🎨 Simplifies spin skill

app/.eslintrc.cjs

@@ -28,4 +28,4 @@ module.exports = {
 			}
 		}
 	]
-}
+};

app/.prettierrc

@@ -1,12 +1,13 @@
 {
     "useTabs": false,
     "singleQuote": true,
-    "tabWidth": 4,
+    "tabWidth": 2,
     "trailingComma": "none",
     "arrowParens": "avoid",
     "experimentalTernaries": true,
     "printWidth": 100,
     "semi": false,
+    "svelteBracketNewLine": false,
     "plugins": ["prettier-plugin-svelte"],
     "overrides": [{ "files": "*.svelte", "options": { "parser": "svelte" } }]
 }

app/.vscode/extensions.json

@@ -1,7 +1,3 @@
 {
-    "recommendations": [
+	"recommendations": ["svelte.svelte-vscode", "bradlc.vscode-tailwindcss", "esbenp.prettier-vscode"]
-        "svelte.svelte-vscode",
-        "bradlc.vscode-tailwindcss",
-        "esbenp.prettier-vscode"
-    ]
 }

app/env.d.ts

@@ -1,8 +1,8 @@
-declare module 'app-env' {
+declare module "app-env" {
   interface ENV {
-        VITE_USE_HOST_NAME: boolean
+    VITE_USE_HOST_NAME: boolean;
   }
 
-    const appEnv: ENV
+  const appEnv: ENV;
-    export default appEnv
+  export default appEnv;
 }

app/package.json

@@ -16,50 +16,50 @@
     "test:unit": "vitest"
   },
   "devDependencies": {
-        "@iconify-json/mdi": "^1.2.3",
+    "@iconify-json/mdi": "^1.1.64",
-        "@iconify-json/tabler": "^1.2.23",
+    "@iconify-json/tabler": "^1.1.109",
-        "@playwright/test": "^1.56.0",
+    "@playwright/test": "^1.49.1",
-        "@sveltejs/adapter-static": "^3.0.10",
+    "@sveltejs/adapter-static": "^3.0.1",
-        "@sveltejs/kit": "^2.46.4",
+    "@sveltejs/kit": "^2.5.27",
-        "@sveltejs/vite-plugin-svelte": "^6.2.1",
+    "@sveltejs/vite-plugin-svelte": "^5.0.3",
-        "@types/eslint": "^9.6.1",
+    "@types/eslint": "^8.56.0",
-        "@types/three": "^0.180.0",
+    "@types/three": "^0.162.0",
-        "@typescript-eslint/eslint-plugin": "^8.46.0",
+    "@typescript-eslint/eslint-plugin": "^7.0.0",
-        "@typescript-eslint/parser": "^8.46.0",
+    "@typescript-eslint/parser": "^7.0.0",
-        "autoprefixer": "^10.4.21",
+    "autoprefixer": "^10.4.19",
-        "eslint": "^9.37.0",
+    "eslint": "^8.56.0",
-        "eslint-config-prettier": "^10.1.8",
+    "eslint-config-prettier": "^9.1.0",
-        "eslint-plugin-svelte": "^3.12.4",
+    "eslint-plugin-svelte": "^2.45.1",
-        "jsdom": "^27.0.0",
+    "jsdom": "^24.0.0",
-        "prettier": "^3.6.2",
+    "prettier": "^3.1.1",
-        "prettier-plugin-svelte": "^3.4.0",
+    "prettier-plugin-svelte": "^3.2.6",
-        "svelte": "^5.39.11",
+    "svelte": "^5.0.0",
-        "svelte-check": "^4.3.3",
+    "svelte-check": "^4.0.0",
     "svelte-focus-trap": "^1.2.0",
-        "tailwindcss": "^4.1.14",
+    "tailwindcss": "^4.0.12",
-        "tslib": "^2.8.1",
+    "tslib": "^2.6.1",
-        "typescript": "^5.9.3",
+    "typescript": "^5.5.0",
-        "unplugin-icons": "^22.4.2",
+    "unplugin-icons": "^0.18.5",
-        "vite": "^7.1.9",
+    "vite": "^6.2.1",
-        "vitest": "^3.2.4"
+    "vitest": "^1.2.0"
   },
   "type": "module",
   "dependencies": {
     "@msgpack/msgpack": "^3.1.2",
-        "@niku/vite-env-caster": "^1.1.2",
+    "@niku/vite-env-caster": "^1.0.2",
-        "@sveltejs/adapter-auto": "^6.1.1",
+    "@sveltejs/adapter-auto": "^4.0.0",
-        "@tailwindcss/vite": "^4.1.14",
+    "@tailwindcss/vite": "^4.0.12",
-        "chart.js": "^4.5.0",
+    "chart.js": "^4.4.2",
-        "compare-versions": "^6.1.1",
+    "compare-versions": "^6.1.0",
-        "cross-env": "^10.1.0",
+    "cross-env": "^7.0.3",
-        "daisyui": "^5.2.0",
+    "daisyui": "^5.0.0",
-        "nipplejs": "^0.10.2",
+    "nipplejs": "^0.10.1",
     "svelte-dnd-list": "^0.1.8",
-        "svelte-modals": "^2.0.1",
+    "svelte-modals": "^2.0.0",
-        "three": "^0.180.0",
+    "three": "^0.162.0",
-        "urdf-loader": "^0.12.6",
+    "urdf-loader": "^0.12.1",
     "uzip": "^0.20201231.0",
-        "xacro-parser": "^0.3.10"
+    "xacro-parser": "^0.3.9"
   },
   "packageManager": "pnpm@9.3.0"
 }

app/playwright.config.ts

@@ -1,4 +1,4 @@
-import type { PlaywrightTestConfig } from '@playwright/test'
+import type { PlaywrightTestConfig } from '@playwright/test';
 
 const config: PlaywrightTestConfig = {
 	webServer: {
@@ -7,6 +7,6 @@ const config: PlaywrightTestConfig = {
 	},
 	testDir: 'tests/integration',
 	testMatch: /(.+\.)?(test|spec)\.[jt]s/
-}
+};
 
-export default config
+export default config;

app/src/app.css

@@ -23,14 +23,6 @@
     --base-content: oklch(0.3 0.012 256);
 }
 
-button {
-    cursor: pointer;
-}
-
-button:disabled {
-    cursor: not-allowed;
-}
-
 #nipple_0_0,
 #nipple_1_1 {
     z-index: 10 !important;

app/src/app.d.ts

@@ -10,4 +10,4 @@ declare global {
 	}
 }
 
-export {}
+export {};

app/src/app.html

@@ -3,10 +3,7 @@
 	<head>
 		<meta charset="utf-8" />
 		<link rel="icon" href="%sveltekit.assets%/logo512.png" />
-        <meta
+		<meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1" />
-            name="viewport"
-            content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1"
-        />
 		<meta name="apple-mobile-web-app-capable" content="yes" />
 		<meta name="mobile-web-app-capable" content="yes" />
 		%sveltekit.head%

app/src/index.test.ts

@@ -0,0 +1,7 @@
+import { describe, it, expect } from 'vitest';
+
+describe('sum test', () => {
+	it('adds 1 + 2 to equal 3', () => {
+		expect(1 + 2).toBe(3);
+	});
+});

app/src/lib/api.ts

@@ -1,22 +1,22 @@
-import { get } from 'svelte/store'
+import { get } from 'svelte/store';
-import { Err, Ok, type Result } from './utilities'
+import { Err, Ok, type Result } from './utilities';
-import { apiLocation } from './stores'
+import { location } from './stores';
 
-export const api = {
+export namespace api {
-    get<TResponse>(endpoint: string, params?: RequestInit) {
+    export function get<TResponse>(endpoint: string, params?: RequestInit) {
-        return sendRequest<TResponse>(endpoint, 'GET', null, params)
+        return sendRequest<TResponse>(endpoint, 'GET', null, params);
-    },
+    }
 
-    post<TResponse>(endpoint: string, data?: unknown) {
+    export function post<TResponse>(endpoint: string, data?: unknown) {
-        return sendRequest<TResponse>(endpoint, 'POST', data)
+        return sendRequest<TResponse>(endpoint, 'POST', data);
-    },
+    }
 
-    put<TResponse>(endpoint: string, data?: unknown) {
+    export function put<TResponse>(endpoint: string, data?: unknown) {
-        return sendRequest<TResponse>(endpoint, 'PUT', data)
+        return sendRequest<TResponse>(endpoint, 'PUT', data);
-    },
+    }
 
-    remove<TResponse>(endpoint: string) {
+    export function remove<TResponse>(endpoint: string) {
-        return sendRequest<TResponse>(endpoint, 'DELETE')
+        return sendRequest<TResponse>(endpoint, 'DELETE');
     }
 }
 
@@ -26,8 +26,8 @@ async function sendRequest<TResponse>(
     data?: unknown,
     params?: RequestInit
 ): Promise<Result<TResponse, Error>> {
-    endpoint = resolveUrl(endpoint)
+    endpoint = resolveUrl(endpoint);
-    const body = data !== null && typeof data !== 'undefined' ? JSON.stringify(data) : undefined
+    const body = data !== null && typeof data !== 'undefined' ? JSON.stringify(data) : undefined;
 
     const request = {
         ...params,
@@ -38,42 +38,43 @@ async function sendRequest<TResponse>(
             Authorization: 'Basic',
             'Content-Type': 'application/json'
         }
-    }
+    };
 
-    let response
+    let response;
 
     try {
-        response = await fetch(endpoint, request)
+        response = await fetch(endpoint, request);
-    } catch {
+    } catch (error) {
-        return Err.new(new Error(), 'An error has occurred')
+        return Err.new(new Error(), 'An error has occurred');
     }
 
-    const isResponseOk = response.status >= 200 && response.status < 400
+    const isResponseOk = response.status >= 200 && response.status < 400;
     if (!isResponseOk) {
         if (response.status === 401) {
-            return Err.new(new ApiError(response), 'User was not authorized')
+            return Err.new(new ApiError(response), 'User was not authorized');
         }
-        return Err.new(new ApiError(response), 'An error has occurred')
+        return Err.new(new ApiError(response), 'An error has occurred');
     }
 
-    const contentType = response.headers.get('Content-Type') ?? response.headers.get('Content-Type')
+    const contentType =
+        response.headers.get('Content-Type') ?? response.headers.get('Content-Type');
     if (contentType && contentType.includes('application/json')) {
-        const data = await response.json()
+        const data = await response.json();
-        return Ok.new(data as TResponse)
+        return Ok.new(data as TResponse);
     } else {
         // Handle empty object as response
-        return Ok.new(null as TResponse)
+        return Ok.new(null as TResponse);
     }
 }
 
 function resolveUrl(url: string): string {
-    if (url.startsWith('http') || !get(apiLocation)) return url
+    if (url.startsWith('http') || !get(location)) return url;
-    const protocol = window.location.protocol
+    const protocol = window.location.protocol;
-    return `${protocol}//${get(apiLocation)}${url.startsWith('/') ? '' : '/'}${url}`
+    return `${protocol}//${get(location)}${url.startsWith('/') ? '' : '/'}${url}`;
 }
 
 export class ApiError extends Error {
     constructor(public readonly response: Response) {
-        super(`${response.status}`)
+        super(`${response.status}`);
     }
 }

app/src/lib/components/Collapsible.svelte

@@ -1,18 +1,18 @@
 <script lang="ts">
-    import { slide } from 'svelte/transition'
+    import { slide } from 'svelte/transition';
-    import { cubicOut } from 'svelte/easing'
+    import { cubicOut } from 'svelte/easing';
-    import { Down } from './icons'
+    import { Down } from './icons';
 
     function openCollapsible() {
-        open = !open
+        open = !open;
         if (open) {
-            opened()
+            opened();
         } else {
-            closed()
+            closed();
         }
     }
 
-    let { icon, title, children, open, opened, closed, class: klass } = $props()
+    let { icon, title, children, open, opened, closed, class: klass } = $props();
 </script>
 
 <div class="{klass} relative grid w-full max-w-2xl self-center overflow-hidden">

app/src/lib/components/ConfirmDialog.svelte

@@ -23,20 +23,15 @@
     class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
     transition:fly={{ y: 50 }}
     use:exitBeforeEnter
-        use:focusTrap
+    use:focusTrap>
-    >
     <div
-            class="rounded-box bg-base-100 pointer-events-auto flex min-w-fit max-w-md flex-col justify-between p-4 shadow-lg"
+      class="rounded-box bg-base-100 pointer-events-auto flex min-w-fit max-w-md flex-col justify-between p-4 shadow-lg">
-        >
       <h2 class="text-base-content text-start text-2xl font-bold">{title}</h2>
       <div class="divider my-2"></div>
       <p class="text-base-content mb-1 text-start">{message}</p>
       <div class="divider my-2"></div>
       <div class="flex justify-end gap-2">
-                <button
+        <button class="btn btn-error inline-flex items-center" onclick={() => modals.close()}>
-                    class="btn btn-error inline-flex items-center"
-                    onclick={() => modals.close()}
-                >
           <labels.cancel.icon class="mr-2 h-5 w-5" /><span>{labels?.cancel.label}</span>
         </button>
         <button class="btn btn-primary inline-flex items-center" onclick={onConfirm}>

app/src/lib/components/GithubUpdateDialog.svelte

@@ -1,61 +1,61 @@
 <script lang="ts">
-    import { focusTrap } from 'svelte-focus-trap'
+    import { focusTrap } from 'svelte-focus-trap';
-    import { fly } from 'svelte/transition'
+    import { fly } from 'svelte/transition';
-    import { telemetry } from '$lib/stores/telemetry'
+    import { telemetry } from '$lib/stores/telemetry';
-    import { Cancel } from './icons'
+    import { Cancel } from './icons';
-    import { modals, exitBeforeEnter, onBeforeClose } from 'svelte-modals'
+    import { modals, exitBeforeEnter, onBeforeClose } from 'svelte-modals';
 
     // provided by <Modals />
     interface Props {
-        isOpen: boolean
+        isOpen: boolean;
     }
 
-    let { isOpen }: Props = $props()
+    let { isOpen }: Props = $props();
 
-    let updating = $state(true)
+    let updating = $state(true);
 
-    let progress = $state(0)
+    let progress = $state(0);
     $effect(() => {
         if ($telemetry.download_ota.status == 'progress') {
-            progress = $telemetry.download_ota.progress
+            progress = $telemetry.download_ota.progress;
         }
-    })
+    });
 
     $effect(() => {
         if ($telemetry.download_ota.status == 'error') {
-            updating = false
+            updating = false;
         }
-    })
+    });
 
-    let message = $state('Preparing ...')
+    let message = $state('Preparing ...');
 
     $effect(() => {
         if ($telemetry.download_ota.status == 'progress') {
-            message = 'Downloading ...'
+            message = 'Downloading ...';
         } else if ($telemetry.download_ota.status == 'error') {
-            message = $telemetry.download_ota.error
+            message = $telemetry.download_ota.error;
         } else if ($telemetry.download_ota.status == 'finished') {
-            message = 'Restarting ...'
+            message = 'Restarting ...';
-            progress = 0
+            progress = 0;
             // Reload page after 5 sec
             setTimeout(() => {
-                modals.closeAll()
+                modals.closeAll();
-                location.reload()
+                location.reload();
-            }, 5000)
+            }, 5000);
         }
-    })
+    });
 
     onBeforeClose(() => {
         if (updating) {
             // prevents modal from closing
-            return false
+            return false;
         } else {
-            $telemetry.download_ota.status = 'idle'
+            $telemetry.download_ota.status = 'idle';
-            $telemetry.download_ota.error = ''
+            $telemetry.download_ota.error = '';
-            $telemetry.download_ota.progress = 0
+            $telemetry.download_ota.progress = 0;
-            return true
+            return true;
         }
-    })
+    });
 </script>
 
 {#if isOpen}
@@ -89,8 +89,8 @@
                     class="btn btn-warning text-warning-content inline-flex flex-none items-center"
                     disabled={updating}
                     onclick={() => {
-                        modals.closeAll()
+                        modals.closeAll();
-                        location.reload()
+                        location.reload();
                     }}
                 >
                     <Cancel class="mr-2 h-5 w-5" /><span>Close</span></button

app/src/lib/components/InfoDialog.svelte

@@ -1,8 +1,8 @@
 <script lang="ts">
-    import { focusTrap } from 'svelte-focus-trap'
+  import { focusTrap } from 'svelte-focus-trap';
-    import { fly } from 'svelte/transition'
+  import { fly } from 'svelte/transition';
-    import { Check } from './icons'
+  import { Check } from './icons';
-    import { exitBeforeEnter, type ModalProps } from 'svelte-modals'
+  import { exitBeforeEnter, type ModalProps } from 'svelte-modals';
 
   let {
     isOpen,
@@ -10,9 +10,9 @@
     message,
     onDismiss,
     labels = {
-            dismiss: { label: 'Dismiss', icon: Check }
+      dismiss: { label: 'Dismiss', icon: Check },
-        }
+    },
-    }: ModalProps = $props()
+  }: ModalProps = $props();
 </script>
 
 {#if isOpen}
@@ -21,11 +21,9 @@
     class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
     transition:fly={{ y: 50 }}
     use:exitBeforeEnter
-        use:focusTrap
+    use:focusTrap>
-    >
     <div
-            class="rounded-box bg-base-100 pointer-events-auto flex min-w-fit max-w-md flex-col justify-between p-4 shadow-lg"
+      class="rounded-box bg-base-100 pointer-events-auto flex min-w-fit max-w-md flex-col justify-between p-4 shadow-lg">
-        >
       <h2 class="text-base-content text-start text-2xl font-bold">{title}</h2>
       <div class="divider my-2"></div>
       <p class="text-base-content mb-1 text-start">{message}</p>
@@ -33,8 +31,7 @@
       <div class="flex justify-end gap-2">
         <button
           class="btn btn-warning text-warning-content inline-flex items-center"
-                    onclick={onDismiss}
+          onclick={onDismiss}>
-                >
           <labels.dismiss.icon class="mr-2 h-5 w-5" /><span>{labels.dismiss.label}</span>
         </button>
       </div>

app/src/lib/components/OrientationIndicator.svelte

@@ -1,15 +1,15 @@
 <script lang="ts">
-    import { onMount, onDestroy } from 'svelte'
+  import { onMount, onDestroy } from 'svelte';
-    import * as THREE from 'three'
+  import * as THREE from 'three';
-    import { imu } from '$lib/stores/imu'
+  import { imu } from '$lib/stores/imu';
-    import SceneBuilder from '$lib/sceneBuilder'
+  import SceneBuilder from '$lib/sceneBuilder';
 
-    let canvas: HTMLCanvasElement
+  let canvas: HTMLCanvasElement;
-    let sceneBuilder: SceneBuilder
+  let sceneBuilder: SceneBuilder;
-    let cube: THREE.Mesh
+  let cube: THREE.Mesh;
-    let targetRotation = new THREE.Euler()
+  let targetRotation = new THREE.Euler();
-    let lastUpdateTime = 0
+  let lastUpdateTime = 0;
-    const LERP_SPEED = 5 // rotations per second
+  const LERP_SPEED = 5; // rotations per second
 
   const initThreeJS = () => {
     sceneBuilder = new SceneBuilder()
@@ -18,59 +18,59 @@
       .addOrbitControls(1, 10, false)
       .addAmbientLight({ color: 0x404040, intensity: 0.5 })
       .addDirectionalLight({ color: 0xffffff, intensity: 3, x: 10, y: 20, z: 7 })
-            .fillParent()
+      .fillParent();
 
-        const geometry = new THREE.BoxGeometry(1, 1, 1)
+    const geometry = new THREE.BoxGeometry(1, 1, 1);
     const material = new THREE.MeshPhongMaterial({
       color: 0x00ff00,
       transparent: true,
-            opacity: 0.8
+      opacity: 0.8,
-        })
+    });
-        cube = new THREE.Mesh(geometry, material)
+    cube = new THREE.Mesh(geometry, material);
-        sceneBuilder.scene.add(cube)
+    sceneBuilder.scene.add(cube);
 
     sceneBuilder.addRenderCb(() => {
-            if (!cube) return
+      if (!cube) return;
-            const currentTime = performance.now()
+      const currentTime = performance.now();
-            const deltaTime = (currentTime - lastUpdateTime) / 1000 // convert to seconds
+      const deltaTime = (currentTime - lastUpdateTime) / 1000; // convert to seconds
-            lastUpdateTime = currentTime
+      lastUpdateTime = currentTime;
 
-            const lerpFactor = Math.min(1, LERP_SPEED * deltaTime)
+      const lerpFactor = Math.min(1, LERP_SPEED * deltaTime);
-            cube.rotation.x = THREE.MathUtils.lerp(cube.rotation.x, targetRotation.x, lerpFactor)
+      cube.rotation.x = THREE.MathUtils.lerp(cube.rotation.x, targetRotation.x, lerpFactor);
-            cube.rotation.y = THREE.MathUtils.lerp(cube.rotation.y, targetRotation.y, lerpFactor)
+      cube.rotation.y = THREE.MathUtils.lerp(cube.rotation.y, targetRotation.y, lerpFactor);
-            cube.rotation.z = THREE.MathUtils.lerp(cube.rotation.z, targetRotation.z, lerpFactor)
+      cube.rotation.z = THREE.MathUtils.lerp(cube.rotation.z, targetRotation.z, lerpFactor);
-        })
+    });
 
-        sceneBuilder.startRenderLoop()
+    sceneBuilder.startRenderLoop();
-    }
+  };
 
   const updateOrientation = () => {
-        if (!cube) return
+    if (!cube) return;
 
-        const y = -$imu.x[$imu.x.length - 1] || 0
+    const y = -$imu.x[$imu.x.length - 1] || 0;
-        const x = $imu.y[$imu.y.length - 1] || 0
+    const x = $imu.y[$imu.y.length - 1] || 0;
-        const z = -$imu.z[$imu.z.length - 1] || 0
+    const z = -$imu.z[$imu.z.length - 1] || 0;
 
     targetRotation.set(
       THREE.MathUtils.degToRad(x),
       THREE.MathUtils.degToRad(y),
       THREE.MathUtils.degToRad(z)
-        )
+    );
-    }
+  };
 
   onMount(() => {
-        initThreeJS()
+    initThreeJS();
-    })
+  });
 
   onDestroy(() => {
-        sceneBuilder?.renderer?.dispose()
+    sceneBuilder?.renderer?.dispose();
-    })
+  });
 
   $effect(() => {
     if ($imu) {
-            updateOrientation()
+      updateOrientation();
     }
-    })
+  });
 </script>
 
 <div class="h-60 w-60 border-2 border-base-300 rounded-md">

app/src/lib/components/SettingsCard.svelte

@@ -11,23 +11,14 @@
     right?: import('svelte').Snippet
   }
 
-    let {
+  let { open = $bindable(true), collapsible = true, icon, title, children, right }: Props = $props()
-        open = $bindable(true),
-        collapsible = true,
-        icon,
-        title,
-        children,
-        right
-    }: Props = $props()
 </script>
 
 {#if collapsible}
   <div
-        class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg"
+    class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg">
-    >
     <div
-            class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium"
+      class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium">
-        >
       <span class="inline-flex items-baseline">
         {@render icon?.()}
         {@render title?.()}
@@ -36,33 +27,26 @@
         class="btn btn-circle btn-ghost btn-sm"
         onclick={() => {
           open = !open
-                }}
+        }}>
-            >
         <Down
-                    class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {(
+          class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {open ?
-                        open
-                    ) ?
             'rotate-180'
-                    :   ''}"
+          : ''}" />
-                />
       </button>
     </div>
     {#if open}
       <div
         class="flex flex-col gap-2 p-4 pt-0"
-                transition:slide|local={{ duration: 300, easing: cubicOut }}
+        transition:slide|local={{ duration: 300, easing: cubicOut }}>
-            >
         {@render children?.()}
       </div>
     {/if}
   </div>
 {:else}
   <div
-        class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg"
+    class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg">
-    >
     <div
-            class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium"
+      class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium">
-        >
       <span class="inline-flex items-baseline">
         {@render icon?.()}
         {@render title?.()}

app/src/lib/components/Spinner.svelte

@@ -1,5 +1,6 @@
 <script lang="ts">
-    import { Loader } from './icons'
+	import { Loader } from "./icons";
+
 </script>
 
 <div class="flex h-full w-full flex-col items-center justify-center p-6">

app/src/lib/components/StatusItem.svelte

@@ -1,6 +1,4 @@
 <script lang="ts">
-    import type { ComponentType } from 'svelte'
-
   type Variant = 'success' | 'error' | 'primary' | 'info' | 'warning'
 
   const {
@@ -11,12 +9,12 @@
     class: klass = '',
     children = null
   } = $props<{
-        icon?: ComponentType
+    icon?: any
     title: string
     description?: string | number
     variant?: Variant
     class?: string
-        children?: () => ComponentType
+    children?: () => any
   }>()
 
   const Icon = $derived(icon)

app/src/lib/components/Stream.svelte

@@ -1,10 +1,10 @@
 <script lang="ts">
-    import { onDestroy } from 'svelte'
+    import { onDestroy } from 'svelte';
-    import { apiLocation } from '$lib/stores'
+    import { location } from '$lib/stores';
 
-    let source = $state(`${$apiLocation}/api/camera/stream`)
+    let source = $state(`${$location}/api/camera/stream`);
 
-    onDestroy(() => (source = '#'))
+    onDestroy(() => (source = '#'));
 </script>
 
 <div class="w-full h-full">

app/src/lib/components/Toast.svelte

@@ -1,24 +1,22 @@
 <script>
-    import { flip } from 'svelte/animate'
+	import { flip } from 'svelte/animate';
-    import { fly } from 'svelte/transition'
+	import { fly } from 'svelte/transition';
-    import { notifications } from '$lib/components/toasts/notifications'
+	import { notifications } from '$lib/components/toasts/notifications';
-    import { error, info, success, warning } from './icons'
+	import { error, info, success, warning } from './icons';
+
 
 	/** @type {{theme?: any, icon?: any}} */
-    let {
+	let { theme = {
-        theme = {
 		error: 'alert-error',
 		success: 'alert-success',
 		warning: 'alert-warning',
 		info: 'alert-info'
-        },
+	}, icon = {
-        icon = {
 		error: error,
 		success: success,
 		warning: warning,
 		info: info
-        }
+	} } = $props();
-    } = $props()
 </script>
 
 <div class="toast toast-end mr-4">

app/src/lib/components/Visualization.svelte

@@ -1,13 +1,16 @@
 <script lang="ts">
   import { onDestroy, onMount } from 'svelte'
   import {
+    BufferGeometry,
+    Line,
+    LineBasicMaterial,
     Mesh,
     MeshBasicMaterial,
     type Object3D,
     SphereGeometry,
     Vector3,
-        type Object3DEventMap,
+    type NormalBufferAttributes,
-        Color
+    type Object3DEventMap
   } from 'three'
   import {
     ModesEnum,
@@ -21,9 +24,15 @@
     jointNames,
     currentKinematic,
     walkGait,
+    walkGaits,
     walkGaitToMode
   } from '$lib/stores'
-    import { populateModelCache, throttler, getToeWorldPositions } from '$lib/utilities'
+  import {
+    extractFootColor,
+    populateModelCache,
+    throttler,
+    getToeWorldPositions
+  } from '$lib/utilities'
   import SceneBuilder from '$lib/sceneBuilder'
   import { lerp, degToRad } from 'three/src/math/MathUtils'
   import { GUI } from 'three/addons/libs/lil-gui.module.min.js'
@@ -34,20 +43,14 @@
   import { get } from 'svelte/store'
 
   interface Props {
-        defaultColor?: string | null
+    sky?: boolean
     orbit?: boolean
     panel?: boolean
     debug?: boolean
     ground?: boolean
   }
 
-    let {
+  let { sky = true, orbit = false, panel = true, debug = false, ground = true }: Props = $props()
-        defaultColor = '#0091ff',
-        orbit = false,
-        panel = true,
-        debug = false,
-        ground = true
-    }: Props = $props()
 
   let sceneManager = $state(new SceneBuilder())
   let canvas: HTMLCanvasElement
@@ -57,6 +60,8 @@
   let gui_panel: GUI
   let Throttler = new throttler()
 
+  let feet_trace = new Array(4).fill([])
+  let trace_lines: BufferGeometry<NormalBufferAttributes>[] = []
   let target: Object3D<Object3DEventMap>
 
   let target_position = { x: 0, z: 0, yaw: 0 }
@@ -82,13 +87,7 @@
     xm: 0,
     ym: 0.5,
     zm: 0,
-        feet: kinematic.getDefaultFeetPos(),
+    feet: kinematic.getDefaultFeetPos()
-        cumulative_x: 0,
-        cumulative_y: 0,
-        cumulative_z: 0,
-        cumulative_roll: 0,
-        cumulative_pitch: 0,
-        cumulative_yaw: 0
   }
 
   let settings = {
@@ -106,7 +105,7 @@
     xm: 0,
     ym: 0.7,
     zm: 0,
-        Background: defaultColor
+    Background: 'black'
   }
 
   onMount(async () => {
@@ -151,7 +150,7 @@
     visibility.add(settings, 'Trace points', 1, 1000, 1)
     visibility.add(settings, 'Target position')
     visibility.add(settings, 'Smooth motion')
-        visibility.addColor(settings, 'Background').onChange(setSceneBackground).listen()
+    visibility.addColor(settings, 'Background')
   }
 
   const updateKinematicPosition = () => {
@@ -165,14 +164,9 @@
     ])
   }
 
-    const setSceneBackground = (c: string | null) => (sceneManager.scene.background = new Color(c!))
-
   const updateAngles = (name: string, angle: number) => {
     modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI)
-        Throttler.throttle(
+    Throttler.throttle(() => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))), 100)
-            () => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))),
-            100
-        )
   }
 
   const createScene = async () => {
@@ -183,7 +177,7 @@
       .addDirectionalLight({ x: 10, y: 20, z: 10, color: 0xffffff, intensity: 3 })
       .addAmbientLight({ color: 0xffffff, intensity: 0.5 })
       .addFogExp2(0xcccccc, 0.015)
-            .addModel($model as URDFRobot)
+      .addModel($model)
       .addTransformControls(sceneManager.model)
       .fillParent()
       .addRenderCb(render)
@@ -197,13 +191,32 @@
     sceneManager.scene.add(target)
 
     if (debug) {
-            sceneManager.addDragControl(angles => {
+      sceneManager.addDragControl(updateAngles)
-                Object.entries(angles).forEach(([name, angle]) => {
-                    updateAngles(name, angle)
-                })
-            })
     }
-        if (defaultColor) setSceneBackground(settings['Background'] || defaultColor)
+    if (sky) sceneManager.addSky()
+
+    for (let i = 0; i < 4; i++) {
+      const geometry = new BufferGeometry()
+      const material = new LineBasicMaterial({ color: extractFootColor() })
+      const line = new Line(geometry, material)
+      trace_lines.push(geometry)
+      sceneManager.scene.add(line)
+    }
+  }
+
+  const renderTraceLines = (foot_positions: Vector3[]) => {
+    if (!settings['Trace feet']) {
+      if (!feet_trace.length) return
+      trace_lines.forEach((line, i) => line.setFromPoints(feet_trace[i].slice(-1)))
+      feet_trace = new Array(4).fill([])
+      return
+    }
+
+    trace_lines.forEach((line, i) => {
+      feet_trace[i].push(foot_positions[i])
+      feet_trace[i] = feet_trace[i].slice(-settings['Trace points'])
+      line.setFromPoints(feet_trace[i])
+    })
   }
 
   const calculate_kinematics = () => {
@@ -215,13 +228,7 @@
       xm: settings.xm,
       ym: settings.ym,
       zm: settings.zm,
-            feet: body_state.feet,
+      feet: body_state.feet
-            cumulative_x: body_state.cumulative_x,
-            cumulative_y: body_state.cumulative_y,
-            cumulative_z: body_state.cumulative_z,
-            cumulative_roll: body_state.cumulative_roll,
-            cumulative_pitch: body_state.cumulative_pitch,
-            cumulative_yaw: body_state.cumulative_yaw
     }
 
     let new_angles = kinematic.calcIK(position).map((x, i) => radToDeg(x * dir[i]))
@@ -232,26 +239,12 @@
     if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
     robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y))
 
-        const cumulativeYaw = body_state.cumulative_yaw
+    robot.position.z = smooth(robot.position.z, -settings.xm, 0.1)
+    robot.position.x = smooth(robot.position.x, -settings.zm, 0.1)
 
-        const cosYaw = Math.cos(cumulativeYaw)
+    robot.rotation.z = smooth(robot.rotation.z, degToRad(-settings.phi + $mpu.heading + 90), 0.1)
-        const sinYaw = Math.sin(cumulativeYaw)
+    robot.rotation.y = smooth(robot.rotation.y, degToRad(settings.omega), 0.1)
-        const rotatedXm = settings.xm * cosYaw - settings.zm * sinYaw
+    robot.rotation.x = smooth(robot.rotation.x, degToRad(settings.psi - 90), 0.1)
-        const rotatedZm = settings.xm * sinYaw + settings.zm * cosYaw
-
-        robot.position.x = smooth(robot.position.x, -rotatedZm - body_state.cumulative_z * 1.2, 0.1)
-        robot.position.z = smooth(robot.position.z, -rotatedXm - body_state.cumulative_x * 1.2, 0.1)
-
-        const pitch = degToRad(settings.psi - 90) + body_state.cumulative_pitch
-        const roll = degToRad(settings.omega) + body_state.cumulative_roll
-
-        robot.rotation.z = smooth(
-            robot.rotation.z,
-            degToRad(-settings.phi + $mpu.heading + 90) + cumulativeYaw,
-            0.1
-        )
-        robot.rotation.y = smooth(robot.rotation.y, roll, 0.1)
-        robot.rotation.x = smooth(robot.rotation.x, pitch, 0.1)
   }
 
   const update_camera = (robot: URDFRobot) => {
@@ -312,6 +305,7 @@
 
     const toes = getToeWorldPositions(robot)
 
+    renderTraceLines(toes)
     update_camera(robot)
     update_gait()
     calculate_kinematics()

app/src/lib/components/input/InputPassword.svelte

@@ -1,19 +1,19 @@
 <script lang="ts">
-    import { MdiEyeOffOutline, MdiEyeOutline } from '../icons'
+	import { MdiEyeOffOutline, MdiEyeOutline } from "../icons";
 
     interface Props {
-        show?: boolean
+        show?: boolean;
-        value?: string
+        value?: string;
-        id?: string
+        id?: string;
     }
 
-    let { show = $bindable(false), value = $bindable(''), id = '' }: Props = $props()
+    let { show = $bindable(false), value = $bindable(''), id = '' }: Props = $props();
     
-    let type = $derived(show ? 'text' : 'password')
+	let type = $derived(show ? 'text' : 'password');
 
-    const handleInput = (e: Event) => (value = (e.target as HTMLInputElement).value)
+	const handleInput = (e: any) => value = e.target.value
 
-    const togglePassword = () => (show = !show)
+    const togglePassword = () => show = !show
 </script>
 
 <label class="input input-bordered flex items-center gap-2">

app/src/lib/components/input/VerticalSlider.svelte

@@ -3,8 +3,8 @@
     min?: number
     max?: number
     step?: number
-        value?: number
+    value?: any
-        oninput?: (value: number) => void
+    oninput?: any
   }
 
   let {
@@ -24,8 +24,7 @@
   {max}
   {step}
   bind:value
-    {...rest}
+  {...rest} />
-/>
 
 <style>
   input[type='range']::-webkit-slider-runnable-track {

app/src/lib/components/input/index.ts

@@ -1,2 +1,2 @@
-export { default as PasswordInput } from './InputPassword.svelte'
+export { default as PasswordInput } from './InputPassword.svelte';
-export { default as VerticalSlider } from './VerticalSlider.svelte'
+export { default as VerticalSlider } from './VerticalSlider.svelte';

app/src/lib/components/layout/Widget.svelte

@@ -1,9 +1,9 @@
 <script lang="ts">
     interface Props {
-        children?: import('svelte').Snippet
+        children?: import('svelte').Snippet;
     }
 
-    let { children }: Props = $props()
+    let { children }: Props = $props();
 </script>
 
 <div class="box-border overflow-hidden flex-1">

app/src/lib/components/layout/WidgetContainer.svelte

@@ -1,17 +1,17 @@
 <script lang="ts">
-    import WidgetContainer from './WidgetContainer.svelte'
+  import WidgetContainer from './WidgetContainer.svelte';
   import {
     WidgetComponents,
     type WidgetContainerConfig,
-        isWidgetConfig
+    isWidgetConfig,
-    } from '$lib/stores/application'
+  } from '$lib/stores/application';
-    import Widget from './Widget.svelte'
+  import Widget from './Widget.svelte';
 
   interface Props {
-        container: WidgetContainerConfig
+    container: WidgetContainerConfig;
   }
 
-    let { container }: Props = $props()
+  let { container }: Props = $props();
 </script>
 
 <div class="w-full h-full flex flex-col overflow-hidden">
@@ -19,8 +19,7 @@
     class="flex w-full h-full"
     class:flex-row={container.layout === 'column'}
     class:flex-col={container.layout === 'row'}
-        class:flex-wrap={container.layout === 'wrap'}
+    class:flex-wrap={container.layout === 'wrap'}>
-    >
     {#each container.widgets as widget, index (widget.id + '-' + index)}
       <Widget>
         {#if isWidgetConfig(widget)}
@@ -33,8 +32,8 @@
       {#if index !== container.widgets.length - 1}
         <div
           class="divider bg-base-300 m-0"
-                    class:divider-horizontal={container.layout === 'column'}
+          class:divider-horizontal={container.layout === 'column'}>
-                ></div>
+        </div>
       {/if}
     {/each}
   </div>

app/src/lib/components/menu/GithubButton.svelte

@@ -1,11 +1,11 @@
 <script lang="ts">
-    import { Github } from '../icons'
+	import { Github } from "../icons";
 
 	interface Props {
-        github: { url: string; version: string; active?: boolean; href?: string }
+		github: any;
 	}
 
-    let { github }: Props = $props()
+	let { github }: Props = $props();
 </script>
 
 {#if github.active}

app/src/lib/components/menu/LogoButton.svelte

@@ -1,13 +1,12 @@
 <script>
-    import logo from '$lib/assets/logo512.png'
+	import logo from '$lib/assets/logo512.png';
-    import { resolve } from '$app/paths'
 
 	/** @type {{appName: any}} */
-    let { appName } = $props()
+	let { appName } = $props();
 </script>
 
 <a
-    href={resolve('/')}
+	href="/"
 	class="rounded-box mb-4 flex items-center hover:scale-[1.02] active:scale-[0.98]"
 >
 	<img src={logo} alt="Logo" class="h-12 w-12" />

app/src/lib/components/menu/Menu.svelte

@@ -33,11 +33,9 @@
 
   const github = { href: 'https://github.com/' + page.data.github, active: true }
 
-    import type { ComponentType } from 'svelte'
-
   type menuItem = {
     title: string
-        icon: ComponentType
+    icon: ConstructorOfATypedSvelteComponent
     href?: string
     feature: boolean
     active?: boolean
@@ -147,10 +145,7 @@
             title: 'Firmware Update',
             icon: Update,
             href: withBase('/system/update'),
-                        feature:
+            feature: $features.ota || $features.upload_firmware || $features.download_firmware
-                            $features.ota ||
-                            $features.upload_firmware ||
-                            $features.download_firmware
           }
         ]
       }
@@ -174,7 +169,7 @@
     setActiveMenuItem(page.data.title)
   })
 
-    const updateMenu = (event: CustomEvent) => {
+  const updateMenu = (event: any) => {
     setActiveMenuItem(event.details)
   }
 </script>
@@ -186,8 +181,7 @@
     {menuItems}
     select={updateMenu}
     class="grow flex-nowrap overflow-y-auto overflow-x-hidden"
-        level="0"
+    level="0" />
-    />
 
   <div class="divider my-0"></div>
 

app/src/lib/components/menu/MenuList.svelte

@@ -1,10 +1,8 @@
 <script lang="ts">
   import MenuList from './MenuList.svelte'
-    import type { ComponentType } from 'svelte'
-
   type MenuItem = {
     title: string
-        icon: ComponentType
+    icon: ConstructorOfATypedSvelteComponent
     href?: string
     feature: boolean
     active?: boolean
@@ -19,7 +17,7 @@
 </script>
 
 <ul class={klass + ' menu w-full'}>
-    {#each menuItems as MenuItem[] as menuItem (menuItem.title)}
+  {#each menuItems as MenuItem[] as menuItem, i (menuItem.title)}
     {#if menuItem.feature}
       <li>
         {#if menuItem.submenu}
@@ -29,12 +27,7 @@
               {menuItem.title}
             </summary>
             <div class="pl-4">
-                            <MenuList
+              <MenuList menuItems={menuItem.submenu} level={level + 1} {select} class={klass} />
-                                menuItems={menuItem.submenu}
-                                level={level + 1}
-                                {select}
-                                class={klass}
-                            />
             </div>
           </details>
         {:else}
@@ -44,8 +37,7 @@
             class:bg-base-100={menuItem.active}
             class:text-lg={level === 0}
             class:text-md={level === 1}
-                        onclick={() => selectMenuItem(menuItem.title)}
+            onclick={() => selectMenuItem(menuItem.title)}>
-                    >
             <menuItem.icon class="h-6 w-6" />
             {menuItem.title}
           </a>

app/src/lib/components/statusbar/FullscreenButton.svelte

@@ -1,8 +1,8 @@
 <script lang="ts">
-    import { isFullscreen, toggleFullscreen } from '$lib/stores'
+    import { isFullscreen, toggleFullscreen } from '$lib/stores';
-    import { MdiFullscreenExit, MdiFullscreen } from '../icons'
+	import { MdiFullscreenExit, MdiFullscreen } from '../icons';
 
-    const SvelteComponent = $derived($isFullscreen ? MdiFullscreenExit : MdiFullscreen)
+    const SvelteComponent = $derived($isFullscreen ? MdiFullscreenExit : MdiFullscreen);
 </script>
 
 <button onclick={toggleFullscreen}>

app/src/lib/components/statusbar/RSSIIndicator.svelte

@@ -1,26 +1,26 @@
 <script lang="ts">
-    import { WiFi, WiFi0, WiFi1, WiFi2, WifiOff } from '../icons'
+	import { WiFi, WiFi0, WiFi1, WiFi2, WifiOff } from "../icons";
 
 	interface Props {
-        showDBm?: boolean
+		showDBm?: boolean;
-        rssi?: number
+		rssi?: number;
 	}
 
-    let { showDBm = false, rssi = 0 }: Props = $props()
+	let { showDBm = false, rssi = 0 }: Props = $props();
 
 	const getWiFiIcon = () => {
-        if (rssi === 0) return WifiOff
+		if (rssi === 0) return WifiOff;
-        if (rssi >= -55) return WiFi
+		if (rssi >= -55) return WiFi;
-        if (rssi >= -75) return WiFi2
+		if (rssi >= -75) return WiFi2;
-        if (rssi >= -85) return WiFi1
+		if (rssi >= -85) return WiFi1;
-        return WiFi0
+		return WiFi0;
-    }
+	};
 
-    const SvelteComponent = $derived(getWiFiIcon())
+	const SvelteComponent = $derived(getWiFiIcon());
 </script>
 
 <div class="indicator">
-    <div class="tooltip tooltip-left" data-tip={rssi + ' dBm'}>
+	<div class="tooltip tooltip-left" data-tip={rssi + " dBm"}>
 		{#if showDBm}
 			<span class="indicator-item indicator-start badge badge-accent badge-outline badge-xs">
 				{rssi} dBm

app/src/lib/components/statusbar/SleepButton.svelte

@@ -1,13 +1,13 @@
 <script lang="ts">
-    import { useFeatureFlags } from '$lib/stores'
+    import { useFeatureFlags } from '$lib/stores';
-    import { modals } from 'svelte-modals'
+    import { modals } from 'svelte-modals';
-    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte'
+    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte';
-    import { api } from '$lib/api'
+    import { api } from '$lib/api';
-    import { Cancel, Power } from '../icons'
+    import { Cancel, Power } from '../icons';
 
-    const features = useFeatureFlags()
+    const features = useFeatureFlags();
 
-    const postSleep = async () => await api.post('/api/system/sleep')
+    const postSleep = async () => await api.post('/api/system/sleep');
 
     const confirmSleep = () => {
         modals.open(ConfirmDialog, {
@@ -18,11 +18,11 @@
                 confirm: { label: 'Switch Off', icon: Power }
             },
             onConfirm: () => {
-                modals.close()
+                modals.close();
-                postSleep()
+                postSleep();
-            }
-        })
             }
+        });
+    };
 </script>
 
 {#if $features.sleep}

app/src/lib/components/statusbar/StopButton.svelte

@@ -1,9 +1,10 @@
 <script lang="ts">
-    import { mode, modes } from '$lib/stores'
+	import { mode, modes } from "$lib/stores";
 
     const deactivate = async () => {
-        mode.set(modes.indexOf('deactivated'))
+		mode.set(modes.indexOf('deactivated'));
-    }
+	};
 </script>
 
+
 <button onclick={deactivate} class="bg-error text-white btn rounded-none">STOP</button>

app/src/lib/components/statusbar/ThemeButton.svelte

@@ -1,5 +1,5 @@
 <script lang="ts">
-    import { MdiWeatherSunny, MdiMoonAndStars } from '../icons'
+	import { MdiWeatherSunny, MdiMoonAndStars } from "../icons";
 </script>
 
 <label class="swap swap-rotate">

app/src/lib/components/statusbar/TopBar.svelte

@@ -1,11 +1,10 @@
 <script lang="ts">
     import {Hamburger} from '../icons'
-    import { resolve } from '$app/paths'
 </script>
 
 <div class="topbar absolute left-0 top-0 w-full z-20 flex justify-between bg-zinc-800">
 	<div class="flex gap-2 p-2">
-        <a href={resolve('/')}>
+        <a href="/">
             <Hamburger class="h-8 w-8"/>
         </a>
     </div>

app/src/lib/components/statusbar/UpdateIndicator.svelte

@@ -98,11 +98,9 @@
   <div class="indicator flex-none">
     <button
       class="btn btn-square btn-ghost h-9 w-9"
-            onclick={() => confirmGithubUpdate(firmwareDownloadLink)}
+      onclick={() => confirmGithubUpdate(firmwareDownloadLink)}>
-        >
       <span
-                class="indicator-item indicator-top indicator-center badge badge-info badge-xs top-2 scale-75 lg:top-1"
+        class="indicator-item indicator-top indicator-center badge badge-info badge-xs top-2 scale-75 lg:top-1">
-            >
         {firmwareVersion}
       </span>
       <Firmware class="h-7 w-7" />

app/src/lib/components/statusbar/ViewSelector.svelte

@@ -1,6 +1,6 @@
 <script lang="ts">
-    import { selectedView, views } from '$lib/stores/application'
+	import { selectedView, views } from "$lib/stores/application";
-    import Selector from '../widget/Selector.svelte'
+	import Selector from "../widget/Selector.svelte";
 </script>
 
-<Selector bind:selectedOption={$selectedView} options={$views.map(v => v.name)} />
+<Selector bind:selectedOption={$selectedView} options={$views.map((v) => v.name)} />

app/src/lib/components/toasts/Toast.svelte

@@ -1,24 +1,22 @@
 <script>
-    import { flip } from 'svelte/animate'
+	import { flip } from 'svelte/animate';
-    import { fly } from 'svelte/transition'
+	import { fly } from 'svelte/transition';
-    import { notifications } from '$lib/components/toasts/notifications'
+	import { notifications } from '$lib/components/toasts/notifications';
-    import { error, info, success, warning } from '../icons'
+	import { error, info, success, warning } from '../icons';
+
 
 	/** @type {{theme?: any, icon?: any}} */
-    let {
+	let { theme = {
-        theme = {
 		error: 'alert-error',
 		success: 'alert-success',
 		warning: 'alert-warning',
 		info: 'alert-info'
-        },
+	}, icon = {
-        icon = {
 		error: error,
 		success: success,
 		warning: warning,
 		info: info
-        }
+	} } = $props();
-    } = $props()
 </script>
 
 <div class="toast toast-end mr-4 z-20">

app/src/lib/components/toasts/notifications.ts

@@ -1,4 +1,4 @@
-import { writable } from 'svelte/store'
+import { writable, derived, type Writable } from 'svelte/store'
 
 type StateType = 'info' | 'success' | 'warning' | 'error'
 

app/src/lib/components/widget/ChartWidget.svelte

@@ -1,22 +1,22 @@
 <script lang="ts">
-    import { daisyColor } from '$lib/utilities'
+  import { daisyColor } from '$lib/utilities';
-    import { Chart, registerables } from 'chart.js'
+  import { Chart, registerables } from 'chart.js';
-    import { onMount } from 'svelte'
+  import { onMount } from 'svelte';
-    import { cubicOut } from 'svelte/easing'
+  import { cubicOut } from 'svelte/easing';
-    import { slide } from 'svelte/transition'
+  import { slide } from 'svelte/transition';
 
-    let chartElement: HTMLCanvasElement
+  let chartElement: HTMLCanvasElement;
-    let chart: Chart<'line', number[], number>
+  let chart: Chart;
 
   interface Props {
-        label: string
+    label: any;
-        data: number[]
+    data: number[];
-        title: string
+    title: any;
   }
 
-    let { label, data, title }: Props = $props()
+  let { label, data, title }: Props = $props();
 
-    Chart.register(...registerables)
+  Chart.register(...registerables);
 
   onMount(() => {
     chart = new Chart(chartElement, {
@@ -30,36 +30,36 @@
             backgroundColor: daisyColor('--p', 50),
             borderWidth: 2,
             data,
-                        yAxisID: 'y'
+            yAxisID: 'y',
-                    }
+          },
-                ]
+        ],
       },
       options: {
         maintainAspectRatio: false,
         responsive: true,
         plugins: {
           legend: {
-                        display: true
+            display: true,
           },
           tooltip: {
             mode: 'index',
-                        intersect: false
+            intersect: false,
-                    }
+          },
         },
         elements: {
           point: {
-                        radius: 0
+            radius: 0,
-                    }
+          },
         },
         scales: {
           x: {
             grid: {
-                            color: daisyColor('--bc', 10)
+              color: daisyColor('--bc', 10),
             },
             ticks: {
-                            color: daisyColor('--bc')
+              color: daisyColor('--bc'),
             },
-                        display: false
+            display: false,
           },
           y: {
             type: 'linear',
@@ -69,34 +69,33 @@
               color: daisyColor('--bc'),
               font: {
                 size: 16,
-                                weight: 'bold'
+                weight: 'bold',
-                            }
+              },
             },
             position: 'left',
             min: 0,
             max: 100,
             grid: { color: daisyColor('--bc', 10) },
             ticks: {
-                            color: daisyColor('--bc')
+              color: daisyColor('--bc'),
             },
-                        border: { color: daisyColor('--bc', 10) }
+            border: { color: daisyColor('--bc', 10) },
-                    }
+          },
-                }
+        },
-            }
+      },
-        })
+    });
 
     setInterval(() => {
-            chart.data.labels = data
+      chart.data.labels = data;
-            chart.data.datasets[0].data = data
+      chart.data.datasets[0].data = data;
-        }, 500)
+    }, 500);
-    })
+  });
 </script>
 
 <div class="w-full h-full overflow-x-auto">
   <div
     class="flex w-full flex-col space-y-1 h-60"
-        transition:slide|local={{ duration: 300, easing: cubicOut }}
+    transition:slide|local={{ duration: 300, easing: cubicOut }}>
-    >
     <canvas bind:this={chartElement}></canvas>
   </div>
 </div>

app/src/lib/components/widget/Selector.svelte

@@ -1,19 +1,18 @@
 <script lang="ts">
   interface Props {
-        options?: string[]
+    options?: string[];
-        selectedOption?: string
+    selectedOption?: string;
-        change?: () => void
+    change?: () => void;
-        [key: string]: unknown
+    [key: string]: any;
   }
 
-    let { options = [], selectedOption = $bindable(''), ...rest }: Props = $props()
+  let { options = [], selectedOption = $bindable(''), ...rest }: Props = $props();
 </script>
 
 <select
   bind:value={selectedOption}
   {...rest}
-    class="select select-bordered select-sm lg:select-md max-w-xs {rest.class || ''}"
+  class="select select-bordered select-sm lg:select-md max-w-xs {rest.class || ''}">
->
   {#each options as option}
     <option value={option}>{option}</option>
   {/each}

app/src/lib/gait.ts

@@ -53,16 +53,6 @@ export abstract class GaitState {
     this.map_command(command)
     this.body_state = body_state
     this.dt = dt / 1000
-
-        if (body_state.cumulative_x === undefined) {
-            body_state.cumulative_x = 0
-            body_state.cumulative_y = 0
-            body_state.cumulative_z = 0
-            body_state.cumulative_roll = 0
-            body_state.cumulative_pitch = 0
-            body_state.cumulative_yaw = 0
-        }
-
     return body_state
   }
 
@@ -82,11 +72,6 @@ export abstract class GaitState {
 
 export class IdleState extends GaitState {
   protected name = 'Idle'
-
-    step(body_state: body_state_t, command: ControllerCommand) {
-        super.step(body_state, command)
-        return body_state
-    }
 }
 
 export class CalibrationState extends GaitState {
@@ -94,7 +79,6 @@ export class CalibrationState extends GaitState {
 
   // eslint-disable-next-line @typescript-eslint/no-unused-vars
   step(body_state: body_state_t, _command: ControllerCommand) {
-        super.step(body_state, _command)
     body_state.omega = 0
     body_state.phi = 0
     body_state.psi = 0
@@ -111,7 +95,6 @@ export class RestState extends GaitState {
 
   // eslint-disable-next-line @typescript-eslint/no-unused-vars
   step(body_state: body_state_t, _command: ControllerCommand) {
-        super.step(body_state, _command)
     body_state.omega = 0
     body_state.phi = 0
     body_state.psi = 0
@@ -127,7 +110,6 @@ export class StandState extends GaitState {
   protected name = 'Stand'
 
   step(body_state: body_state_t, command: ControllerCommand) {
-        super.step(body_state, command)
     body_state.omega = 0
     body_state.phi = command.rx * 10 * (Math.PI / 2)
     body_state.psi = command.ry * 10 * (Math.PI / 2)
@@ -143,7 +125,7 @@ export class BezierState extends GaitState {
   protected phase = 0
   protected phase_num = 0
   protected step_length = 0
-    protected stand_offset = 0.75
+  protected stand_offset = 0.85
   protected mode: 'crawl' | 'trot' = 'trot'
   protected speed_factor = 1
   offset = [0, 0.5, 0.75, 0.25]
@@ -153,10 +135,6 @@ export class BezierState extends GaitState {
   protected shift_start_time = 0
   protected current_shift_leg = -1
 
-    protected last_body_state: body_state_t | null = null
-    protected cumulative_position = { x: 0, y: 0, z: 0 }
-    protected cumulative_orientation = { roll: 0, pitch: 0, yaw: 0 }
-
   constructor() {
     super()
     this.set_mode(this.mode)
@@ -196,7 +174,6 @@ export class BezierState extends GaitState {
     this.update_phase()
     this.update_body_position()
     this.update_feet_positions()
-        this.update_cumulative_position()
     return this.body_state
   }
 
@@ -351,51 +328,6 @@ export class BezierState extends GaitState {
 
     return this.body_state.feet[index]
   }
-
-    update_cumulative_position() {
-        if (this.last_body_state === null) {
-            this.last_body_state = { ...this.body_state }
-            this.body_state.cumulative_x = 0
-            this.body_state.cumulative_y = 0
-            this.body_state.cumulative_z = 0
-            this.body_state.cumulative_roll = 0
-            this.body_state.cumulative_pitch = 0
-            this.body_state.cumulative_yaw = 0
-            return
-        }
-
-        const m = this.gait_state
-        const moving = m.step_x !== 0 || m.step_z !== 0 || m.step_angle !== 0
-
-        if (moving) {
-            const step_displacement_x_local =
-                m.step_x * m.step_velocity * this.dt * this.speed_factor
-            const step_displacement_z_local =
-                m.step_z * m.step_velocity * this.dt * this.speed_factor
-            const step_displacement_yaw =
-                m.step_angle * m.step_velocity * this.dt * this.speed_factor
-
-            const cos_yaw = Math.cos(this.cumulative_orientation.yaw)
-            const sin_yaw = Math.sin(this.cumulative_orientation.yaw)
-            const step_displacement_x =
-                step_displacement_x_local * cos_yaw - step_displacement_z_local * sin_yaw
-            const step_displacement_z =
-                step_displacement_x_local * sin_yaw + step_displacement_z_local * cos_yaw
-
-            this.cumulative_position.x += step_displacement_x
-            this.cumulative_position.z += step_displacement_z
-            this.cumulative_orientation.yaw += step_displacement_yaw
-        }
-
-        this.body_state.cumulative_x = this.cumulative_position.x
-        this.body_state.cumulative_y = this.cumulative_position.y
-        this.body_state.cumulative_z = this.cumulative_position.z
-        this.body_state.cumulative_roll = this.cumulative_orientation.roll
-        this.body_state.cumulative_pitch = this.cumulative_orientation.pitch
-        this.body_state.cumulative_yaw = this.cumulative_orientation.yaw
-
-        this.last_body_state = { ...this.body_state }
-    }
 }
 
 const stance_curve = (length: number, angle: number, depth: number, phase: number): number[] => {

app/src/lib/kinematic.ts

@@ -6,12 +6,6 @@ export interface body_state_t {
   ym: number
   zm: number
   feet: number[][]
-    cumulative_x: number
-    cumulative_y: number
-    cumulative_z: number
-    cumulative_roll: number
-    cumulative_pitch: number
-    cumulative_yaw: number
 }
 
 export interface position {
@@ -107,17 +101,11 @@ export default class Kinematic {
         pz = bz - mz
 
       const lx =
-                this.invMountRot[0][0] * px +
+        this.invMountRot[0][0] * px + this.invMountRot[0][1] * py + this.invMountRot[0][2] * pz
-                this.invMountRot[0][1] * py +
-                this.invMountRot[0][2] * pz
       const ly =
-                this.invMountRot[1][0] * px +
+        this.invMountRot[1][0] * px + this.invMountRot[1][1] * py + this.invMountRot[1][2] * pz
-                this.invMountRot[1][1] * py +
-                this.invMountRot[1][2] * pz
       const lz =
-                this.invMountRot[2][0] * px +
+        this.invMountRot[2][0] * px + this.invMountRot[2][1] * py + this.invMountRot[2][2] * pz
-                this.invMountRot[2][1] * py +
-                this.invMountRot[2][2] * pz
 
       const xLocal = i % 2 === 1 ? -lx : lx
       return this.legIK(xLocal, ly, lz)
@@ -130,8 +118,7 @@ export default class Kinematic {
     const H = sqrt(G * G + z * z)
     const t1 = -atan2(y, x) - atan2(F, -this.coxa)
     const D =
-            (H * H - this.femur * this.femur - this.tibia * this.tibia) /
+      (H * H - this.femur * this.femur - this.tibia * this.tibia) / (2 * this.femur * this.tibia)
-            (2 * this.femur * this.tibia)
     const t3 = acos(max(-1, min(1, D)))
     const t2 = atan2(z, G) - atan2(this.tibia * sin(t3), this.femur + this.tibia * cos(t3))
     return [t1, t2, t3]

app/src/lib/sceneBuilder.ts

@@ -17,16 +17,18 @@ import {
   MeshPhongMaterial,
   EquirectangularReflectionMapping,
   ACESFilmicToneMapping,
+  MathUtils,
   Group,
   MeshBasicMaterial,
-    RepeatWrapping,
+  RepeatWrapping
-    Object3D
 } from 'three'
+import { Sky } from 'three/addons/objects/Sky.js'
 import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'
 import { TransformControls } from 'three/examples/jsm/controls/TransformControls'
 import { Reflector } from 'three/examples/jsm/objects/Reflector.js'
 import { type URDFJoint, type URDFMimicJoint, type URDFRobot } from 'urdf-loader'
 import { PointerURDFDragControls } from 'urdf-loader/src/URDFDragControls'
+import { sunCalculator } from './utilities/position-utilities'
 
 export const addScene = () => new Scene()
 
@@ -56,13 +58,15 @@ export default class SceneBuilder {
   public ground!: Mesh
   public renderer!: WebGLRenderer
   public orbit: OrbitControls
-    public callback: (() => void) | undefined
+  public callback: Function | undefined
   public gridHelper!: GridHelper
   public model!: URDFRobot
   public liveStreamTexture!: CanvasTexture
   private fog!: FogExp2
   private isLoaded: boolean = false
   public isDragging: boolean = false
+  highlightMaterial: any
+  sky!: Sky
   transformControl: TransformControls
   public modelGroup!: Group
 
@@ -85,6 +89,34 @@ export default class SceneBuilder {
     return this
   }
 
+  public addSky = () => {
+    this.sky = new Sky()
+    this.sky.scale.setScalar(450000)
+    this.scene.add(this.sky)
+    const effectController = {
+      turbidity: 10,
+      rayleigh: 3,
+      mieCoefficient: 0.005,
+      mieDirectionalG: 0.7,
+      elevation: sunCalculator.calculateSunElevation(),
+      azimuth: 200,
+      exposure: this.renderer.toneMappingExposure
+    }
+    const uniforms = this.sky.material.uniforms
+    uniforms['turbidity'].value = effectController.turbidity
+    uniforms['rayleigh'].value = effectController.rayleigh
+    uniforms['mieCoefficient'].value = effectController.mieCoefficient
+    uniforms['mieDirectionalG'].value = effectController.mieDirectionalG
+    this.renderer.toneMappingExposure = 0.5
+    const phi = MathUtils.degToRad(90 - effectController.elevation)
+    const theta = MathUtils.degToRad(effectController.azimuth)
+    const sun = new Vector3()
+
+    sun.setFromSphericalCoords(1, phi, theta)
+    uniforms['sunPosition'].value.copy(sun)
+    return this
+  }
+
   public addPerspectiveCamera = (options: position) => {
     this.camera = new PerspectiveCamera()
     this.camera.position.set(options.x ?? 0, options.y ?? 2.7, options.z ?? 0)
@@ -197,7 +229,7 @@ export default class SceneBuilder {
     return this
   }
 
-    public addRenderCb = (callback: () => void) => {
+  public addRenderCb = (callback: Function) => {
     this.callback = callback
     return this
   }
@@ -243,7 +275,7 @@ export default class SceneBuilder {
   isJoint = (j: URDFJoint) => j.isURDFJoint && j.jointType !== 'fixed'
 
   highlightLinkGeometry = (m: URDFMimicJoint, revert: boolean, material: MeshPhongMaterial) => {
-        const traverse = (c: Object3D) => {
+    const traverse = (c: any) => {
       if (c.type === 'Mesh') {
         if (revert) {
           c.material = c.__origMaterial
@@ -266,9 +298,9 @@ export default class SceneBuilder {
     traverse(m)
   }
 
-    public addTransformControls = (model: Object3D) => {
+  public addTransformControls = (model: any) => {
     this.transformControl = new TransformControls(this.camera, this.renderer.domElement)
-        this.transformControl.addEventListener('dragging-changed', (event: { value: boolean }) => {
+    this.transformControl.addEventListener('dragging-changed', (event: any) => {
       this.orbit.enabled = !event.value
       this.isDragging = !event.value
     })
@@ -278,7 +310,7 @@ export default class SceneBuilder {
     return this
   }
 
-    public addModel = (model: URDFRobot) => {
+  public addModel = (model: any) => {
     this.modelGroup = new Group()
     this.modelGroup.add(model)
     this.model = model
@@ -286,7 +318,7 @@ export default class SceneBuilder {
     return this
   }
 
-    public addDragControl = (updateAngle: (angles: Record<string, number>) => void) => {
+  public addDragControl = (updateAngle: any) => {
     const highlightColor = '#FFFFFF'
     const highlightMaterial = new MeshPhongMaterial({
       shininess: 10,
@@ -302,7 +334,7 @@ export default class SceneBuilder {
     )
     dragControls.updateJoint = (joint: URDFMimicJoint, angle: number) => {
       this.setJointValue(joint.name, angle)
-            updateAngle({ [joint.name]: angle })
+      updateAngle(joint.name, angle)
     }
     dragControls.onDragStart = () => {
       this.orbit.enabled = false

app/src/lib/services/file-service.ts

@@ -1,53 +1,54 @@
-import { Result } from '$lib/utilities/result'
+import { Result } from '$lib/utilities/result';
-import { browser } from '$app/environment'
+import { browser } from '$app/environment';
 
 class FileService {
-    private dbPromise: Promise<Result<IDBDatabase, string>> | null =
+	private dbPromise: Promise<Result<IDBDatabase, string>> | null = browser
-        browser ? this.openDatabase() : null
+		? this.openDatabase()
+		: null;
 
 	private async openDatabase(): Promise<Result<IDBDatabase, string>> {
-        return new Promise(resolve => {
+		return new Promise((resolve) => {
-            const request = indexedDB.open('fileStorageDB', 1)
+			const request = indexedDB.open('fileStorageDB', 1);
 
 			request.onupgradeneeded = () => {
-                request.result.createObjectStore('files')
+				request.result.createObjectStore('files');
-            }
+			};
-            request.onsuccess = () => resolve(Result.ok(request.result))
+			request.onsuccess = () => resolve(Result.ok(request.result));
-            request.onerror = () => resolve(Result.err('Error opening database'))
+			request.onerror = () => resolve(Result.err('Error opening database'));
-        })
+		});
 	}
 
 	private async getStore(mode: IDBTransactionMode): Promise<Result<IDBObjectStore, string>> {
 		if (!browser || !this.dbPromise)
-            return Result.err('Not running in browser or DB not initialized')
+			return Result.err('Not running in browser or DB not initialized');
-        const dbResult = await this.dbPromise
+		const dbResult = await this.dbPromise;
-        if (dbResult.isErr()) return Result.err('Database not initialized')
+		if (dbResult.isErr()) return Result.err('Database not initialized');
-        const store = dbResult.inner.transaction('files', mode).objectStore('files')
+		const store = dbResult.inner.transaction('files', mode).objectStore('files');
-        return Result.ok(store)
+		return Result.ok(store);
 	}
 
 	public async saveFile(key: string, file: Uint8Array): Promise<Result<IDBValidKey, string>> {
-        const storeResult = await this.getStore('readwrite')
+		const storeResult = await this.getStore('readwrite');
-        if (storeResult.isErr()) return Result.err('Failed to access store')
+		if (storeResult.isErr()) return Result.err('Failed to access store');
 
-        return new Promise(resolve => {
+		return new Promise((resolve) => {
-            const request = storeResult.inner.put(file, key)
+			const request = storeResult.inner.put(file, key);
-            request.onsuccess = () => resolve(Result.ok(request.result))
+			request.onsuccess = () => resolve(Result.ok(request.result));
-            request.onerror = () => resolve(Result.err('Failed to save file'))
+			request.onerror = () => resolve(Result.err('Failed to save file'));
-        })
+		});
 	}
 
 	public async getFile(key: string): Promise<Result<Uint8Array | undefined, string>> {
-        const storeResult = await this.getStore('readonly')
+		const storeResult = await this.getStore('readonly');
-        if (storeResult.isErr()) return Result.err('Failed to access store')
+		if (storeResult.isErr()) return Result.err('Failed to access store');
 
-        return new Promise(resolve => {
+		return new Promise((resolve) => {
-            const request = storeResult.inner.get(key)
+			const request = storeResult.inner.get(key);
 			request.onsuccess = () =>
-                resolve(request.result ? Result.ok(request.result) : Result.err('File not found'))
+				resolve(request.result ? Result.ok(request.result) : Result.err('File not found'));
-            request.onerror = () => resolve(Result.err('Failed to retrieve file'))
+			request.onerror = () => resolve(Result.err('Failed to retrieve file'));
-        })
+		});
 	}
 }
 
-export default browser ? new FileService() : null
+export default browser ? new FileService() : null;

app/src/lib/services/index.ts

@@ -1,2 +1,2 @@
-export { default as fileService } from './file-service'
+export { default as fileService } from './file-service';
-export { default as resultService } from './result-service'
+export { default as resultService } from './result-service';

app/src/lib/services/result-service.ts

@@ -1,19 +1,19 @@
-import { errorLogs, latestErrorLog } from '$lib/stores'
+import { errorLogs, latestErrorLog } from '$lib/stores';
-import type { Result } from '$lib/utilities'
+import type { Result } from '$lib/utilities';
 
 class ResultService {
 	public handleResult(result: Result<unknown, string>, tag?: string) {
 		if (result.isErr()) {
-            const errorLogEntry = { tag, message: result.inner, exception: result.exception }
+			const errorLogEntry = { tag, message: result.inner, exception: result.exception };
-            latestErrorLog.set(errorLogEntry)
+			latestErrorLog.set(errorLogEntry);
-            errorLogs.update(entries => {
+			errorLogs.update((entries) => {
-                entries.push(errorLogEntry)
+				entries.push(errorLogEntry);
-                return entries
+				return entries;
-            })
+			});
 		}
 
-        return result
+		return result;
 	}
 }
 
-export default new ResultService()
+export default new ResultService();

app/src/lib/stores/analytics.ts

@@ -1,7 +1,7 @@
-import { type Analytics } from '$lib/types/models'
+import { type Analytics } from '$lib/types/models';
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
 
-const analytics_data = {
+let analytics_data = {
 	uptime: <number[]>[],
 	free_heap: <number[]>[],
 	total_heap: <number[]>[],
@@ -14,22 +14,20 @@ const analytics_data = {
 	cpu0_usage: <number[]>[],
 	cpu1_usage: <number[]>[],
 	cpu_usage: <number[]>[]
-}
+};
 
-const maxAnalyticsData = 100
+const maxAnalyticsData = 100;
 
 function createAnalytics() {
-    const { subscribe, update } = writable(analytics_data)
+	const { subscribe, update } = writable(analytics_data);
 
 	return {
 		subscribe,
 		addData: (content: Analytics) => {
-            update(analytics_data => ({
+			update((analytics_data) => ({
 				...analytics_data,
 				uptime: [...analytics_data.uptime, content.uptime].slice(-maxAnalyticsData),
-                free_heap: [...analytics_data.free_heap, content.free_heap / 1000].slice(
+				free_heap: [...analytics_data.free_heap, content.free_heap / 1000].slice(-maxAnalyticsData),
-                    -maxAnalyticsData
-                ),
 				total_heap: [...analytics_data.total_heap, content.total_heap / 1000].slice(
 					-maxAnalyticsData
 				),
@@ -37,33 +35,21 @@ function createAnalytics() {
 					...analytics_data.used_heap,
 					(content.total_heap - content.free_heap) / 1000
 				].slice(-maxAnalyticsData),
-                min_free_heap: [
+				min_free_heap: [...analytics_data.min_free_heap, content.min_free_heap / 1000].slice(
-                    ...analytics_data.min_free_heap,
-                    content.min_free_heap / 1000
-                ].slice(-maxAnalyticsData),
-                max_alloc_heap: [
-                    ...analytics_data.max_alloc_heap,
-                    content.max_alloc_heap / 1000
-                ].slice(-maxAnalyticsData),
-                fs_used: [...analytics_data.fs_used, content.fs_used / 1000].slice(
 					-maxAnalyticsData
 				),
-                fs_total: [...analytics_data.fs_total, content.fs_total / 1000].slice(
+				max_alloc_heap: [...analytics_data.max_alloc_heap, content.max_alloc_heap / 1000].slice(
-                    -maxAnalyticsData
-                ),
-                core_temp: [...analytics_data.core_temp, content.core_temp].slice(
-                    -maxAnalyticsData
-                ),
-                cpu0_usage: [...analytics_data.cpu0_usage, content.cpu0_usage].slice(
-                    -maxAnalyticsData
-                ),
-                cpu1_usage: [...analytics_data.cpu1_usage, content.cpu1_usage].slice(
 					-maxAnalyticsData
 				),
+				fs_used: [...analytics_data.fs_used, content.fs_used / 1000].slice(-maxAnalyticsData),
+				fs_total: [...analytics_data.fs_total, content.fs_total / 1000].slice(-maxAnalyticsData),
+				core_temp: [...analytics_data.core_temp, content.core_temp].slice(-maxAnalyticsData),
+				cpu0_usage: [...analytics_data.cpu0_usage, content.cpu0_usage].slice(-maxAnalyticsData),
+				cpu1_usage: [...analytics_data.cpu1_usage, content.cpu1_usage].slice(-maxAnalyticsData),
 				cpu_usage: [...analytics_data.cpu_usage, content.cpu_usage].slice(-maxAnalyticsData)
-            }))
+			}));
-        }
 		}
+	};
 }
 
-export const analytics = createAnalytics()
+export const analytics = createAnalytics();

app/src/lib/stores/application.ts

@@ -1,47 +1,39 @@
-import { persistentStore } from '$lib/utilities'
+import { persistentStore } from '$lib/utilities';
-import { get, type Writable } from 'svelte/store'
+import { get, type Writable } from 'svelte/store';
 
-import Visualization from '$lib/components/Visualization.svelte'
+import Visualization from '$lib/components/Visualization.svelte';
-import Stream from '$lib/components/Stream.svelte'
+import Stream from '$lib/components/Stream.svelte';
-import ChartWidget from '$lib/components/widget/ChartWidget.svelte'
+import ChartWidget from '$lib/components/widget/ChartWidget.svelte';
 
 export interface WidgetConfig {
-    id: string | number
+	id: string | number;
-    component: keyof typeof WidgetComponents
+	component: keyof typeof WidgetComponents;
-    props?: Record<string, unknown>
+	props?: Record<string, any>;
 }
 
 export interface WidgetContainerConfig {
-    id: string | number
+	id: string | number;
-    layout?: 'row' | 'column' | 'wrap'
+	layout?: 'row' | 'column' | 'wrap';
-    header?: string
+	header?: string;
-    widgets: Array<WidgetConfig | WidgetContainerConfig>
+	widgets: Array<WidgetConfig | WidgetContainerConfig>;
 }
 
 export const isWidgetConfig = (
 	widget: WidgetConfig | WidgetContainerConfig
-): widget is WidgetConfig => 'component' in widget
+): widget is WidgetConfig => 'component' in widget;
 
 export const WidgetComponents = {
 	Visualization,
 	Stream,
 	ChartWidget
-}
+};
 
 interface View {
-    name: string
+	name: string;
-    content: WidgetContainerConfig
+	content: WidgetContainerConfig;
 }
 
 const defaultViews: View[] = [
-    {
-        name: '3D representation',
-        content: {
-            id: 'root',
-            layout: 'column',
-            widgets: [{ id: 2, component: 'Visualization', props: { debug: true } }]
-        }
-    },
 	{
 		name: 'Stream',
 		content: {
@@ -50,6 +42,14 @@ const defaultViews: View[] = [
 			widgets: [{ id: 2, component: 'Stream' }]
 		}
 	},
+	{
+		name: '3D representation',
+		content: {
+			id: 'root',
+			layout: 'column',
+			widgets: [{ id: 2, component: 'Visualization', props: { debug: true } }]
+		}
+	},
 	{
 		name: 'Split screen',
 		content: {
@@ -60,8 +60,8 @@ const defaultViews: View[] = [
 			]
 		}
 	}
-]
+];
 
-export const views: Writable<View[]> = persistentStore('views', defaultViews)
+export const views: Writable<View[]> = persistentStore('views', defaultViews);
 
-export const selectedView = persistentStore('selected_view', get(views)[0].name)
+export const selectedView = persistentStore('selected_view', get(views)[0].name);

app/src/lib/stores/featureFlags.ts

@@ -3,7 +3,7 @@ import { notifications } from '$lib/components/toasts/notifications'
 import Kinematic from '$lib/kinematic'
 import { persistentStore } from '$lib/utilities'
 import { derived, type Writable } from 'svelte/store'
-import { resolve } from '$app/paths'
+import { base } from '$app/paths'
 
 let featureFlagsStore: Writable<Record<string, boolean | string>>
 
@@ -22,12 +22,10 @@ export function useFeatureFlags() {
   return featureFlagsStore
 }
 
-const base = resolve('/')
-
 export const variants = {
   SPOTMICRO_ESP32: {
-        model: `${base}spot_micro.urdf.xacro`,
+    model: `${base}/spot_micro.urdf.xacro`,
-        stl: `${base}stl.zip`,
+    stl: `${base}/stl.zip`,
     kinematics: {
       coxa: 60.5 / 100,
       coxa_offset: 10 / 100,
@@ -38,8 +36,8 @@ export const variants = {
     }
   },
   SPOTMICRO_YERTLE: {
-        model: `${base}yertle.URDF`,
+    model: `${base}/yertle.URDF`,
-        stl: `${base}URDF.zip`,
+    stl: `${base}/URDF.zip`,
     kinematics: {
       coxa: 35 / 100,
       coxa_offset: 0 / 100,

app/src/lib/stores/fullscreen.ts

@@ -1,24 +1,24 @@
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
 
-export const isFullscreen = writable(false)
+export const isFullscreen = writable(false);
 
 export function toggleFullscreen() {
-    isFullscreen.update(state => {
+	isFullscreen.update((state) => {
-        !state ? document.documentElement.requestFullscreen() : document.exitFullscreen()
+		!state ? document.documentElement.requestFullscreen() : document.exitFullscreen();
-        return !state
+		return !state;
-    })
+	});
 }
 
 export function enterFullscreen() {
 	if (!document.fullscreenElement) {
-        document.documentElement.requestFullscreen()
+		document.documentElement.requestFullscreen();
-        isFullscreen.set(true)
+		isFullscreen.set(true);
 	}
 }
 
 export function exitFullscreen() {
 	if (document.fullscreenElement) {
-        document.exitFullscreen()
+		document.exitFullscreen();
-        isFullscreen.set(false)
+		isFullscreen.set(false);
 	}
 }

app/src/lib/stores/gamepad.ts

@@ -5,83 +5,43 @@ export type GamepadState = {
   gamepads: Gamepad[]
 }
 
-const DEADZONE = 0.15
-const dz = (x: number) => {
-    const a = Math.abs(x)
-    if (a < DEADZONE) return 0
-    return ((a - DEADZONE) / (1 - DEADZONE)) * Math.sign(x)
-}
-
-let raf = 0
-let running = false
-
 export const gamepads = readable<GamepadState>({ available: false, gamepads: [] }, set => {
   const update = () => {
-        const pads = navigator.getGamepads?.() ?? []
+    const hasGamepadAPI = 'getGamepads' in navigator
-        const list = Array.from(pads)
+    if (!hasGamepadAPI) {
-            .map(p => p || null)
+      set({ available: false, gamepads: [] })
-            .filter(Boolean) as Gamepad[]
+      return
-        set({ available: 'getGamepads' in navigator, gamepads: list })
+    }
+
+    const gps = navigator.getGamepads?.() ?? []
+    const validGamepads = gps.filter(Boolean) as Gamepad[]
+    set({
+      available: true,
+      gamepads: validGamepads
+    })
     raf = requestAnimationFrame(update)
   }
 
-    const onConnect = () => update()
+  window.addEventListener('gamepadconnected', update)
-    const onDisconnect = () => update()
+  window.addEventListener('gamepaddisconnected', update)
-    const onVis = () => {
+  let raf = requestAnimationFrame(update)
-        if (document.hidden) {
-            running = false
-            cancelAnimationFrame(raf)
-        } else if (!running) {
-            running = true
-            raf = requestAnimationFrame(update)
-        }
-    }
-
-    window.addEventListener('gamepadconnected', onConnect)
-    window.addEventListener('gamepaddisconnected', onDisconnect)
-    document.addEventListener('visibilitychange', onVis)
-
-    running = true
-    raf = requestAnimationFrame(update)
 
   return () => {
-        running = false
     cancelAnimationFrame(raf)
-        window.removeEventListener('gamepadconnected', onConnect)
+    window.removeEventListener('gamepadconnected', update)
-        window.removeEventListener('gamepaddisconnected', onDisconnect)
+    window.removeEventListener('gamepaddisconnected', update)
-        document.removeEventListener('visibilitychange', onVis)
   }
 })
 
-export const gamepad = derived(gamepads, s =>
+export const gamepad = derived(gamepads, $gamepads =>
-    s.available && s.gamepads.length ? s.gamepads[0] : null
+  $gamepads.available && $gamepads.gamepads.length > 0 ? $gamepads.gamepads[0] : null
 )
 
-export const hasGamepad = derived(gamepads, s => s.available && s.gamepads.length > 0)
+export const gamepadAxes = derived(gamepad, $gamepad => $gamepad?.axes ?? [0, 0, 0, 0])
 
-export const gamepadAxes = derived(gamepad, g => (g ? g.axes.map(dz) : [0, 0, 0, 0]))
+export const gamepadButtons = derived(gamepad, $gamepad => $gamepad?.buttons ?? [])
 
-type ButtonEdge = { pressed: boolean; value: number; justPressed: boolean; justReleased: boolean }
+export const hasGamepad = derived(
-const prev = new Map<number, { pressed: boolean; value: number }[]>()
+  gamepads,
-
+  $gamepads => $gamepads.available && $gamepads.gamepads.length > 0
-export const gamepadButtons = derived(gamepad, g => g?.buttons ?? [])
-
-export const gamepadButtonsEdges = derived(gamepad, g => {
-    if (!g) return [] as ButtonEdge[]
-    const p = prev.get(g.index) || []
-    const out = g.buttons.map((b, i): ButtonEdge => {
-        const pr = p[i] || { pressed: false, value: 0 }
-        const pressed = !!b.pressed || b.value > 0.5
-        return {
-            pressed,
-            value: b.value,
-            justPressed: pressed && !pr.pressed,
-            justReleased: !pressed && pr.pressed
-        }
-    })
-    prev.set(
-        g.index,
-        out.map(x => ({ pressed: x.pressed, value: x.value }))
 )
-    return out
-})

app/src/lib/stores/imu.ts

@@ -1,7 +1,7 @@
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
-import type { IMUMsg } from '$lib/types/models'
+import type { IMU } from '$lib/types/models';
 
-const maxIMUData = 100
+const maxIMUData = 100;
 
 export const imu = (() => {
     const { subscribe, update } = writable({
@@ -12,29 +12,16 @@ export const imu = (() => {
         altitude: [] as number[],
         pressure: [] as number[],
         bmp_temp: [] as number[]
-    })
+    });
 
-    const addData = (content: IMUMsg) => {
+    const addData = (content: IMU) => {
         update(data => {
-            if (content.imu && content.imu[4]) {
+            (Object.keys(content) as (keyof IMU)[]).forEach(key => {
-                data.x = [...data.x, content.imu[0]].slice(-maxIMUData)
+                data[key] = [...data[key], content[key]].slice(-maxIMUData);
-                data.y = [...data.y, content.imu[1]].slice(-maxIMUData)
+            });
-                data.z = [...data.z, content.imu[2]].slice(-maxIMUData)
+            return data;
-            }
+        });
+    };
 
-            if (content.mag && content.mag[4]) {
+    return { subscribe, addData };
-                data.heading = [...data.heading, content.mag[3]].slice(-maxIMUData)
+})();
-            }
-
-            if (content.bmp && content.bmp[3]) {
-                data.pressure = [...data.pressure, content.bmp[0]].slice(-maxIMUData)
-                data.altitude = [...data.altitude, content.bmp[1]].slice(-maxIMUData)
-                data.bmp_temp = [...data.bmp_temp, content.bmp[2]].slice(-maxIMUData)
-            }
-
-            return data
-        })
-    }
-
-    return { subscribe, addData }
-})()

app/src/lib/stores/index.ts

@@ -1,9 +1,9 @@
-export * from './socket-store'
+export * from './socket-store';
-export * from './logging-store'
+export * from './logging-store';
-export * from './model-store'
+export * from './model-store';
-export * from './socket'
+export * from './socket';
-export * from './fullscreen'
+export * from './fullscreen';
-export * from './telemetry'
+export * from './telemetry';
-export * from './analytics'
+export * from './analytics';
-export * from './featureFlags'
+export * from './featureFlags';
-export * from './location-store'
+export * from './location-store';

app/src/lib/stores/location-store.ts

@@ -1,6 +1,5 @@
-import { persistentStore } from '$lib/utilities'
+import { persistentStore } from '$lib/utilities';
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
-import { PUBLIC_VITE_USE_HOST_NAME } from '$env/static/public'
+import { PUBLIC_VITE_USE_HOST_NAME } from '$env/static/public';
 
-export const apiLocation =
+export const location = PUBLIC_VITE_USE_HOST_NAME ? writable('') : persistentStore('location', '');
-    PUBLIC_VITE_USE_HOST_NAME ? writable('') : persistentStore('location', '')

app/src/lib/stores/logging-store.ts

@@ -1,11 +1,11 @@
-import { writable, type Writable } from 'svelte/store'
+import { writable, type Writable } from 'svelte/store';
 
 export interface errorLog {
-    message: unknown
+	message: unknown;
-    tag?: string
+	tag?: string;
-    exception?: unknown
+	exception?: unknown;
 }
 
-export const latestErrorLog: Writable<errorLog> = writable()
+export const latestErrorLog: Writable<errorLog> = writable();
 
-export const errorLogs: Writable<errorLog[]> = writable([])
+export const errorLogs: Writable<errorLog[]> = writable([]);

app/src/lib/stores/socket-store.ts

@@ -1,22 +1,22 @@
-import { writable, type Writable } from 'svelte/store'
+import { writable, type Writable } from 'svelte/store';
-import { type angles } from '$lib/types/models'
+import { type angles } from '$lib/types/models';
 
 export const servoAnglesOut: Writable<number[]> = writable([
 	0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90
-])
+]);
 export const servoAngles: Writable<number[]> = writable([
 	0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90
-])
+]);
-export const logs = writable([] as string[])
+export const logs = writable([] as string[]);
-export const mpu = writable({ heading: 0 })
+export const mpu = writable({ heading: 0 });
-export const sonar = writable([0, 0])
+export const sonar = writable([0, 0]);
-export const distances = writable({})
+export const distances = writable({});
 
 export interface socketDataCollection {
-    angles: Writable<angles>
+	angles: Writable<angles>;
-    logs: Writable<string[]>
+	logs: Writable<string[]>;
-    mpu: Writable<unknown>
+	mpu: Writable<unknown>;
-    distances: Writable<unknown>
+	distances: Writable<unknown>;
 }
 
 export const socketData = {
@@ -24,4 +24,4 @@ export const socketData = {
 	logs,
 	mpu,
 	distances
-}
+};

app/src/lib/stores/socket.ts

@@ -1,135 +1,135 @@
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
-import { encode, decode } from '@msgpack/msgpack'
+import { encode, decode } from '@msgpack/msgpack';
 
-const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const
+const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const;
-type SocketEvent = (typeof socketEvents)[number]
+type SocketEvent = (typeof socketEvents)[number];
 
-type SocketMessage = [number, string?, unknown?]
+type SocketMessage = [number, string?, unknown?];
 
-let useBinary = false
+let useBinary = false;
 
 const decodeMessage = (data: string | ArrayBuffer): SocketMessage | null => {
-    useBinary = data instanceof ArrayBuffer
+  useBinary = data instanceof ArrayBuffer;
 
   try {
     if (useBinary) {
-            return decode(new Uint8Array(data as ArrayBuffer)) as SocketMessage
+      return decode(new Uint8Array(data as ArrayBuffer)) as SocketMessage;
     }
-        return JSON.parse(data as string)
+    return JSON.parse(data as string);
   } catch (error) {
-        console.error(`Could not decode data: ${new Uint8Array(data as ArrayBuffer)} - ${error}`)
+    console.error(`Could not decode data: ${new Uint8Array(data as ArrayBuffer)} - ${error}`);
-    }
-    return null
   }
+  return null;
+};
 
 const encodeMessage = (data: unknown) => {
   try {
-        return useBinary ? encode(data) : JSON.stringify(data)
+    return useBinary ? encode(data) : JSON.stringify(data);
   } catch (error) {
-        console.error(`Could not encode data: ${data} - ${error}`)
+    console.error(`Could not encode data: ${data} - ${error}`);
-    }
   }
+};
 
 function createWebSocket() {
-    const listeners = new Map<string, Set<(data?: unknown) => void>>()
+  const listeners = new Map<string, Set<(data?: unknown) => void>>();
-    const { subscribe, set } = writable(false)
+  const { subscribe, set } = writable(false);
-    const reconnectTimeoutTime = 5000
+  const reconnectTimeoutTime = 5000;
-    let unresponsiveTimeoutId: ReturnType<typeof setTimeout>
+  let unresponsiveTimeoutId: ReturnType<typeof setTimeout>;
-    let reconnectTimeoutId: ReturnType<typeof setTimeout>
+  let reconnectTimeoutId: ReturnType<typeof setTimeout>;
-    let ws: WebSocket
+  let ws: WebSocket;
-    let socketUrl: string | URL
+  let socketUrl: string | URL;
 
   function init(url: string | URL) {
-        socketUrl = url
+    socketUrl = url;
-        connect()
+    connect();
   }
 
   function disconnect(reason: SocketEvent, event?: Event) {
-        ws.close()
+    ws.close();
-        set(false)
+    set(false);
-        clearTimeout(unresponsiveTimeoutId)
+    clearTimeout(unresponsiveTimeoutId);
-        clearTimeout(reconnectTimeoutId)
+    clearTimeout(reconnectTimeoutId);
-        listeners.get(reason)?.forEach(listener => listener(event))
+    listeners.get(reason)?.forEach(listener => listener(event));
-        reconnectTimeoutId = setTimeout(connect, reconnectTimeoutTime)
+    reconnectTimeoutId = setTimeout(connect, reconnectTimeoutTime);
   }
 
   function connect() {
-        ws = new WebSocket(socketUrl)
+    ws = new WebSocket(socketUrl);
-        ws.binaryType = 'arraybuffer'
+    ws.binaryType = 'arraybuffer';
     ws.onopen = ev => {
-            ping()
+      ping();
-            useBinary = true
+      useBinary = true;
-            ping()
+      ping();
-            set(true)
+      set(true);
-            clearTimeout(reconnectTimeoutId)
+      clearTimeout(reconnectTimeoutId);
-            listeners.get('open')?.forEach(listener => listener(ev))
+      listeners.get('open')?.forEach(listener => listener(ev));
       for (const event of listeners.keys()) {
-                if (socketEvents.includes(event as SocketEvent)) continue
+        if (socketEvents.includes(event as SocketEvent)) continue;
-                subscribeToEvent(event)
+        subscribeToEvent(event);
-            }
       }
+    };
     ws.onmessage = frame => {
-            resetUnresponsiveCheck()
+      resetUnresponsiveCheck();
-            const message = decodeMessage(frame.data)
+      const message = decodeMessage(frame.data);
-            if (!message) return
+      if (!message) return;
-            const [, event, payload = undefined] = message
+      const [, event, payload = undefined] = message;
-            if (event) listeners.get(event)?.forEach(listener => listener(payload))
+      if (event) listeners.get(event)?.forEach(listener => listener(payload));
-        }
+    };
-        ws.onerror = ev => disconnect('error', ev)
+    ws.onerror = ev => disconnect('error', ev);
-        ws.onclose = ev => disconnect('close', ev)
+    ws.onclose = ev => disconnect('close', ev);
   }
 
   function unsubscribe(event: string, listener?: (data: unknown) => void) {
-        const eventListeners = listeners.get(event)
+    const eventListeners = listeners.get(event);
-        if (!eventListeners) return
+    if (!eventListeners) return;
 
     if (!eventListeners.size) {
-            unsubscribeToEvent(event)
+      unsubscribeToEvent(event);
     }
     if (listener) {
-            eventListeners?.delete(listener)
+      eventListeners?.delete(listener);
     } else {
-            listeners.delete(event)
+      listeners.delete(event);
     }
   }
 
   function resetUnresponsiveCheck() {
-        clearTimeout(unresponsiveTimeoutId)
+    clearTimeout(unresponsiveTimeoutId);
-        unresponsiveTimeoutId = setTimeout(() => disconnect('unresponsive'), reconnectTimeoutTime)
+    unresponsiveTimeoutId = setTimeout(() => disconnect('unresponsive'), reconnectTimeoutTime);
   }
 
   function sendEvent(event: string, data: unknown) {
-        if (!ws || ws.readyState !== WebSocket.OPEN) return
+    if (!ws || ws.readyState !== WebSocket.OPEN) return;
-        send([2, event, data])
+    send([2, event, data]);
   }
 
   function unsubscribeToEvent(event: string) {
-        if (!ws || ws.readyState !== WebSocket.OPEN) return
+    if (!ws || ws.readyState !== WebSocket.OPEN) return;
-        send([1, event])
+    send([1, event]);
   }
 
   function subscribeToEvent(event: string) {
-        if (!ws || ws.readyState !== WebSocket.OPEN) return
+    if (!ws || ws.readyState !== WebSocket.OPEN) return;
-        send([0, event])
+    send([0, event]);
   }
 
   function send(data: unknown) {
-        if (!ws || ws.readyState !== WebSocket.OPEN) return
+    if (!ws || ws.readyState !== WebSocket.OPEN) return;
-        const serialized = encodeMessage(data)
+    const serialized = encodeMessage(data);
     if (!serialized) {
-            console.error('Could not serialize data:', data)
+      console.error('Could not serialize data:', data);
-            return
+      return;
     }
-        ws.send(serialized)
+    ws.send(serialized);
   }
 
   function ping() {
-        const serialized = encodeMessage([4])
+    const serialized = encodeMessage([4]);
     if (!serialized) {
-            console.error('Could not serialize message')
+      console.error('Could not serialize message');
-            return
+      return;
     }
-        ws.send(serialized)
+    ws.send(serialized);
   }
 
   return {
@@ -137,24 +137,24 @@ function createWebSocket() {
     sendEvent,
     init,
     on: <T>(event: string, listener: (data: T) => void): (() => void) => {
-            let eventListeners = listeners.get(event)
+      let eventListeners = listeners.get(event);
       if (!eventListeners) {
         if (!socketEvents.includes(event as SocketEvent)) {
-                    subscribeToEvent(event)
+          subscribeToEvent(event);
         }
-                eventListeners = new Set()
+        eventListeners = new Set();
-                listeners.set(event, eventListeners)
+        listeners.set(event, eventListeners);
       }
-            eventListeners.add(listener as (data: unknown) => void)
+      eventListeners.add(listener as (data: unknown) => void);
 
       return () => {
-                unsubscribe(event, listener as (data: unknown) => void)
+        unsubscribe(event, listener as (data: unknown) => void);
-            }
+      };
     },
     off: <T>(event: string, listener?: (data: T) => void) => {
-            unsubscribe(event, listener as (data: unknown) => void)
+      unsubscribe(event, listener as (data: unknown) => void);
-        }
+    },
-    }
+  };
 }
 
-export const socket = createWebSocket()
+export const socket = createWebSocket();

app/src/lib/stores/telemetry.ts

@@ -1,7 +1,7 @@
-import type { DownloadOTA } from '$lib/types/models'
+import type { DownloadOTA } from '$lib/types/models';
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
 
-const telemetry_data = {
+let telemetry_data = {
     rssi: {
         rssi: 0
     },
@@ -10,10 +10,10 @@ const telemetry_data = {
         progress: 0,
         error: ''
     }
-}
+};
 
 function createTelemetry() {
-    const { subscribe, update } = writable(telemetry_data)
+    const { subscribe, set, update } = writable(telemetry_data);
 
     return {
         subscribe,
@@ -21,15 +21,15 @@ function createTelemetry() {
             update(telemetry_data => ({
                 ...telemetry_data,
                 rssi: { rssi: data }
-            }))
+            }));
         },
         setDownloadOTA: (data: DownloadOTA) => {
             update(telemetry_data => ({
                 ...telemetry_data,
                 download_ota: { status: data.status, progress: data.progress, error: data.error }
-            }))
+            }));
-        }
         }
+    };
 }
 
-export const telemetry = createTelemetry()
+export const telemetry = createTelemetry();

app/src/lib/types/mathutils.d.ts

@@ -1,17 +1,17 @@
 declare module 'three/src/math/MathUtils' {
-    export function generateUUID(): string
+	export function generateUUID(): string;
-    export function clamp(value: number, min: number, max: number): number
+	export function clamp(value: number, min: number, max: number): number;
-    export function euclideanModulo(n: number, m: number): number
+	export function euclideanModulo(n: number, m: number): number;
-    export function mapLinear(x: number, a1: number, a2: number, b1: number, b2: number): number
+	export function mapLinear(x: number, a1: number, a2: number, b1: number, b2: number): number;
-    export function lerp(x: number, y: number, t: number): number
+	export function lerp(x: number, y: number, t: number): number;
-    export function smoothstep(x: number, min: number, max: number): number
+	export function smoothstep(x: number, min: number, max: number): number;
-    export function smootherstep(x: number, min: number, max: number): number
+	export function smootherstep(x: number, min: number, max: number): number;
-    export function randInt(low: number, high: number): number
+	export function randInt(low: number, high: number): number;
-    export function randFloat(low: number, high: number): number
+	export function randFloat(low: number, high: number): number;
-    export function randFloatSpread(range: number): number
+	export function randFloatSpread(range: number): number;
-    export function degToRad(degrees: number): number
+	export function degToRad(degrees: number): number;
-    export function radToDeg(radians: number): number
+	export function radToDeg(radians: number): number;
-    export function isPowerOfTwo(value: number): boolean
+	export function isPowerOfTwo(value: number): boolean;
-    export function ceilPowerOfTwo(value: number): number
+	export function ceilPowerOfTwo(value: number): number;
-    export function floorPowerOfTwo(value: number): number
+	export function floorPowerOfTwo(value: number): number;
 }

app/src/lib/types/models.ts

@@ -154,12 +154,6 @@ export type IMU = {
   pressure: number
 }
 
-export type IMUMsg = {
-    imu: [number, number, number, number, boolean]
-    mag: [number, number, number, number, boolean]
-    bmp: [number, number, number, boolean]
-}
-
 export interface I2CDevice {
   address: number
   part_number: string

app/src/lib/types/uzip.d.ts

@@ -1,14 +1,14 @@
 declare module 'uzip' {
 	interface UZIP {
-        parse(data: Uint8Array | ArrayBuffer): Record<string, Uint8Array>
+		parse(data: Uint8Array | ArrayBuffer): any;
-        compress(data: Record<string, Uint8Array>): Uint8Array | ArrayBuffer
+		compress(data: any): Uint8Array | ArrayBuffer;
-        compressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer
+		compressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer;
-        decompress(data: Uint8Array | ArrayBuffer): Record<string, Uint8Array>
+		decompress(data: Uint8Array | ArrayBuffer): any;
-        decompressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer
+		decompressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer;
-        encode(data: Record<string, Uint8Array>): Uint8Array | ArrayBuffer
+		encode(data: any): Uint8Array | ArrayBuffer;
-        decode(data: Uint8Array | ArrayBuffer): Record<string, Uint8Array>
+		decode(data: Uint8Array | ArrayBuffer): any;
 	}
 
-    const uzip: UZIP
+	const uzip: UZIP;
-    export default uzip
+	export default uzip;
 }

app/src/lib/utilities/buffer-utilities.ts

@@ -1,15 +1,15 @@
 export class throttler {
-    private _throttlePause: boolean
+	private _throttlePause: boolean;
 	constructor() {
-        this._throttlePause = false
+		this._throttlePause = false;
 	}
-    throttle = (callback: () => void, time: number) => {
+	throttle = (callback: Function, time: number) => {
-        if (this._throttlePause) return
+		if (this._throttlePause) return;
 
-        this._throttlePause = true
+		this._throttlePause = true;
 		setTimeout(() => {
-            callback()
+			callback();
-            this._throttlePause = false
+			this._throttlePause = false;
-        }, time)
+		}, time);
-    }
+	};
 }

app/src/lib/utilities/color-utilities.ts

@@ -1,6 +1,6 @@
 export const daisyColor = (name: string, opacity: number = 100) => {
-    const color = getComputedStyle(document.documentElement).getPropertyValue(name).trim()
+  const color = getComputedStyle(document.documentElement).getPropertyValue(name).trim();
-    if (opacity >= 100) return color
+  if (opacity >= 100) return color;
-    const alpha = Math.min(Math.max(opacity, 0), 100) / 100
+  const alpha = Math.min(Math.max(opacity, 0), 100) / 100;
-    return `${color.replace(/(\/\s*\d+(\.\d+)?\))|\)$/, '')} / ${alpha})`
+  return `${color.replace(/(\/\s*\d+(\.\d+)?\))|\)$/, '')} / ${alpha})`;
-}
+};

app/src/lib/utilities/index.ts

@@ -1,8 +1,9 @@
-export * from './result'
+export * from './result';
-export * from './string-utilities'
+export * from './string-utilities';
-export * from './svelte-utilities'
+export * from './svelte-utilities';
-export * from './math-utilities'
+export * from './math-utilities';
-export * from './buffer-utilities'
+export * from './buffer-utilities';
-export * from './model-utilities'
+export * from './model-utilities';
-export * from './string-utilities'
+export * from './position-utilities';
-export * from './color-utilities'
+export * from './string-utilities';
+export * from './color-utilities';

app/src/lib/utilities/math-utilities.ts

@@ -1,18 +1,18 @@
 export const toUint8 = (number: number, min: number, max: number) => {
-    number = Math.max(min, Math.min(max, number))
+	number = Math.max(min, Math.min(max, number));
-    const scaled = ((number - min) / (max - min)) * 255
+	let scaled = ((number - min) / (max - min)) * 255;
-    return Math.round(scaled) & 0xff
+	return Math.round(scaled) & 0xff;
-}
+};
 
 export const toInt8 = (number: number, min: number, max: number) => {
-    number = Math.max(min, Math.min(max, number))
+	number = Math.max(min, Math.min(max, number));
-    const scaled = ((number - min) / (max - min)) * 255 - 128
+	let scaled = ((number - min) / (max - min)) * 255 - 128;
-    return Math.max(-128, Math.min(127, Math.round(scaled))) | 0
+	return Math.max(-128, Math.min(127, Math.round(scaled))) | 0;
-}
+};
 
 export const fromInt8 = (int8: number, min: number, max: number) => {
-    int8 = Math.max(-128, Math.min(127, int8))
+	int8 = Math.max(-128, Math.min(127, int8));
-    const scaled = (int8 + 128) / 255
+	const scaled = (int8 + 128) / 255;
-    const number = scaled * (max - min) + min
+	const number = scaled * (max - min) + min;
-    return number
+	return number;
-}
+};

app/src/lib/utilities/model-utilities.ts

@@ -6,7 +6,6 @@ import { currentVariant, jointNames, model } from '$lib/stores'
 import uzip from 'uzip'
 import { fileService } from '$lib/services'
 import { get } from 'svelte/store'
-import { resolve } from '$app/paths'
 
 let model_xml: XMLDocument
 
@@ -28,18 +27,16 @@ export const cacheModelFiles = async () => {
   const files = uzip.parse(await data.arrayBuffer())
 
   for (const [path, data] of Object.entries(files) as [path: string, data: Uint8Array][]) {
-        const normalizedPath = path.startsWith('/') ? path : '/' + path
+    const url = new URL(path, window.location.href)
-        const resolvedUrl = resolve(normalizedPath as any)
+    fileService?.saveFile(url.toString(), data)
-        fileService?.saveFile(resolvedUrl, data)
-        fileService?.saveFile(normalizedPath, data)
   }
 }
 
 export const loadModel = async (url: string): Promise<Result<[URDFRobot, string[]], string>> => {
   const urdfLoader = new URDFLoader()
+  urdfLoader.workingPath = LoaderUtils.extractUrlBase(url)
 
-    let xml =
+  let xml = url.endsWith('.xacro') ? await loadXacro(url) : await fetch(url).then(res => res.text())
-        url.endsWith('.xacro') ? await loadXacro(url) : await fetch(url).then(res => res.text())
 
   if (typeof xml === 'string') {
     xml = new window.DOMParser().parseFromString(xml, 'text/xml')

app/src/lib/utilities/position-utilities.ts

@@ -0,0 +1,84 @@
+class SunCalculator {
+	calculateSunElevation(lat: number = 55, lon: number = 12) {
+		const now = new Date();
+		const JD = this.getJulianDate(now);
+		const solarDec = this.getSolarDeclination(JD);
+		const solarTime = this.getSolarTime(now, lon);
+
+		const hourAngle = (solarTime - 12) * 15;
+		const elevation = Math.asin(
+			Math.sin(this.degToRad(lat)) * Math.sin(solarDec) +
+				Math.cos(this.degToRad(lat)) * Math.cos(solarDec) * Math.cos(this.degToRad(hourAngle))
+		);
+
+		return this.radToDeg(elevation);
+	}
+
+	getJulianDate(date: Date) {
+		const Y = date.getUTCFullYear();
+		const M = date.getUTCMonth() + 1;
+		const D =
+			date.getUTCDate() +
+			date.getUTCHours() / 24 +
+			date.getUTCMinutes() / 1440 +
+			date.getUTCSeconds() / 86400;
+		const A = Math.floor((14 - M) / 12);
+		const Y1 = Y + 4800 - A;
+		const M1 = M + 12 * A - 3;
+		return (
+			D +
+			Math.floor((153 * M1 + 2) / 5) +
+			365 * Y1 +
+			Math.floor(Y1 / 4) -
+			Math.floor(Y1 / 100) +
+			Math.floor(Y1 / 400) -
+			32045
+		);
+	}
+
+	getSolarDeclination(JulianDate: number) {
+		const n = JulianDate - 2451545;
+		const L = (280.46 + 0.9856474 * n) % 360;
+		const g = this.degToRad((357.528 + 0.9856003 * n) % 360);
+		const lambda = this.degToRad(L + 1.915 * Math.sin(g) + 0.02 * Math.sin(2 * g));
+		return Math.asin(Math.sin(lambda) * Math.sin(this.degToRad(23.44)));
+	}
+
+	getSolarTime(date: Date, lon: number) {
+		const EoT = this.getEquationOfTime(date);
+		const offset = date.getTimezoneOffset() / 60;
+		const standardMeridian = Math.round(lon / 15) * 15;
+		const solarTime =
+			date.getUTCHours() +
+			(date.getUTCMinutes() + (4 * (standardMeridian - lon) + EoT)) / 60 -
+			offset;
+		return (solarTime + 24) % 24;
+	}
+
+	getEquationOfTime(date: Date) {
+		const JD = this.getJulianDate(date);
+		const n = JD - 2451545;
+		const g = this.degToRad((357.528 + 0.9856003 * n) % 360);
+		const q = this.degToRad((280.46 + 0.9856474 * n) % 360);
+		return (
+			4 *
+			this.radToDeg(
+				0.000075 +
+					0.001868 * Math.cos(q) -
+					0.032077 * Math.sin(g) -
+					0.014615 * Math.cos(2 * q) -
+					0.040849 * Math.sin(2 * g)
+			)
+		);
+	}
+
+	degToRad(deg: number) {
+		return deg * (Math.PI / 180);
+	}
+
+	radToDeg(rad: number) {
+		return rad * (180 / Math.PI);
+	}
+}
+
+export const sunCalculator = new SunCalculator();

app/src/lib/utilities/result/err.ts

@@ -1,18 +1,18 @@
 export class Err<T, U> {
-    #inner: T
+	#inner: T;
-    #exception?: U
+	#exception?: U;
 
 	constructor(inner: T, exception?: U) {
-        this.#inner = inner
+		this.#inner = inner;
-        this.#exception = exception
+		this.#exception = exception;
 	}
 
 	get inner(): T {
-        return this.#inner
+		return this.#inner;
 	}
 
 	get exception(): U | undefined {
-        return this.#exception
+		return this.#exception;
 	}
 
 	/**
@@ -20,7 +20,7 @@ export class Err<T, U> {
 	 * @returns `true` if `Ok`; `false` if `Err`
 	 */
 	isOk(): false {
-        return false
+		return false;
 	}
 
 	/**
@@ -28,7 +28,7 @@ export class Err<T, U> {
 	 * @returns `true` if `Err`; `false` if `Ok`
 	 */
 	isErr(): this is Err<T, U> {
-        return true
+		return true;
 	}
 
 	/**
@@ -37,6 +37,6 @@ export class Err<T, U> {
 	 * @returns `Err(inner)`
 	 */
 	static new<E, F>(inner: E, exception: F): Err<E, F> {
-        return new Err<E, F>(inner, exception)
+		return new Err<E, F>(inner, exception);
 	}
 }

app/src/lib/utilities/result/index.ts

@@ -1,3 +1,3 @@
-export * from './err'
+export * from './err';
-export * from './ok'
+export * from './ok';
-export * from './result'
+export * from './result';

app/src/lib/utilities/result/ok.ts

@@ -1,12 +1,12 @@
 export class Ok<T> {
-    #inner: T
+	#inner: T;
 
 	constructor(inner: T) {
-        this.#inner = inner
+		this.#inner = inner;
 	}
 
 	get inner(): T {
-        return this.#inner
+		return this.#inner;
 	}
 
 	/**
@@ -14,7 +14,7 @@ export class Ok<T> {
 	 * @returns `true` if `Ok`; `false` if `Err`
 	 */
 	isOk(): this is Ok<T> {
-        return true
+		return true;
 	}
 
 	/**
@@ -22,7 +22,7 @@ export class Ok<T> {
 	 * @returns `true` if `Err`; `false` if `Ok`
 	 */
 	isErr(): false {
-        return false
+		return false;
 	}
 
 	/**
@@ -31,7 +31,7 @@ export class Ok<T> {
 	 * @returns `Ok(inner)`
 	 */
 	static new<T>(inner: T): Ok<T> {
-        return new Ok<T>(inner)
+		return new Ok<T>(inner);
 	}
 
 	/**
@@ -39,6 +39,6 @@ export class Ok<T> {
 	 * @returns `Ok(void)`
 	 */
 	static void(): Ok<void> {
-        return new Ok(undefined)
+		return new Ok(undefined);
 	}
 }

app/src/lib/utilities/result/result.ts

@@ -1,20 +1,20 @@
-import { Err } from './err'
+import { Err } from './err';
-import { Ok } from './ok'
+import { Ok } from './ok';
 
-export type Result<T = unknown, E = unknown, F = unknown> = Ok<T> | Err<E, F>
+export type Result<T = unknown, E = unknown, F = unknown> = Ok<T> | Err<E, F>;
 
-export const Result = {
+export namespace Result {
 	/**
 	 * @returns `Ok<T>`
 	 */
-    ok<T = unknown>(value: T) {
+	export function ok<T = unknown>(value: T) {
-        return Ok.new(value)
+		return Ok.new(value);
-    },
+	}
 
 	/**
 	 * @returns `Err<E, F>`
 	 */
-    err<E = unknown, F = unknown>(error: E, exception?: F) {
+	export function err<E = unknown, F = unknown>(error: E, exception?: F) {
-        return Err.new(error, exception)
+		return Err.new(error, exception);
 	}
 }

app/src/lib/utilities/svelte-utilities.ts

@@ -1,16 +1,16 @@
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
-import { browser } from '$app/environment'
+import { browser } from '$app/environment';
 
 export const persistentStore = <T>(key: string, initialValue: T) => {
-    const savedValue = browser ? localStorage.getItem(key) : null
+	const savedValue = browser ? localStorage.getItem(key) : null;
-    const data: T = savedValue !== null ? JSON.parse(savedValue) : initialValue
+	const data: T = savedValue !== null ? JSON.parse(savedValue) : initialValue;
-    const store = writable<T>()
+	const store = writable<T>();
 
 	store.subscribe(value => {
-        if (browser) localStorage.setItem(key, JSON.stringify(value))
+		if (browser) localStorage.setItem(key, JSON.stringify(value));
-    })
+	});
 
-    store.set(data)
+	store.set(data);
 
-    return store
+	return store;
-}
+};

app/src/routes/+error.svelte

@@ -1,9 +1,8 @@
 <script lang="ts">
   import { page } from '$app/state'
-    import { resolve } from '$app/paths'
 </script>
 
 <div class="flex justify-center items-center w-full h-full">
   <h1>{page.status} {page.error?.message}</h1>
-    <span>Go to <a class="btn btn-primary" href={resolve('/')}>Home page</a></span>
+  <span>Go to <a class="btn btn-primary" href="/">Home page</a></span>
 </div>

app/src/routes/+layout.svelte

@@ -18,7 +18,7 @@
     servoAngles,
     servoAnglesOut,
     socket,
-        apiLocation,
+    location,
     useFeatureFlags,
     walkGait
   } from '$lib/stores'
@@ -34,8 +34,8 @@
   const features = useFeatureFlags()
 
   onMount(async () => {
-        const ws = $apiLocation ? $apiLocation : window.location.host
+    const ws = $location ? $location : window.location.host
-        socket.init(`ws://${ws}/api/ws`)
+    socket.init(`ws://${ws}/api/ws/events`)
 
     addEventListeners()
 
@@ -83,7 +83,7 @@
     telemetry.setRSSI(0)
   }
 
-    const handleError = (data: unknown) => console.error(data)
+  const handleError = (data: any) => console.error(data)
 
   const handleAnalytics = (data: Analytics) => analytics.addData(data)
 
@@ -115,15 +115,14 @@
 </div>
 
 <Modals>
+  <!-- svelte-ignore a11y_click_events_have_key_events -->
+  <!-- svelte-ignore a11y_no_static_element_interactions -->
   {#snippet backdrop()}
     <div
       class="fixed inset-0 z-40 max-h-full max-w-full bg-black/20 backdrop-blur-sm"
       transition:fade
-            onclick={modals.closeAll}
+      onclick={modals.closeAll}>
-            onkeydown={e => e.key === 'Escape' && modals.closeAll()}
+    </div>
-            role="button"
-            tabindex="0"
-        ></div>
   {/snippet}
 </Modals>
 

app/src/routes/+layout.ts

@@ -6,20 +6,8 @@ const registerFetchIntercept = async () => {
   const fileService = (await import('$lib/services/file-service')).default
   window.fetch = async (resource, config) => {
     const url = resource instanceof Request ? resource.url : resource.toString()
-
+    const file = await fileService?.getFile(url)
-        let file = await fileService?.getFile(url)
+    return file?.isOk() ? new Response(file.inner) : originalFetch(resource, config)
-        if (file?.isOk() && file.inner) return new Response(new Uint8Array(file.inner))
-
-        if (url.startsWith('http')) {
-            try {
-                const urlObj = new URL(url)
-                const pathOnly = urlObj.pathname
-                file = await fileService?.getFile(pathOnly)
-                if (file?.isOk() && file.inner) return new Response(new Uint8Array(file.inner))
-            } catch {}
-        }
-
-        return originalFetch(resource, config)
   }
 }
 

app/src/routes/+page.svelte

@@ -3,12 +3,11 @@
   import Visualization from '$lib/components/Visualization.svelte'
   import { socket } from '$lib/stores'
   import { onMount } from 'svelte'
-    import { resolve } from '$app/paths'
 
   onMount(() => {
     socket.subscribe(isConnected => {
       if (isConnected) {
-                goto(resolve('/controller'))
+        goto('/controller')
       }
     })
   })
@@ -17,14 +16,12 @@
 <div class="hero bg-base-100 h-screen">
   <div class="card md:card-side bg-base-200 shadow-2xl flex justify-center items-center">
     <div class="w-64 h-64">
-            <Visualization defaultColor={null} orbit panel={false} ground={false} />
+      <Visualization sky={false} orbit panel={false} ground={false} />
     </div>
     <div class="card-body w-80">
       <h2 class="card-title text-center text-2xl">Begin you journey</h2>
       <p class="py-6 text-center"></p>
-            <a class="btn btn-primary" href={resolve($socket ? '/controller' : '/connection')}>
+      <a class="btn btn-primary" href={$socket ? '/controller' : '/connection'}> Add Robot Dog </a>
-                Add Robot Dog
-            </a>
     </div>
   </div>
 </div>

app/src/routes/connection/+page.svelte

@@ -1,5 +1,5 @@
 <script lang="ts">
-    import Connection from './Connection.svelte'
+	import Connection from './Connection.svelte';
 </script>
 
 <div class="mx-0 my-1 flex flex-col space-y-4 sm:mx-8 sm:my-8">

app/src/routes/connection/+page.ts

@@ -1,7 +1,7 @@
-import type { PageLoad } from './$types'
+import type { PageLoad } from './$types';
 
 export const load = (async () => {
 	return {
 		title: 'Connection'
-    }
+	};
-}) satisfies PageLoad
+}) satisfies PageLoad;

app/src/routes/connection/Connection.svelte

@@ -1,12 +1,12 @@
 <script lang="ts">
-    import SettingsCard from '$lib/components/SettingsCard.svelte'
+  import SettingsCard from '$lib/components/SettingsCard.svelte';
-    import { WiFi } from '$lib/components/icons'
+  import { WiFi } from '$lib/components/icons';
-    import { apiLocation, socket } from '$lib/stores'
+  import { location, socket } from '$lib/stores';
 
   const update = () => {
-        const ws = $apiLocation ? $apiLocation : window.location.host
+    const ws = $location ? $location : window.location.host;
-        socket.init(`ws://${ws}/api/ws/events`)
+    socket.init(`ws://${ws}/api/ws/events`);
-    }
+  };
 </script>
 
 <SettingsCard collapsible={false}>
@@ -19,7 +19,7 @@
 
   <div class="flex">
     <label class="label w-32" for="server">Address:</label>
-        <input class="input" bind:value={$apiLocation} />
+    <input class="input" bind:value={$location} />
   </div>
 
   <button class="btn btn-primary" onclick={update}>Update</button>

app/src/routes/controller/+page.ts

@@ -1,3 +1,3 @@
 export const load = async () => {
-    return { title: 'Controller' }
+	return { title: 'Controller' };
-}
+};

app/src/routes/controller/Controls.svelte

@@ -9,13 +9,14 @@
     modes,
     type Modes,
     ModesEnum,
+    walkGaits,
     WalkGaits,
     walkGait,
     walkGaitLabels
   } from '$lib/stores'
   import type { vector } from '$lib/types/models'
   import { VerticalSlider } from '$lib/components/input'
-    import { gamepadAxes, gamepadButtonsEdges, hasGamepad } from '$lib/stores/gamepad'
+  import { gamepadAxes, hasGamepad } from '$lib/stores/gamepad'
   import { notifications } from '$lib/components/toasts/notifications'
 
   let throttle = new throttler()
@@ -36,25 +37,11 @@
     handleJoyMove('right', { x: $gamepadAxes[2], y: $gamepadAxes[3] })
   })
 
-    $effect(() => {
+  // TODO React to button press
-        if (!$hasGamepad) return
+  //   $effect(() => {
-        const b = $gamepadButtonsEdges
+  //     if ($gamepadButtons.length === 0) return
-        if (!b.length) return
+  //
-        if (b[0]?.justPressed) mode.set(5)
+  //   })
-        if (b[1]?.justPressed) mode.set(4)
-        if (b[2]?.justPressed) mode.set(3)
-        if (b[3]?.justPressed) mode.set(0)
-        if (b[12]?.justPressed)
-            input.update(inputData => {
-                inputData['height'] = Math.min(inputData.height + 0.1, 1)
-                return inputData
-            })
-        if (b[13]?.justPressed)
-            input.update(inputData => {
-                inputData['height'] = Math.min(inputData.height - 0.1, 1)
-                return inputData
-            })
-    })
 
   onMount(() => {
     left = nipplejs.create({
@@ -74,9 +61,9 @@
     })
 
     left.on('move', (_, data) => handleJoyMove('left', data.vector))
-        left.on('end', () => handleJoyMove('left', { x: 0, y: 0 }))
+    left.on('end', (_, __) => handleJoyMove('left', { x: 0, y: 0 }))
     right.on('move', (_, data) => handleJoyMove('right', data.vector))
-        right.on('end', () => handleJoyMove('right', { x: 0, y: 0 }))
+    right.on('end', (_, __) => handleJoyMove('right', { x: 0, y: 0 }))
   })
 
   const handleJoyMove = (key: 'left' | 'right', data: vector) => {
@@ -103,11 +90,9 @@
     const down = event.type === 'keydown'
     input.update(data => {
       if (event.key === 'w') data.left.y = down ? 1 : 0
-            if (event.key === 'a') data.left.x = down ? -1 : 0
+      if (event.key === 'a') data.left.x = down ? 1 : 0
       if (event.key === 's') data.left.y = down ? -1 : 0
-            if (event.key === 'd') data.left.x = down ? 1 : 0
+      if (event.key === 'd') data.left.x = down ? -1 : 0
-            if (event.key === 'ArrowLeft') data.right.x = down ? 1 : 0
-            if (event.key === 'ArrowRight') data.right.x = down ? -1 : 0
       return data
     })
     throttle.throttle(updateData, throttle_timing)
@@ -150,27 +135,22 @@
     <div class="flex justify-center w-full"></div>
   </div>
   <div class="absolute bottom-0 z-10 flex items-end">
-        <div
+    <div class="flex items-center flex-col bg-base-300 bg-opacity-50 p-3 pb-2 gap-2 rounded-tr-xl">
-            class="flex items-center flex-col bg-base-300 bg-opacity-50 p-3 pb-2 gap-2 rounded-tr-xl"
-        >
       <VerticalSlider
         min={0}
         max={1}
         step={0.01}
-                oninput={(e: Event) => handleRange(e, 'height')}
+        oninput={(e: Event) => handleRange(e, 'height')} />
-            />
       <label for="height">Ht</label>
     </div>
     <div
-            class="flex items-end gap-4 bg-base-300 bg-opacity-50 h-min rounded-tr-xl pl-0 p-3 portrait:hidden"
+      class="flex items-end gap-4 bg-base-300 bg-opacity-50 h-min rounded-tr-xl pl-0 p-3 portrait:hidden">
-        >
       <div class="join">
         {#each modes as modeValue}
           <button
             class="btn join-item"
             class:btn-primary={$mode === modes.indexOf(modeValue)}
-                        onclick={() => changeMode(modeValue)}
+            onclick={() => changeMode(modeValue)}>
-                    >
             {capitalize(modeValue)}
           </button>
         {/each}
@@ -183,8 +163,7 @@
               <button
                 class="btn join-item btn-sm"
                 class:btn-secondary={$walkGait === gaitValue}
-                                onclick={() => changeWalkGait(gaitValue)}
+                onclick={() => changeWalkGait(gaitValue)}>
-                            >
                 {walkGaitLabels[gaitValue]}
               </button>
             {/if}
@@ -201,8 +180,7 @@
               step="0.01"
               max="1"
               oninput={e => handleRange(e, 's1')}
-                            class="range range-sm range-primary"
+              class="range range-sm range-primary" />
-                        />
           </div>
           <div>
             <label for="speed">Speed</label>
@@ -213,8 +191,7 @@
               step="0.01"
               max="1"
               oninput={e => handleRange(e, 'speed')}
-                            class="range range-sm range-primary"
+              class="range range-sm range-primary" />
-                        />
           </div>
         </div>
       {/if}

app/src/routes/peripherals/+page.ts

@@ -1,8 +1,7 @@
-import type { PageLoad } from './$types'
+import type { PageLoad } from './$types';
-import { goto } from '$app/navigation'
+import { goto } from '$app/navigation';
-import { resolve } from '$app/paths'
 
 export const load = (async () => {
-    goto(resolve('/'))
+	goto('/');
-    return
+	return;
-}) satisfies PageLoad
+}) satisfies PageLoad;

app/src/routes/peripherals/camera/+page.svelte

@@ -1,5 +1,5 @@
 <script lang="ts">
-    import Camera from './Camera.svelte'
+	import Camera from './Camera.svelte';
 </script>
 
 <div class="mx-0 my-1 flex flex-col space-y-4 sm:mx-8 sm:my-8">

app/src/routes/peripherals/camera/+page.ts

@@ -1,7 +1,7 @@
-import type { PageLoad } from './$types'
+import type { PageLoad } from './$types';
 
 export const load = (async () => {
 	return {
 		title: 'Camera'
-    }
+	};
-}) satisfies PageLoad
+}) satisfies PageLoad;

app/src/routes/peripherals/camera/Camera.svelte

@@ -1,8 +1,8 @@
 <script lang="ts">
-    import SettingsCard from '$lib/components/SettingsCard.svelte'
+	import SettingsCard from "$lib/components/SettingsCard.svelte";
-    import CameraSetting from './CameraSetting.svelte'
+	import CameraSetting from './CameraSetting.svelte';
-    import Stream from '$lib/components/Stream.svelte'
+	import Stream from '$lib/components/Stream.svelte';
-    import { Camera } from '$lib/components/icons'
+	import { Camera } from "$lib/components/icons";
 </script>
 
 <SettingsCard collapsible={false}>

app/src/routes/peripherals/camera/CameraSetting.svelte

@@ -1,25 +1,13 @@
 <script lang="ts">
-    import { api } from '$lib/api'
+	import { api } from '$lib/api';
-    import Spinner from '$lib/components/Spinner.svelte'
+	import Spinner from '$lib/components/Spinner.svelte';
-    import type { CameraSettings } from '$lib/types/models'
+    import type { CameraSettings } from '$lib/types/models';
-    let settings: CameraSettings = $state({
+    let settings:CameraSettings = $state()
-        brightness: 0,
-        contrast: 0,
-        framesize: 0,
-        vflip: false,
-        hmirror: false,
-        special_effect: 0,
-        quality: 0,
-        saturation: 0,
-        sharpness: 0,
-        denoise: 0,
-        wb_mode: 0
-    })
 
     const getCameraSettings = async () => {
         const result = await api.get<CameraSettings>('/api/camera/settings')
         if (result.isErr()){
-            console.error('An error occurred', result.inner)
+            console.error("An error occurred", result.inner);
             return
         }
         settings = result.inner
@@ -28,7 +16,7 @@
     const updateCameraSettings = async () => {
         const result = await api.post<CameraSettings>('/api/camera/settings', settings)
         if (result.isErr()){
-            console.error('An error occurred', result.inner)
+            console.error("An error occurred", result.inner);
             return
         }
         settings = result.inner
@@ -37,43 +25,23 @@
 
 {#await getCameraSettings()}
     <Spinner />
-{:then}
+{:then _} 
     <div class="flex flex-col gap-1">
-        <button class="btn btn-primary" type="button" onclick={updateCameraSettings}
+        <button class="btn btn-primary" type="button" onclick={updateCameraSettings}>Update camera settings</button>
-            >Update camera settings</button
-        >
 
         <label for="brightness">
             Brightness {settings.brightness}
-            <input
+            <input type="range" min="-2" max="2" class="range range-xs" bind:value={settings.brightness}/> 
-                type="range"
-                min="-2"
-                max="2"
-                class="range range-xs"
-                bind:value={settings.brightness}
-            />
         </label>
 
         <label for="contrast">
             Contrast {settings.contrast}
-            <input
+            <input type="range" min="-2" max="2" class="range range-xs" bind:value={settings.contrast}/> 
-                type="range"
-                min="-2"
-                max="2"
-                class="range range-xs"
-                bind:value={settings.contrast}
-            />
         </label>
 
         <label for="framesize">
             FrameSize {settings.framesize}
-            <input
+            <input type="range" min="0" max="10" class="range range-xs" bind:value={settings.framesize}/> 
-                type="range"
-                min="0"
-                max="10"
-                class="range range-xs"
-                bind:value={settings.framesize}
-            />
         </label>
 
         <label class="cursor-pointer flex items-center justify-between">
@@ -88,10 +56,7 @@
 
         <label for="special_effect" class="flex items-center">
             <span class="basis-1/2">Special Effect</span>
-            <select
+            <select class="select select-bordered select-sm w-full max-w-xs" bind:value={settings.special_effect}>
-                class="select select-bordered select-sm w-full max-w-xs"
-                bind:value={settings.special_effect}
-            >
                 <option value={0}>No effect</option>
                 <option value={1}>Negative</option>
                 <option value={2}>Grayscale</option>

app/src/routes/peripherals/i2c/i2c.svelte

@@ -16,11 +16,6 @@
       part_number: 'MPU6050',
       name: 'Six-Axis (Gyro + Accelerometer) MEMS MotionTracking™ Devices'
     },
-        {
-            address: 105,
-            part_number: 'ICM20948',
-            name: 'Nine-Axis (Gyro + Accelerometer + Magnetometer) MEMS MotionTracking™ Device'
-        },
     { address: 115, part_number: 'PAJ7620U2', name: 'Gesture sensor' },
     { address: 119, part_number: 'BMP085', name: 'Temp/Barometric' }
   ]
@@ -35,7 +30,7 @@
     return () => socket.off(MessageTopic.i2cScan, handleScan)
   })
 
-    const handleScan = (data: { addresses: number[] }) => {
+  const handleScan = (data: any) => {
     active_devices = data.addresses.map(
       (address: number) =>
         i2cDevices.find(device => device.address === address) || {

app/src/routes/peripherals/i2c/i2cSetting.svelte

@@ -15,8 +15,8 @@
     return () => socket.off(MessageTopic.peripheralSettings, handleSettings)
   })
 
-    const handleSettings = (data: Record<string, unknown>) => {
+  const handleSettings = (data: any) => {
-        settings = data as PeripheralsConfiguration
+    settings = data
   }
 
   const handleSave = () => {
@@ -56,8 +56,7 @@
             max="48"
             title="SDA pin number (0-48)"
             disabled={!isEditing}
-                        bind:value={settings.sda}
+            bind:value={settings.sda} />
-                    />
         </label>
         <label for="scl" class="input validator">
           SCL
@@ -71,8 +70,7 @@
             max="48"
             title="SCL pin number (0-48)"
             disabled={!isEditing}
-                        bind:value={settings.scl}
+            bind:value={settings.scl} />
-                    />
         </label>
         <label class="input validator" for="frequency">
           Frequency
@@ -85,20 +83,14 @@
             max="430000"
             title="I2C frequency in Hz"
             disabled={!isEditing}
-                        bind:value={settings.frequency}
+            bind:value={settings.frequency} />
-                    />
         </label>
         <div>
-                    <button
+          <button class="btn btn-outline btn-primary" onclick={() => (isEditing = !isEditing)}>
-                        class="btn btn-outline btn-primary"
-                        onclick={() => (isEditing = !isEditing)}
-                    >
             <Icon class="h-6 w-6" />
           </button>
           {#if isEditing}
-                        <button class="btn btn-outline btn-primary" onclick={handleSave}
+            <button class="btn btn-outline btn-primary" onclick={handleSave}>Save</button>
-                            >Save</button
-                        >
           {/if}
         </div>
       </div>

app/src/routes/peripherals/imu/+page.svelte

@@ -1,5 +1,5 @@
 <script lang="ts">
-    import IMU from './imu.svelte'
+	import IMU from './imu.svelte';
 </script>
 
 <div class="mx-0 my-1 flex flex-col space-y-4 sm:mx-8 sm:my-8">

app/src/routes/peripherals/imu/+page.ts

@@ -1,7 +1,7 @@
-import type { PageLoad } from './$types'
+import type { PageLoad } from './$types';
 
 export const load = (async () => {
 	return {
 		title: 'IMU'
-    }
+	};
-}) satisfies PageLoad
+}) satisfies PageLoad;

app/src/routes/peripherals/imu/imu.svelte

@@ -6,7 +6,7 @@
   import { slide } from 'svelte/transition'
   import { onDestroy, onMount } from 'svelte'
   import { socket } from '$lib/stores'
-    import { MessageTopic, type IMUMsg } from '$lib/types/models'
+  import { MessageTopic, type IMU } from '$lib/types/models'
   import { useFeatureFlags } from '$lib/stores/featureFlags'
   import { Rotate3d } from '$lib/components/icons'
 
@@ -18,12 +18,10 @@
   let angleChartElement: HTMLCanvasElement
   let tempChartElement: HTMLCanvasElement
   let altitudeChartElement: HTMLCanvasElement
-    let magnetometerChartElement: HTMLCanvasElement
 
   let angleChart: Chart
   let tempChart: Chart
   let altitudeChart: Chart
-    let magnetometerChart: Chart
 
   const getChartColors = () => {
     const style = getComputedStyle(document.body)
@@ -173,40 +171,9 @@
         }
       }
     })
-
-        magnetometerChart = new Chart(magnetometerChartElement, {
-            type: 'line',
-            data: {
-                datasets: [
-                    {
-                        label: 'Heading',
-                        borderColor: colors.primary,
-                        backgroundColor: colors.primary,
-                        borderWidth: 2,
-                        data: $imu.heading,
-                        yAxisID: 'y'
-                    }
-                ]
-            },
-            options: {
-                ...baseConfig,
-                scales: {
-                    ...baseConfig.scales,
-                    y: {
-                        ...baseConfig.scales.y,
-                        title: {
-                            display: true,
-                            text: 'Heading [°]',
-                            color: colors.background,
-                            font: { size: 16, weight: 'bold' }
-                        }
-                    }
-                }
-            }
-        })
   }
 
-    const updateChartData = (chart: Chart, data: number[]) => {
+  const updateChartData = (chart: Chart, data: number[], label: string) => {
     chart.data.labels = data
     chart.data.datasets[0].data = data
     chart.options.scales!.y!.min = Math.min(...data) - 1
@@ -227,18 +194,14 @@
       angleChart.update('none')
     }
 
-        if ($features.mag) {
-            updateChartData(magnetometerChart, $imu.heading)
-        }
-
     if ($features.bmp) {
-            updateChartData(tempChart, $imu.bmp_temp)
+      updateChartData(tempChart, $imu.bmp_temp, 'Temperature')
-            updateChartData(altitudeChart, $imu.altitude)
+      updateChartData(altitudeChart, $imu.altitude, 'Altitude')
     }
   }
 
   onMount(() => {
-        socket.on(MessageTopic.imu, (data: IMUMsg) => {
+    socket.on(MessageTopic.imu, (data: IMU) => {
       console.log(data)
       imu.addData(data)
     })
@@ -265,38 +228,24 @@
     <div class="w-full overflow-x-auto">
       <div
         class="flex w-full flex-col space-y-1 h-60"
-                transition:slide|local={{ duration: 300, easing: cubicOut }}
+        transition:slide|local={{ duration: 300, easing: cubicOut }}>
-            >
         <canvas bind:this={angleChartElement}></canvas>
       </div>
     </div>
   {/if}
 
-    {#if $features.mag}
-        <div class="w-full overflow-x-auto">
-            <div
-                class="flex w-full flex-col space-y-1 h-60"
-                transition:slide|local={{ duration: 300, easing: cubicOut }}
-            >
-                <canvas bind:this={magnetometerChartElement}></canvas>
-            </div>
-        </div>
-    {/if}
-
   {#if $features.bmp}
     <div class="w-full overflow-x-auto">
       <div
         class="flex w-full flex-col space-y-1 h-60"
-                transition:slide|local={{ duration: 300, easing: cubicOut }}
+        transition:slide|local={{ duration: 300, easing: cubicOut }}>
-            >
         <canvas bind:this={tempChartElement}></canvas>
       </div>
     </div>
     <div class="w-full overflow-x-auto">
       <div
         class="flex w-full flex-col space-y-1 h-60"
-                transition:slide|local={{ duration: 300, easing: cubicOut }}
+        transition:slide|local={{ duration: 300, easing: cubicOut }}>
-            >
         <canvas bind:this={altitudeChartElement}></canvas>
       </div>
     </div>

app/src/routes/peripherals/servo/+page.ts

@@ -1,7 +1,7 @@
-import type { PageLoad } from './$types'
+import type { PageLoad } from './$types';
 
 export const load = (async () => {
 	return {
 		title: 'Servo'
-    }
+	};
-}) satisfies PageLoad
+}) satisfies PageLoad;

app/src/routes/peripherals/servo/ServoTable.svelte

@@ -3,7 +3,7 @@
   import { onMount } from 'svelte'
   import { RotateCw, RotateCcw } from '$lib/components/icons'
   interface Props {
-        data?: Record<string, unknown>
+    data?: any
     servoId?: number
     pwm?: number
   }
@@ -70,8 +70,7 @@
               onblur={syncConfig}
               oninput={event => updateValue(event, index, 'center_pwm')}
               min="80"
-                            max="600"
+              max="600" />
-                        />
           </td>
           <td>
             <input
@@ -82,15 +81,13 @@
               onblur={syncConfig}
               oninput={event => updateValue(event, index, 'center_angle')}
               min="-90"
-                            max="90"
+              max="90" />
-                        />
           </td>
           <td>
             <button
               class="btn btn-sm btn-ghost"
               title="Toggle direction {servo.direction}"
-                            onclick={() => toggleDirection(index)}
+              onclick={() => toggleDirection(index)}>
-                        >
               {#if servo.direction === 1}
                 <RotateCw class="w-4 h-4 text-green-500" />
               {:else}
@@ -107,8 +104,7 @@
               onblur={syncConfig}
               oninput={event => updateValue(event, index, 'conversion')}
               min="0"
-                            max="10"
+              max="10" />
-                        />
           </td>
         </tr>
       {/each}

app/src/routes/peripherals/servo/servos.svelte

@@ -41,8 +41,7 @@
   max="600"
   bind:value={pwm}
   oninput={updatePWM}
-    class="w-full h-2 bg-gray-200 rounded-lg appearance-none cursor-pointer dark:bg-gray-700"
+  class="w-full h-2 bg-gray-200 rounded-lg appearance-none cursor-pointer dark:bg-gray-700" />
-/>
 
 <div class="flex flex-col">
   <h2 class="text-lg">General servo configuration</h2>
@@ -56,8 +55,7 @@
       type="checkbox"
       class="toggle"
       bind:checked={active}
-            onchange={active ? activateServo : deactivateServo}
+      onchange={active ? activateServo : deactivateServo} />
-        />
   </span>
   <span class="flex items-center gap-2">
     <label for="servoId">Servo active {servoId}</label>

app/src/routes/system/+page.ts

@@ -1,8 +1,7 @@
-import type { PageLoad } from './$types'
+import type { PageLoad } from './$types';
-import { goto } from '$app/navigation'
+import { goto } from '$app/navigation';
-import { resolve } from '$app/paths'
 
 export const load = (async () => {
-    goto(resolve('/'))
+	goto('/');
-    return
+	return;
-}) satisfies PageLoad
+}) satisfies PageLoad;

app/src/routes/system/filesystem/File.svelte

@@ -18,8 +18,7 @@
 
   <button
     class="opacity-0 group-hover:opacity-100 p-1 hover:text-red-500"
-        onclick={() => onDelete(name)}
+    onclick={() => onDelete(name)}>
-    >
     <TrashIcon class="w-4 h-4" />
   </button>
 </div>