@viamrobotics/motion-tools 1.4.0 → 1.5.0

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/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

@@ -383,7 +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/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/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.4.0",
+  "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": {