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add generic component to useGeometries #674

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add generic component to useGeometries #674

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01249a8
add generic component to useGeometries
gmulz May 12, 2026
8e23a68
filter generic components and changeset
gmulz May 14, 2026
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5 changes: 5 additions & 0 deletions .changeset/silent-frames-render.md
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
---
'@viamrobotics/motion-tools': patch
---

Fetch geometries from generic components
22 changes: 21 additions & 1 deletion src/lib/hooks/useGeometries.svelte.ts
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Original file line number Diff line number Diff line change
@@ -1,4 +1,11 @@
import { ArmClient, BaseClient, CameraClient, GantryClient, GripperClient } from '@viamrobotics/sdk'
import {
ArmClient,
BaseClient,
CameraClient,
GantryClient,
GenericComponentClient,
GripperClient,
} from '@viamrobotics/sdk'
import {
createResourceClient,
createResourceQuery,
Expand Down Expand Up @@ -37,6 +44,7 @@ export const provideGeometries = (partID: () => string) => {
const cameras = useResourceNames(partID, 'camera')
const grippers = useResourceNames(partID, 'gripper')
const gantries = useResourceNames(partID, 'gantry')
const generics = useResourceNames(partID, 'generic')
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@DTCurrie DTCurrie May 12, 2026

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Any issues with this and generic services?

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@gmulz gmulz May 14, 2026

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oops yes

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@gmulz gmulz May 15, 2026

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fixed, but is this a shortcoming of the svelte sdk that i can't filter by anything other than subtype?


const settings = useSettings()
const { refreshRates } = $derived(settings.current)
Expand All @@ -58,6 +66,11 @@ export const provideGeometries = (partID: () => string) => {
const gantryClients = $derived(
gantries.current.map((gantry) => createResourceClient(GantryClient, partID, () => gantry.name))
)
const genericClients = $derived(
generics.current
.filter((generic) => generic.type === 'component')
.map((generic) => createResourceClient(GenericComponentClient, partID, () => generic.name))
)

const interval = $derived(refreshRates[RefreshRates.poses])

Expand Down Expand Up @@ -96,13 +109,20 @@ export const provideGeometries = (partID: () => string) => {
[client.current?.name, createResourceQuery(client, 'getGeometries', () => options)] as const
)
)
const genericQueries = $derived(
genericClients.map(
(client) =>
[client.current?.name, createResourceQuery(client, 'getGeometries', () => options)] as const
)
)

const queries = $derived([
...armQueries,
...baseQueries,
...gripperQueries,
...cameraQueries,
...gantryQueries,
...genericQueries,
])

$effect(() => {
Expand Down
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