✨ Adds yertle model visulization

app/src/lib/stores/featureFlags.ts

@@ -1,7 +1,8 @@
 import { api } from '$lib/api'
 import { notifications } from '$lib/components/toasts/notifications'
+import Kinematic from '$lib/kinematic'
 import { persistentStore } from '$lib/utilities'
-import { type Writable } from 'svelte/store'
+import { derived, type Writable } from 'svelte/store'
 
 let featureFlagsStore: Writable<Record<string, boolean | string>>
 
@@ -19,3 +20,42 @@ export function useFeatureFlags() {
 
   return featureFlagsStore
 }
+
+export const variants = {
+  SPOTMICRO_ESP32: {
+    model: '/spot_micro.urdf.xacro',
+    stl: '/stl.zip',
+    kinematics: {
+      l1: 60.5 / 100,
+      l2: 10 / 100,
+      l3: 111.7 / 100,
+      l4: 118.5 / 100,
+      L: 207.5 / 100,
+      W: 78 / 100
+    }
+  },
+  SPOTMICRO_YERTLE: {
+    model: '/yertle.URDF',
+    stl: '/URDF.zip',
+    kinematics: {
+      l1: 35 / 100,
+      l2: 0 / 100,
+      l3: 130 / 100,
+      l4: 130 / 100,
+      L: 240 / 100,
+      W: 78 / 100
+    }
+  }
+}
+
+export const currentVariant = derived(useFeatureFlags(), $flagStore => {
+  const variantFlag = $flagStore['variant'] as string
+  return variantFlag && variants[variantFlag as keyof typeof variants] ?
+      variants[variantFlag as keyof typeof variants]
+    : variants.SPOTMICRO_ESP32
+})
+
+export const currentKinematic = derived(
+  currentVariant,
+  $variant => new Kinematic($variant.kinematics)
+)