ export { default as MeasureTool } from './MeasureTool/MeasureTool.svelte';
 export { default as DrawService } from './DrawService/DrawService.svelte';
 export { default as Skybox } from './Skybox/Skybox.svelte';
 export { default as Debug } from './Debug/Debug.svelte';
+export { default as Logs } from './Logs/Logs.svelte';
+export { useLogs } from './Logs/useLogs.svelte';
 export { default as Focus } from './Focus/Focus.svelte';
 export { default as LLMSceneBuilder } from './LLMSceneBuilder/LLMSceneBuilder.svelte';
 export type { InferCallback, ComponentFrameInfo } from './LLMSceneBuilder/useSceneBuilder.svelte';

package/dist/plugins/index.js

@@ -10,8 +10,13 @@ export { default as DrawService } from './DrawService/DrawService.svelte';
 export { default as Skybox } from './Skybox/Skybox.svelte';
 // Debug
 export { default as Debug } from './Debug/Debug.svelte';
+// Logs
+export { default as Logs } from './Logs/Logs.svelte';
+export { useLogs } from './Logs/useLogs.svelte';
+// Focus
 export { default as Focus } from './Focus/Focus.svelte';
 // LLMSceneBuilder
 export { default as LLMSceneBuilder } from './LLMSceneBuilder/LLMSceneBuilder.svelte';
+// XR
 export { default as XR } from './XR/XR.svelte';
 export { default as XRSettings } from './XR/XRSettings.svelte';

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.34.2",
+  "version": "1.34.4",
   "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\"",

package/dist/components/overlay/Logs.svelte

@@ -1,144 +0,0 @@
-<script lang="ts">
-	import { Portal } from '@threlte/extras'
-	import { PersistedState } from 'runed'
-
-	import { useLogs } from '../../hooks/useLogs.svelte'
-
-	import DashboardButton from './dashboard/Button.svelte'
-	import FloatingPanel from './FloatingPanel.svelte'
-
-	const logs = useLogs()
-
-	const isOpen = new PersistedState('logs-is-open', false)
-
-	let levels = new PersistedState('logs-selected-levels', {
-		info: true,
-		warn: true,
-		error: true,
-	})
-</script>
-
-<Portal id="dashboard">
-	<fieldset class="relative">
-		<DashboardButton
-			active={isOpen.current}
-			icon="article"
-			description="Logs"
-			onclick={() => {
-				isOpen.current = !isOpen.current
-			}}
-		/>
-		{#if logs.warnings.length > 0}
-			<span
-				class="absolute z-4 -mt-1.5 -ml-1.5 h-4 w-4 rounded-full bg-yellow-700 text-center text-[10px] text-white"
-			>
-				{logs.warnings.length}
-			</span>
-		{/if}
-
-		{#if logs.errors.length > 0}
-			<span
-				class="absolute z-4 -mt-1.5 -ml-1.5 h-4 rounded-full bg-red-700 px-1.25 text-center text-[10px] text-white"
-			>
-				{logs.errors.length}
-			</span>
-		{/if}
-	</fieldset>
-</Portal>
-
-<FloatingPanel
-	title="Logs"
-	bind:isOpen={isOpen.current}
-	defaultSize={{ width: 240, height: 315 }}
-	resizable
->
-	<div class="flex h-full flex-col">
-		<div class="flex gap-1 px-3 py-2">
-			<button
-				type="button"
-				class={[
-					'chip border px-2',
-					{
-						'border-danger-dark bg-danger-dark text-white hover:border-red-700 hover:bg-red-700':
-							levels.current.error,
-						'bg-light hover:bg-ghost-light hover:border-light border-light text-subtle-1':
-							!levels.current.error,
-					},
-				]}
-				onclick={() => {
-					levels.current.error = !levels.current.error
-				}}
-			>
-				error
-			</button>
-
-			<button
-				type="button"
-				class={[
-					'chip border',
-					{
-						'border-amber-400 bg-amber-400 text-white hover:border-amber-500 hover:bg-amber-500':
-							levels.current.warn,
-						'bg-light hover:bg-ghost-light hover:border-light border-light text-subtle-1':
-							!levels.current.warn,
-					},
-				]}
-				onclick={() => {
-					levels.current.warn = !levels.current.warn
-				}}
-			>
-				warn
-			</button>
-
-			<button
-				type="button"
-				class={[
-					'chip border',
-					{
-						'border-blue-400 bg-blue-400 text-white hover:border-blue-500 hover:bg-blue-500':
-							levels.current.info,
-						'bg-light hover:bg-ghost-light hover:border-light border-light text-subtle-1':
-							!levels.current.info,
-					},
-				]}
-				onclick={() => {
-					levels.current.info = !levels.current.info
-				}}
-			>
-				info
-			</button>
-		</div>
-
-		<div class="flex flex-col gap-2 overflow-auto px-3 pb-3 text-xs">
-			{#each logs.current as log (log.uuid)}
-				{#if levels.current[log.level]}
-					<div>
-						<div class="flex flex-wrap items-center gap-1.5">
-							<div
-								class={[
-									'h-2 w-2 rounded-full',
-									{
-										'bg-danger-dark': log.level === 'error',
-										'bg-amber-300': log.level === 'warn',
-										'bg-blue-400': log.level === 'info',
-									},
-								]}
-							></div>
-							<div class="text-subtle-2">{log.timestamp}</div>
-						</div>
-						<div>
-							{#if log.count > 1}
-								<span class="mr-1 rounded bg-green-700 px-1 py-0.5 text-xs text-white">
-									{log.count}
-								</span>
-							{/if}
-							{log.message}
-						</div>
-					</div>
-				{/if}
-			{:else}
-				No logs
-			{/each}
-		</div>
-	</div>
-</FloatingPanel>