@viamrobotics/test-widgets 0.7.0 → 0.8.0

package/dist/client-map.d.ts

@@ -1,34 +1,34 @@
 import { ArmClient, AudioInClient, AudioOutClient, BaseClient, BoardClient, ButtonClient, CameraClient, DataManagerClient, DiscoveryClient, EncoderClient, GantryClient, GenericComponentClient, GenericServiceClient, GripperClient, InputControllerClient, MLModelClient, MotionClient, MotorClient, MovementSensorClient, NavigationClient, PoseTrackerClient, PowerSensorClient, type ResourceName, SensorClient, ServoClient, SlamClient, SwitchClient, VideoClient, VisionClient, WorldStateStoreClient } from '@viamrobotics/sdk';
 export declare const clientMap: {
-    readonly 'rdk:component:arm': typeof ArmClient;
-    readonly 'rdk:component:audio_in': typeof AudioInClient;
-    readonly 'rdk:component:audio_out': typeof AudioOutClient;
-    readonly 'rdk:component:base': typeof BaseClient;
-    readonly 'rdk:component:board': typeof BoardClient;
-    readonly 'rdk:component:button': typeof ButtonClient;
-    readonly 'rdk:component:camera': typeof CameraClient;
-    readonly 'rdk:component:encoder': typeof EncoderClient;
-    readonly 'rdk:component:gantry': typeof GantryClient;
-    readonly 'rdk:component:generic': typeof GenericComponentClient;
-    readonly 'rdk:component:gripper': typeof GripperClient;
-    readonly 'rdk:component:input_controller': typeof InputControllerClient;
-    readonly 'rdk:component:motor': typeof MotorClient;
-    readonly 'rdk:component:movement_sensor': typeof MovementSensorClient;
-    readonly 'rdk:component:pose_tracker': typeof PoseTrackerClient;
-    readonly 'rdk:component:power_sensor': typeof PowerSensorClient;
-    readonly 'rdk:component:sensor': typeof SensorClient;
-    readonly 'rdk:component:servo': typeof ServoClient;
-    readonly 'rdk:component:switch': typeof SwitchClient;
-    readonly 'rdk:service:data_manager': typeof DataManagerClient;
-    readonly 'rdk:service:discovery': typeof DiscoveryClient;
-    readonly 'rdk:service:generic': typeof GenericServiceClient;
-    readonly 'rdk:service:mlmodel': typeof MLModelClient;
-    readonly 'rdk:service:motion': typeof MotionClient;
-    readonly 'rdk:service:navigation': typeof NavigationClient;
-    readonly 'rdk:service:slam': typeof SlamClient;
-    readonly 'rdk:service:vision': typeof VisionClient;
-    readonly 'rdk:service:world_state_store': typeof WorldStateStoreClient;
-    readonly 'rdk:service:video': typeof VideoClient;
+    readonly "rdk:component:arm": typeof ArmClient;
+    readonly "rdk:component:audio_in": typeof AudioInClient;
+    readonly "rdk:component:audio_out": typeof AudioOutClient;
+    readonly "rdk:component:base": typeof BaseClient;
+    readonly "rdk:component:board": typeof BoardClient;
+    readonly "rdk:component:button": typeof ButtonClient;
+    readonly "rdk:component:camera": typeof CameraClient;
+    readonly "rdk:component:encoder": typeof EncoderClient;
+    readonly "rdk:component:gantry": typeof GantryClient;
+    readonly "rdk:component:generic": typeof GenericComponentClient;
+    readonly "rdk:component:gripper": typeof GripperClient;
+    readonly "rdk:component:input_controller": typeof InputControllerClient;
+    readonly "rdk:component:motor": typeof MotorClient;
+    readonly "rdk:component:movement_sensor": typeof MovementSensorClient;
+    readonly "rdk:component:pose_tracker": typeof PoseTrackerClient;
+    readonly "rdk:component:power_sensor": typeof PowerSensorClient;
+    readonly "rdk:component:sensor": typeof SensorClient;
+    readonly "rdk:component:servo": typeof ServoClient;
+    readonly "rdk:component:switch": typeof SwitchClient;
+    readonly "rdk:service:data_manager": typeof DataManagerClient;
+    readonly "rdk:service:discovery": typeof DiscoveryClient;
+    readonly "rdk:service:generic": typeof GenericServiceClient;
+    readonly "rdk:service:mlmodel": typeof MLModelClient;
+    readonly "rdk:service:motion": typeof MotionClient;
+    readonly "rdk:service:navigation": typeof NavigationClient;
+    readonly "rdk:service:slam": typeof SlamClient;
+    readonly "rdk:service:video": typeof VideoClient;
+    readonly "rdk:service:vision": typeof VisionClient;
+    readonly "rdk:service:world_state_store": typeof WorldStateStoreClient;
 };
-export declare const clientForResource: (resource: ResourceName) => typeof ArmClient | typeof AudioInClient | typeof AudioOutClient | typeof BaseClient | typeof BoardClient | typeof ButtonClient | typeof CameraClient | typeof EncoderClient | typeof GantryClient | typeof GenericComponentClient | typeof GripperClient | typeof InputControllerClient | typeof MotorClient | typeof MovementSensorClient | typeof PoseTrackerClient | typeof PowerSensorClient | typeof SensorClient | typeof ServoClient | typeof SwitchClient | typeof DataManagerClient | typeof DiscoveryClient | typeof GenericServiceClient | typeof MLModelClient | typeof MotionClient | typeof NavigationClient | typeof SlamClient | typeof VisionClient | typeof WorldStateStoreClient | typeof VideoClient | undefined;
+export declare const clientForResource: (resource: ResourceName) => typeof ArmClient | typeof AudioInClient | typeof AudioOutClient | typeof BaseClient | typeof BoardClient | typeof ButtonClient | typeof CameraClient | typeof EncoderClient | typeof GantryClient | typeof GenericComponentClient | typeof GripperClient | typeof InputControllerClient | typeof MotorClient | typeof MovementSensorClient | typeof PoseTrackerClient | typeof PowerSensorClient | typeof SensorClient | typeof ServoClient | typeof SwitchClient | typeof DataManagerClient | typeof DiscoveryClient | typeof GenericServiceClient | typeof MLModelClient | typeof MotionClient | typeof NavigationClient | typeof SlamClient | typeof VideoClient | typeof VisionClient | typeof WorldStateStoreClient | undefined;
 export declare const supportsDoCommand: (resource: ResourceName) => boolean;

package/dist/client-map.js

@@ -1,35 +1,38 @@
 import { ArmClient, AudioInClient, AudioOutClient, BaseClient, BoardClient, ButtonClient, CameraClient, DataManagerClient, DiscoveryClient, EncoderClient, GantryClient, GenericComponentClient, GenericServiceClient, GripperClient, InputControllerClient, MLModelClient, MotionClient, MotorClient, MovementSensorClient, NavigationClient, PoseTrackerClient, PowerSensorClient, SensorClient, ServoClient, SlamClient, SwitchClient, VideoClient, VisionClient, WorldStateStoreClient, } from '@viamrobotics/sdk';
 import { getResourceAPI } from "./get-resource-api.js";
+import { ResourceTriplets } from "./resource-triplet.js";
 export const clientMap = {
-    'rdk:component:arm': ArmClient,
-    'rdk:component:audio_in': AudioInClient,
-    'rdk:component:audio_out': AudioOutClient,
-    'rdk:component:base': BaseClient,
-    'rdk:component:board': BoardClient,
-    'rdk:component:button': ButtonClient,
-    'rdk:component:camera': CameraClient,
-    'rdk:component:encoder': EncoderClient,
-    'rdk:component:gantry': GantryClient,
-    'rdk:component:generic': GenericComponentClient,
-    'rdk:component:gripper': GripperClient,
-    'rdk:component:input_controller': InputControllerClient,
-    'rdk:component:motor': MotorClient,
-    'rdk:component:movement_sensor': MovementSensorClient,
-    'rdk:component:pose_tracker': PoseTrackerClient,
-    'rdk:component:power_sensor': PowerSensorClient,
-    'rdk:component:sensor': SensorClient,
-    'rdk:component:servo': ServoClient,
-    'rdk:component:switch': SwitchClient,
-    'rdk:service:data_manager': DataManagerClient,
-    'rdk:service:discovery': DiscoveryClient,
-    'rdk:service:generic': GenericServiceClient,
-    'rdk:service:mlmodel': MLModelClient,
-    'rdk:service:motion': MotionClient,
-    'rdk:service:navigation': NavigationClient,
-    'rdk:service:slam': SlamClient,
-    'rdk:service:vision': VisionClient,
-    'rdk:service:world_state_store': WorldStateStoreClient,
-    'rdk:service:video': VideoClient,
+    // components
+    [ResourceTriplets.Arm]: ArmClient,
+    [ResourceTriplets.AudioInput]: AudioInClient,
+    [ResourceTriplets.AudioOutput]: AudioOutClient,
+    [ResourceTriplets.Base]: BaseClient,
+    [ResourceTriplets.Board]: BoardClient,
+    [ResourceTriplets.Button]: ButtonClient,
+    [ResourceTriplets.Camera]: CameraClient,
+    [ResourceTriplets.Encoder]: EncoderClient,
+    [ResourceTriplets.Gantry]: GantryClient,
+    [ResourceTriplets.GenericComponent]: GenericComponentClient,
+    [ResourceTriplets.Gripper]: GripperClient,
+    [ResourceTriplets.InputController]: InputControllerClient,
+    [ResourceTriplets.Motor]: MotorClient,
+    [ResourceTriplets.MovementSensor]: MovementSensorClient,
+    [ResourceTriplets.PoseTracker]: PoseTrackerClient,
+    [ResourceTriplets.PowerSensor]: PowerSensorClient,
+    [ResourceTriplets.Sensor]: SensorClient,
+    [ResourceTriplets.Servo]: ServoClient,
+    [ResourceTriplets.Switch]: SwitchClient,
+    // services
+    [ResourceTriplets.DataManager]: DataManagerClient,
+    [ResourceTriplets.Discovery]: DiscoveryClient,
+    [ResourceTriplets.GenericService]: GenericServiceClient,
+    [ResourceTriplets.MLModel]: MLModelClient,
+    [ResourceTriplets.Motion]: MotionClient,
+    [ResourceTriplets.Navigation]: NavigationClient,
+    [ResourceTriplets.Slam]: SlamClient,
+    [ResourceTriplets.Video]: VideoClient,
+    [ResourceTriplets.Vision]: VisionClient,
+    [ResourceTriplets.WorldStateStore]: WorldStateStoreClient,
 };
 export const clientForResource = (resource) => {
     const resAPI = getResourceAPI(resource);

package/dist/components/index.d.ts

@@ -1,12 +1,17 @@
 export { default as ConnectionStatus } from './connection-status.svelte';
 export { default as SectionTitle } from './section-title.svelte';
 export { default as ArmWidget } from './widgets/arm/arm.svelte';
+export { default as ArmGetJointPositionsWidget } from './widgets/arm/get-joint-positions-widget.svelte';
+export { default as ArmIsMovingWidget } from './widgets/arm/is-moving-widget.svelte';
 export { default as ArmMoveToJointPositionsWidget } from './widgets/arm/move-to-joint-positions-widget.svelte';
 export { default as ArmMoveToPositionWidget } from './widgets/arm/move-to-position-widget.svelte';
 export { default as ArmQuickMoveWidget } from './widgets/arm/quick-move-widget.svelte';
 export { default as AudioInputWidget } from './widgets/audio-input/audio-input.svelte';
+export { default as AudioInputGetPropertiesWidget } from './widgets/audio-input/get-properties-widget.svelte';
 export { default as AudioOutputWidget } from './widgets/audio-output/audio-output.svelte';
+export { default as AudioOutputGetPropertiesWidget } from './widgets/audio-output/get-properties-widget.svelte';
 export { default as BaseWidget } from './widgets/base/base.svelte';
+export { default as BaseIsMovingWidget } from './widgets/base/is-moving-widget.svelte';
 export { default as BaseMoveStraightWidget } from './widgets/base/move-straight-widget.svelte';
 export { default as BaseQuickMoveWidget } from './widgets/base/quick-move-widget.svelte';
 export { default as BaseSetPowerWidget } from './widgets/base/set-power-widget.svelte';
@@ -22,31 +27,46 @@ export type { ComponentPreview, ComponentPreviewSnippet, } from './widgets/disco
 export { default as DiscoveryWidget } from './widgets/discovery/discovery.svelte';
 export { default as DoCommandWidget } from './widgets/do-command/do-command.svelte';
 export { default as EncoderWidget } from './widgets/encoder/encoder.svelte';
+export { default as EncoderGetPositionWidget } from './widgets/encoder/get-position-widget.svelte';
 export { default as GantryWidget } from './widgets/gantry/gantry.svelte';
+export { default as GantryGetPositionWidget } from './widgets/gantry/get-position-widget.svelte';
+export { default as GantryIsMovingWidget } from './widgets/gantry/is-moving-widget.svelte';
 export { default as GantryHomeWidget } from './widgets/gantry/home.svelte';
 export { default as GantryMoveToPositionWidget } from './widgets/gantry/move-to-position-widget.svelte';
 export { default as GantryQuickMoveWidget } from './widgets/gantry/quick-move-widget.svelte';
 export { default as GenericWidget } from './widgets/generic/generic.svelte';
 export { default as GripperGrabWidget } from './widgets/gripper/grab.svelte';
 export { default as GripperWidget } from './widgets/gripper/gripper.svelte';
+export { default as GripperIsHoldingSomethingWidget } from './widgets/gripper/is-holding-something.svelte';
+export { default as GripperIsMovingWidget } from './widgets/gripper/is-moving-widget.svelte';
 export { default as GripperOpenWidget } from './widgets/gripper/open.svelte';
 export { default as InputControllerWidget } from './widgets/input-controller/input-controller.svelte';
 export { default as MLModelServiceWidget } from './widgets/ml-model-service/ml-model-service.svelte';
 export { default as MotorGoForWidget } from './widgets/motor/go-for-view.svelte';
 export { default as MotorGoToWidget } from './widgets/motor/go-to-view.svelte';
 export { default as MotorWidget } from './widgets/motor/motor.svelte';
+export { default as MotorIsMovingWidget } from './widgets/motor/is-moving-widget.svelte';
 export { default as MotorQuickMoveWidget } from './widgets/motor/quick-move-widget.svelte';
 export { default as MotorSetPowerWidget } from './widgets/motor/set-power-widget.svelte';
 export { default as MotorSetRPMWidget } from './widgets/motor/set-rpm-widget.svelte';
 export { default as MovementSensorWidget } from './widgets/movement-sensor/movement-sensor.svelte';
+export { default as MovementSensorGetPositionWidget } from './widgets/movement-sensor/get-position-widget.svelte';
+export { default as MovementSensorGetOrientationWidget } from './widgets/movement-sensor/get-orientation-widget.svelte';
+export { default as MovementSensorGetCompassHeadingWidget } from './widgets/movement-sensor/get-compass-heading-widget.svelte';
+export { default as MovementSensorGetAccuracyWidget } from './widgets/movement-sensor/get-accuracy-widget.svelte';
 export { default as NavigationServiceWidget } from './widgets/navigation/navigation.svelte';
 export { default as PowerSensorWidget } from './widgets/power-sensor/power-sensor.svelte';
+export { default as PowerSensorGetVoltageWidget } from './widgets/power-sensor/get-voltage-widget.svelte';
+export { default as PowerSensorGetCurrentWidget } from './widgets/power-sensor/get-current-widget.svelte';
+export { default as PowerSensorGetPowerWidget } from './widgets/power-sensor/get-power-widget.svelte';
 export { default as SensorWidget } from './widgets/sensor/sensor.svelte';
 export { default as ServoMoveWidget } from './widgets/servo/move-widget.svelte';
 export { default as ServoQuickMoveWidget } from './widgets/servo/quick-move-widget.svelte';
 export { default as ServoWidget } from './widgets/servo/servo.svelte';
+export { default as ServoIsMovingWidget } from './widgets/servo/is-moving-widget.svelte';
 export { default as SlamMap2D } from './slam/map2d/index.svelte';
 export { default as SlamWidget } from './widgets/slam/slam.svelte';
+export { default as SlamGetPositionWidget } from './widgets/slam/get-position-widget.svelte';
 export { default as StopWidget } from './stop.svelte';
 export { default as SwitchPositionWidget } from './widgets/switch/position-view.svelte';
 export { default as SwitchWidget } from './widgets/switch/switch.svelte';

package/dist/components/index.js

@@ -1,12 +1,17 @@
 export { default as ConnectionStatus } from './connection-status.svelte';
 export { default as SectionTitle } from './section-title.svelte';
 export { default as ArmWidget } from './widgets/arm/arm.svelte';
+export { default as ArmGetJointPositionsWidget } from './widgets/arm/get-joint-positions-widget.svelte';
+export { default as ArmIsMovingWidget } from './widgets/arm/is-moving-widget.svelte';
 export { default as ArmMoveToJointPositionsWidget } from './widgets/arm/move-to-joint-positions-widget.svelte';
 export { default as ArmMoveToPositionWidget } from './widgets/arm/move-to-position-widget.svelte';
 export { default as ArmQuickMoveWidget } from './widgets/arm/quick-move-widget.svelte';
 export { default as AudioInputWidget } from './widgets/audio-input/audio-input.svelte';
+export { default as AudioInputGetPropertiesWidget } from './widgets/audio-input/get-properties-widget.svelte';
 export { default as AudioOutputWidget } from './widgets/audio-output/audio-output.svelte';
+export { default as AudioOutputGetPropertiesWidget } from './widgets/audio-output/get-properties-widget.svelte';
 export { default as BaseWidget } from './widgets/base/base.svelte';
+export { default as BaseIsMovingWidget } from './widgets/base/is-moving-widget.svelte';
 export { default as BaseMoveStraightWidget } from './widgets/base/move-straight-widget.svelte';
 export { default as BaseQuickMoveWidget } from './widgets/base/quick-move-widget.svelte';
 export { default as BaseSetPowerWidget } from './widgets/base/set-power-widget.svelte';
@@ -21,31 +26,46 @@ export { default as LiveOrPollingVideo } from './widgets/camera/live-or-polling-
 export { default as DiscoveryWidget } from './widgets/discovery/discovery.svelte';
 export { default as DoCommandWidget } from './widgets/do-command/do-command.svelte';
 export { default as EncoderWidget } from './widgets/encoder/encoder.svelte';
+export { default as EncoderGetPositionWidget } from './widgets/encoder/get-position-widget.svelte';
 export { default as GantryWidget } from './widgets/gantry/gantry.svelte';
+export { default as GantryGetPositionWidget } from './widgets/gantry/get-position-widget.svelte';
+export { default as GantryIsMovingWidget } from './widgets/gantry/is-moving-widget.svelte';
 export { default as GantryHomeWidget } from './widgets/gantry/home.svelte';
 export { default as GantryMoveToPositionWidget } from './widgets/gantry/move-to-position-widget.svelte';
 export { default as GantryQuickMoveWidget } from './widgets/gantry/quick-move-widget.svelte';
 export { default as GenericWidget } from './widgets/generic/generic.svelte';
 export { default as GripperGrabWidget } from './widgets/gripper/grab.svelte';
 export { default as GripperWidget } from './widgets/gripper/gripper.svelte';
+export { default as GripperIsHoldingSomethingWidget } from './widgets/gripper/is-holding-something.svelte';
+export { default as GripperIsMovingWidget } from './widgets/gripper/is-moving-widget.svelte';
 export { default as GripperOpenWidget } from './widgets/gripper/open.svelte';
 export { default as InputControllerWidget } from './widgets/input-controller/input-controller.svelte';
 export { default as MLModelServiceWidget } from './widgets/ml-model-service/ml-model-service.svelte';
 export { default as MotorGoForWidget } from './widgets/motor/go-for-view.svelte';
 export { default as MotorGoToWidget } from './widgets/motor/go-to-view.svelte';
 export { default as MotorWidget } from './widgets/motor/motor.svelte';
+export { default as MotorIsMovingWidget } from './widgets/motor/is-moving-widget.svelte';
 export { default as MotorQuickMoveWidget } from './widgets/motor/quick-move-widget.svelte';
 export { default as MotorSetPowerWidget } from './widgets/motor/set-power-widget.svelte';
 export { default as MotorSetRPMWidget } from './widgets/motor/set-rpm-widget.svelte';
 export { default as MovementSensorWidget } from './widgets/movement-sensor/movement-sensor.svelte';
+export { default as MovementSensorGetPositionWidget } from './widgets/movement-sensor/get-position-widget.svelte';
+export { default as MovementSensorGetOrientationWidget } from './widgets/movement-sensor/get-orientation-widget.svelte';
+export { default as MovementSensorGetCompassHeadingWidget } from './widgets/movement-sensor/get-compass-heading-widget.svelte';
+export { default as MovementSensorGetAccuracyWidget } from './widgets/movement-sensor/get-accuracy-widget.svelte';
 export { default as NavigationServiceWidget } from './widgets/navigation/navigation.svelte';
 export { default as PowerSensorWidget } from './widgets/power-sensor/power-sensor.svelte';
+export { default as PowerSensorGetVoltageWidget } from './widgets/power-sensor/get-voltage-widget.svelte';
+export { default as PowerSensorGetCurrentWidget } from './widgets/power-sensor/get-current-widget.svelte';
+export { default as PowerSensorGetPowerWidget } from './widgets/power-sensor/get-power-widget.svelte';
 export { default as SensorWidget } from './widgets/sensor/sensor.svelte';
 export { default as ServoMoveWidget } from './widgets/servo/move-widget.svelte';
 export { default as ServoQuickMoveWidget } from './widgets/servo/quick-move-widget.svelte';
 export { default as ServoWidget } from './widgets/servo/servo.svelte';
+export { default as ServoIsMovingWidget } from './widgets/servo/is-moving-widget.svelte';
 export { default as SlamMap2D } from './slam/map2d/index.svelte';
 export { default as SlamWidget } from './widgets/slam/slam.svelte';
+export { default as SlamGetPositionWidget } from './widgets/slam/get-position-widget.svelte';
 export { default as StopWidget } from './stop.svelte';
 export { default as SwitchPositionWidget } from './widgets/switch/position-view.svelte';
 export { default as SwitchWidget } from './widgets/switch/switch.svelte';

package/dist/components/is-moving.svelte

@@ -56,10 +56,7 @@
 	bottomText="Updates automatically"
 	class="grow"
 >
-	<Query
-		{query}
-		contentCx="h-5"
-	>
+	<Query {query}>
 		<StatusPill isActive={query.data ?? false} />
 	</Query>
 

package/dist/components/mutation-section.svelte

@@ -39,7 +39,7 @@
 	aria-labelledby={headingID}
 >
 	<div class={twMerge('flex grow flex-row flex-wrap gap-2', className)}>
-		<div class="flex max-w-[200px] grow flex-col gap-0.5 pr-4">
+		<div class="flex max-w-50 grow flex-col gap-0.5 pr-4">
 			{#if api}
 				<SectionTitle
 					{title}

package/dist/components/widgets/arm/arm.svelte

@@ -11,7 +11,6 @@
 	import ApiSection from '../../api-section.svelte'
 	import ConnectionStatus from '../../connection-status.svelte'
 	import IsMoving from '../../is-moving.svelte'
-	import Queries from '../../queries.svelte'
 	import Query from '../../query.svelte'
 	import StopButton from '../../stop-button.svelte'
 
@@ -50,6 +49,10 @@
 	const moveToPosition = (position: Pose) => {
 		moveToPosMutation.mutate([position], {})
 	}
+
+	const jointLimitsDegrees = $derived(
+		kinematicsQuery.data ? getJointPositionLimits(kinematicsQuery.data as KinematicsJSON) : []
+	)
 </script>
 
 <ConnectionStatus {partID}>
@@ -74,17 +77,17 @@
 					title="MoveToJointPositions"
 					api="rdk:component:arm"
 				>
-					<Queries queries={[jointPositionsQuery, kinematicsQuery]}>
-						{#if jointPositionsQuery.data && kinematicsQuery.data}
+					<Query query={jointPositionsQuery}>
+						{#if jointPositionsQuery.data}
 							<MoveToJointPositions
 								positions={jointPositionsQuery.data.values}
 								{moveToJointPositions}
 								lastError={moveToJointPosMutation.error}
-								jointLimitsDegrees={getJointPositionLimits(kinematicsQuery.data as KinematicsJSON)}
+								{jointLimitsDegrees}
 								isMoving={isMovingQuery.data ?? false}
 							/>
 						{/if}
-					</Queries>
+					</Query>
 				</ApiSection>
 				<ApiSection
 					title="MoveToPosition"

package/dist/components/widgets/arm/get-joint-positions-widget.svelte

@@ -0,0 +1,36 @@
+<script lang="ts">
+	import { ArmClient } from '@viamrobotics/sdk'
+	import { createResourceClient, createResourceQuery } from '@viamrobotics/svelte-sdk'
+
+	import ApiSection from '../../api-section.svelte'
+	import Query from '../../query.svelte'
+
+	import GetJointPositions from './get-joint-positions.svelte'
+
+	interface Props {
+		partID: string
+		resourceName: string
+	}
+
+	const { partID, resourceName }: Props = $props()
+
+	const client = createResourceClient(
+		ArmClient,
+		() => partID,
+		() => resourceName
+	)
+
+	const query = createResourceQuery(client, 'getJointPositions', { refetchInterval: 500 })
+</script>
+
+<ApiSection
+	title="GetJointPositions"
+	bottomText="Updates automatically"
+	class="grow"
+>
+	<Query {query}>
+		{#if query.data}
+			<GetJointPositions positions={query.data.values} />
+		{/if}
+	</Query>
+</ApiSection>

package/dist/components/widgets/arm/get-joint-positions-widget.svelte.d.ts

@@ -0,0 +1,7 @@
+interface Props {
+    partID: string;
+    resourceName: string;
+}
+declare const GetJointPositionsWidget: import("svelte").Component<Props, {}, "">;
+type GetJointPositionsWidget = ReturnType<typeof GetJointPositionsWidget>;
+export default GetJointPositionsWidget;

package/dist/components/widgets/arm/is-moving-widget.svelte

@@ -0,0 +1,20 @@
+<script lang="ts">
+	import { ArmClient } from '@viamrobotics/sdk'
+
+	import IsMoving from '../../is-moving.svelte'
+	import { ResourceTriplets } from '../../../resource-triplet'
+
+	interface Props {
+		partID: string
+		resourceName: string
+	}
+
+	const { partID, resourceName }: Props = $props()
+</script>
+
+<IsMoving
+	client={ArmClient}
+	api={ResourceTriplets.Arm}
+	{partID}
+	{resourceName}
+/>

package/dist/components/widgets/arm/is-moving-widget.svelte.d.ts

@@ -0,0 +1,7 @@
+interface Props {
+    partID: string;
+    resourceName: string;
+}
+declare const IsMovingWidget: import("svelte").Component<Props, {}, "">;
+type IsMovingWidget = ReturnType<typeof IsMovingWidget>;
+export default IsMovingWidget;

package/dist/components/widgets/arm/move-to-joint-positions-widget.svelte

@@ -6,7 +6,7 @@
 		createResourceQuery,
 	} from '@viamrobotics/svelte-sdk'
 
-	import Queries from '../../queries.svelte'
+	import Query from '../../query.svelte'
 
 	import { getJointPositionLimits, type KinematicsJSON } from './joint-position-limits'
 	import MoveToJointPositions from './move-to-joint-positions.svelte'
@@ -36,15 +36,19 @@
 	const moveToJointPositions = (jointPositionsList: number[]) => {
 		moveToJointPosMutation.mutate([jointPositionsList], {})
 	}
+
+	const jointLimitsDegrees = $derived(
+		kinematicsQuery.data ? getJointPositionLimits(kinematicsQuery.data as KinematicsJSON) : []
+	)
 </script>
 
-<Queries queries={[jointPositionsQuery, kinematicsQuery]}>
-	{#if jointPositionsQuery.data && kinematicsQuery.data}
+<Query query={jointPositionsQuery}>
+	{#if jointPositionsQuery.data}
 		<MoveToJointPositions
 			positions={jointPositionsQuery.data.values}
 			{moveToJointPositions}
 			lastError={moveToJointPosMutation.error}
-			jointLimitsDegrees={getJointPositionLimits(kinematicsQuery.data as KinematicsJSON)}
+			{jointLimitsDegrees}
 		/>
 	{/if}
-</Queries>
+</Query>

package/dist/components/widgets/arm/move-to-position.svelte

@@ -76,13 +76,36 @@
 		oZ: 'OZ',
 		theta: 'θ',
 	} as const
+	const positionUnits = $derived({
+		x: 'mm',
+		y: 'mm',
+		z: 'mm',
+		oX: '',
+		oY: '',
+		oZ: '',
+		theta: useRadians ? 'rad' : 'deg',
+	} as const satisfies Record<keyof Pose, string>)
+
 	const positionLabelsList = Object.entries(positionLabels) as [keyof Pose, string][]
 </script>
 
 <div class="flex min-w-0 flex-col gap-4">
 	<!-- Controls Header -->
 	<div class="flex items-center justify-between">
-		<span class="text-sm">Pose Values</span>
+		<span class="flex flex-row items-center gap-1 text-sm">
+			Pose Values
+			<Tooltip>
+				<Icon
+					name="information-outline"
+					cx="text-gray-6"
+				/>
+
+				<span slot="description">
+					Pose is with respect to the arm origin and does not take into account the motion service
+					or frame system.
+				</span>
+			</Tooltip>
+		</span>
 		<div class="flex gap-1">
 			<AngleUnitToggle
 				{useRadians}
@@ -99,7 +122,7 @@
 		<thead>
 			<tr>
 				<th>Pose</th>
-				<th>Value ({useRadians ? 'radians' : 'degrees'})</th>
+				<th>Value</th>
 			</tr>
 		</thead>
 		<tbody>
@@ -107,7 +130,12 @@
 				{@const [key, label] = labelList}
 				{@const value = Number.parseFloat(formatNumeric(displayPosition[key]))}
 				<tr>
-					<th>{label}</th>
+					<th>
+						<span class="relative inline-flex justify-center">
+							{label}
+							<abbr class="text-subtle-2 absolute left-full ml-1">{positionUnits[key]}</abbr>
+						</span>
+					</th>
 					<th>
 						<NumericInput
 							cx="max-w-[76px]"

package/dist/components/widgets/audio-input/get-properties-widget.svelte

@@ -0,0 +1,43 @@
+<script lang="ts">
+	import { AudioInClient } from '@viamrobotics/sdk'
+	import { createResourceClient, createResourceQuery } from '@viamrobotics/svelte-sdk'
+
+	import ApiSection from '../../api-section.svelte'
+	import Query from '../../query.svelte'
+
+	import Properties from './properties.svelte'
+
+	interface Props {
+		partID: string
+		resourceName: string
+	}
+
+	const { partID, resourceName }: Props = $props()
+
+	const client = createResourceClient(
+		AudioInClient,
+		() => partID,
+		() => resourceName
+	)
+
+	const query = createResourceQuery(client, 'getProperties', { refetchInterval: 500 })
+</script>
+
+<ApiSection
+	title="GetProperties"
+	description="Audio input properties"
+	class="grow"
+>
+	<Query
+		{query}
+		contentCx="h-6"
+	>
+		{#if query.data !== undefined}
+			<Properties
+				supportedCodecs={query.data.supportedCodecs}
+				sampleRateHz={query.data.sampleRateHz}
+				numChannels={query.data.numChannels}
+			/>
+		{/if}
+	</Query>
+</ApiSection>

package/dist/components/widgets/audio-input/get-properties-widget.svelte.d.ts

@@ -0,0 +1,7 @@
+interface Props {
+    partID: string;
+    resourceName: string;
+}
+declare const GetPropertiesWidget: import("svelte").Component<Props, {}, "">;
+type GetPropertiesWidget = ReturnType<typeof GetPropertiesWidget>;
+export default GetPropertiesWidget;

package/dist/components/widgets/audio-output/get-properties-widget.svelte

@@ -0,0 +1,43 @@
+<script lang="ts">
+	import { AudioOutClient } from '@viamrobotics/sdk'
+	import { createResourceClient, createResourceQuery } from '@viamrobotics/svelte-sdk'
+
+	import ApiSection from '../../api-section.svelte'
+	import Query from '../../query.svelte'
+
+	import Properties from './properties.svelte'
+
+	interface Props {
+		partID: string
+		resourceName: string
+	}
+
+	const { partID, resourceName }: Props = $props()
+
+	const client = createResourceClient(
+		AudioOutClient,
+		() => partID,
+		() => resourceName
+	)
+
+	const query = createResourceQuery(client, 'getProperties', { refetchInterval: 500 })
+</script>
+
+<ApiSection
+	title="GetProperties"
+	description="Audio output properties"
+	class="grow"
+>
+	<Query
+		{query}
+		contentCx="h-6"
+	>
+		{#if query.data !== undefined}
+			<Properties
+				supportedCodecs={query.data.supportedCodecs}
+				sampleRateHz={query.data.sampleRateHz}
+				numChannels={query.data.numChannels}
+			/>
+		{/if}
+	</Query>
+</ApiSection>

package/dist/components/widgets/audio-output/get-properties-widget.svelte.d.ts

@@ -0,0 +1,7 @@
+interface Props {
+    partID: string;
+    resourceName: string;
+}
+declare const GetPropertiesWidget: import("svelte").Component<Props, {}, "">;
+type GetPropertiesWidget = ReturnType<typeof GetPropertiesWidget>;
+export default GetPropertiesWidget;

package/dist/components/widgets/base/is-moving-widget.svelte

@@ -0,0 +1,20 @@
+<script lang="ts">
+	import { BaseClient } from '@viamrobotics/sdk'
+
+	import IsMoving from '../../is-moving.svelte'
+	import { ResourceTriplets } from '../../../resource-triplet'
+
+	interface Props {
+		partID: string
+		resourceName: string
+	}
+
+	const { partID, resourceName }: Props = $props()
+</script>
+
+<IsMoving
+	client={BaseClient}
+	api={ResourceTriplets.Base}
+	{partID}
+	{resourceName}
+/>