🎨 Expand animation with looping

https://github.com/Jerome-Graves/yertle/

.github/workflows/deploy.yml

@@ -0,0 +1,61 @@
+name: Deploy GitHub Pages
+
+on:
+  push:
+    branches: [main]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: "pages"
+  cancel-in-progress: true
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: ./app
+    env:
+      BASE_PATH: /SpotMicroESP32-Leika
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: pnpm/action-setup@v2
+        with:
+          version: 9
+
+      - uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: "pnpm"
+          cache-dependency-path: "./app/pnpm-lock.yaml"
+
+      - run: pnpm install
+      - run: pnpm run build
+
+      - name: Setup Pages
+        uses: actions/configure-pages@v4
+        with:
+          static_site_generator: "sveltekit"
+
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: app/build/
+
+  deploy:
+    runs-on: ubuntu-latest
+    needs: build
+    environment:
+      name: github-pages
+
+    steps:
+      - name: Deploy
+        id: deployment
+        uses: actions/deploy-pages@v4

.github/workflows/embedded-build.yml

@@ -2,20 +2,19 @@ name: PlatformIO CI
 
 on:
   push:
-    branches: [ master ]
+    branches: [master]
     paths:
-        - 'esp32/**'  
+      - "esp32/**"
+      - "platformio.ini"
   pull_request:
-    branches: [ master ]
+    branches: [master]
     paths:
-        - 'esp32/**'  
+      - "esp32/**"
+      - "platformio.ini"
 
 jobs:
   build:
     runs-on: ubuntu-latest
-    defaults:
-      run:
-        working-directory: ./esp32
 
     steps:
       - uses: actions/checkout@v3
@@ -28,8 +27,8 @@ jobs:
 
       - uses: actions/setup-python@v4
         with:
-          python-version: '3.x'
+          python-version: "3.x"
-      - run: pip install -r ./scripts/requirements.txt
+      - run: pip install -r esp32/scripts/requirements.txt
       - name: Install PlatformIO Core
         run: pip install --upgrade platformio
 

.gitignore

@@ -2,7 +2,7 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
-
 __pycache__/
 *.py[cod]
 *$py.class
+.pio

.vscode/extensions.json

@@ -2,10 +2,10 @@
     // See http://go.microsoft.com/fwlink/?LinkId=827846
     // for the documentation about the extensions.json format
     "recommendations": [
-      "platformio.platformio-ide",
-      "svelte.svelte-vscode",
         "bradlc.vscode-tailwindcss",
-      "esbenp.prettier-vscode"
+        "esbenp.prettier-vscode",
+        "platformio.platformio-ide",
+        "svelte.svelte-vscode"
     ],
     "unwantedRecommendations": [
         "ms-vscode.cpptools-extension-pack"

app/.env

@@ -0,0 +1,3 @@
+PUBLIC_VITE_USE_HOST_NAME=true
+PUBLIC_USE_JSON=true
+PUBLIC_USE_MSGPACK=true

app/.eslintrc.cjs

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

app/.gitignore

@@ -3,7 +3,6 @@ node_modules
 /build
 /.svelte-kit
 /package
-.env
 .env.*
 !.env.example
 vite.config.js.timestamp-*

app/.prettierrc

@@ -1,13 +1,12 @@
 {
     "useTabs": false,
     "singleQuote": true,
-    "tabWidth": 2,
+    "tabWidth": 4,
     "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

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

app/README.md

@@ -8,30 +8,21 @@ If you're seeing this, you've probably already done this step. Congrats!
 
 ```bash
 # create a new project in the current directory
-npm create svelte@latest
+npx sv create
-
-# create a new project in my-app
-npm create svelte@latest my-app
 ```
 
 ## Developing
 
-Once you've created a project and installed dependencies with `npm install` (or `pnpm install` or `yarn`), start a development server:
+Once you've created your project, follow these steps:
 
-```bash
+1: Delete package-lock.json
-npm run dev
+2: Check `git status`. If you see any changes other than package-lock.json or favicon.ico, run the command `git restore ./` (See below)
+3: Run `npm install` or `pnpm install` or `yarn` to install the dependencies
+4: Run `npm run build` to build the project
 
-# or start the server and open the app in a new browser tab
+Running `git status` should show:
-npm run dev -- --open
-```
 
-## Building
+[![example.png](https://i.postimg.cc/yddM3hH3/example.png)](https://postimg.cc/7CFsp2bq)
-
-To create a production version of your app:
-
-```bash
-npm run build
-```
 
 You can preview the production build with `npm run preview`.
 

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

@@ -23,6 +23,14 @@
     --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

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

@@ -1,7 +0,0 @@
-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 { location } from './stores';
+import { apiLocation } from './stores'
 
-export namespace api {
+export const api = {
-    export function get<TResponse>(endpoint: string, params?: RequestInit) {
+    get<TResponse>(endpoint: string, params?: RequestInit) {
-        return sendRequest<TResponse>(endpoint, 'GET', null, params);
+        return sendRequest<TResponse>(endpoint, 'GET', null, params)
-    }
+    },
 
-    export function post<TResponse>(endpoint: string, data?: unknown) {
+    post<TResponse>(endpoint: string, data?: unknown) {
-        return sendRequest<TResponse>(endpoint, 'POST', data);
+        return sendRequest<TResponse>(endpoint, 'POST', data)
-    }
+    },
 
-    export function put<TResponse>(endpoint: string, data?: unknown) {
+    put<TResponse>(endpoint: string, data?: unknown) {
-        return sendRequest<TResponse>(endpoint, 'PUT', data);
+        return sendRequest<TResponse>(endpoint, 'PUT', data)
-    }
+    },
 
-    export function remove<TResponse>(endpoint: string) {
+    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,
@@ -38,43 +38,42 @@ 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 (error) {
+    } catch {
-        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 =
+    const contentType = response.headers.get('Content-Type') ?? response.headers.get('Content-Type')
-        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(location)) return url;
+    if (url.startsWith('http') || !get(apiLocation)) return url
-    const protocol = window.location.protocol;
+    const protocol = window.location.protocol
-    return `${protocol}//${get(location)}${url.startsWith('/') ? '' : '/'}${url}`;
+    return `${protocol}//${get(apiLocation)}${url.startsWith('/') ? '' : '/'}${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

@@ -1,18 +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 { Cancel, Check } from '$lib/components/icons';
+    import { Cancel, Check } from '$lib/components/icons'
-    import { modals, exitBeforeEnter } from 'svelte-modals';
+    import { modals, exitBeforeEnter, type ModalProps } from 'svelte-modals'
-
-    // provided by <Modals />
-
-    interface Props {
-        isOpen: boolean;
-        title: string;
-        message: string;
-        onConfirm: any;
-        labels?: any;
-    }
 
     let {
         isOpen,
@@ -23,7 +13,7 @@
             cancel: { label: 'Cancel', icon: Cancel },
             confirm: { label: 'OK', icon: Check }
         }
-    }: Props = $props();
+    }: ModalProps = $props()
 </script>
 
 {#if isOpen}
@@ -44,15 +34,12 @@
             <div class="divider my-2"></div>
             <div class="flex justify-end gap-2">
                 <button
-                    class="btn btn-primary inline-flex items-center"
+                    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
+                <button class="btn btn-primary inline-flex items-center" onclick={onConfirm}>
-                    class="btn btn-warning text-warning-content inline-flex items-center"
-                    onclick={onConfirm}
-                >
                     <SvelteComponent class="mr-2 h-5 w-5" /><span>{labels?.confirm.label}</span>
                 </button>
             </div>

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

@@ -1,26 +1,18 @@
 <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 } from 'svelte-modals';
+    import { exitBeforeEnter, type ModalProps } from 'svelte-modals'
-
-    // provided by <Modals />
-
-    interface Props {
-        isOpen: boolean;
-        title: string;
-        message: string;
-        onDismiss: any;
-        dismiss?: any;
-    }
 
     let {
         isOpen,
         title,
         message,
         onDismiss,
-        dismiss = { label: 'Dismiss', icon: Check }
+        labels = {
-    }: Props = $props();
+            dismiss: { label: 'Dismiss', icon: Check }
+        }
+    }: ModalProps = $props()
 </script>
 
 {#if isOpen}
@@ -43,7 +35,7 @@
                     class="btn btn-warning text-warning-content inline-flex items-center"
                     onclick={onDismiss}
                 >
-                    <dismiss.icon class="mr-2 h-5 w-5" /><span>{dismiss.label}</span>
+                    <labels.dismiss.icon class="mr-2 h-5 w-5" /><span>{labels.dismiss.label}</span>
                 </button>
             </div>
         </div>

app/src/lib/components/OrientationIndicator.svelte

@@ -0,0 +1,78 @@
+<script lang="ts">
+    import { onMount, onDestroy } from 'svelte'
+    import * as THREE from 'three'
+    import { imu } from '$lib/stores/imu'
+    import SceneBuilder from '$lib/sceneBuilder'
+
+    let canvas: HTMLCanvasElement
+    let sceneBuilder: SceneBuilder
+    let cube: THREE.Mesh
+    let targetRotation = new THREE.Euler()
+    let lastUpdateTime = 0
+    const LERP_SPEED = 5 // rotations per second
+
+    const initThreeJS = () => {
+        sceneBuilder = new SceneBuilder()
+            .addRenderer({ canvas: canvas, antialias: true, alpha: true })
+            .addPerspectiveCamera({ x: 2, y: 0, z: 2 })
+            .addOrbitControls(1, 10, false)
+            .addAmbientLight({ color: 0x404040, intensity: 0.5 })
+            .addDirectionalLight({ color: 0xffffff, intensity: 3, x: 10, y: 20, z: 7 })
+            .fillParent()
+
+        const geometry = new THREE.BoxGeometry(1, 1, 1)
+        const material = new THREE.MeshPhongMaterial({
+            color: 0x00ff00,
+            transparent: true,
+            opacity: 0.8
+        })
+        cube = new THREE.Mesh(geometry, material)
+        sceneBuilder.scene.add(cube)
+
+        sceneBuilder.addRenderCb(() => {
+            if (!cube) return
+            const currentTime = performance.now()
+            const deltaTime = (currentTime - lastUpdateTime) / 1000 // convert to seconds
+            lastUpdateTime = currentTime
+
+            const lerpFactor = Math.min(1, LERP_SPEED * deltaTime)
+            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.z = THREE.MathUtils.lerp(cube.rotation.z, targetRotation.z, lerpFactor)
+        })
+
+        sceneBuilder.startRenderLoop()
+    }
+
+    const updateOrientation = () => {
+        if (!cube) return
+
+        const y = -$imu.x[$imu.x.length - 1] || 0
+        const x = $imu.y[$imu.y.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()
+    })
+
+    onDestroy(() => {
+        sceneBuilder?.renderer?.dispose()
+    })
+
+    $effect(() => {
+        if ($imu) {
+            updateOrientation()
+        }
+    })
+</script>
+
+<div class="h-60 w-60 border-2 border-base-300 rounded-md">
+    <canvas class="w-full h-full" bind:this={canvas}></canvas>
+</div>

app/src/lib/components/SettingsCard.svelte

@@ -1,13 +1,14 @@
 <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'
     interface Props {
-		open?: boolean;
+        open?: boolean
-		collapsible?: boolean;
+        collapsible?: boolean
-		icon?: import('svelte').Snippet;
+        icon?: import('svelte').Snippet
-		title?: import('svelte').Snippet;
+        title?: import('svelte').Snippet
-		children?: import('svelte').Snippet;
+        children?: import('svelte').Snippet
+        right?: import('svelte').Snippet
     }
 
     let {
@@ -15,8 +16,9 @@
         collapsible = true,
         icon,
         title,
-		children
+        children,
-	}: Props = $props();
+        right
+    }: Props = $props()
 </script>
 
 {#if collapsible}
@@ -33,12 +35,14 @@
             <button
                 class="btn btn-circle btn-ghost btn-sm"
                 onclick={() => {
-					open = !open;
+                    open = !open
                 }}
             >
                 <Down
-					class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {open
+                    class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {(
-						? 'rotate-180'
+                        open
+                    ) ?
+                        'rotate-180'
                     :   ''}"
                 />
             </button>
@@ -56,11 +60,14 @@
     <div
         class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg"
     >
-		<div class="min-h-16 w-full p-4 text-xl font-medium">
+        <div
+            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?.()}
             </span>
+            {@render right?.()}
         </div>
         <div class="flex flex-col gap-2 p-4 pt-0">
             {@render children?.()}

app/src/lib/components/Spinner.svelte

@@ -1,6 +1,5 @@
 <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

@@ -0,0 +1,47 @@
+<script lang="ts">
+    import type { ComponentType } from 'svelte'
+
+    type Variant = 'success' | 'error' | 'primary' | 'info' | 'warning'
+
+    const {
+        icon,
+        title,
+        description = '',
+        variant = 'primary',
+        class: klass = '',
+        children = null
+    } = $props<{
+        icon?: ComponentType
+        title: string
+        description?: string | number
+        variant?: Variant
+        class?: string
+        children?: () => ComponentType
+    }>()
+
+    const Icon = $derived(icon)
+
+    const variants: Record<Variant, [string, string]> = {
+        success: ['bg-success', 'text-success-content'],
+        error: ['bg-error', 'text-error-content'],
+        primary: ['bg-primary', 'text-primary-content'],
+        info: ['bg-info', 'text-info-content'],
+        warning: ['bg-warning', 'text-warning-content']
+    }
+
+    const variantKey: Variant = (variant as Variant) in variants ? (variant as Variant) : 'primary'
+    const [bgColor, textColor] = variants[variantKey]
+</script>
+
+<div class="rounded-box bg-base-100 flex items-center space-x-3 px-4 py-2 {klass}">
+    {#if icon}
+        <div class="mask mask-hexagon {bgColor} h-auto w-10 flex-none">
+            <Icon class="{textColor} h-auto w-full scale-75" />
+        </div>
+    {/if}
+    <div class="grow">
+        <div class="font-bold">{title}</div>
+        <div class="text-sm opacity-75 grow">{description}</div>
+    </div>
+    {@render children?.()}
+</div>

app/src/lib/components/Stream.svelte

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

app/src/lib/components/Toast.svelte

@@ -1,22 +1,24 @@
 <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 { theme = {
+    let {
+        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

@@ -6,7 +6,7 @@
         LineBasicMaterial,
         Mesh,
         MeshBasicMaterial,
-    Object3D,
+        type Object3D,
         SphereGeometry,
         Vector3,
         type NormalBufferAttributes,
@@ -21,18 +21,25 @@
         servoAnglesOut,
         servoAngles,
         mpu,
-    jointNames
+        jointNames,
+        currentKinematic,
+        walkGait,
+        walkGaitToMode
     } from '$lib/stores'
-  import { footColor, populateModelCache, throttler, toeWorldPositions } from '$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'
-  import Kinematic, { type body_state_t } from '$lib/kinematic'
+    import { type body_state_t } from '$lib/kinematic'
     import {
+        Animater,
         BezierState,
         CalibrationState,
-    EightPhaseWalkState,
-    FourPhaseWalkState,
         IdleState,
         RestState,
         StandState
@@ -47,33 +54,23 @@
         panel?: boolean
         debug?: boolean
         ground?: boolean
-    zoom?: number
     }
 
-  let {
+    let { sky = true, orbit = false, panel = true, debug = false, ground = true }: Props = $props()
-    sky = true,
-    orbit = false,
-    panel = true,
-    debug = false,
-    ground = true,
-    zoom = 8
-  }: Props = $props()
 
     let sceneManager = $state(new SceneBuilder())
-  let canvas: HTMLCanvasElement = $state()
+    let canvas: HTMLCanvasElement
 
     let currentModelAngles: number[] = new Array(12).fill(0)
     let modelTargetAngles: number[] = new Array(12).fill(0)
     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 }
 
-  let kinematic = new Kinematic()
+    let kinematic = get(currentKinematic)
 
     let planners = {
         [ModesEnum.Deactivated]: new IdleState(),
@@ -81,8 +78,8 @@
         [ModesEnum.Calibration]: new CalibrationState(),
         [ModesEnum.Rest]: new RestState(),
         [ModesEnum.Stand]: new StandState(),
-    [ModesEnum.Crawl]: new EightPhaseWalkState(),
+        [ModesEnum.Walk]: new BezierState(),
-    [ModesEnum.Walk]: new BezierState()
+        [ModesEnum.Animate]: new Animater()
     }
     let lastTick = performance.now()
 
@@ -95,7 +92,13 @@
         xm: 0,
         ym: 0.5,
         zm: 0,
-    feet: planners[ModesEnum.Idle].default_feet_pos
+        feet: kinematic.getDefaultFeetPos(),
+        cumulative_x: 0,
+        cumulative_y: 0,
+        cumulative_z: 0,
+        cumulative_roll: 0,
+        cumulative_pitch: 0,
+        cumulative_yaw: 0
     }
 
     let settings = {
@@ -120,6 +123,7 @@
         await populateModelCache()
         await createScene()
         servoAngles.subscribe(updateAnglesFromStore)
+        walkGait.subscribe(gait => planners[ModesEnum.Walk].set_mode(walkGaitToMode(gait)))
         if (panel) createPanel()
     })
 
@@ -173,18 +177,21 @@
 
     const updateAngles = (name: string, angle: number) => {
         modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI)
-    Throttler.throttle(() => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))), 100)
+        Throttler.throttle(
+            () => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))),
+            100
+        )
     }
 
     const createScene = async () => {
         sceneManager
             .addRenderer({ antialias: true, canvas, alpha: true })
             .addPerspectiveCamera({ x: -0.5, y: 0.5, z: 1 })
-      .addOrbitControls(Math.min(zoom, 8), 30, orbit)
+            .addOrbitControls(2, 20, orbit)
             .addDirectionalLight({ x: 10, y: 20, z: 10, color: 0xffffff, intensity: 3 })
             .addAmbientLight({ color: 0xffffff, intensity: 0.5 })
             .addFogExp2(0xcccccc, 0.015)
-      .addModel($model)
+            .addModel($model as URDFRobot)
             .addTransformControls(sceneManager.model)
             .fillParent()
             .addRenderCb(render)
@@ -198,32 +205,13 @@
         sceneManager.scene.add(target)
 
         if (debug) {
-      sceneManager.addDragControl(updateAngles)
+            sceneManager.addDragControl((angles: Record<string, number>) => {
+                Object.entries(angles).forEach(([name, angle]) => {
+                    updateAngles(name, angle)
+                })
+            })
         }
         if (sky) sceneManager.addSky()
-
-    for (let i = 0; i < 4; i++) {
-      const geometry = new BufferGeometry()
-      const material = new LineBasicMaterial({ color: footColor() })
-      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 = () => {
@@ -235,7 +223,13 @@
             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]))
@@ -246,12 +240,26 @@
         if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
         robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y))
 
-    robot.position.z = smooth(robot.position.z, -settings.xm, 0.1)
+        const cumulativeYaw = body_state.cumulative_yaw
-    robot.position.x = smooth(robot.position.x, -settings.zm, 0.1)
 
-    robot.rotation.z = smooth(robot.rotation.z, degToRad(-settings.phi + $mpu.heading + 90), 0.1)
+        const cosYaw = Math.cos(cumulativeYaw)
-    robot.rotation.y = smooth(robot.rotation.y, degToRad(settings.omega), 0.1)
+        const sinYaw = Math.sin(cumulativeYaw)
-    robot.rotation.x = smooth(robot.rotation.x, degToRad(settings.psi - 90), 0.1)
+        const rotatedXm = settings.xm * cosYaw - settings.zm * sinYaw
+        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) => {
@@ -267,16 +275,15 @@
         if (sceneManager.isDragging || !settings['Internal kinematic']) return
         const controlData = get(outControllerData)
         const data = {
-      stop: controlData[0],
+            lx: controlData[0],
-      lx: controlData[1],
+            ly: controlData[1],
-      ly: controlData[2],
+            rx: controlData[2],
-      rx: controlData[3],
+            ry: controlData[3],
-      ry: controlData[4],
+            h: controlData[4],
-      h: controlData[5],
+            s: controlData[5],
-      s: controlData[6],
+            s1: controlData[6]
-      s1: controlData[7]
         }
-    body_state.ym = ((data.h + 127) * 0.75) / 100
+        body_state.ym = data.h
 
         let planner = planners[get(mode)]
         const delta = performance.now() - lastTick
@@ -311,9 +318,8 @@
         const robot = sceneManager.model
         if (!robot) return
 
-    const toes = toeWorldPositions(robot)
+        const toes = getToeWorldPositions(robot)
 
-    renderTraceLines(toes)
         update_camera(robot)
         update_gait()
         calculate_kinematics()

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

@@ -35,6 +35,9 @@ export { default as Hamburger } from '~icons/mdi/hamburger-menu'
 export { default as FileIcon } from '~icons/mdi/file'
 export { default as FolderIcon } from '~icons/mdi/folder-outline'
 export { default as FolderOpenOutline } from '~icons/mdi/folder-open-outline'
+export { default as TrashIcon } from '~icons/mdi/trash'
+export { default as RotateCcw } from '~icons/mdi/rotate-left'
+export { default as RotateCw } from '~icons/mdi/rotate-right'
 
 export { default as Down } from '~icons/tabler/chevron-down'
 export { default as Cancel } from '~icons/tabler/x'
@@ -50,13 +53,14 @@ export { default as Power } from '~icons/tabler/power'
 export { default as MAC } from '~icons/tabler/dna-2'
 export { default as Home } from '~icons/tabler/home'
 export { default as SSID } from '~icons/tabler/router'
-export { default as DNS } from '~icons/tabler/address-book'
+export { default as DNS } from '~icons/mdi/dns'
 export { default as Gateway } from '~icons/tabler/torii'
 export { default as Subnet } from '~icons/tabler/grid-dots'
 export { default as Channel } from '~icons/tabler/antenna'
 export { default as Scan } from '~icons/tabler/radar-2'
 export { default as Add } from '~icons/tabler/circle-plus'
-export { default as Edit } from '~icons/tabler/pencil'
+export { default as Edit } from '~icons/mdi/edit'
+export { default as EditOff } from '~icons/mdi/edit-off'
 export { default as Delete } from '~icons/tabler/trash'
 
 export { default as Network } from '~icons/tabler/router'

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: any) => value = e.target.value
+    const handleInput = (e: Event) => (value = (e.target as HTMLInputElement).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?: any
+        value?: number
-    oninput?: any
+        oninput?: (value: number) => void
     }
 
     let {
@@ -24,7 +24,8 @@
     {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

@@ -1,13 +1,17 @@
 <script lang="ts">
-	import WidgetContainer from './WidgetContainer.svelte';
+    import WidgetContainer from './WidgetContainer.svelte'
-	import { WidgetComponents, type WidgetContainerConfig, isWidgetConfig } from '$lib/stores/application';
+    import {
-	import Widget from './Widget.svelte';
+        WidgetComponents,
+        type WidgetContainerConfig,
+        isWidgetConfig
+    } from '$lib/stores/application'
+    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">

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: any;
+        github: { url: string; version: string; active?: boolean; href?: string }
     }
 
-	let { github }: Props = $props();
+    let { github }: Props = $props()
 </script>
 
 {#if github.active}

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

@@ -1,12 +1,13 @@
 <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="/"
+    href={resolve('/')}
     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

@@ -1,5 +1,6 @@
 <script lang="ts">
     import { page } from '$app/state'
+    import { base } from '$app/paths'
     import { useFeatureFlags } from '$lib/stores/featureFlags'
     import GithubButton from '../menu/GithubButton.svelte'
     import LogoButton from '../menu/LogoButton.svelte'
@@ -19,9 +20,10 @@
         Router,
         AP,
         Copyright,
-    Metrics
+        Metrics,
+        DNS
     } from '$lib/components/icons'
-  import appEnv from 'app-env'
+    import { PUBLIC_VITE_USE_HOST_NAME } from '$env/static/public'
 
     const features = useFeatureFlags()
 
@@ -31,15 +33,21 @@
 
     const github = { href: 'https://github.com/' + page.data.github, active: true }
 
+    import type { ComponentType } from 'svelte'
+
     type menuItem = {
         title: string
-    icon: ConstructorOfATypedSvelteComponent
+        icon: ComponentType
         href?: string
         feature: boolean
         active?: boolean
         submenu?: menuItem[]
     }
 
+    function withBase(path: string) {
+        return `${base}${path.startsWith('/') ? path : '/' + path}`
+    }
+
     let menuItems = $state<menuItem[]>([])
 
     $effect(() => {
@@ -47,13 +55,13 @@
             {
                 title: 'Connection',
                 icon: WiFi,
-        href: '/connection',
+                href: withBase('/connection'),
-        feature: !appEnv.VITE_USE_HOST_NAME
+                feature: !PUBLIC_VITE_USE_HOST_NAME
             },
             {
                 title: 'Controller',
                 icon: MdiController,
-        href: '/controller',
+                href: withBase('/controller'),
                 feature: true
             },
             {
@@ -64,25 +72,25 @@
                     {
                         title: 'I2C',
                         icon: Connection,
-            href: '/peripherals/i2c',
+                        href: withBase('/peripherals/i2c'),
                         feature: true
                     },
                     {
                         title: 'Camera',
                         icon: Camera,
-            href: '/peripherals/camera',
+                        href: withBase('/peripherals/camera'),
                         feature: $features.camera
                     },
                     {
                         title: 'Servo',
                         icon: MotorOutline,
-            href: '/peripherals/servo',
+                        href: withBase('/peripherals/servo'),
                         feature: true
                     },
                     {
                         title: 'IMU',
                         icon: Rotate3d,
-            href: '/peripherals/imu',
+                        href: withBase('/peripherals/imu'),
                         feature: $features.imu || $features.mag || $features.bmp
                     }
                 ]
@@ -95,13 +103,19 @@
                     {
                         title: 'WiFi Station',
                         icon: Router,
-            href: '/wifi/sta',
+                        href: withBase('/wifi/sta'),
                         feature: true
                     },
                     {
                         title: 'Access Point',
                         icon: AP,
-            href: '/wifi/ap',
+                        href: withBase('/wifi/ap'),
+                        feature: true
+                    },
+                    {
+                        title: 'mDNS',
+                        icon: DNS,
+                        href: withBase('/wifi/mdns'),
                         feature: true
                     }
                 ]
@@ -114,26 +128,29 @@
                     {
                         title: 'System Status',
                         icon: Health,
-            href: '/system/status',
+                        href: withBase('/system/status'),
                         feature: true
                     },
                     {
                         title: 'File System',
                         icon: Folder,
-            href: '/system/filesystem',
+                        href: withBase('/system/filesystem'),
                         feature: true
                     },
                     {
                         title: 'System Metrics',
                         icon: Metrics,
-            href: '/system/metrics',
+                        href: withBase('/system/metrics'),
-            feature: $features.analytics
+                        feature: true
                     },
                     {
                         title: 'Firmware Update',
                         icon: Update,
-            href: '/system/update',
+                        href: withBase('/system/update'),
-            feature: $features.ota || $features.upload_firmware || $features.download_firmware
+                        feature:
+                            $features.ota ||
+                            $features.upload_firmware ||
+                            $features.download_firmware
                     }
                 ]
             }
@@ -157,7 +174,7 @@
         setActiveMenuItem(page.data.title)
     })
 
-  const updateMenu = (event: any) => {
+    const updateMenu = (event: CustomEvent) => {
         setActiveMenuItem(event.details)
     }
 </script>
@@ -165,7 +182,12 @@
 <div class="flex h-full w-80 flex-col p-4 bg-base-200 text-base-content">
     <LogoButton {appName} />
 
-  <MenuList {menuItems} select={updateMenu} class="grow flex-nowrap overflow-y-auto" level="0" />
+    <MenuList
+        {menuItems}
+        select={updateMenu}
+        class="grow flex-nowrap overflow-y-auto overflow-x-hidden"
+        level="0"
+    />
 
     <div class="divider my-0"></div>
 

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

@@ -1,8 +1,10 @@
 <script lang="ts">
     import MenuList from './MenuList.svelte'
+    import type { ComponentType } from 'svelte'
+
     type MenuItem = {
         title: string
-    icon: ConstructorOfATypedSvelteComponent
+        icon: ComponentType
         href?: string
         feature: boolean
         active?: boolean
@@ -16,18 +18,23 @@
     }
 </script>
 
-<ul class={klass + ' menu'}>
+<ul class={klass + ' menu w-full'}>
-  {#each menuItems as MenuItem[] as menuItem, i (menuItem.title)}
+    {#each menuItems as MenuItem[] as menuItem (menuItem.title)}
         {#if menuItem.feature}
             <li>
                 {#if menuItem.submenu}
                     <details open={menuItem.submenu.some(subItem => subItem.active)}>
-            <summary class="text-lg font-bold">
+                        <summary class="font-bold">
                             <menuItem.icon class="h-6 w-6" />
                             {menuItem.title}
                         </summary>
                         <div class="pl-4">
-              <MenuList menuItems={menuItem.submenu} level={level + 1} {select} class={klass} />
+                            <MenuList
+                                menuItems={menuItem.submenu}
+                                level={level + 1}
+                                {select}
+                                class={klass}
+                            />
                         </div>
                     </details>
                 {:else}
@@ -37,7 +44,8 @@
                         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

@@ -1,10 +1,9 @@
 <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 +1,12 @@
 <script lang="ts">
-    import {Hamburger} from '../icons'
+    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="/">
+        <a href={resolve('/')}>
-            <Hamburger class="h-8 w-8"/>
+            <Hamburger class="h-8 w-8" />
         </a>
     </div>
 </div>

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

@@ -1,80 +1,80 @@
 <script lang="ts">
-    import { page } from '$app/state';
+    import { page } from '$app/state'
-    import { modals } from 'svelte-modals';
+    import { modals } from 'svelte-modals'
-    import { notifications } from '$lib/components/toasts/notifications';
+    import { notifications } from '$lib/components/toasts/notifications'
-    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte';
+    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte'
-    import GithubUpdateDialog from '$lib/components/GithubUpdateDialog.svelte';
+    import GithubUpdateDialog from '$lib/components/GithubUpdateDialog.svelte'
-    import { compareVersions } from 'compare-versions';
+    import { compareVersions } from 'compare-versions'
-    import { onMount } from 'svelte';
+    import { onMount } from 'svelte'
-    import { api } from '$lib/api';
+    import { api } from '$lib/api'
-    import type { GithubRelease } from '$lib/types/models';
+    import type { GithubRelease } from '$lib/types/models'
-    import { useFeatureFlags } from '$lib/stores/featureFlags';
+    import { useFeatureFlags } from '$lib/stores/featureFlags'
-    import { Cancel, CloudDown, Firmware } from '../icons';
+    import { Cancel, CloudDown, Firmware } from '../icons'
 
-    const features = useFeatureFlags();
+    const features = useFeatureFlags()
 
     interface Props {
-        update?: boolean;
+        update?: boolean
     }
 
-    let { update = $bindable(false) }: Props = $props();
+    let { update = $bindable(false) }: Props = $props()
 
-    let firmwareVersion: string = $state('');
+    let firmwareVersion: string = $state('')
-    let firmwareDownloadLink: string = $state('');
+    let firmwareDownloadLink: string = $state('')
 
     async function getGithubAPI() {
         const headers = {
             accept: 'application/vnd.github+json',
             'X-GitHub-Api-Version': '2022-11-28'
-        };
+        }
         const result = await api.get<GithubRelease>(
             `https://api.github.com/repos/${page.data.github}/releases/latest`,
             { headers }
-        );
+        )
         if (result.inner.message === '404' || result.inner.message == 'Not Found') {
-            console.warn('Error: Could not find releases in the repository');
+            console.warn('Error: Could not find releases in the repository')
-            return;
+            return
         }
         if (result.isErr()) {
-            console.error('Error:', result.inner);
+            console.error('Error:', result.inner)
-            return;
+            return
         }
 
-        const results = result.inner;
+        const results = result.inner
-        update = false;
+        update = false
-        firmwareVersion = '';
+        firmwareVersion = ''
 
-        if (compareVersions(results.tag_name, $features.firmware_version) === 1) {
+        if (compareVersions(results.tag_name, $features.firmware_version as string) === 1) {
             // iterate over assets and find the correct one
             for (let i = 0; i < results.assets.length; i++) {
                 // check if the asset is of type *.bin
                 if (
                     results.assets[i].name.includes('.bin') &&
-                    results.assets[i].name.includes($features.firmware_built_target)
+                    results.assets[i].name.includes($features.firmware_built_target as string)
                 ) {
-                    update = true;
+                    update = true
-                    firmwareVersion = results.tag_name;
+                    firmwareVersion = results.tag_name
-                    firmwareDownloadLink = results.assets[i].browser_download_url;
+                    firmwareDownloadLink = results.assets[i].browser_download_url
-                    notifications.info('Firmware update available.', 5000);
+                    notifications.info('Firmware update available.', 5000)
                 }
             }
         }
     }
 
     async function postGithubDownload(url: string) {
-        const result = await api.post('/api/downloadUpdate', { download_url: url });
+        const result = await api.post('/api/downloadUpdate', { download_url: url })
         if (result.isErr()) {
-            console.error('Error:', result.inner);
+            console.error('Error:', result.inner)
-            return;
+            return
         }
     }
 
     onMount(async () => {
         if ($features.download_firmware) {
-            await getGithubAPI();
+            await getGithubAPI()
-            setInterval(async () => await getGithubAPI(), 60 * 60 * 1000); // once per hour
+            setInterval(async () => await getGithubAPI(), 60 * 60 * 1000) // once per hour
         }
-    });
+    })
 
     function confirmGithubUpdate(url: string) {
         modals.open(ConfirmDialog, {
@@ -85,12 +85,12 @@
                 confirm: { label: 'Update', icon: CloudDown }
             },
             onConfirm: () => {
-                postGithubDownload(url);
+                postGithubDownload(url)
                 modals.open(GithubUpdateDialog, {
                     onConfirm: () => modals.closeAll()
-                });
+                })
             }
-        });
+        })
     }
 </script>
 

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

@@ -1,22 +1,24 @@
 <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 { theme = {
+    let {
+        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

@@ -1,42 +1,42 @@
-import { writable, derived, type Writable } from 'svelte/store';
+import { writable } from 'svelte/store'
 
-type StateType = 'info' | 'success' | 'warning' | 'error';
+type StateType = 'info' | 'success' | 'warning' | 'error'
 
 type State = {
-	id: string;
+    id: string
-	type: StateType;
+    type: StateType
-	message: string;
+    message: string
-};
+}
 
 function createNotificationStore() {
-	const state: State[] = [];
+    const state: State[] = []
-	const notifications = writable(state);
+    const notifications = writable(state)
-	const { subscribe } = notifications;
+    const { subscribe } = notifications
 
     function send(message: string, type: StateType = 'info', timeout: number) {
-		const id = generateId();
+        const id = generateId()
         setTimeout(() => {
-			notifications.update((state) => {
+            notifications.update(state => {
-				return state.filter((n) => n.id !== id);
+                return state.filter(n => n.id !== id)
-			});
+            })
-		}, timeout);
+        }, timeout)
-		notifications.update((state) => {
+        notifications.update(state => {
-			return [...state, { id, type, message }];
+            return [...state, { id, type, message }]
-		});
+        })
     }
 
     return {
         subscribe,
         send,
-		error: (msg: string, timeout: number) => send(msg, 'error', timeout),
+        error: (msg: string, timeout: number = 4000) => send(msg, 'error', timeout),
-		warning: (msg: string, timeout: number) => send(msg, 'warning', timeout),
+        warning: (msg: string, timeout: number = 4000) => send(msg, 'warning', timeout),
-		info: (msg: string, timeout: number) => send(msg, 'info', timeout),
+        info: (msg: string, timeout: number = 4000) => send(msg, 'info', timeout),
-		success: (msg: string, timeout: number) => send(msg, 'success', timeout)
+        success: (msg: string, timeout: number = 4000) => send(msg, 'success', timeout)
-	};
+    }
 }
 
 function generateId() {
-	return '_' + Math.random().toString(36).substr(2, 9);
+    return '_' + Math.random().toString(36).substr(2, 9)
 }
 
-export const notifications = createNotificationStore();
+export const notifications = createNotificationStore()

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 = $state();
+    let chartElement: HTMLCanvasElement
-	let chart: Chart;
+    let chart: Chart<'line', number[], number>
 
     interface Props {
-		label: any;
+        label: string
-		data: number[];
+        data: number[]
-		title: any;
+        title: string
     }
 
-	let { label, data, title }: Props = $props();
+    let { label, data, title }: Props = $props()
 
-    Chart.register(...registerables);
+    Chart.register(...registerables)
 
     onMount(() => {
         chart = new Chart(chartElement, {
@@ -31,7 +31,7 @@
                         borderWidth: 2,
                         data,
                         yAxisID: 'y'
-					},
+                    }
                 ]
             },
             options: {
@@ -83,16 +83,15 @@
                     }
                 }
             }
-		});
+        })
 
         setInterval(() => {
             chart.data.labels = 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"

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

@@ -1,12 +1,12 @@
 <script lang="ts">
     interface Props {
-        options?: string[];
+        options?: string[]
-        selectedOption?: string;
+        selectedOption?: string
-        change: () => void;
+        change?: () => void
-        [key: string]: any;
+        [key: string]: unknown
     }
 
-    let { options = [], selectedOption = $bindable(''), ...rest }: Props = $props();
+    let { options = [], selectedOption = $bindable(''), ...rest }: Props = $props()
 </script>
 
 <select

app/src/lib/kinematic.ts

@@ -1,320 +1,153 @@
-
 export interface body_state_t {
-	omega: number;
+    omega: number
-	phi: number;
+    phi: number
-	psi: number;
+    psi: number
-	xm: number;
+    xm: number
-	ym: number;
+    ym: number
-	zm: number;
+    zm: number
-	feet: number[][];
+    feet: number[][]
+    cumulative_x: number
+    cumulative_y: number
+    cumulative_z: number
+    cumulative_roll: number
+    cumulative_pitch: number
+    cumulative_yaw: number
 }
 
 export interface position {
-	x: number;
+    x: number
-	y: number;
+    y: number
-	z: number;
+    z: number
 }
 
 export interface target_position {
-	x: number;
+    x: number
-	z: number;
+    z: number
-	yaw: number;
+    yaw: number
 }
 
-const { cos, sin, atan2, sqrt } = Math;
+export interface KinematicParams {
+    coxa: number
+    coxa_offset: number
+    femur: number
+    tibia: number
+    L: number
+    W: number
+}
 
-const DEG2RAD = 0.017453292519943;
+const { cos, sin, atan2, acos, sqrt, max, min } = Math
+
+const DEG2RAD = 0.017453292519943
 
 export default class Kinematic {
-	l1: number;
+    coxa: number
-	l2: number;
+    coxa_offset: number
-	l3: number;
+    femur: number
-	l4: number;
+    tibia: number
 
-	L: number;
+    L: number
-	W: number;
+    W: number
 
-	DEG2RAD = DEG2RAD;
+    DEG2RAD = DEG2RAD
 
-	sHp = sin(Math.PI / 2);
+    mountOffsets: number[][]
-	cHp = cos(Math.PI / 2);
 
-	Tlf: number[][] = [];
+    invMountRot = [
-	Trf: number[][] = [];
+        [0, 0, -1],
-	Tlb: number[][] = [];
+        [0, 1, 0],
-	Trb: number[][] = [];
+        [1, 0, 0]
+    ]
 
-	point_lf: number[][];
+    constructor(params: KinematicParams) {
-	point_rf: number[][];
+        this.coxa = params.coxa
-	point_lb: number[][];
+        this.coxa_offset = params.coxa_offset
-	point_rb: number[][];
+        this.femur = params.femur
-	Ix: number[][];
+        this.tibia = params.tibia
+        this.L = params.L
+        this.W = params.W
 
-	constructor() {
+        this.mountOffsets = [
-		this.l1 = 60.5 / 100;
+            [this.L / 2, 0, this.W / 2],
-		this.l2 = 10 / 100;
+            [this.L / 2, 0, -this.W / 2],
-		this.l3 = 100.7 / 100;
+            [-this.L / 2, 0, this.W / 2],
-		this.l4 = 118.5 / 100;
+            [-this.L / 2, 0, -this.W / 2]
-
+        ]
-		this.L = 207.5 / 100;
-		this.W = 78 / 100;
-
-		this.point_lf = [
-			[this.cHp, 0, this.sHp, this.L / 2],
-			[0, 1, 0, 0],
-			[-this.sHp, 0, this.cHp, this.W / 2],
-			[0, 0, 0, 1]
-		];
-
-		this.point_rf = [
-			[this.cHp, 0, this.sHp, this.L / 2],
-			[0, 1, 0, 0],
-			[-this.sHp, 0, this.cHp, -this.W / 2],
-			[0, 0, 0, 1]
-		];
-
-		this.point_lb = [
-			[this.cHp, 0, this.sHp, -this.L / 2],
-			[0, 1, 0, 0],
-			[-this.sHp, 0, this.cHp, this.W / 2],
-			[0, 0, 0, 1]
-		];
-
-		this.point_rb = [
-			[this.cHp, 0, this.sHp, -this.L / 2],
-			[0, 1, 0, 0],
-			[-this.sHp, 0, this.cHp, -this.W / 2],
-			[0, 0, 0, 1]
-		];
-		this.Ix = [
-			[-1, 0, 0, 0],
-			[0, 1, 0, 0],
-			[0, 0, 1, 0],
-			[0, 0, 0, 1]
-		];
     }
 
-	public calcIK(body_state: body_state_t): number[] {
+    getDefaultFeetPos(): number[][] {
-		this.bodyIK(body_state);
+        return this.mountOffsets.map((offset, i) => {
+            return [offset[0], -1, offset[2] + (i % 2 === 1 ? -this.coxa : this.coxa)]
+        })
+    }
 
+    calcIK(p: body_state_t): number[] {
+        const roll = p.omega * this.DEG2RAD
+        const pitch = p.phi * this.DEG2RAD
+        const yaw = p.psi * this.DEG2RAD
+        const rot = this.euler2R(roll, pitch, yaw)
+        const inv_rot = [
+            [rot[0][0], rot[1][0], rot[2][0]],
+            [rot[0][1], rot[1][1], rot[2][1]],
+            [rot[0][2], rot[1][2], rot[2][2]]
+        ]
+        const inv_trans = [
+            -inv_rot[0][0] * p.xm - inv_rot[0][1] * p.ym - inv_rot[0][2] * p.zm,
+            -inv_rot[1][0] * p.xm - inv_rot[1][1] * p.ym - inv_rot[1][2] * p.zm,
+            -inv_rot[2][0] * p.xm - inv_rot[2][1] * p.ym - inv_rot[2][2] * p.zm
+        ]
+        return p.feet.flatMap((foot, i) => {
+            const [wx, wy, wz] = foot
+            const bx = inv_rot[0][0] * wx + inv_rot[0][1] * wy + inv_rot[0][2] * wz + inv_trans[0]
+            const by = inv_rot[1][0] * wx + inv_rot[1][1] * wy + inv_rot[1][2] * wz + inv_trans[1]
+            const bz = inv_rot[2][0] * wx + inv_rot[2][1] * wy + inv_rot[2][2] * wz + inv_trans[2]
+
+            const [mx, my, mz] = this.mountOffsets[i]
+            const px = bx - mx,
+                py = by - my,
+                pz = bz - mz
+
+            const lx =
+                this.invMountRot[0][0] * px +
+                this.invMountRot[0][1] * py +
+                this.invMountRot[0][2] * pz
+            const ly =
+                this.invMountRot[1][0] * px +
+                this.invMountRot[1][1] * py +
+                this.invMountRot[1][2] * pz
+            const lz =
+                this.invMountRot[2][0] * px +
+                this.invMountRot[2][1] * py +
+                this.invMountRot[2][2] * pz
+
+            const xLocal = i % 2 === 1 ? -lx : lx
+            return this.legIK(xLocal, ly, lz)
+        })
+    }
+
+    private legIK(x: number, y: number, z: number): [number, number, number] {
+        const F = sqrt(max(0, x * x + y * y - this.coxa * this.coxa))
+        const G = F - this.coxa_offset
+        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) /
+            (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]
+    }
+
+    private euler2R(roll: number, pitch: number, yaw: number): number[][] {
+        const cr = cos(roll),
+            sr = sin(roll)
+        const cp = cos(pitch),
+            sp = sin(pitch)
+        const cy = cos(yaw),
+            sy = sin(yaw)
         return [
-			...this.legIK(this.multiplyVector(this.inverse(this.Tlf), body_state.feet[0])),
+            [cp * cy, -cp * sy, sp],
-			...this.legIK(
+            [sr * sp * cy + sy * cr, -sr * sp * sy + cr * cy, -sr * cp],
-				this.multiplyVector(
+            [sr * sy - sp * cr * cy, sr * cy + sp * sy * cr, cr * cp]
-					this.Ix,
+        ]
-					this.multiplyVector(this.inverse(this.Trf), body_state.feet[1])
-				)
-			),
-			...this.legIK(this.multiplyVector(this.inverse(this.Tlb), body_state.feet[2])),
-			...this.legIK(
-				this.multiplyVector(
-					this.Ix,
-					this.multiplyVector(this.inverse(this.Trb), body_state.feet[3])
-				)
-			)
-		];
-	}
-
-	bodyIK(p: body_state_t) {
-		const cos_omega = cos(p.omega * this.DEG2RAD);
-		const sin_omega = sin(p.omega * this.DEG2RAD);
-		const cos_phi = cos(p.phi * this.DEG2RAD);
-		const sin_phi = sin(p.phi * this.DEG2RAD);
-		const cos_psi = cos(p.psi * this.DEG2RAD);
-		const sin_psi = sin(p.psi * this.DEG2RAD);
-
-		const Tm: number[][] = [
-			[cos_phi * cos_psi, -sin_psi * cos_phi, sin_phi, p.xm],
-			[
-				sin_omega * sin_phi * cos_psi + sin_psi * cos_omega,
-				-sin_omega * sin_phi * sin_psi + cos_omega * cos_psi,
-				-sin_omega * cos_phi,
-				p.ym
-			],
-			[
-				sin_omega * sin_psi - sin_phi * cos_omega * cos_psi,
-				sin_omega * cos_psi + sin_phi * sin_psi * cos_omega,
-				cos_omega * cos_phi,
-				p.zm
-			],
-			[0, 0, 0, 1]
-		];
-
-		this.Tlf = this.matrixMultiply(Tm, this.point_lf);
-		this.Trf = this.matrixMultiply(Tm, this.point_rf);
-		this.Tlb = this.matrixMultiply(Tm, this.point_lb);
-		this.Trb = this.matrixMultiply(Tm, this.point_rb);
-	}
-
-	public legIK(point: number[]): number[] {
-		const [x, y, z] = point;
-
-		let F = sqrt(x ** 2 + y ** 2 - this.l1 ** 2);
-		if (isNaN(F)) F = this.l1;
-
-		const G = F - this.l2;
-		const H = sqrt(G ** 2 + z ** 2);
-
-		const theta1 = -atan2(y, x) - atan2(F, -this.l1);
-		const D = (H ** 2 - this.l3 ** 2 - this.l4 ** 2) / (2 * this.l3 * this.l4);
-		let theta3 = atan2(sqrt(1 - D ** 2), D);
-		if (isNaN(theta3)) theta3 = 0;
-
-		const theta2 = atan2(z, G) - atan2(this.l4 * sin(theta3), this.l3 + this.l4 * cos(theta3));
-
-		return [theta1, theta2, theta3];
-	}
-
-	matrixMultiply(a: number[][], b: number[][]): number[][] {
-		const result: number[][] = [];
-
-		for (let i = 0; i < a.length; i++) {
-			const row: number[] = [];
-
-			for (let j = 0; j < b[0].length; j++) {
-				let sum = 0;
-
-				for (let k = 0; k < a[i].length; k++) {
-					sum += a[i][k] * b[k][j];
-				}
-
-				row.push(sum);
-			}
-
-			result.push(row);
-		}
-
-		return result;
-	}
-
-	multiplyVector(matrix: number[][], vector: number[]): number[] {
-		const rows = matrix.length;
-		const cols = matrix[0].length;
-		const vectorLength = vector.length;
-
-		if (cols !== vectorLength) {
-			throw new Error('Matrix and vector dimensions do not match for multiplication.');
-		}
-
-		const result = [];
-
-		for (let i = 0; i < rows; i++) {
-			let sum = 0;
-
-			for (let j = 0; j < cols; j++) {
-				sum += matrix[i][j] * vector[j];
-			}
-
-			result.push(sum);
-		}
-
-		return result;
-	}
-
-	private inverse(matrix: number[][]): number[][] {
-		const det = this.determinant(matrix);
-		const adjugate = this.adjugate(matrix);
-		const scalar = 1 / det;
-		const inverse: number[][] = [];
-
-		for (let i = 0; i < matrix.length; i++) {
-			const row: number[] = [];
-
-			for (let j = 0; j < matrix[i].length; j++) {
-				row.push(adjugate[i][j] * scalar);
-			}
-
-			inverse.push(row);
-		}
-
-		return inverse;
-	}
-
-	private determinant(matrix: number[][]): number {
-		if (matrix.length !== matrix[0].length) {
-			throw new Error('The matrix is not square.');
-		}
-
-		if (matrix.length === 2) {
-			return matrix[0][0] * matrix[1][1] - matrix[0][1] * matrix[1][0];
-		}
-
-		let det = 0;
-
-		for (let i = 0; i < matrix.length; i++) {
-			const sign = i % 2 === 0 ? 1 : -1;
-			const subMatrix: number[][] = [];
-
-			for (let j = 1; j < matrix.length; j++) {
-				const row: number[] = [];
-
-				for (let k = 0; k < matrix.length; k++) {
-					if (k !== i) {
-						row.push(matrix[j][k]);
-					}
-				}
-
-				subMatrix.push(row);
-			}
-
-			det += sign * matrix[0][i] * this.determinant(subMatrix);
-		}
-
-		return det;
-	}
-
-	private adjugate(matrix: number[][]): number[][] {
-		if (matrix.length !== matrix[0].length) {
-			throw new Error('The matrix is not square.');
-		}
-
-		const adjugate: number[][] = [];
-
-		for (let i = 0; i < matrix.length; i++) {
-			const row: number[] = [];
-
-			for (let j = 0; j < matrix[i].length; j++) {
-				const sign = (i + j) % 2 === 0 ? 1 : -1;
-				const subMatrix: number[][] = [];
-
-				for (let k = 0; k < matrix.length; k++) {
-					if (k !== i) {
-						const subRow: number[] = [];
-
-						for (let l = 0; l < matrix.length; l++) {
-							if (l !== j) {
-								subRow.push(matrix[k][l]);
-							}
-						}
-
-						subMatrix.push(subRow);
-					}
-				}
-
-				const cofactor = sign * this.determinant(subMatrix);
-				row.push(cofactor);
-			}
-
-			adjugate.push(row);
-		}
-
-		return this.transpose(adjugate);
-	}
-
-	private transpose(matrix: number[][]): number[][] {
-		const transposed: number[][] = [];
-
-		for (let i = 0; i < matrix.length; i++) {
-			const row: number[] = [];
-
-			for (let j = 0; j < matrix[i].length; j++) {
-				row.push(matrix[j][i]);
-			}
-
-			transposed.push(row);
-		}
-
-		return transposed;
     }
 }
-

app/src/lib/sceneBuilder.ts

@@ -58,14 +58,14 @@ export default class SceneBuilder {
     public ground!: Mesh
     public renderer!: WebGLRenderer
     public orbit: OrbitControls
-  public callback: Function | undefined
+    public callback: (() => void) | undefined
     public gridHelper!: GridHelper
     public model!: URDFRobot
     public liveStreamTexture!: CanvasTexture
     private fog!: FogExp2
     private isLoaded: boolean = false
     public isDragging: boolean = false
-  highlightMaterial: any
+    highlightMaterial: MeshPhongMaterial
     sky!: Sky
     transformControl: TransformControls
     public modelGroup!: Group
@@ -157,10 +157,11 @@ export default class SceneBuilder {
 
     public addOrbitControls = (minDistance: number, maxDistance: number, autoRotate = true) => {
         this.orbit = new OrbitControls(this.camera, this.renderer.domElement)
-    this.orbit.minDistance = 5
+        this.orbit.minDistance = minDistance + (maxDistance - minDistance) / 2
         this.orbit.maxDistance = maxDistance
         this.orbit.autoRotate = autoRotate
         this.orbit.update()
+        this.orbit.minDistance = minDistance
         return this
     }
 
@@ -228,7 +229,7 @@ export default class SceneBuilder {
         return this
     }
 
-  public addRenderCb = (callback: Function) => {
+    public addRenderCb = (callback: () => void) => {
         this.callback = callback
         return this
     }
@@ -274,7 +275,7 @@ export default class SceneBuilder {
     isJoint = (j: URDFJoint) => j.isURDFJoint && j.jointType !== 'fixed'
 
     highlightLinkGeometry = (m: URDFMimicJoint, revert: boolean, material: MeshPhongMaterial) => {
-    const traverse = (c: any) => {
+        const traverse = (c: Object3D) => {
             if (c.type === 'Mesh') {
                 if (revert) {
                     c.material = c.__origMaterial
@@ -297,9 +298,9 @@ export default class SceneBuilder {
         traverse(m)
     }
 
-  public addTransformControls = (model: any) => {
+    public addTransformControls = (model: Object3D) => {
         this.transformControl = new TransformControls(this.camera, this.renderer.domElement)
-    this.transformControl.addEventListener('dragging-changed', (event: any) => {
+        this.transformControl.addEventListener('dragging-changed', (event: { value: boolean }) => {
             this.orbit.enabled = !event.value
             this.isDragging = !event.value
         })
@@ -309,7 +310,7 @@ export default class SceneBuilder {
         return this
     }
 
-  public addModel = (model: any) => {
+    public addModel = (model: URDFRobot) => {
         this.modelGroup = new Group()
         this.modelGroup.add(model)
         this.model = model
@@ -317,7 +318,7 @@ export default class SceneBuilder {
         return this
     }
 
-  public addDragControl = (updateAngle: any) => {
+    public addDragControl = (updateAngle: (angles: Record<string, number>) => void) => {
         const highlightColor = '#FFFFFF'
         const highlightMaterial = new MeshPhongMaterial({
             shininess: 10,

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

@@ -1,54 +1,53 @@
-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 = browser
+    private dbPromise: Promise<Result<IDBDatabase, string>> | null =
-		? this.openDatabase()
+        browser ? this.openDatabase() : null
-		: 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'
 
-let analytics_data = {
+const analytics_data = {
     uptime: <number[]>[],
     free_heap: <number[]>[],
     total_heap: <number[]>[],
@@ -14,20 +14,22 @@ let 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(-maxAnalyticsData),
+                free_heap: [...analytics_data.free_heap, content.free_heap / 1000].slice(
+                    -maxAnalyticsData
+                ),
                 total_heap: [...analytics_data.total_heap, content.total_heap / 1000].slice(
                     -maxAnalyticsData
                 ),
@@ -35,21 +37,33 @@ function createAnalytics() {
                     ...analytics_data.used_heap,
                     (content.total_heap - content.free_heap) / 1000
                 ].slice(-maxAnalyticsData),
-				min_free_heap: [...analytics_data.min_free_heap, content.min_free_heap / 1000].slice(
+                min_free_heap: [
+                    ...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
                 ),
-				max_alloc_heap: [...analytics_data.max_alloc_heap, content.max_alloc_heap / 1000].slice(
+                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
                 ),
-				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, any>;
+    props?: Record<string, unknown>
 }
 
 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: 'Stream',
-		content: {
-			id: 'root',
-			layout: 'column',
-			widgets: [{ id: 2, component: 'Stream' }]
-		}
-	},
     {
         name: '3D representation',
         content: {
@@ -50,6 +42,14 @@ const defaultViews: View[] = [
             widgets: [{ id: 2, component: 'Visualization', props: { debug: true } }]
         }
     },
+    {
+        name: 'Stream',
+        content: {
+            id: 'root',
+            layout: 'column',
+            widgets: [{ id: 2, component: 'Stream' }]
+        }
+    },
     {
         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

@@ -1,20 +1,64 @@
-import { api } from '$lib/api';
+import { api } from '$lib/api'
-import { notifications } from '$lib/components/toasts/notifications';
+import { notifications } from '$lib/components/toasts/notifications'
-import { writable, type Writable } from 'svelte/store';
+import Kinematic from '$lib/kinematic'
+import { persistentStore } from '$lib/utilities'
+import { derived, type Writable } from 'svelte/store'
+import { resolve } from '$app/paths'
 
-let featureFlagsStore: Writable<Record<string, boolean>>;
+let featureFlagsStore: Writable<Record<string, boolean | string>>
 
 export function useFeatureFlags() {
     if (!featureFlagsStore) {
-		featureFlagsStore = writable<Record<string, boolean>>({});
+        featureFlagsStore = persistentStore<Record<string, boolean | string>>('FeatureFlags', {})
 
-		api.get<Record<string, boolean>>('/api/features').then((result) => {
+        api.get<Record<string, boolean>>('/api/features').then(result => {
-			if (result.isOk()) featureFlagsStore.set(result.inner);
+            if (result.isOk()) featureFlagsStore.set(result.inner)
             else {
-				notifications.error('Feature flag could not be fetched', 2500);
+                notifications.error('Feature flag could not be fetched', 2500)
             }
-		});
+        })
     }
 
-	return featureFlagsStore;
+    return featureFlagsStore
 }
+
+const base = resolve('/')
+
+export const variants = {
+    SPOTMICRO_ESP32: {
+        model: `${base}spot_micro.urdf.xacro`,
+        stl: `${base}stl.zip`,
+        kinematics: {
+            coxa: 60.5 / 100,
+            coxa_offset: 10 / 100,
+            femur: 111.7 / 100,
+            tibia: 118.5 / 100,
+            L: 207.5 / 100,
+            W: 78 / 100
+        }
+    },
+    SPOTMICRO_YERTLE: {
+        model: `${base}yertle.URDF`,
+        stl: `${base}URDF.zip`,
+        kinematics: {
+            coxa: 35 / 100,
+            coxa_offset: 0 / 100,
+            femur: 130 / 100,
+            tibia: 130 / 100,
+            L: 240 / 100,
+            W: 78 / 100
+        }
+    }
+}
+
+export const currentVariant = derived(useFeatureFlags(), $flagStore => {
+    const variantFlag = $flagStore['variant'] as string
+    return variantFlag && variants[variantFlag as keyof typeof variants] ?
+            variants[variantFlag as keyof typeof variants]
+        :   variants.SPOTMICRO_ESP32
+})
+
+export const currentKinematic = derived(
+    currentVariant,
+    $variant => new Kinematic($variant.kinematics)
+)

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

@@ -0,0 +1,87 @@
+import { readable, derived } from 'svelte/store'
+
+export type GamepadState = {
+    available: boolean
+    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 list = Array.from(pads)
+            .map(p => p || null)
+            .filter(Boolean) as Gamepad[]
+        set({ available: 'getGamepads' in navigator, gamepads: list })
+        raf = requestAnimationFrame(update)
+    }
+
+    const onConnect = () => update()
+    const onDisconnect = () => update()
+    const onVis = () => {
+        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('gamepaddisconnected', onDisconnect)
+        document.removeEventListener('visibilitychange', onVis)
+    }
+})
+
+export const gamepad = derived(gamepads, s =>
+    s.available && s.gamepads.length ? s.gamepads[0] : null
+)
+
+export const hasGamepad = derived(gamepads, s => s.available && s.gamepads.length > 0)
+
+export const gamepadAxes = derived(gamepad, g => (g ? g.axes.map(dz) : [0, 0, 0, 0]))
+
+type ButtonEdge = { pressed: boolean; value: number; justPressed: boolean; justReleased: boolean }
+const prev = new Map<number, { pressed: boolean; value: number }[]>()
+
+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 { IMU } from '$lib/types/models';
+import type { IMU } from '$lib/types/models'
 
-const maxIMUData = 100;
+const maxIMUData = 100
 
 export const imu = (() => {
     const { subscribe, update } = writable({
@@ -12,16 +12,16 @@ export const imu = (() => {
         altitude: [] as number[],
         pressure: [] as number[],
         bmp_temp: [] as number[]
-    });
+    })
 
     const addData = (content: IMU) => {
         update(data => {
-            (Object.keys(content) as (keyof IMU)[]).forEach(key => {
+            ;(Object.keys(content) as (keyof IMU)[]).forEach(key => {
-                data[key] = [...data[key], content[key]].slice(-maxIMUData);
+                data[key] = [...data[key], content[key]].slice(-maxIMUData)
-            });
+            })
-            return data;
+            return data
-        });
+        })
-    };
+    }
 
-    return { subscribe, addData };
+    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

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

@@ -1,12 +1,12 @@
-import type { ControllerInput } from '$lib/types/models';
+import type { ControllerInput } from '$lib/types/models'
-import { persistentStore } from '$lib/utilities/svelte-utilities';
+import { persistentStore } from '$lib/utilities/svelte-utilities'
-import { writable, type Writable } from 'svelte/store';
+import { writable, type Writable } from 'svelte/store'
 
-export const emulateModel = writable(true);
+export const emulateModel = writable(true)
 
-export const jointNames = persistentStore('joint_names', <string[]>[]);
+export const jointNames = persistentStore('joint_names', <string[]>[])
 
-export const model = writable();
+export const model = writable()
 
 export const modes = [
   'deactivated',
@@ -14,32 +14,50 @@ export const modes = [
   'calibration',
   'rest',
   'stand',
-	'crawl',
+  'walk',
-	'walk'
+  'animate'
-] as const;
+] as const
 
-export type Modes = (typeof modes)[number];
+export type Modes = (typeof modes)[number]
 
 export enum ModesEnum {
-	Deactivated,
+  Deactivated = 0,
-	Idle,
+  Idle = 1,
-	Calibration,
+  Calibration = 2,
-	Rest,
+  Rest = 3,
-	Stand,
+  Stand = 4,
-	Crawl,
+  Walk = 5,
-	Walk
+  Animate = 6
 }
 
-export const mode: Writable<ModesEnum> = writable(ModesEnum.Deactivated);
+export enum WalkGaits {
+    Trot = 0,
+    Crawl = 1
+}
 
-export const outControllerData = writable([0, 0, 0, 0, 0, 1, 0]);
+export const walkGaits = ['trot', 'crawl'] as const
 
-export const kinematicData = writable([0, 0, 0, 0, 1, 0]);
+export const walkGaitLabels: Record<WalkGaits, string> = {
+    [WalkGaits.Trot]: 'Trot',
+    [WalkGaits.Crawl]: 'Crawl'
+}
+
+export const walkGaitToMode = (gait: WalkGaits): 'trot' | 'crawl' => {
+    return gait === WalkGaits.Trot ? 'trot' : 'crawl'
+}
+
+export const mode: Writable<ModesEnum> = writable(ModesEnum.Deactivated)
+
+export const walkGait: Writable<WalkGaits> = writable(WalkGaits.Trot)
+
+export const outControllerData = writable([0, 0, 0, 0, 0, 1, 0])
+
+export const kinematicData = writable([0, 0, 0, 0, 1, 0])
 
 export const input: Writable<ControllerInput> = writable({
     left: { x: 0, y: 0 },
     right: { x: 0, y: 0 },
-	height: 50,
+    height: 0.5,
-	speed: 50,
+    speed: 0.5,
-	s1: 50
+    s1: 0.05
-});
+})

app/src/lib/stores/orientation.ts

@@ -1,27 +0,0 @@
-import { readable } from 'svelte/store';
-
-export const heading = readable(0, (set) => {
-	const updateHeading = (e: any) => {
-		let alpha;
-		if (e.webkitCompassHeading) alpha = e.webkitCompassHeading;
-		else if (e.alpha) alpha = e.alpha;
-		else {
-			let q = e.target.quaternion;
-			alpha =
-				Math.atan2(2 * q[0] * q[1] + 2 * q[2] * q[3], 1 - 2 * q[1] * q[1] - 2 * q[2] * q[2]) *
-				(180 / Math.PI);
-			if (alpha < 0) alpha += 360;
-		}
-		set(alpha);
-	};
-	if ('AbsoluteOrientationSensor' in window) {
-		var sensor = new window.AbsoluteOrientationSensor({ frequency: 60 }) as any;
-		sensor.addEventListener('reading', updateHeading);
-		sensor.start();
-	} else if (window.DeviceMotionEvent) window.addEventListener('deviceorientation', updateHeading);
-
-	return () => {
-		if ('AbsoluteOrientationSensor' in window) sensor.removeEventListener('reading', updateHeading);
-		window.addEventListener('deviceorientation', updateHeading);
-	};
-});

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

@@ -1,97 +1,135 @@
-import { writable } from 'svelte/store';
+import { writable } from 'svelte/store'
+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?]
+
+let useBinary = false
+
+const decodeMessage = (data: string | ArrayBuffer): SocketMessage | null => {
+    useBinary = data instanceof ArrayBuffer
+
+    try {
+        if (useBinary) {
+            return decode(new Uint8Array(data as ArrayBuffer)) as SocketMessage
+        }
+        return JSON.parse(data as string)
+    } catch (error) {
+        console.error(`Could not decode data: ${new Uint8Array(data as ArrayBuffer)} - ${error}`)
+    }
+    return null
+}
+
+const encodeMessage = (data: unknown) => {
+    try {
+        return useBinary ? encode(data) : JSON.stringify(data)
+    } catch (error) {
+        console.error(`Could not encode data: ${data} - ${error}`)
+    }
+}
 
 function createWebSocket() {
-	let 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: number;
+    let unresponsiveTimeoutId: ReturnType<typeof setTimeout>
-	let reconnectTimeoutId: number;
+    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.onopen = (ev) => {
+        ws.binaryType = 'arraybuffer'
-			set(true);
+        ws.onopen = ev => {
-			clearTimeout(reconnectTimeoutId);
+            ping()
-			listeners.get('open')?.forEach((listener) => listener(ev));
+            useBinary = true
+            ping()
+            set(true)
+            clearTimeout(reconnectTimeoutId)
+            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 = (message) => {
-			resetUnresponsiveCheck();
-			let data = message.data;
-			if (data instanceof ArrayBuffer) {
-				listeners.get('binary')?.forEach((listener) => listener(data));
-				return;
         }
-			data = data.substring(1);
+        ws.onmessage = frame => {
-
+            resetUnresponsiveCheck()
-			if (!data) return;
+            const message = decodeMessage(frame.data)
-
+            if (!message) return
-			let event = data.substring(data.indexOf('/') + 1, data.indexOf('['));
+            const [, event, payload = undefined] = message
-			let payload = data.substring(data.indexOf('[') + 1, data.lastIndexOf(']'));
+            if (event) listeners.get(event)?.forEach(listener => listener(payload))
-
+        }
-			try {
+        ws.onerror = ev => disconnect('error', ev)
-				payload = JSON.parse(payload);
+        ws.onclose = ev => disconnect('close', ev)
-			} catch (error) {}
-			if (event) listeners.get(event)?.forEach((listener) => listener(payload));
-		};
-		ws.onerror = (ev) => disconnect('error', ev);
-		ws.onclose = (ev) => disconnect('close', ev);
     }
 
-	function unsubscribe(event: string, listener?: (data: any) => void) {
+    function unsubscribe(event: string, listener?: (data: unknown) => void) {
-		let 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
-		ws.send(`2/${event}[${JSON.stringify(data)}]`);
+        send([2, event, data])
     }
 
     function unsubscribeToEvent(event: string) {
-		if (!ws || ws.readyState !== WebSocket.OPEN) return;
+        if (!ws || ws.readyState !== WebSocket.OPEN) return
-		ws.send('1/' + event);
+        send([1, event])
     }
 
     function subscribeToEvent(event: string) {
-		if (!ws || ws.readyState !== WebSocket.OPEN) return;
+        if (!ws || ws.readyState !== WebSocket.OPEN) return
-		ws.send('0/' + event);
+        send([0, event])
+    }
+
+    function send(data: unknown) {
+        if (!ws || ws.readyState !== WebSocket.OPEN) return
+        const serialized = encodeMessage(data)
+        if (!serialized) {
+            console.error('Could not serialize data:', data)
+            return
+        }
+        ws.send(serialized)
+    }
+
+    function ping() {
+        const serialized = encodeMessage([4])
+        if (!serialized) {
+            console.error('Could not serialize message')
+            return
+        }
+        ws.send(serialized)
     }
 
     return {
@@ -99,24 +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: any) => void);
+            eventListeners.add(listener as (data: unknown) => void)
 
             return () => {
-				unsubscribe(event, listener);
+                unsubscribe(event, listener as (data: unknown) => void)
-			};
+            }
-		},
+        },
-		off: (event: string, listener?: (data: any) => void) => {
+        off: <T>(event: string, listener?: (data: T) => void) => {
-			unsubscribe(event, listener);
+            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'
 
-let telemetry_data = {
+const telemetry_data = {
     rssi: {
         rssi: 0
     },
@@ -10,10 +10,10 @@ let telemetry_data = {
         progress: 0,
         error: ''
     }
-};
+}
 
 function createTelemetry() {
-    const { subscribe, set, update } = writable(telemetry_data);
+    const { subscribe, 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

@@ -1,178 +1,239 @@
-export type vector = { x: number; y: number };
+export enum MessageTopic {
+    imu = 'imu',
+    mode = 'mode',
+    input = 'input',
+    analytics = 'analytics',
+    position = 'position',
+    angles = 'angles',
+    i2cScan = 'i2cScan',
+    peripheralSettings = 'peripheralSettings',
+    otastatus = 'otastatus',
+    gait = 'walk_gait',
+    servoState = 'servoState',
+    servoPWM = 'servoPWM',
+    WiFiSettings = 'WiFiSettings',
+    sonar = 'sonar',
+    rssi = 'rssi'
+}
+
+export type vector = { x: number; y: number }
 
 export interface ControllerInput {
-    left: vector;
+    left: vector
-    right: vector;
+    right: vector
-    height: number;
+    height: number
-    speed: number;
+    speed: number
-    s1: number;
+    s1: number
 }
 
 export type GithubRelease = {
-    message: string;
+    message: string
-    tag_name: string;
+    tag_name: string
     assets: Array<{
-        name: string;
+        name: string
-        browser_download_url: string;
+        browser_download_url: string
-    }>;
+    }>
-};
+}
 
-export type angles = number[] | Int16Array;
+export type angles = number[] | Int16Array
 
 export type WifiStatus = {
-    status: number;
+    status: number
-    local_ip: string;
+    local_ip: string
-    mac_address: string;
+    mac_address: string
-    rssi: number;
+    rssi: number
-    ssid: string;
+    ssid: string
-    bssid: string;
+    bssid: string
-    channel: number;
+    channel: number
-    subnet_mask: string;
+    subnet_mask: string
-    gateway_ip: string;
+    gateway_ip: string
-    dns_ip_1: string;
+    dns_ip_1: string
-    dns_ip_2?: string;
+    dns_ip_2?: string
-};
+}
 
 export type WifiSettings = {
-    hostname: string;
+    hostname: string
-    priority_RSSI: boolean;
+    priority_RSSI: boolean
-    wifi_networks: KnownNetworkItem[];
+    wifi_networks: KnownNetworkItem[]
-};
+}
 
 export type NetworkList = {
-    networks: NetworkItem[];
+    networks: NetworkItem[]
-};
+}
 
 export type KnownNetworkItem = {
-    ssid: string;
+    ssid: string
-    password: string;
+    password: string
-    static_ip_config: boolean;
+    static_ip_config: boolean
-    local_ip?: string;
+    local_ip?: string
-    subnet_mask?: string;
+    subnet_mask?: string
-    gateway_ip?: string;
+    gateway_ip?: string
-    dns_ip_1?: string;
+    dns_ip_1?: string
-    dns_ip_2?: string;
+    dns_ip_2?: string
-};
+}
 
 export type NetworkItem = {
-    rssi: number;
+    rssi: number
-    ssid: string;
+    ssid: string
-    bssid: string;
+    bssid: string
-    channel: number;
+    channel: number
-    encryption_type: number;
+    encryption_type: number
-};
+}
 
 export type ApStatus = {
-    status: number;
+    status: number
-    ip_address: string;
+    ip_address: string
-    mac_address: string;
+    mac_address: string
-    station_num: number;
+    station_num: number
-};
+}
 
 export type ApSettings = {
-    provision_mode: number;
+    provision_mode: number
-    ssid: string;
+    ssid: string
-    password: string;
+    password: string
-    channel: number;
+    channel: number
-    ssid_hidden: boolean;
+    ssid_hidden: boolean
-    max_clients: number;
+    max_clients: number
-    local_ip: string;
+    local_ip: string
-    gateway_ip: string;
+    gateway_ip: string
-    subnet_mask: string;
+    subnet_mask: string
-};
+}
 
 export type DownloadOTA = {
-    status: string;
+    status: string
-    progress: number;
+    progress: number
-    error: string;
+    error: string
-};
+}
 
 export type Analytics = {
-    max_alloc_heap: number;
+    max_alloc_heap: number
-    psram_size: number;
+    psram_size: number
-    free_psram: number;
+    free_psram: number
-    free_heap: number;
+    free_heap: number
-    total_heap: number;
+    total_heap: number
-    min_free_heap: number;
+    min_free_heap: number
-    core_temp: number;
+    core_temp: number
-    fs_total: number;
+    fs_total: number
-    fs_used: number;
+    fs_used: number
-    uptime: number;
+    uptime: number
-    cpu0_usage: number;
+    cpu0_usage: number
-    cpu1_usage: number;
+    cpu1_usage: number
-    cpu_usage: number;
+    cpu_usage: number
-};
+}
 
 export type Rssi = {
-    rssi: number;
+    rssi: number
-    ssid: string;
+    ssid: string
-};
+}
 
 export type StaticSystemInformation = {
-    esp_platform: string;
+    esp_platform: string
-    firmware_version: string;
+    firmware_version: string
-    cpu_freq_mhz: number;
+    cpu_freq_mhz: number
-    cpu_type: string;
+    cpu_type: string
-    cpu_rev: number;
+    cpu_rev: number
-    cpu_cores: number;
+    cpu_cores: number
-    sketch_size: number;
+    sketch_size: number
-    free_sketch_space: number;
+    free_sketch_space: number
-    sdk_version: string;
+    sdk_version: string
-    arduino_version: string;
+    arduino_version: string
-    flash_chip_size: number;
+    flash_chip_size: number
-    flash_chip_speed: number;
+    flash_chip_speed: number
-    cpu_reset_reason: string;
+    cpu_reset_reason: string
-};
+}
 
-export type SystemInformation = Analytics & StaticSystemInformation;
+export type SystemInformation = Analytics & StaticSystemInformation
 
 export type IMU = {
-    x: number;
+    x: number
-    y: number;
+    y: number
-    z: number;
+    z: number
-    heading: number;
+    heading: number
-    altitude: number;
+    altitude: number
-    bmp_temp: number;
+    bmp_temp: number
-    pressure: number;
+    pressure: number
-};
+}
 
 export interface I2CDevice {
-    address: number;
+    address: number
-    part_number: string;
+    part_number: string
-    name: string;
+    name: string
+}
+
+export type PinConfig = {
+    pin: number
+    mode: string
+    type: string
+    role: string
+}
+
+export type PeripheralsConfiguration = {
+    sda: number
+    scl: number
+    frequency: number
+    pins: PinConfig[]
 }
 
 export type CameraSettings = {
-    framesize: number;
+    framesize: number
-    quality: number;
+    quality: number
-    brightness: number;
+    brightness: number
-    contrast: number;
+    contrast: number
-    saturation: number;
+    saturation: number
-    sharpness: number;
+    sharpness: number
-    denoise: number;
+    denoise: number
-    special_effect: number;
+    special_effect: number
-    wb_mode: number;
+    wb_mode: number
-    vflip: boolean;
+    vflip: boolean
-    hmirror: boolean;
+    hmirror: boolean
-};
+}
 
-export type File = number;
+export type File = number
 
 export interface Directory {
-    [key: string]: File | Directory;
+    [key: string]: File | Directory
 }
 
 export type Servo = {
-    name: string;
+    name: string
-    channel: number;
+    channel: number
-    inverted: boolean;
+    inverted: boolean
-    angle: number;
+    angle: number
-    center_angle: number;
+    center_angle: number
-};
+}
 
 export type ServoConfiguration = {
-    is_active: boolean;
+    is_active: boolean
-    servo_pwm_frequency: number;
+    servo_pwm_frequency: number
-    servo_oscillator_frequency: number;
+    servo_oscillator_frequency: number
-    servos: Servo[];
+    servos: Servo[]
-};
+}
+
+export interface MDNSServiceQuery {
+    services: MDNSServiceItem[]
+}
+
+export interface MDNSServiceItem {
+    ip: string
+    port: number
+    name: string
+}
+
+export interface MDNSService {
+    service: string
+    protocol: string
+    port: number
+}
+
+export interface MDNSTxtRecord {
+    key: string
+    value: string
+}
+
+export interface MDNSStatus {
+    started: boolean
+    hostname: string
+    instance: string
+    services: MDNSService[]
+    global_txt_records: MDNSTxtRecord[]
+}

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

@@ -1,14 +1,14 @@
 declare module 'uzip' {
     interface UZIP {
-		parse(data: Uint8Array | ArrayBuffer): any;
+        parse(data: Uint8Array | ArrayBuffer): Record<string, Uint8Array>
-		compress(data: any): Uint8Array | ArrayBuffer;
+        compress(data: Record<string, Uint8Array>): Uint8Array | ArrayBuffer
-		compressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer;
+        compressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer
-		decompress(data: Uint8Array | ArrayBuffer): any;
+        decompress(data: Uint8Array | ArrayBuffer): Record<string, Uint8Array>
-		decompressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer;
+        decompressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer
-		encode(data: any): Uint8Array | ArrayBuffer;
+        encode(data: Record<string, Uint8Array>): Uint8Array | ArrayBuffer
-		decode(data: Uint8Array | ArrayBuffer): any;
+        decode(data: Uint8Array | ArrayBuffer): Record<string, Uint8Array>
     }
 
-	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: Function, time: number) => {
+    throttle = (callback: () => void, 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

@@ -1,4 +1,6 @@
 export const daisyColor = (name: string, opacity: number = 100) => {
-	const color = getComputedStyle(document.documentElement).getPropertyValue(name);
+    const color = getComputedStyle(document.documentElement).getPropertyValue(name).trim()
-	return `oklch(${color} / ${opacity}%)`;
+    if (opacity >= 100) return color
-};
+    const alpha = Math.min(Math.max(opacity, 0), 100) / 100
+    return `${color.replace(/(\/\s*\d+(\.\d+)?\))|\)$/, '')} / ${alpha})`
+}

app/src/lib/utilities/index.ts

@@ -1,9 +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 './position-utilities';
+export * from './position-utilities'
-export * from './string-utilities';
+export * from './string-utilities'
-export * from './color-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))
-	let scaled = ((number - min) / (max - min)) * 255;
+    const 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))
-	let scaled = ((number - min) / (max - min)) * 255 - 128;
+    const 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

@@ -1,89 +1,96 @@
-import { Color, LoaderUtils, Vector3 } from 'three';
+import { Color, LoaderUtils, Vector3 } from 'three'
-import URDFLoader, { type URDFRobot } from 'urdf-loader';
+import URDFLoader, { type URDFRobot } from 'urdf-loader'
-import { XacroLoader } from 'xacro-parser';
+import { XacroLoader } from 'xacro-parser'
-import { Result } from '$lib/utilities';
+import { Result } from '$lib/utilities'
-import { jointNames, model } from '$lib/stores';
+import { currentVariant, jointNames, model } from '$lib/stores'
-import uzip from 'uzip';
+import uzip from 'uzip'
-import { fileService } from '$lib/services';
+import { fileService } from '$lib/services'
+import { get } from 'svelte/store'
+import { resolve } from '$app/paths'
 
-let model_xml: XMLDocument;
+let model_xml: XMLDocument
 
 export const populateModelCache = async () => {
-	await cacheModelFiles();
+    await cacheModelFiles()
-	const modelRes = await loadModelAsync('/spot_micro.urdf.xacro');
+    const modelRes = await loadModel(get(currentVariant).model)
     if (modelRes.isOk()) {
-		const [urdf, JOINT_NAME] = modelRes.inner;
+        const [urdf, JOINT_NAME] = modelRes.inner
-		jointNames.set(JOINT_NAME);
+        jointNames.set(JOINT_NAME)
-		model.set(urdf);
+        model.set(urdf)
     } else {
-		console.error(modelRes.inner, { exception: modelRes.exception });
+        console.error(modelRes.inner, { exception: modelRes.exception })
     }
-};
+}
 
 export const cacheModelFiles = async () => {
-	let data = await fetch('/stl.zip');
+    const data = await fetch(get(currentVariant).stl)
 
-	var files = uzip.parse(await data.arrayBuffer());
+    const files = uzip.parse(await data.arrayBuffer())
 
     for (const [path, data] of Object.entries(files) as [path: string, data: Uint8Array][]) {
-		const url = new URL(path, window.location.href);
+        const normalizedPath = path.startsWith('/') ? path : '/' + path
-		fileService.saveFile(url.toString(), data);
+        const resolvedUrl = resolve(normalizedPath as any)
+        fileService?.saveFile(resolvedUrl, data)
+        fileService?.saveFile(normalizedPath, data)
     }
-};
+}
 
-export const loadModelAsync = async (
+export const loadModel = async (url: string): Promise<Result<[URDFRobot, string[]], string>> => {
-	url: string
+    const urdfLoader = new URDFLoader()
-): Promise<Result<[URDFRobot, string[]], string>> => {
-	return new Promise((resolve, reject) => {
-		const xacroLoader = new XacroLoader();
-		const urdfLoader = new URDFLoader();
-		urdfLoader.workingPath = LoaderUtils.extractUrlBase(url);
 
-		xacroLoader.load(
+    let xml =
-			url,
+        url.endsWith('.xacro') ? await loadXacro(url) : await fetch(url).then(res => res.text())
-			async (xml) => {
+
-				model_xml = xml;
+    if (typeof xml === 'string') {
+        xml = new window.DOMParser().parseFromString(xml, 'text/xml')
+    }
+
+    return new Promise(resolve => {
+        model_xml = xml
         try {
-					const model = urdfLoader.parse(xml);
+            const model = urdfLoader.parse(xml)
-					model.rotation.x = -Math.PI / 2;
+            setupRobot(model)
-					model.rotation.z = Math.PI / 2;
-					model.traverse((c) => (c.castShadow = true));
-					model.updateMatrixWorld(true);
-					model.scale.setScalar(10);
             const joints = Object.entries(model.joints)
-						.filter((joint) => joint[1].jointType !== 'fixed')
+                .filter(joint => joint[1].jointType !== 'fixed')
-						.map((joint) => joint[0]);
+                .map(joint => joint[0])
 
-					resolve(Result.ok([model, joints]));
+            resolve(Result.ok([model, joints]))
         } catch (error) {
-					resolve(Result.err('Failed to load model', error));
+            resolve(Result.err('Failed to load model', error))
         }
-			},
+    })
-			(error) => resolve(Result.err('Failed to load model', error))
+}
-		);
-	});
-};
 
-export const toeWorldPositions = (robot: URDFRobot) => {
+const loadXacro = async (url: string): Promise<XMLDocument> =>
-	const toe_positions: Vector3[] = [];
+    new Promise((resolve, reject) => {
-	robot.traverse((child) => {
+        new XacroLoader().load(url, resolve, reject)
-		if (child.name.includes('toe') && !child.name.includes('_link')) {
+    })
-			const worldPosition = new Vector3();
-			child.getWorldPosition(worldPosition);
-			toe_positions.push(worldPosition);
-		}
-	});
-	return toe_positions;
-};
 
-export const footColor = () => {
+function setupRobot(robot: URDFRobot) {
-	const colorElem = model_xml.querySelector('material[name=foot_color] > color') as Element;
+    robot.rotation.x = -Math.PI / 2
-	const colorAttrStr = colorElem.getAttribute('rgba') as string;
+    robot.rotation.z = Math.PI / 2
+    robot.scale.setScalar(10)
+    robot.traverse(c => (c.castShadow = true))
+    robot.updateMatrixWorld(true)
+}
+
+export function getToeWorldPositions(robot: URDFRobot): Vector3[] {
+    const toes: Vector3[] = []
+    robot.traverse(c => {
+        if (c.name.includes('toe') && !c.name.includes('_link'))
+            toes.push(c.getWorldPosition(new Vector3()))
+    })
+    return toes
+}
+
+export const extractFootColor = () => {
+    const colorElem = model_xml.querySelector('material[name=foot_color] > color') as Element
+    const colorAttrStr = colorElem.getAttribute('rgba') as string
     const colorStr = colorAttrStr
         .split(' ')
         .slice(0, 3)
-		.map((val) => Math.floor(+val * 255))
+        .map(val => Math.floor(+val * 255))
-		.join(', ');
+        .join(', ')
 
-	return new Color(`rgb(${colorStr})`);
+    return new Color(`rgb(${colorStr})`)
-};
+}

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

@@ -1,30 +1,32 @@
 class SunCalculator {
     calculateSunElevation(lat: number = 55, lon: number = 12) {
-		const now = new Date();
+        const now = new Date()
-		const JD = this.getJulianDate(now);
+        const JD = this.getJulianDate(now)
-		const solarDec = this.getSolarDeclination(JD);
+        const solarDec = this.getSolarDeclination(JD)
-		const solarTime = this.getSolarTime(now, lon);
+        const solarTime = this.getSolarTime(now, lon)
 
-		const hourAngle = (solarTime - 12) * 15;
+        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))
+                Math.cos(this.degToRad(lat)) *
-		);
+                    Math.cos(solarDec) *
+                    Math.cos(this.degToRad(hourAngle))
+        )
 
-		return this.radToDeg(elevation);
+        return this.radToDeg(elevation)
     }
 
     getJulianDate(date: Date) {
-		const Y = date.getUTCFullYear();
+        const Y = date.getUTCFullYear()
-		const M = date.getUTCMonth() + 1;
+        const M = date.getUTCMonth() + 1
         const D =
             date.getUTCDate() +
             date.getUTCHours() / 24 +
             date.getUTCMinutes() / 1440 +
-			date.getUTCSeconds() / 86400;
+            date.getUTCSeconds() / 86400
-		const A = Math.floor((14 - M) / 12);
+        const A = Math.floor((14 - M) / 12)
-		const Y1 = Y + 4800 - A;
+        const Y1 = Y + 4800 - A
-		const M1 = M + 12 * A - 3;
+        const M1 = M + 12 * A - 3
         return (
             D +
             Math.floor((153 * M1 + 2) / 5) +
@@ -33,33 +35,33 @@ class SunCalculator {
             Math.floor(Y1 / 100) +
             Math.floor(Y1 / 400) -
             32045
-		);
+        )
     }
 
     getSolarDeclination(JulianDate: number) {
-		const n = JulianDate - 2451545;
+        const n = JulianDate - 2451545
-		const L = (280.46 + 0.9856474 * n) % 360;
+        const L = (280.46 + 0.9856474 * n) % 360
-		const g = this.degToRad((357.528 + 0.9856003 * 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));
+        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)));
+        return Math.asin(Math.sin(lambda) * Math.sin(this.degToRad(23.44)))
     }
 
     getSolarTime(date: Date, lon: number) {
-		const EoT = this.getEquationOfTime(date);
+        const EoT = this.getEquationOfTime(date)
-		const offset = date.getTimezoneOffset() / 60;
+        const offset = date.getTimezoneOffset() / 60
-		const standardMeridian = Math.round(lon / 15) * 15;
+        const standardMeridian = Math.round(lon / 15) * 15
         const solarTime =
             date.getUTCHours() +
             (date.getUTCMinutes() + (4 * (standardMeridian - lon) + EoT)) / 60 -
-			offset;
+            offset
-		return (solarTime + 24) % 24;
+        return (solarTime + 24) % 24
     }
 
     getEquationOfTime(date: Date) {
-		const JD = this.getJulianDate(date);
+        const JD = this.getJulianDate(date)
-		const n = JD - 2451545;
+        const n = JD - 2451545
-		const g = this.degToRad((357.528 + 0.9856003 * n) % 360);
+        const g = this.degToRad((357.528 + 0.9856003 * n) % 360)
-		const q = this.degToRad((280.46 + 0.9856474 * n) % 360);
+        const q = this.degToRad((280.46 + 0.9856474 * n) % 360)
         return (
             4 *
             this.radToDeg(
@@ -69,16 +71,16 @@ class SunCalculator {
                     0.014615 * Math.cos(2 * q) -
                     0.040849 * Math.sin(2 * g)
             )
-		);
+        )
     }
 
     degToRad(deg: number) {
-		return deg * (Math.PI / 180);
+        return deg * (Math.PI / 180)
     }
 
     radToDeg(rad: number) {
-		return rad * (180 / Math.PI);
+        return rad * (180 / Math.PI)
     }
 }
 
-export const sunCalculator = new SunCalculator();
+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 namespace Result {
+export const Result = {
     /**
      * @returns `Ok<T>`
      */
-	export function ok<T = unknown>(value: T) {
+    ok<T = unknown>(value: T) {
-		return Ok.new(value);
+        return Ok.new(value)
-	}
+    },
 
     /**
      * @returns `Err<E, F>`
      */
-	export function err<E = unknown, F = unknown>(error: E, exception?: F) {
+    err<E = unknown, F = unknown>(error: E, exception?: F) {
-		return Err.new(error, exception);
+        return Err.new(error, exception)
     }
 }

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

@@ -1,36 +1,47 @@
 export const humanFileSize = (size: number): string => {
-	const units = ['B', 'kB', 'MB', 'GB', 'TB'];
+    const units = ['B', 'kB', 'MB', 'GB', 'TB']
-	var i = size == 0 ? 0 : Math.floor(Math.log(size) / Math.log(1024));
+    const i = size == 0 ? 0 : Math.floor(Math.log(size) / Math.log(1024))
-	return Number((size / Math.pow(1024, i)).toFixed(2)) * 1 + units[i];
+    return Number((size / Math.pow(1024, i)).toFixed(2)) * 1 + units[i]
-};
+}
 
 export const capitalize = (str: string): string => {
-	return str.charAt(0).toUpperCase() + str.slice(1).toLowerCase();
+    return str.charAt(0).toUpperCase() + str.slice(1).toLowerCase()
-};
+}
 
 export const convertSeconds = (seconds: number) => {
     // Calculate the number of seconds, minutes, hours, and days
-	let minutes = Math.floor(seconds / 60);
+    let minutes = Math.floor(seconds / 60)
-	let hours = Math.floor(minutes / 60);
+    let hours = Math.floor(minutes / 60)
-	let days = Math.floor(hours / 24);
+    const days = Math.floor(hours / 24)
 
     // Calculate the remaining hours, minutes, and seconds
-	hours = hours % 24;
+    hours = hours % 24
-	minutes = minutes % 60;
+    minutes = minutes % 60
-	seconds = seconds % 60;
+    seconds = seconds % 60
 
     // Create the formatted string
-	let result = '';
+    let result = ''
     if (days > 0) {
-		result += days + ' day' + (days > 1 ? 's' : '') + ' ';
+        result += days + ' day' + (days > 1 ? 's' : '') + ' '
     }
     if (hours > 0) {
-		result += hours + ' hour' + (hours > 1 ? 's' : '') + ' ';
+        result += hours + ' hour' + (hours > 1 ? 's' : '') + ' '
     }
     if (minutes > 0) {
-		result += minutes + ' minute' + (minutes > 1 ? 's' : '') + ' ';
+        result += minutes + ' minute' + (minutes > 1 ? 's' : '') + ' '
     }
-	result += seconds + ' second' + (seconds > 1 ? 's' : '');
+    result += seconds + ' second' + (seconds > 1 ? 's' : '')
 
-	return result;
+    return result
-};
+}
+
+export const compareIp = (ip1: string, ip2: string) => {
+    const ip1Parts = ip1.split('.').map(Number)
+    const ip2Parts = ip2.split('.').map(Number)
+    for (let i = 0; i < 4; i++) {
+        if (ip1Parts[i] !== ip2Parts[i]) {
+            return ip1Parts[i] > ip2Parts[i] ? 1 : -1
+        }
+    }
+    return 0
+}

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

@@ -1,15 +1,9 @@
 <script lang="ts">
-    import { goto } from '$app/navigation';
+    import { page } from '$app/state'
-    import { onMount } from 'svelte';
+    import { resolve } from '$app/paths'
-
-    onMount(() => {
-        setTimeout(() => {
-            goto('/');
-        }, 3000);
-    });
 </script>
 
 <div class="flex justify-center items-center w-full h-full">
-    <h1 class="text-4xl">404 - Page not found</h1>
+    <h1>{page.status} {page.error?.message}</h1>
-    <p>You will be redirected to the home page in 3 seconds</p>
+    <span>Go to <a class="btn btn-primary" href={resolve('/')}>Home page</a></span>
 </div>

app/src/routes/+layout.svelte

@@ -18,10 +18,13 @@
         servoAngles,
         servoAnglesOut,
         socket,
-    location,
+        apiLocation,
-    useFeatureFlags
+        useFeatureFlags,
+        walkGait
     } from '$lib/stores'
-  import type { Analytics, DownloadOTA } from '$lib/types/models'
+    import { type Analytics, type DownloadOTA } from '$lib/types/models'
+    import { MessageTopic } from '$lib/types/models'
+
     interface Props {
         children?: import('svelte').Snippet
     }
@@ -31,15 +34,16 @@
     const features = useFeatureFlags()
 
     onMount(async () => {
-    const ws = $location ? $location : window.location.host
+        const ws = $apiLocation ? $apiLocation : window.location.host
-    socket.init(`ws://${ws}/api/ws/events`)
+        socket.init(`ws://${ws}/api/ws`)
 
         addEventListeners()
 
-    outControllerData.subscribe(data => socket.sendEvent('input', { data }))
+        outControllerData.subscribe(data => socket.sendEvent(MessageTopic.input, data))
-    mode.subscribe(data => socket.sendEvent('mode', { data }))
+        mode.subscribe(data => socket.sendEvent(MessageTopic.mode, data))
-    servoAnglesOut.subscribe(data => socket.sendEvent('angles', { data }))
+        walkGait.subscribe(data => socket.sendEvent(MessageTopic.gait, data))
-    kinematicData.subscribe(data => socket.sendEvent('position', { data }))
+        servoAnglesOut.subscribe(data => socket.sendEvent(MessageTopic.angles, data))
+        kinematicData.subscribe(data => socket.sendEvent(MessageTopic.position, data))
     })
 
     onDestroy(() => {
@@ -50,24 +54,24 @@
         socket.on('open', handleOpen)
         socket.on('close', handleClose)
         socket.on('error', handleError)
-    socket.on('rssi', handleNetworkStatus)
+        socket.on(MessageTopic.rssi, handleNetworkStatus)
-    socket.on('mode', (data: ModesEnum) => mode.set(data))
+        socket.on(MessageTopic.mode, (data: ModesEnum) => mode.set(data))
-    socket.on('analytics', handleAnalytics)
+        socket.on(MessageTopic.analytics, handleAnalytics)
-    socket.on('angles', (angles: number[]) => {
+        socket.on(MessageTopic.angles, (angles: number[]) => {
             if (angles.length) servoAngles.set(angles)
         })
         features.subscribe(data => {
-      if (data?.download_firmware) socket.on('otastatus', handleOAT)
+            if (data?.download_firmware) socket.on(MessageTopic.otastatus, handleOAT)
-      if (data?.sonar) socket.on('sonar', data => console.log(data))
+            if (data?.sonar) socket.on(MessageTopic.sonar, data => console.log(data))
         })
     }
 
     const removeEventListeners = () => {
-    socket.off('analytics', handleAnalytics)
+        socket.off(MessageTopic.analytics, handleAnalytics)
         socket.off('open', handleOpen)
         socket.off('close', handleClose)
-    socket.off('rssi', handleNetworkStatus)
+        socket.off(MessageTopic.rssi, handleNetworkStatus)
-    socket.off('otastatus', handleOAT)
+        socket.off(MessageTopic.otastatus, handleOAT)
     }
 
     const handleOpen = () => {
@@ -79,7 +83,7 @@
         telemetry.setRSSI(0)
     }
 
-  const handleError = (data: any) => console.error(data)
+    const handleError = (data: unknown) => console.error(data)
 
     const handleAnalytics = (data: Analytics) => analytics.addData(data)
 
@@ -94,7 +98,7 @@
     <title>{page.data.title}</title>
 </svelte:head>
 
-<div class="drawer h-screen">
+<div class="drawer">
     <input id="main-menu" type="checkbox" class="drawer-toggle" bind:checked={menuOpen} />
     <div class="drawer-content flex flex-col">
         <!-- Status bar content here -->
@@ -111,14 +115,15 @@
 </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}
-    </div>
+            onkeydown={e => e.key === 'Escape' && modals.closeAll()}
+            role="button"
+            tabindex="0"
+        ></div>
     {/snippet}
 </Modals>
 

app/src/routes/+layout.ts

@@ -1,22 +1,34 @@
-export const prerender = false;
+export const prerender = true
-export const ssr = false;
+export const ssr = false
 
 const registerFetchIntercept = async () => {
-	const { fetch: originalFetch } = window;
+    const { fetch: originalFetch } = window
-	const fileService = (await import('$lib/services/file-service')).default;
+    const fileService = (await import('$lib/services/file-service')).default
     window.fetch = async (resource, config) => {
-		let url = resource instanceof Request ? resource.url : resource.toString();
+        const url = resource instanceof Request ? resource.url : resource.toString()
-		let file = await fileService.getFile(url);
+
-		return file.isOk() ? new Response(file.inner) : originalFetch(resource, config);
+        let file = await fileService?.getFile(url)
-	};
+        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)
+    }
+}
 
 export const load = async () => {
-	await registerFetchIntercept();
+    await registerFetchIntercept()
     return {
         title: 'Spot micro controller',
         github: 'runeharlyk/SpotMicroESP32-Leika',
         app_name: 'Spot Micro Controller',
-		copyright: '2024 Rune Harlyk'
+        copyright: '2025 Rune Harlyk'
-	};
+    }
-};
+}

app/src/routes/+page.svelte

@@ -3,25 +3,26 @@
     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('/controller')
+                goto(resolve('/controller'))
             }
         })
     })
 </script>
 
-<div class="w-full h-full flex justify-center items-center">
+<div class="hero bg-base-100 h-screen">
-  <div class="h-full flex flex-col">
+    <div class="card md:card-side bg-base-200 shadow-2xl flex justify-center items-center">
-    <div class="grow-3 w-80 relative">
+        <div class="w-64 h-64">
-      <Visualization sky={false} orbit panel={false} ground={false} zoom={8} />
+            <Visualization sky={false} orbit panel={false} ground={false} />
-      <div class="absolute bottom-0 w-full h-40 bg-gradient-to-t from-base-100 to-transparent">
         </div>
-    </div>
+        <div class="card-body w-80">
-    <div class="grow-3 flex justify-center">
+            <h2 class="card-title text-center text-2xl">Begin you journey</h2>
-      <a class="btn btn-primary rounded-full" href={$socket ? '/controller' : '/connection'}>
+            <p class="py-6 text-center"></p>
+            <a class="btn btn-primary" href={resolve($socket ? '/controller' : '/connection')}>
                 Add Robot Dog
             </a>
         </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

@@ -1,14 +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 { location, socket, useFeatureFlags } from '$lib/stores';
+    import { apiLocation, socket } from '$lib/stores'
-
-    const features = useFeatureFlags();
 
     const update = () => {
-        const ws = $location ? $location : window.location.host;
+        const ws = $apiLocation ? $apiLocation : window.location.host
-        socket.init(`ws://${ws}/api/ws/events`);
+        socket.init(`ws://${ws}/api/ws/events`)
-    };
+    }
 </script>
 
 <SettingsCard collapsible={false}>
@@ -16,12 +14,12 @@
         <WiFi class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
     {/snippet}
     {#snippet title()}
-        <span >Connection</span>
+        <span>Connection</span>
     {/snippet}
 
     <div class="flex">
         <label class="label w-32" for="server">Address:</label>
-        <input class="input" bind:value={$location} />
+        <input class="input" bind:value={$apiLocation} />
     </div>
 
     <button class="btn btn-primary" onclick={update}>Update</button>

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

@@ -1,26 +1,26 @@
 <script lang="ts">
-    import Controls from './Controls.svelte';
+    import Controls from './Controls.svelte'
-    import WidgetContainer from '$lib/components/layout/WidgetContainer.svelte';
+    import WidgetContainer from '$lib/components/layout/WidgetContainer.svelte'
-    import { selectedView, views } from '$lib/stores/application';
+    import { selectedView, views } from '$lib/stores/application'
-    import { onMount } from 'svelte';
+    import { onMount } from 'svelte'
-    import { mpu, socket } from '$lib/stores';
+    import { mpu, socket } from '$lib/stores'
-    import { imu } from '$lib/stores/imu';
+    import { imu } from '$lib/stores/imu'
-    import type { IMU } from '$lib/types/models';
+    import { MessageTopic, type IMU } from '$lib/types/models'
 
-    let layout = $derived($views.find(v => v.name === $selectedView)!);
+    let layout = $derived($views.find(v => v.name === $selectedView)!)
 
     onMount(() => {
-        socket.on('imu', (data: IMU) => {
+        socket.on(MessageTopic.imu, (data: IMU) => {
-            imu.addData(data);
+            imu.addData(data)
             if (data.heading)
                 mpu.update(mpuData => {
-                    mpuData.heading = data.heading;
+                    mpuData.heading = data.heading
-                    console.log(data.heading);
+                    console.log(data.heading)
 
-                    return mpuData;
+                    return mpuData
-                });
+                })
-        });
+        })
-    });
+    })
 </script>
 
 <div class="absolute top-0 select-none w-screen h-screen">

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

@@ -1,17 +1,60 @@
 <script lang="ts">
     import nipplejs from 'nipplejs'
     import { onMount } from 'svelte'
-  import { capitalize, throttler, toInt8 } from '$lib/utilities'
+    import { capitalize, throttler } from '$lib/utilities'
-  import { input, outControllerData, mode, modes, type Modes, ModesEnum } from '$lib/stores'
+    import {
+        input,
+        outControllerData,
+        mode,
+        modes,
+        type Modes,
+        ModesEnum,
+        WalkGaits,
+        walkGait,
+        walkGaitLabels
+    } from '$lib/stores'
     import type { vector } from '$lib/types/models'
     import { VerticalSlider } from '$lib/components/input'
+    import { gamepadAxes, gamepadButtonsEdges, hasGamepad } from '$lib/stores/gamepad'
+    import { notifications } from '$lib/components/toasts/notifications'
 
     let throttle = new throttler()
     let left: nipplejs.JoystickManager
     let right: nipplejs.JoystickManager
 
     let throttle_timing = 40
-  let data = new Array(8)
+    let data = new Array(7)
+
+    $effect(() => {
+        if ($hasGamepad) {
+            notifications.success('🎮 Gamepad connected', 3000)
+        }
+    })
+
+    $effect(() => {
+        handleJoyMove('left', { x: $gamepadAxes[0], y: -$gamepadAxes[1] })
+        handleJoyMove('right', { x: $gamepadAxes[2], y: $gamepadAxes[3] })
+    })
+
+    $effect(() => {
+        if (!$hasGamepad) return
+        const b = $gamepadButtonsEdges
+        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({
@@ -31,9 +74,9 @@
         })
 
         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) => {
@@ -45,14 +88,13 @@
     }
 
     const updateData = () => {
-    data[0] = 0
+        data[0] = $input.left.x
-    data[1] = toInt8($input.left.x, -1, 1)
+        data[1] = $input.left.y
-    data[2] = toInt8($input.left.y, -1, 1)
+        data[2] = $input.right.x
-    data[3] = toInt8($input.right.x, -1, 1)
+        data[3] = $input.right.y
-    data[4] = toInt8($input.right.y, -1, 1)
+        data[4] = $input.height
-    data[5] = toInt8($input.height, 0, 100)
+        data[5] = $input.speed
-    data[6] = toInt8($input.speed, 0, 100)
+        data[6] = $input.s1
-    data[7] = toInt8($input.s1, 0, 100)
 
         outControllerData.set(data)
     }
@@ -61,16 +103,18 @@
         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)
     }
 
     const handleRange = (event: Event, key: 'speed' | 'height' | 's1') => {
-    const value: number = event.target?.value
+        const value: number = Number((event.target as HTMLInputElement).value)
 
         input.update(inputData => {
             inputData[key] = value
@@ -82,6 +126,10 @@
     const changeMode = (modeValue: Modes) => {
         mode.set(modes.indexOf(modeValue))
     }
+
+    const changeWalkGait = (walkGaitValue: WalkGaits) => {
+        walkGait.set(walkGaitValue)
+    }
 </script>
 
 <div class="absolute top-0 left-0 w-screen h-screen">
@@ -102,24 +150,47 @@
         <div class="flex justify-center w-full"></div>
     </div>
     <div class="absolute bottom-0 z-10 flex items-end">
-    <div class="flex items-center flex-col bg-base-300 bg-opacity-50 p-3 pb-2 gap-2 rounded-tr-xl">
+        <div
-      <VerticalSlider min={0} max={100} oninput={(e: Event) => handleRange(e, 'height')} />
+            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')}
+            />
             <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}
             </div>
 
-      {#if $mode === ModesEnum.Walk || $mode === ModesEnum.Crawl}
+            {#if $mode === ModesEnum.Walk}
+                <div class="join">
+                    {#each Object.values(WalkGaits) as gaitValue}
+                        {#if typeof gaitValue === 'number'}
+                            <button
+                                class="btn join-item btn-sm"
+                                class:btn-secondary={$walkGait === gaitValue}
+                                onclick={() => changeWalkGait(gaitValue)}
+                            >
+                                {walkGaitLabels[gaitValue]}
+                            </button>
+                        {/if}
+                    {/each}
+                </div>
+
                 <div class="flex gap-4">
                     <div>
                         <label for="s1">S1</label>
@@ -127,9 +198,11 @@
                             type="range"
                             name="s1"
                             min="0"
-              max="100"
+                            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>
@@ -137,9 +210,11 @@
                             type="range"
                             name="speed"
                             min="0"
-              max="100"
+                            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

@@ -1,7 +1,8 @@
-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('/');
+    goto(resolve('/'))
-	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