Merge branch 'walking-gait' of https://github.com/runeharlyk/SpotMicroESP32-Leika into walking-gait

Updates to use process for camera stream
Updates camera and mocks
2024-05-27 01:25:43 +02:00 · 2024-03-07 15:14:10 +01:00 · 2024-03-07 14:01:09 +01:00 · 2024-03-05 15:02:31 +01:00 · 2024-03-05 11:35:10 +01:00 · 2024-03-04 23:41:48 +01:00
819 changed files with 27623 additions and 291709 deletions
@@ -1,14 +1,10 @@
-name: Frontend Tests
+name: CI

 on:
  push:
    branches: [ master ]
-    paths:
-        - 'app/**'  
  pull_request:
    branches: [ master ]
-    paths:
-        - 'app/**'  
    
 permissions:
  contents: read
@@ -23,7 +19,7 @@ jobs:
    - uses: actions/checkout@v4
    - uses: pnpm/action-setup@v2
      with:
-        version: 9
+        version: 8

    - name: Setup Node.js
      uses: actions/setup-node@v4
@@ -34,8 +30,6 @@ jobs:

    - name: Install dependencies
      run: pnpm install
-    - name: Install Playwright Browsers
-      run: npx playwright install --with-deps

    - name: Run tests
-      run: pnpm test
+      run: pnpm test
@@ -1,61 +0,0 @@
-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
@@ -1,42 +0,0 @@
-name: PlatformIO CI
-
-on:
-  push:
-    branches: [master]
-    paths:
-      - "esp32/**"
-      - "platformio.ini"
-  pull_request:
-    branches: [master]
-    paths:
-      - "esp32/**"
-      - "platformio.ini"
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: actions/cache@v3
-        with:
-          path: |
-            ~/.cache/pip
-            ~/.platformio/.cache
-          key: ${{ runner.os }}-pio
-
-      - uses: actions/setup-python@v4
-        with:
-          python-version: "3.x"
-      - run: pip install -r esp32/scripts/requirements.txt
-      - name: Install PlatformIO Core
-        run: pip install --upgrade platformio
-
-      - name: Build PlatformIO Project
-        run: pio run
-
-      - name: Upload Artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: build-artifacts
-          path: esp32/build/firmware
@@ -1,8 +1,2 @@
-.vscode/.browse.c_cpp.db*
-.vscode/c_cpp_properties.json
-.vscode/launch.json
-.vscode/ipch
-__pycache__/
-*.py[cod]
-*$py.class
-.pio
+*.pyc
+spot_env
@@ -2,10 +2,7 @@
    // See http://go.microsoft.com/fwlink/?LinkId=827846
    // for the documentation about the extensions.json format
    "recommendations": [
-        "bradlc.vscode-tailwindcss",
-        "esbenp.prettier-vscode",
-        "platformio.platformio-ide",
-        "svelte.svelte-vscode"
+        "platformio.platformio-ide"
    ],
    "unwantedRecommendations": [
        "ms-vscode.cpptools-extension-pack"
@@ -1,15 +1,6 @@
 {
    "files.associations": {
-      "cmath": "cpp",
-      "array": "cpp",
-      "deque": "cpp",
-      "string": "cpp",
-      "unordered_map": "cpp",
-      "unordered_set": "cpp",
-      "vector": "cpp",
-      "string_view": "cpp",
-      "initializer_list": "cpp",
-      "regex": "cpp"
+        "cmath": "cpp"
    },
    "editor.tabSize": 4,
    "editor.detectIndentation": false,
@@ -1,3 +0,0 @@
-PUBLIC_VITE_USE_HOST_NAME=true
-PUBLIC_USE_JSON=true
-PUBLIC_USE_MSGPACK=true
@@ -0,0 +1,3 @@
+VITE_API_URL="leika.local"
+VITE_SOCKET_URL="leika.local"
+VITE_EMBEDDED_BUILD=true
@@ -0,0 +1,3 @@
+VITE_API_URL="hostname"
+VITE_SOCKET_URL="hostname:2096"
+VITE_EMBEDDED_BUILD=true
@@ -0,0 +1,3 @@
+VITE_API_URL="hostname"
+VITE_SOCKET_URL="hostname:2096"
+VITE_EMBEDDED_BUILD=false
@@ -0,0 +1,3 @@
+VITE_API_URL="leika.local"
+VITE_SOCKET_URL="leika.local"
+VITE_EMBEDDED_BUILD=false
@@ -10,4 +10,4 @@ node_modules
 # Ignore files for PNPM, NPM and YARN
 pnpm-lock.yaml
 package-lock.json
-yarn.lock
+yarn.lock
@@ -1,31 +1,20 @@
-/** @type { import("eslint").Linter.Config } */
 module.exports = {
-    root: true,
-    extends: [
-        'eslint:recommended',
-        'plugin:@typescript-eslint/recommended',
-        'plugin:svelte/recommended',
-        'prettier'
-    ],
-    parser: '@typescript-eslint/parser',
-    plugins: ['@typescript-eslint'],
-    parserOptions: {
-        sourceType: 'module',
-        ecmaVersion: 2020,
-        extraFileExtensions: ['.svelte']
-    },
-    env: {
-        browser: true,
-        es2017: true,
-        node: true
-    },
-    overrides: [
-        {
-            files: ['*.svelte'],
-            parser: 'svelte-eslint-parser',
-            parserOptions: {
-                parser: '@typescript-eslint/parser'
-            }
-        }
-    ]
-}
+	root: true,
+	parser: '@typescript-eslint/parser',
+	extends: ['eslint:recommended', 'plugin:@typescript-eslint/recommended', 'prettier'],
+	plugins: ['svelte3', '@typescript-eslint'],
+	ignorePatterns: ['*.cjs'],
+	overrides: [{ files: ['*.svelte'], processor: 'svelte3/svelte3' }],
+	settings: {
+		'svelte3/typescript': () => require('typescript')
+	},
+	parserOptions: {
+		sourceType: 'module',
+		ecmaVersion: 2020
+	},
+	env: {
+		browser: true,
+		es2017: true,
+		node: true
+	}
+};
@@ -0,0 +1,15 @@
+{
+	"env": {
+		"browser": true,
+		"es2021": true
+	},
+	"extends": ["eslint:recommended", "plugin:@typescript-eslint/recommended"],
+	"overrides": [],
+	"parser": "@typescript-eslint/parser",
+	"parserOptions": {
+		"ecmaVersion": "latest",
+		"sourceType": "module"
+	},
+	"plugins": ["@typescript-eslint"],
+	"rules": {}
+}
@@ -1,9 +1,24 @@
-.DS_Store
+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+pnpm-debug.log*
+lerna-debug.log*
+
 node_modules
-/build
-/.svelte-kit
-/package
-.env.*
-!.env.example
-vite.config.js.timestamp-*
-vite.config.ts.timestamp-*
+dist
+dist-ssr
+*.local
+
+# Editor directories and files
+.vscode/*
+!.vscode/extensions.json
+.idea
+.DS_Store
+*.suo
+*.ntvs*
+*.njsproj
+*.sln
+*.sw?
@@ -1 +0,0 @@
-engine-strict=true
@@ -1,4 +1,13 @@
+.DS_Store
+node_modules
+/build
+/.svelte-kit
+/package
+.env
+.env.*
+!.env.example
+
 # Ignore files for PNPM, NPM and YARN
 pnpm-lock.yaml
 package-lock.json
-yarn.lock
+yarn.lock
@@ -1,12 +1,9 @@
 {
-    "useTabs": false,
-    "singleQuote": true,
-    "tabWidth": 4,
-    "trailingComma": "none",
-    "arrowParens": "avoid",
-    "experimentalTernaries": true,
-    "printWidth": 100,
-    "semi": false,
-    "plugins": ["prettier-plugin-svelte"],
-    "overrides": [{ "files": "*.svelte", "options": { "parser": "svelte" } }]
+	"useTabs": true,
+	"singleQuote": true,
+	"trailingComma": "none",
+	"printWidth": 100,
+	"plugins": ["prettier-plugin-svelte"],
+	"pluginSearchDirs": ["."],
+	"overrides": [{ "files": "*.svelte", "options": { "parser": "svelte" } }]
 }
@@ -1,7 +1,3 @@
 {
-    "recommendations": [
-        "svelte.svelte-vscode",
-        "bradlc.vscode-tailwindcss",
-        "esbenp.prettier-vscode"
-    ]
+	"recommendations": ["svelte.svelte-vscode"]
 }
@@ -1,29 +1,3 @@
-# create-svelte
+# Controller App

-Everything you need to build a Svelte project, powered by [`create-svelte`](https://github.com/sveltejs/kit/tree/main/packages/create-svelte).
-
-## Creating a project
-
-If you're seeing this, you've probably already done this step. Congrats!
-
-```bash
-# create a new project in the current directory
-npx sv create
-```
-
-## Developing
-
-Once you've created your project, follow these steps:
-
-1: Delete package-lock.json
-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
-
-Running `git status` should show:
-
-[![example.png](https://i.postimg.cc/yddM3hH3/example.png)](https://postimg.cc/7CFsp2bq)
-
-You can preview the production build with `npm run preview`.
-
-> To deploy your app, you may need to install an [adapter](https://kit.svelte.dev/docs/adapters) for your target environment.
+This is the controller for my spot micro
@@ -1,8 +0,0 @@
-declare module 'app-env' {
-    interface ENV {
-        VITE_USE_HOST_NAME: boolean
-    }
-
-    const appEnv: ENV
-    export default appEnv
-}
@@ -0,0 +1,15 @@
+<!doctype html>
+<html lang="en">
+	<head>
+		<meta charset="UTF-8" />
+		<link rel="icon" type="image/svg+xml" href="/vite.svg" />
+		<meta
+			name="viewport"
+			content="width=device-width,initial-scale=1,maximum-scale=1,user-scalable=no"
+		/>
+	</head>
+	<body>
+		<div id="app"></div>
+		<script type="module" src="/src/main.ts"></script>
+	</body>
+</html>
@@ -1,65 +1,55 @@
 {
-    "name": "spot_micro_controller",
-    "version": "0.0.1",
-    "private": true,
-    "scripts": {
-        "dev": "vite dev --host",
-        "build": "vite build",
-        "build:embedded": "cross-env VITE_USE_HOST_NAME=true vite build",
-        "preview": "vite preview",
-        "test": "pnpm run test:integration && pnpm run test:unit",
-        "check": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json",
-        "check:watch": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json --watch",
-        "lint": "prettier --check . && eslint .",
-        "format": "prettier --write .",
-        "test:integration": "playwright test",
-        "test:unit": "vitest"
-    },
-    "devDependencies": {
-        "@iconify-json/mdi": "^1.2.3",
-        "@iconify-json/tabler": "^1.2.23",
-        "@playwright/test": "^1.56.0",
-        "@sveltejs/adapter-static": "^3.0.10",
-        "@sveltejs/kit": "^2.46.4",
-        "@sveltejs/vite-plugin-svelte": "^6.2.1",
-        "@types/eslint": "^9.6.1",
-        "@types/three": "^0.180.0",
-        "@typescript-eslint/eslint-plugin": "^8.46.0",
-        "@typescript-eslint/parser": "^8.46.0",
-        "autoprefixer": "^10.4.21",
-        "eslint": "^9.37.0",
-        "eslint-config-prettier": "^10.1.8",
-        "eslint-plugin-svelte": "^3.12.4",
-        "jsdom": "^27.0.0",
-        "prettier": "^3.6.2",
-        "prettier-plugin-svelte": "^3.4.0",
-        "svelte": "^5.39.11",
-        "svelte-check": "^4.3.3",
-        "svelte-focus-trap": "^1.2.0",
-        "tailwindcss": "^4.1.14",
-        "tslib": "^2.8.1",
-        "typescript": "^5.9.3",
-        "unplugin-icons": "^22.4.2",
-        "vite": "^7.1.9",
-        "vitest": "^3.2.4"
-    },
-    "type": "module",
-    "dependencies": {
-        "@msgpack/msgpack": "^3.1.2",
-        "@niku/vite-env-caster": "^1.1.2",
-        "@sveltejs/adapter-auto": "^6.1.1",
-        "@tailwindcss/vite": "^4.1.14",
-        "chart.js": "^4.5.0",
-        "compare-versions": "^6.1.1",
-        "cross-env": "^10.1.0",
-        "daisyui": "^5.2.0",
-        "nipplejs": "^0.10.2",
-        "svelte-dnd-list": "^0.1.8",
-        "svelte-modals": "^2.0.1",
-        "three": "^0.180.0",
-        "urdf-loader": "^0.12.6",
-        "uzip": "^0.20201231.0",
-        "xacro-parser": "^0.3.10"
-    },
-    "packageManager": "pnpm@9.3.0"
-}
+	"name": "app",
+	"private": true,
+	"version": "0.0.0",
+	"type": "module",
+	"scripts": {
+		"dev": "vite --mode embedded",
+		"dev:mock_embedded": "vite --mode mock_embedded",
+		"dev:mock_web": "vite --mode mock_web",
+		"build": "vite build --mode embedded",
+		"build:mock_web": "vite build --mode mock_web",
+		"build:web": "vite build --mode web",
+		"preview": "vite preview",
+		"test": "vitest --environment jsdom",
+		"check": "svelte-check --tsconfig ./tsconfig.json",
+		"format": "prettier --plugin-search-dir . --write ."
+	},
+	"devDependencies": {
+		"@sveltejs/vite-plugin-svelte": "^3.0.2",
+		"@tsconfig/svelte": "^5.0.2",
+		"@types/three": "^0.160.0",
+		"@typescript-eslint/eslint-plugin": "^6.20.0",
+		"@typescript-eslint/parser": "^6.20.0",
+		"autoprefixer": "^10.4.17",
+		"cross-env": "^7.0.3",
+		"husky": "^9.0.7",
+		"jsdom": "^24.0.0",
+		"lint-staged": "^15.2.0",
+		"postcss": "^8.4.33",
+		"prettier": "3.2.4",
+		"svelte": "^4.2.9",
+		"svelte-check": "^3.6.3",
+		"svelte-hero-icons": "^5.0.0",
+		"tailwindcss": "^3.4.1",
+		"tslib": "^2.6.2",
+		"typescript": "^5.3.3",
+		"vite": "^5.0.12",
+		"vite-plugin-compression": "^0.5.1",
+		"vite-plugin-singlefile": "^1.0.0",
+		"vitest": "^1.3.1"
+	},
+	"dependencies": {
+		"nipplejs": "^0.10.1",
+		"prettier-plugin-svelte": "^3.2.1",
+		"svelte-routing": "^2.11.0",
+		"three": "^0.160.1",
+		"urdf-loader": "^0.12.1",
+		"uzip": "^0.20201231.0",
+		"xacro-parser": "^0.3.9"
+	},
+	"lint-staged": {
+		"*.js": "eslint --cache --fix",
+		"*.{js,css,md,ts,svelte}": "prettier --write"
+	}
+}
@@ -1,12 +0,0 @@
-import type { PlaywrightTestConfig } from '@playwright/test'
-
-const config: PlaywrightTestConfig = {
-    webServer: {
-        command: 'pnpm run build && pnpm run preview',
-        port: 4173
-    },
-    testDir: 'tests/integration',
-    testMatch: /(.+\.)?(test|spec)\.[jt]s/
-}
-
-export default config
@@ -0,0 +1,6 @@
+export default {
+	plugins: {
+		tailwindcss: {},
+		autoprefixer: {}
+	}
+};
@@ -0,0 +1,48 @@
+<script lang="ts">
+	import { Router, Route } from 'svelte-routing';
+	import { onMount } from 'svelte';
+	import TopBar from './components/TopBar.svelte';
+	import socketService from '$lib/services/socket-service';
+	import Controller from './routes/Controller.svelte';
+	import { fileService } from '$lib/services';
+	import Settings from './routes/Settings.svelte';
+	import { jointNames, model, outControllerData, mode } from '$lib/stores';
+	import { loadModelAsync, socketLocation } from '$lib/utilities';
+	import type { Result } from '$lib/utilities/result';
+
+	export let url = window.location.pathname;
+	onMount(async () => {
+		socketService.connect(socketLocation);
+		socketService.addPublisher(outControllerData);
+		socketService.addPublisher(mode, 'mode');
+
+		registerFetchIntercept();
+		const modelRes = await loadModelAsync('/spot_micro.urdf.xacro');
+
+		if (modelRes.isOk()) {
+			const [urdf, JOINT_NAME] = modelRes.inner;
+			jointNames.set(JOINT_NAME);
+			model.set(urdf);
+		} else {
+			console.error(modelRes.inner, { exception: modelRes.exception });
+		}
+	});
+
+	const registerFetchIntercept = () => {
+		const { fetch: originalFetch } = window;
+		window.fetch = async (...args) => {
+			const [resource, config] = args;
+			let file: Result<Uint8Array | undefined, string>;
+			file = await fileService.getFile(resource.toString());
+			return file.isOk() ? new Response(file.inner) : originalFetch(resource, config);
+		};
+	};
+</script>
+
+<Router {url}>
+	<TopBar />
+	<div class="absolute w-full h-full bg-background text-on-background">
+		<Route path="/" component={Controller} />
+		<Route path="/settings/*page" component={Settings} />
+	</div>
+</Router>
@@ -1,48 +1,20 @@
-@import 'tailwindcss';
-@plugin "daisyui";
+:root {
+	font-family: Inter, system-ui, Avenir, Helvetica, Arial, sans-serif;
+	line-height: 1.5;
+	font-weight: 400;

-@plugin "daisyui" {
-    themes:
-        light --default,
-        dark --prefersdark;
+	font-synthesis: none;
+	text-rendering: optimizeLegibility;
+	-webkit-font-smoothing: antialiased;
+	-moz-osx-font-smoothing: grayscale;
+	-webkit-text-size-adjust: 100%;
 }

-@plugin "daisyui/theme" {
-    name: 'light';
-    default: true;
-    --color-primary: #00bfff;
-    --color-secondary: #3c00ff;
-    --base-content: white;
-}
-
-@plugin "daisyui/theme" {
-    name: 'dark';
-    prefersdark: true;
-    --color-primary: #00bfff;
-    --color-secondary: #3c00ff;
-    --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;
+body {
+	margin: 0;
 }

 #three-gui-panel {
-    top: 64px;
-    right: 0px;
-}
-
-@media (max-width: 1023px) {
-    #three-gui-panel {
-        top: 48px;
-    }
-}
+    top: 50px;
+    right:0px
+}
@@ -1,13 +0,0 @@
-// See https://kit.svelte.dev/docs/types#app
-// for information about these interfaces
-declare global {
-    namespace App {
-        // interface Error {}
-        // interface Locals {}
-        // interface PageData {}
-        // interface PageState {}
-        // interface Platform {}
-    }
-}
-
-export {}
@@ -1,17 +0,0 @@
-<!doctype html>
-<html lang="en">
-    <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="apple-mobile-web-app-capable" content="yes" />
-        <meta name="mobile-web-app-capable" content="yes" />
-        %sveltekit.head%
-    </head>
-    <body data-sveltekit-preload-data="hover">
-        <div style="display: contents">%sveltekit.body%</div>
-    </body>
-</html>
@@ -0,0 +1,113 @@
+<script lang="ts">
+	import nipplejs from 'nipplejs';
+	import { onMount } from 'svelte';
+	import { capitalize, throttler, toInt8 } from '$lib/utilities';
+	import { input, outControllerData, mode, modes, type Modes } from '$lib/stores';
+	import type { vector } from '$lib/models';
+    import Range from './input/Range.svelte';
+	import Button from './input/Button.svelte';
+
+	let throttle = new throttler();
+	let left: nipplejs.JoystickManager;
+	let right: nipplejs.JoystickManager;
+
+	let throttle_timing = 40;
+	let data = new Int8Array($outControllerData.length);
+
+	onMount(() => {
+		left = nipplejs.create({
+			zone: document.getElementById('left') as HTMLElement,
+			color: 'grey',
+			dynamicPage: true,
+			mode: 'static',
+			restOpacity: 0.3
+		});
+
+		right = nipplejs.create({
+			zone: document.getElementById('right') as HTMLElement,
+			color: 'grey',
+			dynamicPage: true,
+			mode: 'static',
+			restOpacity: 0.3
+		});
+
+		left.on('move', (_, data) => handleJoyMove('left', data.vector));
+		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 }));
+	});
+
+	const handleJoyMove = (key: 'left' | 'right', data: vector) => {
+		input.update((inputData) => {
+			inputData[key] = data;
+			return inputData;
+		});
+		throttle.throttle(updateData, throttle_timing);
+	};
+
+	const updateData = () => {
+		data[0] = 1;
+		data[1] = 0;
+		data[2] = toInt8($input.left.x, -1, 1);
+		data[3] = toInt8($input.left.y, -1, 1);
+		data[4] = toInt8($input.right.x, -1, 1);
+		data[5] = toInt8($input.right.y, -1, 1);
+		data[6] = toInt8($input.height, 0, 100);
+		data[7] = toInt8($input.speed, 0, 100);
+
+		outControllerData.set(data);
+	};
+
+	const handleKeyup = (event: KeyboardEvent) => {
+		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 === 's') data.left.y = down ? 1 : 0;
+			if (event.key === 'd') data.left.x = down ? 1 : 0;
+			return data;
+		});
+		throttle.throttle(updateData, throttle_timing);
+	};
+
+    const handleRange = (event:CustomEvent, key: 'speed' | 'height') => {
+        const value:number = event.detail
+        input.update((inputData) => {
+			inputData[key] = value;
+			return inputData;
+		});
+        throttle.throttle(updateData, throttle_timing);
+    }
+
+	const changeMode = (modeValue: Modes) => {
+		mode.set(modeValue);
+	};
+</script>
+
+<div class="absolute top-0 left-0 w-screen h-screen">
+	<div class="absolute top-0 left-0 h-full w-full flex portrait:hidden">
+		<div id="left" class="flex w-60 items-center justify-end" />
+		<div class="flex-1" />
+		<div id="right" class="flex w-60 items-center" />
+	</div>
+	<div class="absolute bottom-0 z-10 p-4 gap-4 flex items-end">
+		{#each modes as modeValue}
+			<div>
+				<Button
+					on:click={() => changeMode(modeValue)}
+					active={$mode === modeValue}
+				>
+					{capitalize(modeValue)}
+				</Button>
+			</div>
+		{/each}
+        <div>
+            {#if $mode === 'walk'}
+			    <Range label="Speed" on:value={(e) => handleRange(e, 'speed')}></Range>
+            {/if}
+            <Range label="Height" on:value={(e) => handleRange(e, 'height')}></Range>
+        </div>
+	</div>
+</div>
+
+<svelte:window on:keyup={handleKeyup} on:keydown={handleKeyup} />
@@ -0,0 +1,84 @@
+<script lang="ts">
+	import socketService from '$lib/services/socket-service';
+	import { Icon, Bars3, XMark, Power, Battery100, Signal, SignalSlash } from 'svelte-hero-icons';
+	import { emulateModel } from '$lib/stores';
+	import { Link, useLocation } from 'svelte-routing';
+	import { isConnected } from '$lib/stores';
+
+	const views = ['Virtual environment', 'Robot camera'];
+	const modes = ['Drive', 'Choreography'];
+
+	const location = useLocation();
+
+	let selected_view = views[0];
+	let selected_modes = modes[0];
+	let settingOpen = window.location.pathname.includes('/settings');
+
+	$: emulateModel.set(selected_view === views[0]);
+	$: settingOpen = $location.pathname.includes('/settings');
+
+	const stop = () => {
+		if ($isConnected) {
+			socketService.send(JSON.stringify({ type: 'system/stop' }));
+		}
+	};
+</script>
+
+<div class="topbar absolute left-0 top-0 w-full z-10 flex justify-between bg-zinc-800">
+	<div class="flex gap-2 p-2">
+		{#if settingOpen}
+			<Link to="/">
+				<Icon src={XMark} size="32" />
+			</Link>
+		{:else}
+			<Link to="/settings">
+				<Icon src={Bars3} size="32" />
+			</Link>
+		{/if}
+		<select
+			bind:value={selected_modes}
+			class="rounded-md outline outline-2 text-zinc-200 outline-zinc-600 bg-zinc-800"
+		>
+			{#each modes as mode}
+				<option>{mode}</option>
+			{/each}
+		</select>
+
+		<select
+			bind:value={selected_view}
+			class="rounded-md outline outline-2 text-zinc-200 outline-zinc-600 bg-zinc-800"
+		>
+			{#each views as view}
+				<option>{view}</option>
+			{/each}
+		</select>
+	</div>
+
+	<div class="flex gap-2 p-2">
+		<button class="action_button bg-zinc-600">
+			<Icon src={Power} size="24" />
+		</button>
+		<button class="action_button"><Icon src={Battery100} size="24" /></button>
+		<button class="action_button"
+			><Icon src={$isConnected ? Signal : SignalSlash} size="24" /></button
+		>
+	</div>
+	<div>
+		<button class="h-full w-20 bg-red-600 text-white" on:click={stop}>STOP</button>
+	</div>
+</div>
+
+<style>
+	.topbar {
+		height: 50px;
+	}
+	.action_button {
+		border-radius: 4px;
+		width: 34px;
+		height: 34px;
+		display: flex;
+		justify-content: center;
+		align-items: center;
+		outline: 1px solid #52525b;
+	}
+</style>
@@ -0,0 +1,180 @@
+<script lang="ts">
+	import { onDestroy, onMount } from 'svelte';
+	import { BufferGeometry, CanvasTexture, CircleGeometry, CubicBezierCurve3, Line, LineBasicMaterial, Mesh, MeshBasicMaterial, Vector3, type NormalBufferAttributes } from 'three';
+	import socketService from '$lib/services/socket-service';
+	import uzip from 'uzip';
+	import { model } from '$lib/stores';
+	import { footColor, isEmbeddedApp, location, toeWorldPositions } from '$lib/utilities';
+	import { fileService } from '$lib/services';
+	import { servoAngles, mpu, jointNames } from '$lib/stores';
+	import SceneBuilder from '$lib/sceneBuilder';
+	import { lerp, degToRad } from 'three/src/math/MathUtils';
+    import { GUI } from 'three/addons/libs/lil-gui.module.min.js';
+
+	let sceneManager = new SceneBuilder();
+	let canvas: HTMLCanvasElement, streamCanvas: HTMLCanvasElement, stream: HTMLImageElement;
+	let context: CanvasRenderingContext2D, texture: CanvasTexture;
+
+	let modelAngles: number[] | Int16Array = new Array(12).fill(0);
+	let modelTargetAngles: number[] | Int16Array = new Array(12).fill(0);
+
+    let feet_trace = new Array(4).fill([]);
+    let trace_lines: BufferGeometry<NormalBufferAttributes>[] = []
+
+	const videoStream = `//${location}/api/stream`;
+
+	let showStream = false;
+
+    let settings = {
+        'Trace feet':true,
+        'Trace points': 30,
+        'Fix camera on robot': true
+    }
+
+	onMount(async () => {
+        await cacheModelFiles()
+        await createScene();
+        if (!isEmbeddedApp) createPanel();
+	});
+
+	onDestroy(() => {
+		canvas.remove();
+	});
+
+    const createPanel = () => {
+        const panel = new GUI({width: 310});
+        panel.close();
+        panel.domElement.id = 'three-gui-panel';
+ 
+        const visibility = panel.addFolder('Visualization');
+        visibility.add(settings, 'Trace feet')
+        visibility.add(settings, 'Trace points', 1, 1000, 1)
+        visibility.add(settings, 'Fix camera on robot')
+    }
+
+	const cacheModelFiles = async () => {
+		let data = await fetch('/stl.zip').then((data) => data.arrayBuffer());
+
+		var files = uzip.parse(data);
+
+		for (const [path, data] of Object.entries(files) as [path: string, data: Uint8Array][]) {
+			const url = new URL(path, window.location.href);
+			fileService.saveFile(url.toString(), data);
+		}
+	};
+
+	const updateAngles = (name: string, angle: number) => {
+		modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI);
+		socketService.send(
+			JSON.stringify({
+				type: 'kinematic/angle',
+				angle: angle * (180 / Math.PI),
+				id: $jointNames.indexOf(name)
+			})
+		);
+	};
+
+	const createScene = async () => {
+		sceneManager
+			.addRenderer({ antialias: true, canvas: canvas, alpha: true })
+			.addPerspectiveCamera({ x: -0.5, y: 0.5, z: 1 })
+			.addOrbitControls(8, 30)
+			.addSky()
+			.addGroundPlane()
+			.addGridHelper({ size: 250, divisions: 125 })
+			.addAmbientLight({ color: 0xffffff, intensity: 0.7 })
+			.addDirectionalLight({ x: 10, y: 100, z: 10, color: 0xffffff, intensity: 1 })
+			.addArrowHelper({ origin: { x: 0, y: 0, z: 0 }, direction: { x: 0, y: -2, z: 0 } })
+			.addFogExp2(0xcccccc, 0.015)
+			.addModel($model)
+			.addDragControl(updateAngles)
+			.handleResize()
+			.addRenderCb(render)
+			.startRenderLoop();
+
+		addVideoStream();
+
+		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 addVideoStream = () => {
+		context = streamCanvas.getContext('2d')!;
+		texture = new CanvasTexture(stream);
+		const liveStream = new Mesh(
+			new CircleGeometry(35, 32),
+			new MeshBasicMaterial({ map: texture })
+		);
+		liveStream.position.z = -50;
+		liveStream.visible = showStream;
+		sceneManager.scene.add(liveStream);
+	};
+
+	const handleVideoStream = () => {
+		if (!showStream) return;
+		context.drawImage(stream, 0, 0);
+		texture.needsUpdate = true;
+	};
+
+    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 render = () => {
+		const robot = sceneManager.model;
+		if (!robot) return;
+
+        const toes = toeWorldPositions(robot)
+
+        renderTraceLines(toes)
+
+        if (settings['Fix camera on robot']) {
+            sceneManager.controls.target = robot.position.clone()
+        }
+
+		robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y));
+		robot.rotation.z = lerp(robot.rotation.z, degToRad($mpu.heading + 90), 0.1);
+		modelTargetAngles = $servoAngles;
+
+		handleVideoStream();
+
+		for (let i = 0; i < $jointNames.length; i++) {
+			modelAngles[i] = lerp(
+				(robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
+				modelTargetAngles[i],
+				0.1
+			);
+			robot.joints[$jointNames[i]].setJointValue(degToRad(modelAngles[i]));
+		}
+	};
+</script>
+
+<svelte:window on:resize={sceneManager.handleResize} />
+
+{#if showStream}
+	<img
+		bind:this={stream}
+		src={videoStream}
+		class="hidden"
+		alt="Live stream is down"
+		crossorigin="anonymous"
+	/>
+{/if}
+<canvas bind:this={streamCanvas} class="hidden"></canvas>
+<canvas bind:this={canvas} class="absolute"></canvas>
@@ -0,0 +1,19 @@
+<script lang="ts">
+	import { onDestroy } from 'svelte';
+	import { location } from '$lib/utilities';
+
+	let videoStream = `//${location}/api/stream`;
+
+	onDestroy(() => {
+		videoStream = '#';
+	});
+</script>
+
+<div class="w-full h-full">
+	<img
+		src={videoStream}
+		class="absolute object-cover blur-3xl w-full h-full -z-10"
+		alt="Live stream is down"
+	/>
+	<img src={videoStream} class="object-contain w-full h-full" alt="Live stream is down" />
+</div>
@@ -0,0 +1,11 @@
+<script lang="ts">
+    export let active = false
+</script>
+
+<button
+    on:click
+    class={$$restProps.class + ' rounded-md outline outline-2 text-zinc-200 outline-zinc-600 p-2' + 
+        (active ? ' bg-zinc-600' : '')}
+>
+<slot/>
+</button>
@@ -0,0 +1,29 @@
+<script lang="ts">
+    import { createEventDispatcher } from 'svelte'
+    const dispatch = createEventDispatcher()
+
+	export let value = 50;
+	export let min = 0;
+	export let max = 100;
+	export let label = '';
+
+    const dispatchValueInput = () => {
+        dispatch('value', value)
+    }
+</script>
+
+<div class="">
+	<input
+		id="range"
+		type="range"
+		{min}
+		{max}
+		bind:value
+        on:change
+        on:input={dispatchValueInput}
+		class="w-32 h-2 bg-gray-200 rounded-lg appearance-none cursor-pointer dark:bg-gray-700"
+	/>
+</div>
+<label for="range" class="block mb-2 text-sm font-medium text-gray-900 dark:text-white">{label}</label
+>
+
@@ -0,0 +1,86 @@
+<script lang="ts">
+	import { onMount } from 'svelte';
+	import { jointNames } from '../../lib/stores';
+
+	type Servo = {
+		id: number;
+		name: string;
+		minPWM: number;
+		maxPWM: number;
+		pwmFor180: number;
+	};
+
+	let servos: Servo[] = [];
+
+	onMount(() => {
+		jointNames.subscribe((data) => {
+			servos = data.map((name: string, i: number) => {
+				return {
+					id: i,
+					name,
+					minPWM: 0,
+					maxPWM: 0,
+					pwmFor180: 0
+				};
+			});
+		});
+	});
+
+	let selectedServo: number | null = null;
+
+	function updateServoValue(index: number, field: keyof Servo, value: number): void {
+		servos[index] = { ...servos[index], [field]: value };
+	}
+
+	const formatServo = (servo: Servo) => {
+		const string = servo.name;
+		const name = string.charAt(0).toUpperCase() + string.split('_').join(' ').slice(1);
+		return `${servo.id} ${name}`;
+	};
+</script>
+
+<div>
+	<div class="servo-selector">
+		<label for="servo-select">Select Servo:</label>
+		<select id="servo-select" class="bg-zinc-800" bind:value={selectedServo}>
+			{#each servos as servo}
+				<option value={servo.id}>{formatServo(servo)}</option>
+			{/each}
+		</select>
+	</div>
+
+	{#if selectedServo !== null}
+		<div class="mt-5">
+			<h2>Servo {formatServo(servos[selectedServo])} Calibration</h2>
+			<label for="minPWM">Min PWM:</label>
+			<input
+				type="number"
+				id="minPWM"
+				class="bg-zinc-800"
+				value={servos[selectedServo].minPWM}
+				on:blur={(event) =>
+					updateServoValue(selectedServo ?? 0, 'minPWM', Number(event.target?.value))}
+			/>
+
+			<label for="maxPWM">Max PWM:</label>
+			<input
+				type="number"
+				id="maxPWM"
+				class="bg-zinc-800"
+				value={servos[selectedServo].maxPWM}
+				on:blur={(event) =>
+					updateServoValue(selectedServo ?? 0, 'maxPWM', Number(event.target?.value))}
+			/>
+
+			<label for="pwmFor180">PWM for 180°:</label>
+			<input
+				type="number"
+				id="pwmFor180"
+				class="bg-zinc-800"
+				value={servos[selectedServo].pwmFor180}
+				on:blur={(event) =>
+					updateServoValue(selectedServo ?? 0, 'pwmFor180', Number(event.target?.value))}
+			/>
+		</div>
+	{/if}
+</div>
@@ -0,0 +1,23 @@
+<script lang="ts">
+	import { socketService } from '$lib/services';
+	import { isConnected, settings } from '$lib/stores';
+	import { onMount } from 'svelte';
+
+	onMount(() => {
+		if ($isConnected) {
+			const message = JSON.stringify({ type: 'system/settings' });
+			socketService.send(message);
+		}
+	});
+</script>
+
+<div class="w-full h-full">
+	<div>
+		{#each Object.entries($settings) as entry}
+			<div class="flex gap-8">
+				<div class="w-32">{entry[0]}:</div>
+				<div>{entry[1]}</div>
+			</div>
+		{/each}
+	</div>
+</div>
@@ -0,0 +1,28 @@
+<script lang="ts">
+	import { onMount } from 'svelte';
+	import { humanFileSize } from '$lib/utilities';
+	import socketService from '$lib/services/socket-service';
+	import { isConnected, systemInfo } from '$lib/stores';
+
+	onMount(() => {
+		if ($isConnected) {
+			const message = JSON.stringify({ type: 'system/info' });
+			socketService.send(message);
+		}
+	});
+</script>
+
+<div class="w-full h-full">
+	<div class="w-1/3">
+		{#each Object.entries($systemInfo ?? {}) as entry}
+			<div class="flex gap-8">
+				<div class="w-32">{entry[0]}:</div>
+				{#if entry[0].includes('Size') || entry[0].includes('Free') || entry[0].includes('Min')}
+					<div>{humanFileSize(entry[1])}</div>
+				{:else}
+					<div>{entry[1]}</div>
+				{/if}
+			</div>
+		{/each}
+	</div>
+</div>
@@ -0,0 +1,18 @@
+<script lang="ts">
+	import socketService from '$lib/services/socket-service';
+	import { isConnected, logs } from '$lib/stores';
+	import { onMount } from 'svelte';
+
+	onMount(() => {
+		if ($isConnected) {
+			const message = JSON.stringify({ type: 'system/logs' });
+			socketService.send(message);
+		}
+	});
+</script>
+
+<div class="w-full h-full">
+	{#each $logs as entry}
+		<div>{entry}</div>
+	{/each}
+</div>
@@ -0,0 +1,35 @@
+@tailwind base;
+@tailwind components;
+@tailwind utilities;
+
+/* @layer base {
+    :root {
+        --primary: 98 0 238;
+        --primary-variant: 55 0 179;
+        --secondary: 55 0 179;
+        --secondary-variant: 55 0 179;
+        --background: 255 255 255;
+        --surface: 251 251 250;
+        --error: 176 0 32;
+        --on-primary: 255 255 255;
+        --on-secondary: 0 0 0;
+        --on-background: 0 0 0;
+        --on-surface: 0 0 0;
+        --on-error: 255 255 255;
+    }
+  
+    :root[class~="dark"] {
+        --primary: 98 0 238;
+        --primary-variant: 55 0 179;
+        --secondary: 55 0 179;
+        --secondary-variant: 55 0 179;
+        --background: 30 30 30;
+        --surface: 36 36 36;
+        --error: 176 0 32;
+        --on-primary: 255 255 255;
+        --on-secondary: 255 255 255;
+        --on-background: 255 255 255;
+        --on-surface: 255 255 255;
+        --on-error: 255 255 255;
+    }
+  } */
@@ -1,79 +0,0 @@
-import { get } from 'svelte/store'
-import { Err, Ok, type Result } from './utilities'
-import { apiLocation } from './stores'
-
-export const api = {
-    get<TResponse>(endpoint: string, params?: RequestInit) {
-        return sendRequest<TResponse>(endpoint, 'GET', null, params)
-    },
-
-    post<TResponse>(endpoint: string, data?: unknown) {
-        return sendRequest<TResponse>(endpoint, 'POST', data)
-    },
-
-    put<TResponse>(endpoint: string, data?: unknown) {
-        return sendRequest<TResponse>(endpoint, 'PUT', data)
-    },
-
-    remove<TResponse>(endpoint: string) {
-        return sendRequest<TResponse>(endpoint, 'DELETE')
-    }
-}
-
-async function sendRequest<TResponse>(
-    endpoint: string,
-    method: string,
-    data?: unknown,
-    params?: RequestInit
-): Promise<Result<TResponse, Error>> {
-    endpoint = resolveUrl(endpoint)
-    const body = data !== null && typeof data !== 'undefined' ? JSON.stringify(data) : undefined
-
-    const request = {
-        ...params,
-        method,
-        body,
-        headers: {
-            ...params?.headers,
-            Authorization: 'Basic',
-            'Content-Type': 'application/json'
-        }
-    }
-
-    let response
-
-    try {
-        response = await fetch(endpoint, request)
-    } catch {
-        return Err.new(new Error(), 'An error has occurred')
-    }
-
-    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), 'An error has occurred')
-    }
-
-    const contentType = response.headers.get('Content-Type') ?? response.headers.get('Content-Type')
-    if (contentType && contentType.includes('application/json')) {
-        const data = await response.json()
-        return Ok.new(data as TResponse)
-    } else {
-        // Handle empty object as response
-        return Ok.new(null as TResponse)
-    }
-}
-
-function resolveUrl(url: string): string {
-    if (url.startsWith('http') || !get(apiLocation)) return url
-    const protocol = window.location.protocol
-    return `${protocol}//${get(apiLocation)}${url.startsWith('/') ? '' : '/'}${url}`
-}
-
-export class ApiError extends Error {
-    constructor(public readonly response: Response) {
-        super(`${response.status}`)
-    }
-}
@@ -1,44 +0,0 @@
-<script lang="ts">
-    import { slide } from 'svelte/transition'
-    import { cubicOut } from 'svelte/easing'
-    import { Down } from './icons'
-
-    function openCollapsible() {
-        open = !open
-        if (open) {
-            opened()
-        } else {
-            closed()
-        }
-    }
-
-    let { icon, title, children, open, opened, closed, class: klass } = $props()
-</script>
-
-<div class="{klass} relative grid w-full max-w-2xl self-center overflow-hidden">
-    <div
-        class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium"
-    >
-        <span class="inline-flex items-baseline">
-            {@render icon?.()}
-            {@render title?.()}
-        </span>
-        <button class="btn btn-circle btn-ghost btn-sm" onclick={() => openCollapsible()}>
-            <Down
-                class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {(
-                    open
-                ) ?
-                    'rotate-180'
-                :   ''}"
-            />
-        </button>
-    </div>
-    {#if open}
-        <div
-            class="flex flex-col gap-2 p-4 pt-0"
-            transition:slide|local={{ duration: 300, easing: cubicOut }}
-        >
-            {@render children?.()}
-        </div>
-    {/if}
-</div>
@@ -1,48 +0,0 @@
-<script lang="ts">
-    import { focusTrap } from 'svelte-focus-trap'
-    import { fly } from 'svelte/transition'
-    import { Cancel, Check } from '$lib/components/icons'
-    import { modals, exitBeforeEnter, type ModalProps } from 'svelte-modals'
-
-    let {
-        isOpen,
-        title,
-        message,
-        onConfirm,
-        labels = {
-            cancel: { label: 'Cancel', icon: Cancel },
-            confirm: { label: 'OK', icon: Check }
-        }
-    }: ModalProps = $props()
-</script>
-
-{#if isOpen}
-    {@const SvelteComponent = labels?.confirm.icon}
-    <div
-        role="dialog"
-        class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
-        transition:fly={{ y: 50 }}
-        use:exitBeforeEnter
-        use:focusTrap
-    >
-        <div
-            class="rounded-box bg-base-100 pointer-events-auto flex min-w-fit max-w-md flex-col justify-between p-4 shadow-lg"
-        >
-            <h2 class="text-base-content text-start text-2xl font-bold">{title}</h2>
-            <div class="divider my-2"></div>
-            <p class="text-base-content mb-1 text-start">{message}</p>
-            <div class="divider my-2"></div>
-            <div class="flex justify-end gap-2">
-                <button
-                    class="btn btn-error inline-flex items-center"
-                    onclick={() => modals.close()}
-                >
-                    <labels.cancel.icon class="mr-2 h-5 w-5" /><span>{labels?.cancel.label}</span>
-                </button>
-                <button class="btn btn-primary inline-flex items-center" onclick={onConfirm}>
-                    <SvelteComponent class="mr-2 h-5 w-5" /><span>{labels?.confirm.label}</span>
-                </button>
-            </div>
-        </div>
-    </div>
-{/if}
@@ -1,101 +0,0 @@
-<script lang="ts">
-    import { focusTrap } from 'svelte-focus-trap'
-    import { fly } from 'svelte/transition'
-    import { telemetry } from '$lib/stores/telemetry'
-    import { Cancel } from './icons'
-    import { modals, exitBeforeEnter, onBeforeClose } from 'svelte-modals'
-
-    // provided by <Modals />
-    interface Props {
-        isOpen: boolean
-    }
-
-    let { isOpen }: Props = $props()
-
-    let updating = $state(true)
-
-    let progress = $state(0)
-    $effect(() => {
-        if ($telemetry.download_ota.status == 'progress') {
-            progress = $telemetry.download_ota.progress
-        }
-    })
-
-    $effect(() => {
-        if ($telemetry.download_ota.status == 'error') {
-            updating = false
-        }
-    })
-
-    let message = $state('Preparing ...')
-
-    $effect(() => {
-        if ($telemetry.download_ota.status == 'progress') {
-            message = 'Downloading ...'
-        } else if ($telemetry.download_ota.status == 'error') {
-            message = $telemetry.download_ota.error
-        } else if ($telemetry.download_ota.status == 'finished') {
-            message = 'Restarting ...'
-            progress = 0
-            // Reload page after 5 sec
-            setTimeout(() => {
-                modals.closeAll()
-                location.reload()
-            }, 5000)
-        }
-    })
-
-    onBeforeClose(() => {
-        if (updating) {
-            // prevents modal from closing
-            return false
-        } else {
-            $telemetry.download_ota.status = 'idle'
-            $telemetry.download_ota.error = ''
-            $telemetry.download_ota.progress = 0
-            return true
-        }
-    })
-</script>
-
-{#if isOpen}
-    <div
-        role="dialog"
-        class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
-        transition:fly={{ y: 50 }}
-        use:exitBeforeEnter
-        use:focusTrap
-    >
-        <div
-            class="bg-base-100 rounded-box pointer-events-auto flex max-h-full min-w-fit max-w-md flex-col justify-between p-4 shadow-lg"
-        >
-            <h2 class="text-base-content text-start text-2xl font-bold">Updating Firmware</h2>
-            <div class="divider my-2"></div>
-            <div class="overflow-y-auto">
-                <div class="bg-base-100 flex flex-col items-center justify-center p-6">
-                    {#if $telemetry.download_ota.status == 'progress'}
-                        <progress class="progress progress-primary w-56" value={progress} max="100"
-                        ></progress>
-                    {:else}
-                        <progress class="progress progress-primary w-56"></progress>
-                    {/if}
-                    <p class="mt-8 text-2xl">{message}</p>
-                </div>
-            </div>
-            <div class="divider my-2"></div>
-            <div class="flex flex-wrap justify-end gap-2">
-                <div class="grow"></div>
-                <button
-                    class="btn btn-warning text-warning-content inline-flex flex-none items-center"
-                    disabled={updating}
-                    onclick={() => {
-                        modals.closeAll()
-                        location.reload()
-                    }}
-                >
-                    <Cancel class="mr-2 h-5 w-5" /><span>Close</span></button
-                >
-            </div>
-        </div>
-    </div>
-{/if}
@@ -1,43 +0,0 @@
-<script lang="ts">
-    import { focusTrap } from 'svelte-focus-trap'
-    import { fly } from 'svelte/transition'
-    import { Check } from './icons'
-    import { exitBeforeEnter, type ModalProps } from 'svelte-modals'
-
-    let {
-        isOpen,
-        title,
-        message,
-        onDismiss,
-        labels = {
-            dismiss: { label: 'Dismiss', icon: Check }
-        }
-    }: ModalProps = $props()
-</script>
-
-{#if isOpen}
-    <div
-        role="dialog"
-        class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
-        transition:fly={{ y: 50 }}
-        use:exitBeforeEnter
-        use:focusTrap
-    >
-        <div
-            class="rounded-box bg-base-100 pointer-events-auto flex min-w-fit max-w-md flex-col justify-between p-4 shadow-lg"
-        >
-            <h2 class="text-base-content text-start text-2xl font-bold">{title}</h2>
-            <div class="divider my-2"></div>
-            <p class="text-base-content mb-1 text-start">{message}</p>
-            <div class="divider my-2"></div>
-            <div class="flex justify-end gap-2">
-                <button
-                    class="btn btn-warning text-warning-content inline-flex items-center"
-                    onclick={onDismiss}
-                >
-                    <labels.dismiss.icon class="mr-2 h-5 w-5" /><span>{labels.dismiss.label}</span>
-                </button>
-            </div>
-        </div>
-    </div>
-{/if}
@@ -1,78 +0,0 @@
-<script lang="ts">
-    import { onMount, onDestroy } from 'svelte'
-    import * as THREE from 'three'
-    import { imu } from '$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>
@@ -1,76 +0,0 @@
-<script lang="ts">
-    import { slide } from 'svelte/transition'
-    import { cubicOut } from 'svelte/easing'
-    import { Down } from './icons'
-    interface Props {
-        open?: boolean
-        collapsible?: boolean
-        icon?: import('svelte').Snippet
-        title?: import('svelte').Snippet
-        children?: import('svelte').Snippet
-        right?: import('svelte').Snippet
-    }
-
-    let {
-        open = $bindable(true),
-        collapsible = true,
-        icon,
-        title,
-        children,
-        right
-    }: Props = $props()
-</script>
-
-{#if collapsible}
-    <div
-        class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg"
-    >
-        <div
-            class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium"
-        >
-            <span class="inline-flex items-baseline">
-                {@render icon?.()}
-                {@render title?.()}
-            </span>
-            <button
-                class="btn btn-circle btn-ghost btn-sm"
-                onclick={() => {
-                    open = !open
-                }}
-            >
-                <Down
-                    class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {(
-                        open
-                    ) ?
-                        'rotate-180'
-                    :   ''}"
-                />
-            </button>
-        </div>
-        {#if open}
-            <div
-                class="flex flex-col gap-2 p-4 pt-0"
-                transition:slide|local={{ duration: 300, easing: cubicOut }}
-            >
-                {@render children?.()}
-            </div>
-        {/if}
-    </div>
-{:else}
-    <div
-        class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg"
-    >
-        <div
-            class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium"
-        >
-            <span class="inline-flex items-baseline">
-                {@render icon?.()}
-                {@render title?.()}
-            </span>
-            {@render right?.()}
-        </div>
-        <div class="flex flex-col gap-2 p-4 pt-0">
-            {@render children?.()}
-        </div>
-    </div>
-{/if}
@@ -1,156 +0,0 @@
-<script lang="ts">
-    import { skill } from '$lib/stores'
-    import { onMount, onDestroy } from 'svelte'
-
-    let targetX = $state(0.5)
-    let targetZ = $state(0)
-    let targetYaw = $state(0)
-    let speed = $state(0.5)
-
-    const status = skill.status
-    const isActive = skill.isActive
-    const progress = skill.progress
-
-    const presets = [
-        { name: 'Forward 0.5m', x: 0.5, z: 0, yaw: 0 },
-        { name: 'Forward 1m', x: 1, z: 0, yaw: 0 },
-        { name: 'Back 0.5m', x: -0.5, z: 0, yaw: 0 },
-        { name: 'Left 0.5m', x: 0, z: 0.5, yaw: 0 },
-        { name: 'Right 0.5m', x: 0, z: -0.5, yaw: 0 },
-        { name: 'Turn Left 90°', x: 0, z: 0, yaw: 1.57 },
-        { name: 'Turn Right 90°', x: 0, z: 0, yaw: -1.57 },
-        { name: 'Turn 180°', x: 0, z: 0, yaw: 3.14 }
-    ]
-
-    onMount(() => skill.init())
-    onDestroy(() => skill.destroy())
-
-    function executeSkill() {
-        skill.walk(targetX, targetZ, targetYaw, speed)
-    }
-
-    function runPreset(preset: (typeof presets)[0]) {
-        skill.walk(preset.x, preset.z, preset.yaw, speed)
-    }
-
-    function formatMeters(val: number): string {
-        return val.toFixed(3) + 'm'
-    }
-
-    function formatDegrees(rad: number): string {
-        return ((rad * 180) / Math.PI).toFixed(1) + '°'
-    }
-</script>
-
-<div class="card bg-base-200 shadow-xl">
-    <div class="card-body p-4">
-        <h2 class="card-title text-sm flex justify-between">
-            Skill Control
-            <span class="badge" class:badge-success={$isActive} class:badge-ghost={!$isActive}>
-                {$isActive ? 'Active' : 'Idle'}
-            </span>
-        </h2>
-
-        <div class="grid grid-cols-2 gap-2 text-xs mb-2">
-            <div class="stat bg-base-300 rounded-lg p-2">
-                <div class="stat-title text-xs">Position</div>
-                <div class="stat-value text-sm">
-                    {formatMeters($status.x)}, {formatMeters($status.z)}
-                </div>
-                <div class="stat-desc">Yaw: {formatDegrees($status.yaw)}</div>
-            </div>
-            <div class="stat bg-base-300 rounded-lg p-2">
-                <div class="stat-title text-xs">Distance</div>
-                <div class="stat-value text-sm">{formatMeters($status.distance)}</div>
-                <div class="stat-desc">Total traveled</div>
-            </div>
-        </div>
-
-        {#if $isActive}
-            <div class="mb-2">
-                <div class="flex justify-between text-xs mb-1">
-                    <span>Progress</span>
-                    <span>{($progress * 100).toFixed(0)}%</span>
-                </div>
-                <progress class="progress progress-primary w-full" value={$progress} max="1"></progress>
-                <div class="text-xs text-base-content/60 mt-1">
-                    Target: ({$status.skill_target_x.toFixed(2)}, {$status.skill_target_z.toFixed(2)}, {formatDegrees(
-                        $status.skill_target_yaw
-                    )})
-                </div>
-            </div>
-        {/if}
-
-        <div class="divider my-1 text-xs">Presets</div>
-
-        <div class="grid grid-cols-4 gap-1">
-            {#each presets as preset}
-                <button class="btn btn-xs btn-outline" onclick={() => runPreset(preset)}>
-                    {preset.name}
-                </button>
-            {/each}
-        </div>
-
-        <div class="divider my-1 text-xs">Custom</div>
-
-        <div class="grid grid-cols-3 gap-2">
-            <div class="form-control">
-                <label class="label py-0" for="skill-x">
-                    <span class="label-text text-xs">X (m)</span>
-                </label>
-                <input
-                    id="skill-x"
-                    type="number"
-                    step="0.1"
-                    bind:value={targetX}
-                    class="input input-bordered input-xs w-full"
-                />
-            </div>
-            <div class="form-control">
-                <label class="label py-0" for="skill-z">
-                    <span class="label-text text-xs">Z (m)</span>
-                </label>
-                <input
-                    id="skill-z"
-                    type="number"
-                    step="0.1"
-                    bind:value={targetZ}
-                    class="input input-bordered input-xs w-full"
-                />
-            </div>
-            <div class="form-control">
-                <label class="label py-0" for="skill-yaw">
-                    <span class="label-text text-xs">Yaw (rad)</span>
-                </label>
-                <input
-                    id="skill-yaw"
-                    type="number"
-                    step="0.1"
-                    bind:value={targetYaw}
-                    class="input input-bordered input-xs w-full"
-                />
-            </div>
-        </div>
-
-        <div class="form-control mt-2">
-            <label class="label py-0" for="skill-speed">
-                <span class="label-text text-xs">Speed: {speed.toFixed(2)}</span>
-            </label>
-            <input id="skill-speed" type="range" min="0.1" max="1" step="0.05" bind:value={speed} class="range range-xs range-primary" />
-        </div>
-
-        <div class="card-actions justify-between mt-2">
-            <div class="flex gap-1">
-                <button class="btn btn-xs btn-ghost" onclick={() => skill.resetPosition()}>Reset Pos</button>
-            </div>
-            <div class="flex gap-1">
-                <button class="btn btn-xs btn-error" onclick={() => skill.stop()} disabled={!$isActive}>
-                    Stop
-                </button>
-                <button class="btn btn-xs btn-primary" onclick={executeSkill} disabled={$isActive}>
-                    Execute
-                </button>
-            </div>
-        </div>
-    </div>
-</div>
@@ -1,8 +0,0 @@
-<script lang="ts">
-    import { Loader } from './icons'
-</script>
-
-<div class="flex h-full w-full flex-col items-center justify-center p-6">
-    <Loader class="text-primary h-14 w-auto animate-spin stroke-2" />
-    <p class="text-xl">Loading...</p>
-</div>
@@ -1,47 +0,0 @@
-<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 = $derived(icon)
-
-    const variants: Record<Variant, [string, string]> = {
-        success: ['bg-success', 'text-success-content'],
-        error: ['bg-error', 'text-error-content'],
-        primary: ['bg-primary', 'text-primary-content'],
-        info: ['bg-info', 'text-info-content'],
-        warning: ['bg-warning', 'text-warning-content']
-    }
-
-    const variantKey: Variant = (variant as Variant) in variants ? (variant as Variant) : 'primary'
-    const [bgColor, textColor] = variants[variantKey]
-</script>
-
-<div class="rounded-box bg-base-100 flex items-center space-x-3 px-4 py-2 {klass}">
-    {#if icon}
-        <div class="mask mask-hexagon {bgColor} h-auto w-10 flex-none">
-            <Icon class="{textColor} h-auto w-full scale-75" />
-        </div>
-    {/if}
-    <div class="grow">
-        <div class="font-bold">{title}</div>
-        <div class="text-sm opacity-75 grow">{description}</div>
-    </div>
-    {@render children?.()}
-</div>
@@ -1,17 +0,0 @@
-<script lang="ts">
-    import { onDestroy } from 'svelte'
-    import { apiLocation } from '$lib/stores'
-
-    let source = $state(`${$apiLocation}/api/camera/stream`)
-
-    onDestroy(() => (source = '#'))
-</script>
-
-<div class="w-full h-full">
-    <img
-        src={source}
-        class="absolute object-cover blur-3xl w-full h-full -z-10"
-        alt="Live stream is down"
-    />
-    <img src={source} class="object-contain w-full h-full" alt="Live stream is down" />
-</div>
@@ -1,37 +0,0 @@
-<script>
-    import { flip } from 'svelte/animate'
-    import { fly } from 'svelte/transition'
-    import { notifications } from '$lib/components/toasts/notifications'
-    import { error, info, success, warning } from './icons'
-
-    /** @type {{theme?: any, icon?: any}} */
-    let {
-        theme = {
-            error: 'alert-error',
-            success: 'alert-success',
-            warning: 'alert-warning',
-            info: 'alert-info'
-        },
-        icon = {
-            error: error,
-            success: success,
-            warning: warning,
-            info: info
-        }
-    } = $props()
-</script>
-
-<div class="toast toast-end mr-4">
-    {#each $notifications as notification (notification.id)}
-        {@const SvelteComponent = icon[notification.type]}
-        <div
-            animate:flip={{ duration: 400 }}
-            class="alert animate-none {theme[notification.type]}"
-            in:fly={{ y: 100, duration: 400 }}
-            out:fly={{ x: 100, duration: 400 }}
-        >
-            <SvelteComponent class="h-6 w-6 shrink-0" />
-            <span>{notification.message}</span>
-        </div>
-    {/each}
-</div>
@@ -1,348 +0,0 @@
-<script lang="ts">
-    import { onDestroy, onMount } from 'svelte'
-    import {
-        Mesh,
-        MeshBasicMaterial,
-        type Object3D,
-        SphereGeometry,
-        Vector3,
-        type Object3DEventMap,
-        Color
-    } from 'three'
-    import {
-        ModesEnum,
-        kinematicData,
-        mode,
-        model,
-        outControllerData,
-        servoAnglesOut,
-        servoAngles,
-        mpu,
-        jointNames,
-        currentKinematic,
-        walkGait,
-        walkGaitToMode
-    } from '$lib/stores'
-    import { 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 { type body_state_t } from '$lib/kinematic'
-    import { BezierState, CalibrationState, IdleState, RestState, StandState } from '$lib/gait'
-    import { radToDeg } from 'three/src/math/MathUtils.js'
-    import type { URDFRobot } from 'urdf-loader'
-    import { get } from 'svelte/store'
-
-    interface Props {
-        defaultColor?: string | null
-        orbit?: boolean
-        panel?: boolean
-        debug?: boolean
-        ground?: boolean
-    }
-
-    let {
-        defaultColor = '#0091ff',
-        orbit = false,
-        panel = true,
-        debug = false,
-        ground = true
-    }: Props = $props()
-
-    let sceneManager = $state(new SceneBuilder())
-    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 target: Object3D<Object3DEventMap>
-
-    let target_position = { x: 0, z: 0, yaw: 0 }
-
-    let kinematic = get(currentKinematic)
-
-    let planners = {
-        [ModesEnum.Deactivated]: new IdleState(),
-        [ModesEnum.Idle]: new IdleState(),
-        [ModesEnum.Calibration]: new CalibrationState(),
-        [ModesEnum.Rest]: new RestState(),
-        [ModesEnum.Stand]: new StandState(),
-        [ModesEnum.Walk]: new BezierState()
-    }
-    let lastTick = performance.now()
-
-    const dir = [1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1]
-    const THREEJS_SCALE = 10
-
-    let body_state = {
-        omega: 0,
-        phi: 0,
-        psi: 0,
-        xm: 0,
-        ym: 0.15,
-        zm: 0,
-        feet: kinematic.getDefaultFeetPos(),
-        cumulative_x: 0,
-        cumulative_y: 0,
-        cumulative_z: 0,
-        cumulative_roll: 0,
-        cumulative_pitch: 0,
-        cumulative_yaw: 0
-    }
-
-    let settings = {
-        'Internal kinematic': true,
-        'Robot transform controls': false,
-        'Auto orient robot': true,
-        'Trace feet': debug,
-        'Target position': false,
-        'Trace points': 30,
-        'Fix camera on robot': true,
-        'Smooth motion': true,
-        omega: 0,
-        phi: 0,
-        psi: 0,
-        xm: 0,
-        ym: 0.15,
-        zm: 0,
-        Background: defaultColor
-    }
-
-    onMount(async () => {
-        await populateModelCache()
-        await createScene()
-        servoAngles.subscribe(updateAnglesFromStore)
-        walkGait.subscribe(gait => planners[ModesEnum.Walk].set_mode(walkGaitToMode(gait)))
-        if (panel) createPanel()
-    })
-
-    onDestroy(() => {
-        canvas.remove()
-        gui_panel?.destroy()
-    })
-
-    const updateAnglesFromStore = (angles: number[]) => {
-        if (sceneManager.isDragging) return
-        if (settings['Internal kinematic']) return
-        modelTargetAngles = angles
-    }
-
-    const createPanel = () => {
-        gui_panel = new GUI({ width: 310 })
-        gui_panel.close()
-        gui_panel.domElement.id = 'three-gui-panel'
-
-        const general = gui_panel.addFolder('General')
-        general.add(settings, 'Internal kinematic')
-        general.add(settings, 'Robot transform controls')
-        general.add(settings, 'Auto orient robot')
-
-        const kinematic = gui_panel.addFolder('Kinematics')
-        kinematic.add(settings, 'omega', -20, 20).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'phi', -30, 30).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'psi', -20, 15).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'xm', -1, 1).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'ym', 0, 1).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'zm', -1.3, 1.3).onChange(updateKinematicPosition).listen()
-
-        const visibility = gui_panel.addFolder('Visualization')
-        visibility.add(settings, 'Trace feet')
-        visibility.add(settings, 'Trace points', 1, 1000, 1)
-        visibility.add(settings, 'Target position')
-        visibility.add(settings, 'Smooth motion')
-        visibility.addColor(settings, 'Background').onChange(setSceneBackground).listen()
-    }
-
-    const updateKinematicPosition = () => {
-        kinematicData.set([
-            settings.omega,
-            settings.phi,
-            settings.psi,
-            settings.xm,
-            settings.ym,
-            settings.zm
-        ])
-    }
-
-    const setSceneBackground = (c: string | null) => (sceneManager.scene.background = new Color(c!))
-
-    const updateAngles = (name: string, angle: number) => {
-        modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI)
-        Throttler.throttle(
-            () => 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(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 as URDFRobot)
-            .addTransformControls(sceneManager.model)
-            .fillParent()
-            .addRenderCb(render)
-            .startRenderLoop()
-
-        if (ground) sceneManager.addGroundPlane()
-
-        const geometry = new SphereGeometry(0.1, 32, 16)
-        const material = new MeshBasicMaterial({ color: 0xffff00 })
-        target = new Mesh(geometry, material)
-        sceneManager.scene.add(target)
-
-        if (debug) {
-            sceneManager.addDragControl(angles => {
-                Object.entries(angles).forEach(([name, angle]) => {
-                    updateAngles(name, angle)
-                })
-            })
-        }
-        if (defaultColor) setSceneBackground(settings['Background'] || defaultColor)
-    }
-
-    const calculate_kinematics = () => {
-        if (sceneManager.isDragging || !settings['Internal kinematic']) return
-        const position: body_state_t = {
-            omega: settings.omega,
-            phi: settings.phi,
-            psi: settings.psi,
-            xm: settings.xm,
-            ym: settings.ym,
-            zm: settings.zm,
-            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]))
-        modelTargetAngles = new_angles
-    }
-
-    const orient_robot = (robot: URDFRobot, toes: Vector3[]) => {
-        if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
-        robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y))
-
-        const cumulativeYaw = body_state.cumulative_yaw
-
-        const cosYaw = Math.cos(cumulativeYaw)
-        const sinYaw = Math.sin(cumulativeYaw)
-        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) * THREEJS_SCALE,
-            0.1
-        )
-        robot.position.z = smooth(
-            robot.position.z,
-            (-rotatedXm - body_state.cumulative_x) * THREEJS_SCALE,
-            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) => {
-        if (!settings['Fix camera on robot']) return
-        sceneManager.orbit.target = robot.position.clone()
-    }
-
-    const smooth = (start: number, end: number, amount: number) => {
-        return settings['Smooth motion'] ? lerp(start, end, amount) : end
-    }
-
-    const update_gait = () => {
-        if (sceneManager.isDragging || !settings['Internal kinematic']) return
-        const controlData = get(outControllerData)
-        const data = {
-            lx: controlData[0],
-            ly: controlData[1],
-            rx: controlData[2],
-            ry: controlData[3],
-            h: controlData[4],
-            s: controlData[5],
-            s1: controlData[6]
-        }
-
-        let planner = planners[get(mode)]
-        const delta = performance.now() - lastTick
-        lastTick = performance.now()
-
-        body_state = planner.step(body_state, data, delta)
-
-        settings.omega = body_state.omega
-        settings.phi = body_state.phi
-        settings.psi = body_state.psi
-        settings.xm = body_state.xm
-        settings.ym = body_state.ym
-        settings.zm = body_state.zm
-    }
-
-    const update_robot_position = (robot: URDFRobot) => {
-        if (!settings['Robot transform controls']) return
-        settings.omega = radToDeg(robot.rotation.y)
-        settings.phi = radToDeg(robot.rotation.z) + $mpu.heading - 90
-        settings.psi = radToDeg(robot.rotation.x) + 90
-        settings.xm = robot.position.z / THREEJS_SCALE
-        settings.zm = -robot.position.x / THREEJS_SCALE
-    }
-
-    const updateTargetPosition = () => {
-        target.visible = settings['Target position']
-        target.position.x = smooth(target.position.x, target_position.x, 0.5)
-        target.position.z = smooth(target.position.z, target_position.z, 0.5)
-    }
-
-    const render = () => {
-        const robot = sceneManager.model
-        if (!robot) return
-
-        const toes = getToeWorldPositions(robot)
-
-        update_camera(robot)
-        update_gait()
-        calculate_kinematics()
-        update_robot_position(robot)
-
-        sceneManager.transformControl.showX = settings['Robot transform controls']
-        sceneManager.transformControl.showY = settings['Robot transform controls']
-        sceneManager.transformControl.showZ = settings['Robot transform controls']
-
-        for (let i = 0; i < $jointNames.length; i++) {
-            currentModelAngles[i] = smooth(
-                (robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
-                modelTargetAngles[i],
-                0.1
-            )
-            robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]))
-        }
-
-        orient_robot(robot, toes)
-        updateTargetPosition()
-    }
-</script>
-
-<svelte:window onresize={sceneManager.fillParent} />
-
-<canvas bind:this={canvas}></canvas>
@@ -1,96 +0,0 @@
-export { default as Connection } from '~icons/mdi/connection'
-export { default as Users } from '~icons/mdi/users'
-export { default as Settings } from '~icons/mdi/settings'
-export { default as MdiController } from '~icons/mdi/controller'
-export { default as Devices } from '~icons/mdi/devices'
-export { default as Camera } from '~icons/mdi/camera-outline'
-export { default as Rotate3d } from '~icons/mdi/rotate-3d'
-export { default as MotorOutline } from '~icons/mdi/motor-outline'
-export { default as Health } from '~icons/mdi/stethoscope'
-export { default as Folder } from '~icons/mdi/folder-outline'
-export { default as Update } from '~icons/mdi/reload'
-export { default as Router } from '~icons/mdi/router'
-export { default as AP } from '~icons/mdi/access-point'
-export { default as Remote } from '~icons/mdi/network'
-export { default as Copyright } from '~icons/mdi/copyright'
-export { default as NTP } from '~icons/mdi/clock-check'
-export { default as Metrics } from '~icons/mdi/report-bar'
-export { default as MdiEyeOutline } from '~icons/mdi/eye-outline'
-export { default as MdiEyeOffOutline } from '~icons/mdi/eye-off-outline'
-export { default as Github } from '~icons/mdi/github'
-export { default as Avatar } from '~icons/mdi/user-circle'
-export { default as Logout } from '~icons/mdi/logout'
-export { default as Record } from '~icons/mdi/radio-button-unchecked'
-export { default as MdiFullscreen } from '~icons/mdi/fullscreen'
-export { default as MdiFullscreenExit } from '~icons/mdi/fullscreen-exit'
-export { default as WiFi } from '~icons/tabler/wifi'
-export { default as WiFi0 } from '~icons/tabler/wifi-0'
-export { default as WiFi1 } from '~icons/tabler/wifi-1'
-export { default as WiFi2 } from '~icons/tabler/wifi-2'
-export { default as WifiOff } from '~icons/tabler/wifi-off'
-export { default as MdiWeatherSunny } from '~icons/mdi/weather-sunny'
-export { default as MdiMoonAndStars } from '~icons/mdi/moon-and-stars'
-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'
-export { default as Check } from '~icons/tabler/check'
-export { default as Login } from '~icons/tabler/login'
-export { default as Loader } from '~icons/tabler/loader-2'
-export { default as error } from '~icons/tabler/circle-x'
-export { default as success } from '~icons/tabler/circle-check'
-export { default as warning } from '~icons/tabler/alert-triangle'
-export { default as info } from '~icons/tabler/info-circle'
-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/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/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'
-export { default as Reload } from '~icons/tabler/reload'
-
-export { default as Firmware } from '~icons/tabler/refresh-alert'
-export { default as CloudDown } from '~icons/tabler/cloud-download'
-export { default as Server } from '~icons/tabler/server'
-export { default as Clock } from '~icons/tabler/clock'
-export { default as UTC } from '~icons/tabler/clock-pin'
-export { default as Stopwatch } from '~icons/tabler/24-hours'
-
-export { default as CPU } from '~icons/tabler/cpu'
-export { default as CPP } from '~icons/tabler/binary'
-export { default as Sleep } from '~icons/tabler/zzz'
-export { default as FactoryReset } from '~icons/tabler/refresh-dot'
-export { default as Speed } from '~icons/tabler/activity'
-export { default as Flash } from '~icons/tabler/device-sd-card'
-export { default as Pyramid } from '~icons/tabler/pyramid'
-export { default as Sketch } from '~icons/tabler/chart-pie'
-export { default as Heap } from '~icons/tabler/box-model'
-export { default as Temperature } from '~icons/tabler/temperature'
-export { default as SDK } from '~icons/tabler/sdk'
-
-export { default as Prerelease } from '~icons/tabler/test-pipe'
-export { default as Error } from '~icons/tabler/circle-x'
-
-export { default as OTA } from '~icons/tabler/file-upload'
-export { default as Warning } from '~icons/tabler/alert-triangle'
-
-export { default as AddUser } from '~icons/tabler/user-plus'
-export { default as Admin } from '~icons/tabler/key'
-export { default as Save } from '~icons/tabler/device-floppy'
@@ -1,26 +0,0 @@
-<script lang="ts">
-    import { MdiEyeOffOutline, MdiEyeOutline } from '../icons'
-
-    interface Props {
-        show?: boolean
-        value?: string
-        id?: string
-    }
-
-    let { show = $bindable(false), value = $bindable(''), id = '' }: Props = $props()
-
-    let type = $derived(show ? 'text' : 'password')
-
-    const handleInput = (e: Event) => (value = (e.target as HTMLInputElement).value)
-
-    const togglePassword = () => (show = !show)
-</script>
-
-<label class="input input-bordered flex items-center gap-2">
-    <input {type} class="grow" {value} oninput={handleInput} {id} />
-    <!-- svelte-ignore a11y_click_events_have_key_events -->
-    <div onclick={togglePassword} role="button" tabindex="0">
-        <MdiEyeOffOutline class="text-base-content/50 h-6 {show ? 'block' : 'hidden'}" />
-        <MdiEyeOutline class="text-base-content/50 h-6 {show ? 'hidden' : 'block'}" />
-    </div>
-</label>
@@ -1,35 +0,0 @@
-<script lang="ts">
-    interface Props {
-        min?: number
-        max?: number
-        step?: number
-        value?: number
-        oninput?: (value: number) => void
-    }
-
-    let {
-        min = 0,
-        max = 100,
-        step = 1,
-        value = $bindable((max - min) / 2),
-        ...rest
-    }: Props = $props()
-</script>
-
-<input
-    type="range"
-    style="writing-mode: vertical-lr; direction: rtl"
-    class="cursor-pointer"
-    {min}
-    {max}
-    {step}
-    bind:value
-    {...rest}
-/>
-
-<style>
-    input[type='range']::-webkit-slider-runnable-track {
-        background: oklch(var(--p) / 1);
-        border-radius: var(--rounded-box, 1rem);
-    }
-</style>
@@ -1,2 +0,0 @@
-export { default as PasswordInput } from './InputPassword.svelte'
-export { default as VerticalSlider } from './VerticalSlider.svelte'
@@ -1,11 +0,0 @@
-<script lang="ts">
-    interface Props {
-        children?: import('svelte').Snippet
-    }
-
-    let { children }: Props = $props()
-</script>
-
-<div class="box-border overflow-hidden flex-1">
-    {@render children?.()}
-</div>
@@ -1,41 +0,0 @@
-<script lang="ts">
-    import WidgetContainer from './WidgetContainer.svelte'
-    import {
-        WidgetComponents,
-        type WidgetContainerConfig,
-        isWidgetConfig
-    } from '$lib/stores/application'
-    import Widget from './Widget.svelte'
-
-    interface Props {
-        container: WidgetContainerConfig
-    }
-
-    let { container }: Props = $props()
-</script>
-
-<div class="w-full h-full flex flex-col overflow-hidden">
-    <div
-        class="flex w-full h-full"
-        class:flex-row={container.layout === 'column'}
-        class:flex-col={container.layout === 'row'}
-        class:flex-wrap={container.layout === 'wrap'}
-    >
-        {#each container.widgets as widget, index (widget.id + '-' + index)}
-            <Widget>
-                {#if isWidgetConfig(widget)}
-                    {@const SvelteComponent = WidgetComponents[widget.component]}
-                    <SvelteComponent {...widget.props} />
-                {:else if widget.widgets}
-                    <WidgetContainer container={widget} />
-                {/if}
-            </Widget>
-            {#if index !== container.widgets.length - 1}
-                <div
-                    class="divider bg-base-300 m-0"
-                    class:divider-horizontal={container.layout === 'column'}
-                ></div>
-            {/if}
-        {/each}
-    </div>
-</div>
@@ -1,15 +0,0 @@
-<script lang="ts">
-    import { Github } from '../icons'
-
-    interface Props {
-        github: { url: string; version: string; active?: boolean; href?: string }
-    }
-
-    let { github }: Props = $props()
-</script>
-
-{#if github.active}
-    <a href={github.href} class="btn btn-ghost" target="_blank" rel="noopener noreferrer">
-        <Github class="h-5 w-5" />
-    </a>
-{/if}
@@ -1,15 +0,0 @@
-<script>
-    import logo from '$lib/assets/logo512.png'
-    import { resolve } from '$app/paths'
-
-    /** @type {{appName: any}} */
-    let { appName } = $props()
-</script>
-
-<a
-    href={resolve('/')}
-    class="rounded-box mb-4 flex items-center hover:scale-[1.02] active:scale-[0.98]"
->
-    <img src={logo} alt="Logo" class="h-12 w-12" />
-    <h1 class="px-4 text-2xl font-bold">{appName}</h1>
-</a>
@@ -1,200 +0,0 @@
-<script lang="ts">
-    import { page } from '$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'
-    import MenuList from '../menu/MenuList.svelte'
-    import {
-        Connection,
-        Settings,
-        MdiController,
-        Devices,
-        Camera,
-        Rotate3d,
-        MotorOutline,
-        Health,
-        Folder,
-        Update,
-        WiFi,
-        Router,
-        AP,
-        Copyright,
-        Metrics,
-        DNS
-    } from '$lib/components/icons'
-    import { PUBLIC_VITE_USE_HOST_NAME } from '$env/static/public'
-
-    const features = useFeatureFlags()
-
-    const appName = page.data.app_name
-
-    const copyright = page.data.copyright
-
-    const github = { href: 'https://github.com/' + page.data.github, active: true }
-
-    import type { ComponentType } from 'svelte'
-
-    type menuItem = {
-        title: string
-        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(() => {
-        menuItems = [
-            {
-                title: 'Connection',
-                icon: WiFi,
-                href: withBase('/connection'),
-                feature: !PUBLIC_VITE_USE_HOST_NAME
-            },
-            {
-                title: 'Controller',
-                icon: MdiController,
-                href: withBase('/controller'),
-                feature: true
-            },
-            {
-                title: 'Peripherals',
-                icon: Devices,
-                feature: true,
-                submenu: [
-                    {
-                        title: 'I2C',
-                        icon: Connection,
-                        href: withBase('/peripherals/i2c'),
-                        feature: true
-                    },
-                    {
-                        title: 'Camera',
-                        icon: Camera,
-                        href: withBase('/peripherals/camera'),
-                        feature: $features.camera
-                    },
-                    {
-                        title: 'Servo',
-                        icon: MotorOutline,
-                        href: withBase('/peripherals/servo'),
-                        feature: true
-                    },
-                    {
-                        title: 'IMU',
-                        icon: Rotate3d,
-                        href: withBase('/peripherals/imu'),
-                        feature: $features.imu || $features.mag || $features.bmp
-                    }
-                ]
-            },
-            {
-                title: 'WiFi',
-                icon: WiFi,
-                feature: true,
-                submenu: [
-                    {
-                        title: 'WiFi Station',
-                        icon: Router,
-                        href: withBase('/wifi/sta'),
-                        feature: true
-                    },
-                    {
-                        title: 'Access Point',
-                        icon: AP,
-                        href: withBase('/wifi/ap'),
-                        feature: true
-                    },
-                    {
-                        title: 'mDNS',
-                        icon: DNS,
-                        href: withBase('/wifi/mdns'),
-                        feature: true
-                    }
-                ]
-            },
-            {
-                title: 'System',
-                icon: Settings,
-                feature: true,
-                submenu: [
-                    {
-                        title: 'System Status',
-                        icon: Health,
-                        href: withBase('/system/status'),
-                        feature: true
-                    },
-                    {
-                        title: 'File System',
-                        icon: Folder,
-                        href: withBase('/system/filesystem'),
-                        feature: true
-                    },
-                    {
-                        title: 'System Metrics',
-                        icon: Metrics,
-                        href: withBase('/system/metrics'),
-                        feature: true
-                    },
-                    {
-                        title: 'Firmware Update',
-                        icon: Update,
-                        href: withBase('/system/update'),
-                        feature:
-                            $features.ota ||
-                            $features.upload_firmware ||
-                            $features.download_firmware
-                    }
-                ]
-            }
-        ] as menuItem[]
-    })
-
-    const { menuClicked } = $props()
-
-    function setActiveMenuItem(targetTitle: string) {
-        menuItems.forEach(item => {
-            item.active = item.title === targetTitle
-            item.submenu?.forEach(subItem => {
-                subItem.active = subItem.title === targetTitle
-            })
-        })
-        menuItems = menuItems
-        menuClicked()
-    }
-
-    $effect(() => {
-        setActiveMenuItem(page.data.title)
-    })
-
-    const updateMenu = (event: CustomEvent) => {
-        setActiveMenuItem(event.details)
-    }
-</script>
-
-<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 overflow-x-hidden"
-        level="0"
-    />
-
-    <div class="divider my-0"></div>
-
-    <div class="flex items-center justify-between">
-        <GithubButton {github} />
-        <div class="flex items-center justify-end text-sm gap-2">
-            <Copyright class="h-4 w-4" />{copyright}
-        </div>
-    </div>
-</div>
@@ -1,56 +0,0 @@
-<script lang="ts">
-    import MenuList from './MenuList.svelte'
-    import type { ComponentType } from 'svelte'
-
-    type MenuItem = {
-        title: string
-        icon: ComponentType
-        href?: string
-        feature: boolean
-        active?: boolean
-        submenu?: MenuItem[]
-    }
-
-    let { level, menuItems, select, class: klass } = $props()
-
-    const selectMenuItem = (title: string) => {
-        select(title)
-    }
-</script>
-
-<ul class={klass + ' menu w-full'}>
-    {#each menuItems as MenuItem[] as menuItem (menuItem.title)}
-        {#if menuItem.feature}
-            <li>
-                {#if menuItem.submenu}
-                    <details open={menuItem.submenu.some(subItem => subItem.active)}>
-                        <summary class="font-bold">
-                            <menuItem.icon class="h-6 w-6" />
-                            {menuItem.title}
-                        </summary>
-                        <div class="pl-4">
-                            <MenuList
-                                menuItems={menuItem.submenu}
-                                level={level + 1}
-                                {select}
-                                class={klass}
-                            />
-                        </div>
-                    </details>
-                {:else}
-                    <a
-                        href={menuItem.href}
-                        class="font-bold"
-                        class:bg-base-100={menuItem.active}
-                        class:text-lg={level === 0}
-                        class:text-md={level === 1}
-                        onclick={() => selectMenuItem(menuItem.title)}
-                    >
-                        <menuItem.icon class="h-6 w-6" />
-                        {menuItem.title}
-                    </a>
-                {/if}
-            </li>
-        {/if}
-    {/each}
-</ul>
@@ -1,10 +0,0 @@
-<script lang="ts">
-    import { isFullscreen, toggleFullscreen } from '$lib/stores'
-    import { MdiFullscreenExit, MdiFullscreen } from '../icons'
-
-    const SvelteComponent = $derived($isFullscreen ? MdiFullscreenExit : MdiFullscreen)
-</script>
-
-<button onclick={toggleFullscreen}>
-    <SvelteComponent class="h-7 w-7" />
-</button>
@@ -1,33 +0,0 @@
-<script lang="ts">
-    import { WiFi, WiFi0, WiFi1, WiFi2, WifiOff } from '../icons'
-
-    interface Props {
-        showDBm?: boolean
-        rssi?: number
-    }
-
-    let { showDBm = false, rssi = 0 }: Props = $props()
-
-    const getWiFiIcon = () => {
-        if (rssi === 0) return WifiOff
-        if (rssi >= -55) return WiFi
-        if (rssi >= -75) return WiFi2
-        if (rssi >= -85) return WiFi1
-        return WiFi0
-    }
-
-    const SvelteComponent = $derived(getWiFiIcon())
-</script>
-
-<div class="indicator">
-    <div class="tooltip tooltip-left" data-tip={rssi + ' dBm'}>
-        {#if showDBm}
-            <span class="indicator-item indicator-start badge badge-accent badge-outline badge-xs">
-                {rssi} dBm
-            </span>
-        {/if}
-        <div class="h-7 w-7">
-            <SvelteComponent class="absolute inset-0 h-full w-full" />
-        </div>
-    </div>
-</div>
@@ -1,34 +0,0 @@
-<script lang="ts">
-    import { useFeatureFlags } from '$lib/stores'
-    import { modals } from 'svelte-modals'
-    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte'
-    import { api } from '$lib/api'
-    import { Cancel, Power } from '../icons'
-
-    const features = useFeatureFlags()
-
-    const postSleep = async () => await api.post('/api/system/sleep')
-
-    const confirmSleep = () => {
-        modals.open(ConfirmDialog, {
-            title: 'Confirm Power Down',
-            message: 'Are you sure you want to switch off the device?',
-            labels: {
-                cancel: { label: 'Abort', icon: Cancel },
-                confirm: { label: 'Switch Off', icon: Power }
-            },
-            onConfirm: () => {
-                modals.close()
-                postSleep()
-            }
-        })
-    }
-</script>
-
-{#if $features.sleep}
-    <div class="flex-none">
-        <button class="btn btn-square btn-ghost h-9 w-10" onclick={confirmSleep}>
-            <Power class="text-error h-9 w-9" />
-        </button>
-    </div>
-{/if}
@@ -1,9 +0,0 @@
-<script lang="ts">
-    import { mode, modes } from '$lib/stores'
-
-    const deactivate = async () => {
-        mode.set(modes.indexOf('deactivated'))
-    }
-</script>
-
-<button onclick={deactivate} class="bg-error text-white btn rounded-none">STOP</button>
@@ -1,9 +0,0 @@
-<script lang="ts">
-    import { MdiWeatherSunny, MdiMoonAndStars } from '../icons'
-</script>
-
-<label class="swap swap-rotate">
-    <input type="checkbox" value="light" class="theme-controller" />
-    <MdiWeatherSunny class="swap-off h-7 w-7" />
-    <MdiMoonAndStars class="swap-on h-7 w-7" />
-</label>
@@ -1,18 +0,0 @@
-<script lang="ts">
-    import { Hamburger } from '../icons'
-    import { resolve } from '$app/paths'
-</script>
-
-<div class="topbar absolute left-0 top-0 w-full z-20 flex justify-between bg-zinc-800">
-    <div class="flex gap-2 p-2">
-        <a href={resolve('/')}>
-            <Hamburger class="h-8 w-8" />
-        </a>
-    </div>
-</div>
-
-<style>
-    .topbar {
-        height: 50px;
-    }
-</style>
@@ -1,111 +0,0 @@
-<script lang="ts">
-    import { page } from '$app/state'
-    import { modals } from 'svelte-modals'
-    import { notifications } from '$lib/components/toasts/notifications'
-    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte'
-    import GithubUpdateDialog from '$lib/components/GithubUpdateDialog.svelte'
-    import { compareVersions } from 'compare-versions'
-    import { onMount } from 'svelte'
-    import { api } from '$lib/api'
-    import type { GithubRelease } from '$lib/types/models'
-    import { useFeatureFlags } from '$lib/stores/featureFlags'
-    import { Cancel, CloudDown, Firmware } from '../icons'
-
-    const features = useFeatureFlags()
-
-    interface Props {
-        update?: boolean
-    }
-
-    let { update = $bindable(false) }: Props = $props()
-
-    let firmwareVersion: 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')
-            return
-        }
-        if (result.isErr()) {
-            console.error('Error:', result.inner)
-            return
-        }
-
-        const results = result.inner
-        update = false
-        firmwareVersion = ''
-
-        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 as string)
-                ) {
-                    update = true
-                    firmwareVersion = results.tag_name
-                    firmwareDownloadLink = results.assets[i].browser_download_url
-                    notifications.info('Firmware update available.', 5000)
-                }
-            }
-        }
-    }
-
-    async function postGithubDownload(url: string) {
-        const result = await api.post('/api/downloadUpdate', { download_url: url })
-        if (result.isErr()) {
-            console.error('Error:', result.inner)
-            return
-        }
-    }
-
-    onMount(async () => {
-        if ($features.download_firmware) {
-            await getGithubAPI()
-            setInterval(async () => await getGithubAPI(), 60 * 60 * 1000) // once per hour
-        }
-    })
-
-    function confirmGithubUpdate(url: string) {
-        modals.open(ConfirmDialog, {
-            title: 'Confirm flashing new firmware to the device',
-            message: 'Are you sure you want to overwrite the existing firmware with a new one?',
-            labels: {
-                cancel: { label: 'Abort', icon: Cancel },
-                confirm: { label: 'Update', icon: CloudDown }
-            },
-            onConfirm: () => {
-                postGithubDownload(url)
-                modals.open(GithubUpdateDialog, {
-                    onConfirm: () => modals.closeAll()
-                })
-            }
-        })
-    }
-</script>
-
-{#if update}
-    <div class="indicator flex-none">
-        <button
-            class="btn btn-square btn-ghost h-9 w-9"
-            onclick={() => confirmGithubUpdate(firmwareDownloadLink)}
-        >
-            <span
-                class="indicator-item indicator-top indicator-center badge badge-info badge-xs top-2 scale-75 lg:top-1"
-            >
-                {firmwareVersion}
-            </span>
-            <Firmware class="h-7 w-7" />
-        </button>
-    </div>
-{/if}
@@ -1,6 +0,0 @@
-<script lang="ts">
-    import { selectedView, views } from '$lib/stores/application'
-    import Selector from '../widget/Selector.svelte'
-</script>
-
-<Selector bind:selectedOption={$selectedView} options={$views.map(v => v.name)} />
@@ -1,38 +0,0 @@
-<script lang="ts">
-    import { page } from '$app/state'
-    import { telemetry } from '$lib/stores/telemetry'
-
-    import RssiIndicator from '$lib/components/statusbar/RSSIIndicator.svelte'
-    import UpdateIndicator from '$lib/components/statusbar/UpdateIndicator.svelte'
-    import SleepButton from './SleepButton.svelte'
-    import ThemeButton from './ThemeButton.svelte'
-    import FullscreenButton from './FullscreenButton.svelte'
-    import StopButton from './StopButton.svelte'
-    import ViewSelector from './ViewSelector.svelte'
-    import { Hamburger } from '../icons'
-</script>
-
-<div class="navbar bg-base-300 sticky top-0 z-10 h-12 min-h-fit drop-shadow-lg lg:h-16 gap-2 pr-0">
-    <div class="flex flex-1 gap-2">
-        <label for="main-menu" class="btn btn-ghost btn-circle btn-sm drawer-button">
-            <Hamburger class="h-6 w-auto" />
-        </label>
-        {#if page.data.title === 'Controller'}
-            <ViewSelector />
-        {:else}
-            <h1 class="px-2 text-xl font-bold lg:text-2xl">{page.data.title}</h1>
-        {/if}
-    </div>
-
-    <UpdateIndicator />
-
-    <FullscreenButton />
-
-    <ThemeButton />
-
-    <RssiIndicator rssi={$telemetry.rssi.rssi} />
-
-    <SleepButton />
-
-    <StopButton />
-</div>
@@ -1,37 +0,0 @@
-<script>
-    import { flip } from 'svelte/animate'
-    import { fly } from 'svelte/transition'
-    import { notifications } from '$lib/components/toasts/notifications'
-    import { error, info, success, warning } from '../icons'
-
-    /** @type {{theme?: any, icon?: any}} */
-    let {
-        theme = {
-            error: 'alert-error',
-            success: 'alert-success',
-            warning: 'alert-warning',
-            info: 'alert-info'
-        },
-        icon = {
-            error: error,
-            success: success,
-            warning: warning,
-            info: info
-        }
-    } = $props()
-</script>
-
-<div class="toast toast-end mr-4 z-20">
-    {#each $notifications as notification (notification.id)}
-        {@const SvelteComponent = icon[notification.type]}
-        <div
-            animate:flip={{ duration: 400 }}
-            class="alert animate-none {theme[notification.type]}"
-            in:fly={{ y: 100, duration: 400 }}
-            out:fly={{ x: 100, duration: 400 }}
-        >
-            <SvelteComponent class="h-6 w-6 shrink-0" />
-            <span>{notification.message}</span>
-        </div>
-    {/each}
-</div>
@@ -1,42 +0,0 @@
-import { writable } from 'svelte/store'
-
-type StateType = 'info' | 'success' | 'warning' | 'error'
-
-type State = {
-    id: string
-    type: StateType
-    message: string
-}
-
-function createNotificationStore() {
-    const state: State[] = []
-    const notifications = writable(state)
-    const { subscribe } = notifications
-
-    function send(message: string, type: StateType = 'info', timeout: number) {
-        const id = generateId()
-        setTimeout(() => {
-            notifications.update(state => {
-                return state.filter(n => n.id !== id)
-            })
-        }, timeout)
-        notifications.update(state => {
-            return [...state, { id, type, message }]
-        })
-    }
-
-    return {
-        subscribe,
-        send,
-        error: (msg: string, timeout: number = 4000) => send(msg, 'error', timeout),
-        warning: (msg: string, timeout: number = 4000) => send(msg, 'warning', timeout),
-        info: (msg: string, timeout: number = 4000) => send(msg, 'info', timeout),
-        success: (msg: string, timeout: number = 4000) => send(msg, 'success', timeout)
-    }
-}
-
-function generateId() {
-    return '_' + Math.random().toString(36).substr(2, 9)
-}
-
-export const notifications = createNotificationStore()
@@ -1,102 +0,0 @@
-<script lang="ts">
-    import { daisyColor } from '$lib/utilities'
-    import { Chart, registerables } from 'chart.js'
-    import { onMount } from 'svelte'
-    import { cubicOut } from 'svelte/easing'
-    import { slide } from 'svelte/transition'
-
-    let chartElement: HTMLCanvasElement
-    let chart: Chart<'line', number[], number>
-
-    interface Props {
-        label: string
-        data: number[]
-        title: string
-    }
-
-    let { label, data, title }: Props = $props()
-
-    Chart.register(...registerables)
-
-    onMount(() => {
-        chart = new Chart(chartElement, {
-            type: 'line',
-            data: {
-                labels: data,
-                datasets: [
-                    {
-                        label,
-                        borderColor: daisyColor('--p'),
-                        backgroundColor: daisyColor('--p', 50),
-                        borderWidth: 2,
-                        data,
-                        yAxisID: 'y'
-                    }
-                ]
-            },
-            options: {
-                maintainAspectRatio: false,
-                responsive: true,
-                plugins: {
-                    legend: {
-                        display: true
-                    },
-                    tooltip: {
-                        mode: 'index',
-                        intersect: false
-                    }
-                },
-                elements: {
-                    point: {
-                        radius: 0
-                    }
-                },
-                scales: {
-                    x: {
-                        grid: {
-                            color: daisyColor('--bc', 10)
-                        },
-                        ticks: {
-                            color: daisyColor('--bc')
-                        },
-                        display: false
-                    },
-                    y: {
-                        type: 'linear',
-                        title: {
-                            display: true,
-                            text: title,
-                            color: daisyColor('--bc'),
-                            font: {
-                                size: 16,
-                                weight: 'bold'
-                            }
-                        },
-                        position: 'left',
-                        min: 0,
-                        max: 100,
-                        grid: { color: daisyColor('--bc', 10) },
-                        ticks: {
-                            color: daisyColor('--bc')
-                        },
-                        border: { color: daisyColor('--bc', 10) }
-                    }
-                }
-            }
-        })
-
-        setInterval(() => {
-            chart.data.labels = data
-            chart.data.datasets[0].data = data
-        }, 500)
-    })
-</script>
-
-<div class="w-full h-full overflow-x-auto">
-    <div
-        class="flex w-full flex-col space-y-1 h-60"
-        transition:slide|local={{ duration: 300, easing: cubicOut }}
-    >
-        <canvas bind:this={chartElement}></canvas>
-    </div>
-</div>
@@ -1,20 +0,0 @@
-<script lang="ts">
-    interface Props {
-        options?: string[]
-        selectedOption?: string
-        change?: () => void
-        [key: string]: unknown
-    }
-
-    let { options = [], selectedOption = $bindable(''), ...rest }: Props = $props()
-</script>
-
-<select
-    bind:value={selectedOption}
-    {...rest}
-    class="select select-bordered select-sm lg:select-md max-w-xs {rest.class || ''}"
->
-    {#each options as option}
-        <option value={option}>{option}</option>
-    {/each}
-</select>
@@ -1,508 +0,0 @@
-import { get } from 'svelte/store'
-import type { body_state_t } from './kinematic'
-import { currentKinematic } from './stores/featureFlags'
-
-export interface gait_state_t {
-    step_height: number
-    step_x: number
-    step_z: number
-    step_angle: number
-    step_velocity: number
-    step_depth: number
-}
-
-export interface ControllerCommand {
-    lx: number
-    ly: number
-    rx: number
-    ry: number
-    h: number
-    s: number
-    s1: number
-}
-
-export abstract class GaitState {
-    protected abstract name: string
-
-    protected dt = 0.02
-    protected body_state!: body_state_t
-
-    protected get kinematic() {
-        return get(currentKinematic)
-    }
-
-    protected gait_state: gait_state_t = {
-        step_height: 0,
-        step_x: 0,
-        step_z: 0,
-        step_angle: 0,
-        step_velocity: 1,
-        step_depth: 0
-    }
-
-    public get default_feet_pos() {
-        return this.kinematic.getDefaultFeetPos()
-    }
-
-    protected get default_height() {
-        return this.kinematic.default_body_height
-    }
-
-    protected get default_step_depth() {
-        return this.kinematic.default_step_depth
-    }
-
-    protected get default_step_height() {
-        return this.kinematic.default_step_height
-    }
-
-    begin() {
-        console.log('Starting', this.name)
-    }
-    end() {
-        console.log('Ending', this.name)
-    }
-    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-        this.map_command(command)
-        this.body_state = body_state
-        this.dt = dt / 1000
-
-        if (body_state.cumulative_x === undefined) {
-            body_state.cumulative_x = 0
-            body_state.cumulative_y = 0
-            body_state.cumulative_z = 0
-            body_state.cumulative_roll = 0
-            body_state.cumulative_pitch = 0
-            body_state.cumulative_yaw = 0
-        }
-
-        return body_state
-    }
-
-    map_command(command: ControllerCommand) {
-        const kin = this.kinematic
-        this.gait_state = {
-            step_height: command.s1 * kin.max_step_height,
-            step_x: command.ly * kin.max_step_length,
-            step_z: -command.lx * kin.max_step_length,
-            step_velocity: command.s,
-            step_angle: command.rx,
-            step_depth: kin.default_step_depth
-        }
-    }
-}
-
-export class IdleState extends GaitState {
-    protected name = 'Idle'
-
-    step(body_state: body_state_t, command: ControllerCommand) {
-        super.step(body_state, command)
-        return body_state
-    }
-}
-
-export class CalibrationState extends GaitState {
-    protected name = 'Calibration'
-
-    step(body_state: body_state_t, _command: ControllerCommand) {
-        super.step(body_state, _command)
-        body_state.omega = 0
-        body_state.phi = 0
-        body_state.psi = 0
-        body_state.xm = 0
-        body_state.ym = this.kinematic.max_body_height
-        body_state.zm = 0
-        body_state.feet = this.default_feet_pos
-        return body_state
-    }
-}
-
-export class RestState extends GaitState {
-    protected name = 'Rest'
-
-    step(body_state: body_state_t, _command: ControllerCommand) {
-        super.step(body_state, _command)
-        body_state.omega = 0
-        body_state.phi = 0
-        body_state.psi = 0
-        body_state.xm = 0
-        body_state.ym = this.kinematic.min_body_height
-        body_state.zm = 0
-        body_state.feet = this.default_feet_pos
-        return body_state
-    }
-}
-
-export class StandState extends GaitState {
-    protected name = 'Stand'
-
-    step(body_state: body_state_t, command: ControllerCommand) {
-        super.step(body_state, command)
-        const kin = this.kinematic
-        body_state.omega = 0
-        body_state.ym = kin.min_body_height + command.h * kin.body_height_range
-        body_state.psi = command.ry * kin.max_pitch
-        body_state.phi = command.rx * kin.max_roll
-        body_state.xm = command.ly * kin.max_body_shift_x
-        body_state.zm = command.lx * kin.max_body_shift_z
-        body_state.feet = this.default_feet_pos
-        return body_state
-    }
-}
-
-export class BezierState extends GaitState {
-    protected name = 'Bezier'
-    protected phase = 0
-    protected phase_num = 0
-    protected step_length = 0
-    protected stand_offset = 0.75
-    protected mode: 'crawl' | 'trot' = 'trot'
-    protected speed_factor = 1
-    offset = [0, 0.5, 0.75, 0.25]
-
-    protected shift_start_pos = { x: 0, z: 0 }
-    protected shift_target_pos = { x: 0, z: 0 }
-    protected shift_start_time = 0
-    protected current_shift_leg = -1
-
-    protected last_body_state: body_state_t | null = null
-    protected cumulative_position = { x: 0, y: 0, z: 0 }
-    protected cumulative_orientation = { roll: 0, pitch: 0, yaw: 0 }
-
-    constructor() {
-        super()
-        this.set_mode(this.mode)
-    }
-
-    begin() {
-        super.begin()
-    }
-
-    set_mode(mode: 'crawl' | 'trot', duty?: number, order?: [number, number, number, number]) {
-        console.log('BezierState set_mode', mode)
-
-        this.mode = mode
-        if (mode === 'crawl') {
-            this.speed_factor = 0.5
-            this.stand_offset = duty ?? 0.85
-            const o = order ?? [3, 0, 2, 1]
-            const base = [0, 0.25, 0.5, 0.75]
-            const offsets = new Array(4).fill(0)
-            for (let i = 0; i < 4; i++) offsets[o[i]] = base[i]
-            this.offset = offsets
-        } else {
-            this.speed_factor = 2
-            this.stand_offset = duty ?? 0.6
-            this.offset = order ? (order.map(v => v % 1) as number[]) : [0, 0.5, 0.5, 0]
-        }
-    }
-
-    end() {
-        super.end()
-    }
-
-    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-        super.step(body_state, command, dt)
-        const kin = this.kinematic
-        this.body_state.ym = kin.min_body_height + command.h * kin.body_height_range
-        this.step_length = Math.sqrt(this.gait_state.step_x ** 2 + this.gait_state.step_z ** 2)
-        if (this.gait_state.step_x < 0) this.step_length = -this.step_length
-        this.update_phase()
-        this.update_body_position()
-        this.update_feet_positions()
-        this.update_cumulative_position()
-        return this.body_state
-    }
-
-    update_phase() {
-        const m = this.gait_state
-        if (m.step_x === 0 && m.step_z === 0 && m.step_angle === 0) {
-            this.phase = 0
-            return
-        }
-        this.phase += this.dt * m.step_velocity * this.speed_factor
-        if (this.phase >= 1) {
-            this.phase_num = (this.phase_num + 1) % 2
-            this.phase = 0
-        }
-    }
-
-    update_body_position() {
-        const m = this.gait_state
-        const moving = m.step_x !== 0 || m.step_z !== 0 || m.step_angle !== 0
-        if (!moving) return
-
-        if (this.mode !== 'crawl') return
-
-        const { stance, swing, next_swing, time_to_lift } = this.get_leg_states()
-
-        if (stance.length >= 3 && swing.length === 0 && next_swing !== -1) {
-            if (this.current_shift_leg !== next_swing) {
-                this.current_shift_leg = next_swing
-                this.shift_start_pos.x = this.body_state.xm
-                this.shift_start_pos.z = this.body_state.zm
-
-                const remaining_legs = stance.filter(leg => leg !== next_swing)
-                const target = this.stance_centroid(remaining_legs)
-                this.shift_target_pos.x = target[0]
-                this.shift_target_pos.z = target[2]
-
-                this.shift_start_time = time_to_lift
-            }
-
-            const total_time = this.shift_start_time
-            const progress = total_time > 0 ? 1 - time_to_lift / total_time : 1
-            const smooth_progress = this.smoothstep01(Math.max(0, Math.min(1, progress)))
-
-            this.body_state.xm = this.lerp(
-                this.shift_start_pos.x,
-                this.shift_target_pos.x,
-                smooth_progress
-            )
-            this.body_state.zm = this.lerp(
-                this.shift_start_pos.z,
-                this.shift_target_pos.z,
-                smooth_progress
-            )
-        }
-    }
-
-    protected lerp(a: number, b: number, t: number): number {
-        return a + (b - a) * t
-    }
-
-    protected stance_centroid(legs: number[]): number[] {
-        if (legs.length === 0) return [this.body_state.xm, 0, this.body_state.zm]
-
-        let sx = 0,
-            sz = 0
-        for (const i of legs) {
-            sx += this.body_state.feet[i][0]
-            sz += this.body_state.feet[i][2]
-        }
-        return [sx / legs.length, 0, sz / legs.length]
-    }
-
-    protected get_leg_states(): {
-        stance: number[]
-        swing: number[]
-        next_swing: number
-        time_to_lift: number
-    } {
-        const stance: number[] = []
-        const swing: number[] = []
-        let next_swing = -1
-        let min_time_to_swing = Infinity
-
-        for (let i = 0; i < 4; i++) {
-            let phase = this.phase + this.offset[i]
-            if (phase >= 1) phase -= 1
-
-            if (phase <= this.stand_offset) {
-                stance.push(i)
-                const time_to_swing = this.stand_offset - phase
-                if (time_to_swing < min_time_to_swing) {
-                    min_time_to_swing = time_to_swing
-                    next_swing = i
-                }
-            } else {
-                swing.push(i)
-            }
-        }
-
-        return { stance, swing, next_swing, time_to_lift: min_time_to_swing }
-    }
-
-    protected smoothstep01(t: number): number {
-        const x = Math.max(0, Math.min(1, t))
-        return x * x * (3 - 2 * x)
-    }
-
-    update_feet_positions() {
-        for (let i = 0; i < 4; i++) this.body_state.feet[i] = this.update_foot_position(i)
-    }
-
-    update_foot_position(index: number): number[] {
-        let phase = this.phase + this.offset[index]
-        if (phase >= 1) phase -= 1
-        this.body_state.feet[index][0] = this.default_feet_pos[index][0]
-        this.body_state.feet[index][1] = this.default_feet_pos[index][1]
-        this.body_state.feet[index][2] = this.default_feet_pos[index][2]
-        return phase <= this.stand_offset ?
-                this.stand_controller(index, phase / this.stand_offset)
-            :   this.swing_controller(index, (phase - this.stand_offset) / (1 - this.stand_offset))
-    }
-
-    stand_controller(index: number, phase: number) {
-        const depth = this.gait_state.step_depth
-        return this.controller(index, phase, stance_curve, depth)
-    }
-
-    swing_controller(index: number, phase: number) {
-        const height = this.gait_state.step_height
-        return this.controller(index, phase, bezier_curve, height)
-    }
-
-    controller(
-        index: number,
-        phase: number,
-        controller: (length: number, angle: number, ...args: number[]) => number[],
-        ...args: number[]
-    ) {
-        let length = this.step_length / 2
-        let angle = Math.atan2(this.gait_state.step_z, this.step_length) * 2
-        const delta_pos = controller(length, angle, ...args, phase)
-
-        const kin = this.kinematic
-        length = this.gait_state.step_angle * kin.max_step_length
-        angle = yawArc(this.default_feet_pos[index], this.body_state.feet[index])
-
-        const delta_rot = controller(length, angle, ...args, phase)
-
-        this.body_state.feet[index][0] += delta_pos[0] + delta_rot[0] * 0.2
-        this.body_state.feet[index][2] += delta_pos[2] + delta_rot[2] * 0.2
-        if (this.gait_state.step_x || this.gait_state.step_z || this.gait_state.step_angle)
-            this.body_state.feet[index][1] += delta_pos[1] + delta_rot[1] * 0.2
-
-        return this.body_state.feet[index]
-    }
-
-    update_cumulative_position() {
-        if (this.last_body_state === null) {
-            this.last_body_state = { ...this.body_state }
-            this.body_state.cumulative_x = 0
-            this.body_state.cumulative_y = 0
-            this.body_state.cumulative_z = 0
-            this.body_state.cumulative_roll = 0
-            this.body_state.cumulative_pitch = 0
-            this.body_state.cumulative_yaw = 0
-            return
-        }
-
-        const m = this.gait_state
-        const moving = m.step_x !== 0 || m.step_z !== 0 || m.step_angle !== 0
-
-        if (moving) {
-            const step_displacement_x_local =
-                m.step_x * m.step_velocity * this.dt * this.speed_factor
-            const step_displacement_z_local =
-                m.step_z * m.step_velocity * this.dt * this.speed_factor
-            const step_displacement_yaw =
-                m.step_angle * m.step_velocity * this.dt * this.speed_factor
-
-            const cos_yaw = Math.cos(this.cumulative_orientation.yaw)
-            const sin_yaw = Math.sin(this.cumulative_orientation.yaw)
-            const step_displacement_x =
-                step_displacement_x_local * cos_yaw - step_displacement_z_local * sin_yaw
-            const step_displacement_z =
-                step_displacement_x_local * sin_yaw + step_displacement_z_local * cos_yaw
-
-            this.cumulative_position.x += step_displacement_x
-            this.cumulative_position.z += step_displacement_z
-            this.cumulative_orientation.yaw += step_displacement_yaw
-        }
-
-        this.body_state.cumulative_x = this.cumulative_position.x
-        this.body_state.cumulative_y = this.cumulative_position.y
-        this.body_state.cumulative_z = this.cumulative_position.z
-        this.body_state.cumulative_roll = this.cumulative_orientation.roll
-        this.body_state.cumulative_pitch = this.cumulative_orientation.pitch
-        this.body_state.cumulative_yaw = this.cumulative_orientation.yaw
-
-        this.last_body_state = { ...this.body_state }
-    }
-}
-
-const stance_curve = (length: number, angle: number, depth: number, phase: number): number[] => {
-    const X_POLAR = Math.cos(angle)
-    const Y_POLAR = Math.sin(angle)
-
-    const step = length * (1 - 2 * phase)
-    const X = step * X_POLAR
-    const Z = step * Y_POLAR
-    let Y = 0
-    if (length !== 0) Y = -depth * Math.cos((Math.PI * (X + Y)) / (2 * length))
-    return [X, Y, Z]
-}
-
-const yawArc = (default_foot_pos: number[], current_foot_pos: number[]): number => {
-    const foot_mag = Math.sqrt(default_foot_pos[0] ** 2 + default_foot_pos[2] ** 2)
-    const foot_dir = Math.atan2(default_foot_pos[2], default_foot_pos[0])
-    const offsets = [
-        current_foot_pos[0] - default_foot_pos[0],
-        current_foot_pos[2] - default_foot_pos[2],
-        current_foot_pos[1] - default_foot_pos[1]
-    ]
-    const offset_mag = Math.sqrt(offsets[0] ** 2 + offsets[2] ** 2)
-    const offset_mod = Math.atan2(offset_mag, foot_mag)
-
-    return Math.PI / 2.0 + foot_dir + offset_mod
-}
-
-const bezier_curve = (length: number, angle: number, height: number, phase: number): number[] => {
-    const control_points = get_control_points(length, angle, height)
-    const n = control_points.length - 1
-
-    const point = [0, 0, 0]
-    for (let i = 0; i <= n; i++) {
-        const bernstein_poly = comb(n, i) * Math.pow(phase, i) * Math.pow(1 - phase, n - i)
-        point[0] += bernstein_poly * control_points[i][0]
-        point[1] += bernstein_poly * control_points[i][1]
-        point[2] += bernstein_poly * control_points[i][2]
-    }
-    return point
-}
-
-const get_control_points = (length: number, angle: number, height: number): number[][] => {
-    const X_POLAR = Math.cos(angle)
-    const Z_POLAR = Math.sin(angle)
-
-    const STEP = [
-        -length,
-        -length * 1.4,
-        -length * 1.5,
-        -length * 1.5,
-        -length * 1.5,
-        0.0,
-        0.0,
-        0.0,
-        length * 1.5,
-        length * 1.5,
-        length * 1.4,
-        length
-    ]
-
-    const Y = [
-        0.0,
-        0.0,
-        height * 0.9,
-        height * 0.9,
-        height * 0.9,
-        height * 0.9,
-        height * 0.9,
-        height * 1.1,
-        height * 1.1,
-        height * 1.1,
-        0.0,
-        0.0
-    ]
-
-    const control_points: number[][] = []
-
-    for (let i = 0; i < STEP.length; i++) {
-        const X = STEP[i] * X_POLAR
-        const Z = STEP[i] * Z_POLAR
-        control_points.push([X, Y[i], Z])
-    }
-
-    return control_points
-}
-
-const comb = (n: number, k: number): number => {
-    if (k < 0 || k > n) return 0
-    if (k === 0 || k === n) return 1
-    k = Math.min(k, n - k)
-    let c = 1
-    for (let i = 0; i < k; i++) c = (c * (n - i)) / (i + 1)
-    return c
-}
@@ -1 +0,0 @@
-// place files you want to import through the `$lib` alias in this folder.
@@ -1,184 +1,393 @@
-export interface body_state_t {
-    omega: number
-    phi: number
-    psi: number
-    xm: number
-    ym: number
-    zm: number
-    feet: number[][]
-    cumulative_x: number
-    cumulative_y: number
-    cumulative_z: number
-    cumulative_roll: number
-    cumulative_pitch: number
-    cumulative_yaw: number
-}
-
-export interface position {
-    x: number
-    y: number
-    z: number
-}
-
-export interface target_position {
-    x: number
-    z: number
-    yaw: number
-}
-
-export interface KinematicParams {
-    coxa: number
-    coxa_offset: number
-    femur: number
-    tibia: number
-    L: number
-    W: number
-}
-
-const { cos, sin, atan2, acos, sqrt, max, min } = Math
-
-const DEG2RAD = 0.017453292519943
-
 export default class Kinematic {
-    coxa: number
-    coxa_offset: number
-    femur: number
-    tibia: number
+	private l1: number;
+	private l2: number;
+	private l3: number;
+	private l4: number;

-    L: number
-    W: number
+	private L: number;
+	private W: number;

-    DEG2RAD = DEG2RAD
+	constructor() {
+		this.l1 = 50;
+		this.l2 = 20;
+		this.l3 = 120;
+		this.l4 = 155;

-    max_roll: number
-    max_pitch: number
-    max_body_shift_x: number
-    max_body_shift_z: number
-    max_leg_reach: number
-    min_body_height: number
-    max_body_height: number
-    body_height_range: number
-    max_step_length: number
-    max_step_height: number
-    default_step_depth: number
-    default_body_height: number
-    default_step_height: number
+		this.L = 140;
+		this.W = 75;
+	}

-    mountOffsets: number[][]
-    default_feet_positions: number[][]
+	bodyIK(
+		omega: number,
+		phi: number,
+		psi: number,
+		xm: number,
+		ym: number,
+		zm: number
+	): number[][][] {
+		const { cos, sin } = Math;

-    invMountRot = [
-        [0, 0, -1],
-        [0, 1, 0],
-        [1, 0, 0]
-    ]
+		const Rx: number[][] = [
+			[1, 0, 0, 0],
+			[0, cos(omega), -sin(omega), 0],
+			[0, sin(omega), cos(omega), 0],
+			[0, 0, 0, 1]
+		];
+		const Ry: number[][] = [
+			[cos(phi), 0, sin(phi), 0],
+			[0, 1, 0, 0],
+			[-sin(phi), 0, cos(phi), 0],
+			[0, 0, 0, 1]
+		];
+		const Rz: number[][] = [
+			[cos(psi), -sin(psi), 0, 0],
+			[sin(psi), cos(psi), 0, 0],
+			[0, 0, 1, 0],
+			[0, 0, 0, 1]
+		];
+		const Rxyz: number[][] = this.matrixMultiply(this.matrixMultiply(Rx, Ry), Rz);

-    constructor(params: KinematicParams) {
-        this.coxa = params.coxa
-        this.coxa_offset = params.coxa_offset
-        this.femur = params.femur
-        this.tibia = params.tibia
-        this.L = params.L
-        this.W = params.W
+		const T: number[][] = [
+			[0, 0, 0, xm],
+			[0, 0, 0, ym],
+			[0, 0, 0, zm],
+			[0, 0, 0, 0]
+		];
+		const Tm: number[][] = this.matrixAdd(T, Rxyz);

-        this.max_roll = 15 * (Math.PI / 2)
-        this.max_pitch = 15 * (Math.PI / 2)
-        this.max_body_shift_x = this.W / 3
-        this.max_body_shift_z = this.W / 3
-        this.max_leg_reach = this.femur + this.tibia - this.coxa_offset
-        this.min_body_height = this.max_leg_reach * 0.45
-        this.max_body_height = this.max_leg_reach * 1
-        this.body_height_range = this.max_body_height - this.min_body_height
-        this.max_step_length = this.max_leg_reach * 0.8
-        this.max_step_height = this.max_leg_reach / 2
-        this.default_step_depth = 0.002
-        this.default_body_height = this.min_body_height + this.body_height_range / 2
-        this.default_step_height = this.default_body_height / 2
+		const sHp = sin(Math.PI / 2);
+		const cHp = cos(Math.PI / 2);
+		const L = this.L;
+		const W = this.W;

-        this.mountOffsets = [
-            [this.L / 2, 0, this.W / 2],
-            [this.L / 2, 0, -this.W / 2],
-            [-this.L / 2, 0, this.W / 2],
-            [-this.L / 2, 0, -this.W / 2]
-        ]
+		return [
+			this.matrixMultiply(Tm, [
+				[cHp, 0, sHp, L / 2],
+				[0, 1, 0, 0],
+				[-sHp, 0, cHp, W / 2],
+				[0, 0, 0, 1]
+			]),
+			this.matrixMultiply(Tm, [
+				[cHp, 0, sHp, L / 2],
+				[0, 1, 0, 0],
+				[-sHp, 0, cHp, -W / 2],
+				[0, 0, 0, 1]
+			]),
+			this.matrixMultiply(Tm, [
+				[cHp, 0, sHp, -L / 2],
+				[0, 1, 0, 0],
+				[-sHp, 0, cHp, W / 2],
+				[0, 0, 0, 1]
+			]),
+			this.matrixMultiply(Tm, [
+				[cHp, 0, sHp, -L / 2],
+				[0, 1, 0, 0],
+				[-sHp, 0, cHp, -W / 2],
+				[0, 0, 0, 1]
+			])
+		];
+	}

-        this.default_feet_positions = this.mountOffsets.map((offset, i) => {
-            return [offset[0], 0, offset[2] + (i % 2 === 1 ? -this.coxa : this.coxa)]
-        })
-    }
+	private legIK(point: number[]): number[] {
+		const [x, y, z] = point;
+		const { atan2, cos, sin, sqrt, acos } = Math;
+		const { l1, l2, l3, l4 } = this;

-    getDefaultFeetPos(): number[][] {
-        return this.default_feet_positions.map(pos => [...pos])
-    }
+		let F;

-    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]
+		try {
+			F = sqrt(x ** 2 + y ** 2 - l1 ** 2);
+			if (isNaN(F)) throw new Error('F is NaN');
+		} catch (error) {
+			//console.log(error)
+			F = l1;
+		}
+		const G = F - l2;
+		const H = sqrt(G ** 2 + z ** 2);

-            const [mx, my, mz] = this.mountOffsets[i]
-            const px = bx - mx,
-                py = by - my,
-                pz = bz - mz
+		const theta1 = -atan2(y, x) - atan2(F, -l1);
+		const D = (H ** 2 - l3 ** 2 - l4 ** 2) / (2 * l3 * l4);
+		let theta3: number;
+		try {
+			theta3 = acos(D);
+			if (isNaN(theta3)) throw new Error('theta3 is NaN');
+		} catch (error) {
+			theta3 = 0;
+		}
+		const theta2 = atan2(z, G) - atan2(l4 * sin(theta3), l3 + l4 * cos(theta3));

-            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
+		return [theta1, theta2, theta3];
+	}

-            const xLocal = i % 2 === 1 ? -lx : lx
-            return this.legIK(xLocal, ly, lz)
-        })
-    }
+	matrixMultiply(a: number[][], b: number[][]): number[][] {
+		const result: number[][] = [];

-    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]
-    }
+		for (let i = 0; i < a.length; i++) {
+			const row: number[] = [];

-    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 [
-            [cp * cy, -cp * sy, sp],
-            [sr * sp * cy + sy * cr, -sr * sp * sy + cr * cy, -sr * cp],
-            [sr * sy - sp * cr * cy, sr * cy + sp * sy * cr, cr * cp]
-        ]
-    }
+			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 matrixAdd(a: number[][], b: number[][]): number[][] {
+		const result: number[][] = [];
+
+		for (let i = 0; i < a.length; i++) {
+			const row: number[] = [];
+
+			for (let j = 0; j < a[i].length; j++) {
+				row.push(a[i][j] + b[i][j]);
+			}
+
+			result.push(row);
+		}
+
+		return result;
+	}
+
+	public calcLegPoints(angles: number[]): number[][] {
+		const [theta1, theta2, theta3] = angles;
+		const theta23 = theta2 + theta3;
+
+		const T0: number[] = [0, 0, 0, 1];
+		const T1: number[] = this.vectorAdd(T0, [
+			-this.l1 * Math.cos(theta1),
+			this.l1 * Math.sin(theta1),
+			0,
+			0
+		]);
+		const T2: number[] = this.vectorAdd(T1, [
+			-this.l2 * Math.sin(theta1),
+			-this.l2 * Math.cos(theta1),
+			0,
+			0
+		]);
+		const T3: number[] = this.vectorAdd(T2, [
+			-this.l3 * Math.sin(theta1) * Math.cos(theta2),
+			-this.l3 * Math.cos(theta1) * Math.cos(theta2),
+			this.l3 * Math.sin(theta2),
+			0
+		]);
+		const T4: number[] = this.vectorAdd(T3, [
+			-this.l4 * Math.sin(theta1) * Math.cos(theta23),
+			-this.l4 * Math.cos(theta1) * Math.cos(theta23),
+			this.l4 * Math.sin(theta23),
+			0
+		]);
+
+		return [T0, T1, T2, T3, T4];
+	}
+
+	public calcIK(Lp: number[][], angles: number[], center: number[]): number[][] {
+		const [omega, phi, psi] = angles;
+		const [xm, ym, zm] = center;
+
+		const [Tlf, Trf, Tlb, Trb] = this.bodyIK(omega, phi, psi, xm, ym, zm);
+
+		const Ix: number[][] = [
+			[-1, 0, 0, 0],
+			[0, 1, 0, 0],
+			[0, 0, 1, 0],
+			[0, 0, 0, 1]
+		];
+
+		return [
+			this.legIK(this.multiplyVector(this.matrixInverse(Tlf), Lp[0])),
+			this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trf), Lp[1]))),
+			this.legIK(this.multiplyVector(this.matrixInverse(Tlb), Lp[2])),
+			this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trb), Lp[3])))
+		];
+	}
+
+	private vectorAdd(a: number[], b: number[]): number[] {
+		return a.map((val, index) => val + b[index]);
+	}
+
+	private matrixInverse(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;
+	}
+}
+
+export class ForwardKinematics {
+	private l1: number;
+	private l2: number;
+	private l3: number;
+	private l4: number;
+
+	constructor() {
+		this.l1 = 50;
+		this.l2 = 20;
+		this.l3 = 120;
+		this.l4 = 155;
+	}
+
+	public calculateFootpoint(theta1: number, theta2: number, theta3: number): number[] {
+		const { cos, sin } = Math;
+
+		const x =
+			this.l1 * cos(theta1) +
+			this.l2 * cos(theta1) +
+			this.l3 * cos(theta1 + theta2) +
+			this.l4 * cos(theta1 + theta2 + theta3);
+		const y =
+			this.l1 * sin(theta1) +
+			this.l2 * sin(theta1) +
+			this.l3 * sin(theta1 + theta2) +
+			this.l4 * sin(theta1 + theta2 + theta3);
+		const z = 0;
+
+		return [x, y, z];
+	}
+
+	public calculateFootpoints(angles: number[]): number[][] {
+		const footpoints: number[][] = [];
+
+		for (let i = 0; i < angles.length; i += 3) {
+			const theta1 = angles[i];
+			const theta2 = angles[i + 1];
+			const theta3 = angles[i + 2];
+			const footpoint = this.calculateFootpoint(theta1, theta2, theta3);
+			footpoints.push(footpoint);
+		}
+
+		return footpoints;
+	}
 }
@@ -0,0 +1,22 @@
+export type vector = { x: number; y: number };
+
+export interface ControllerInput {
+	left: vector;
+	right: vector;
+	height: number;
+	speed: number;
+}
+
+export type angles = number[] | Int16Array;
+
+export type AnglesData = {
+	type: 'angles';
+	data: angles;
+};
+
+export type LogData = {
+	type: 'log';
+	data: string;
+};
+
+export type WebSocketJsonMsg = AnglesData | LogData;
@@ -1,348 +1,319 @@
 import {
-    Mesh,
-    PerspectiveCamera,
-    PlaneGeometry,
-    Scene,
-    WebGLRenderer,
-    AmbientLight,
-    DirectionalLight,
-    PCFSoftShadowMap,
-    type GridHelper,
-    ArrowHelper,
-    Vector3,
-    FogExp2,
-    CanvasTexture,
-    type ColorRepresentation,
-    type WebGLRendererParameters,
-    MeshPhongMaterial,
-    EquirectangularReflectionMapping,
-    ACESFilmicToneMapping,
-    Group,
-    MeshBasicMaterial,
-    RepeatWrapping,
-    type Object3D
-} from 'three'
-import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'
-import { TransformControls } from 'three/examples/jsm/controls/TransformControls'
-import { Reflector } from 'three/examples/jsm/objects/Reflector.js'
-import { type URDFJoint, type URDFMimicJoint, type URDFRobot } from 'urdf-loader'
-import { PointerURDFDragControls } from 'urdf-loader/src/URDFDragControls'
+	Mesh,
+	PerspectiveCamera,
+	PlaneGeometry,
+	Scene,
+	ShadowMaterial,
+	WebGLRenderer,
+	AmbientLight,
+	DirectionalLight,
+	PCFSoftShadowMap,
+	GridHelper,
+	ArrowHelper,
+	Vector3,
+	LoaderUtils,
+	Object3D,
+	FogExp2,
+	CanvasTexture,
+	type ColorRepresentation,
+	type WebGLRendererParameters,
+	MeshPhongMaterial,
+	EquirectangularReflectionMapping,
+	ACESFilmicToneMapping,
+	MathUtils
+} from 'three';
+import { Sky } from 'three/addons/objects/Sky.js';
+import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls';
+import { type URDFJoint, type URDFMimicJoint, type URDFRobot } from 'urdf-loader';
+import { PointerURDFDragControls } from 'urdf-loader/src/URDFDragControls';

-export const addScene = () => new Scene()
+export const addScene = () => new Scene();

 interface position {
-    x?: number
-    y?: number
-    z?: number
+	x?: number;
+	y?: number;
+	z?: number;
 }

 interface light {
-    color?: ColorRepresentation
-    intensity?: number
+	color?: ColorRepresentation;
+	intensity?: number;
+}
+
+interface gridOptions {
+	divisions?: number;
+	size?: number;
 }

 interface arrowOptions {
-    origin: position
-    direction: position
-    length?: number
-    color?: ColorRepresentation
+	origin: position;
+	direction: position;
+	length?: number;
+	color?: ColorRepresentation;
 }

-type directionalLight = position & light
+type directionalLight = position & light;
+
+type gridHelperOptions = gridOptions & position;
+
+function calculateCurrentSunElevation() {
+	let now = new Date();
+	let decimalTime = now.getHours() + now.getMinutes() / 60;
+	let normalizedTime = (decimalTime % 12) / 6 - 1;
+	return 10 * Math.sin(normalizedTime * Math.PI);
+}

 export default class SceneBuilder {
-    public scene: Scene
-    public camera!: PerspectiveCamera
-    public ground!: Mesh
-    public renderer!: WebGLRenderer
-    public orbit: OrbitControls
-    public callback: (() => void) | undefined
-    public gridHelper!: GridHelper
-    public model!: URDFRobot
-    public liveStreamTexture!: CanvasTexture
-    private fog!: FogExp2
-    private isLoaded: boolean = false
-    public isDragging: boolean = false
-    transformControl: TransformControls
-    public modelGroup!: Group
+	public scene: Scene;
+	public camera: PerspectiveCamera;
+	public ground: Mesh;
+	public renderer: WebGLRenderer;
+	public controls: OrbitControls;
+	public callback: Function;
+	public gridHelper: GridHelper;
+	public model: URDFRobot;
+	public liveStreamTexture: CanvasTexture;
+	private fog: FogExp2;
+	private isLoaded: boolean = false;
+	highlightMaterial: any;

-    constructor() {
-        this.scene = new Scene()
-        if (this.scene.environment?.mapping) {
-            this.scene.environment.mapping = EquirectangularReflectionMapping
-        }
-        return this
-    }
+	constructor() {
+		this.scene = new Scene();
+		if (this.scene.environment?.mapping) {
+			this.scene.environment.mapping = EquirectangularReflectionMapping;
+		}
+		return this;
+	}

-    public addRenderer = (parameters?: WebGLRendererParameters) => {
-        this.renderer = new WebGLRenderer(parameters)
-        this.renderer.outputColorSpace = 'srgb'
-        this.renderer.shadowMap.enabled = true
-        this.renderer.shadowMap.type = PCFSoftShadowMap
-        this.renderer.toneMapping = ACESFilmicToneMapping
-        this.renderer.toneMappingExposure = 0.85
-        if (!parameters?.canvas) document.body.appendChild(this.renderer.domElement)
-        return this
-    }
+	public addRenderer = (parameters?: WebGLRendererParameters) => {
+		this.renderer = new WebGLRenderer(parameters);
+		this.renderer.outputColorSpace = 'srgb';
+		this.renderer.shadowMap.enabled = true;
+		this.renderer.shadowMap.type = PCFSoftShadowMap;
+		this.renderer.toneMapping = ACESFilmicToneMapping;
+		this.renderer.toneMappingExposure = 0.85;
+		document.body.appendChild(this.renderer.domElement);
+		return this;
+	};

-    public addPerspectiveCamera = (options: position) => {
-        this.camera = new PerspectiveCamera()
-        this.camera.position.set(options.x ?? 0, options.y ?? 2.7, options.z ?? 0)
-        this.scene.add(this.camera)
-        return this
-    }
+	public addSky = () => {
+		const sky = new Sky();
+		sky.scale.setScalar(450000);
+		this.scene.add(sky);
+		const effectController = {
+			turbidity: 10,
+			rayleigh: 3,
+			mieCoefficient: 0.005,
+			mieDirectionalG: 0.7,
+			elevation: calculateCurrentSunElevation(),
+			azimuth: 180,
+			exposure: this.renderer.toneMappingExposure
+		};
+		const uniforms = sky.material.uniforms;
+		uniforms['turbidity'].value = effectController.turbidity;
+		uniforms['rayleigh'].value = effectController.rayleigh;
+		uniforms['mieCoefficient'].value = effectController.mieCoefficient;
+		uniforms['mieDirectionalG'].value = effectController.mieDirectionalG;
+		this.renderer.toneMappingExposure = 0.5;
+		const phi = MathUtils.degToRad(90 - effectController.elevation);
+		const theta = MathUtils.degToRad(effectController.azimuth);
+		const sun = new Vector3();

-    public addGroundPlane = (options?: position) => {
-        const checkerboardTexture = this.createCheckerboardTexture(1024, 2)
-        checkerboardTexture.wrapS = RepeatWrapping
-        checkerboardTexture.wrapT = RepeatWrapping
-        checkerboardTexture.repeat.set(100, 100)
-        const checkerboardMat = new MeshBasicMaterial({
-            map: checkerboardTexture,
-            opacity: 0.1,
-            transparent: true
-        })
+		sun.setFromSphericalCoords(1, phi, theta);
+		uniforms['sunPosition'].value.copy(sun);
+		return this;
+	};

-        const plane = new PlaneGeometry(400, 400)
+	public addPerspectiveCamera = (options: position) => {
+		this.camera = new PerspectiveCamera();
+		this.camera.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
+		this.scene.add(this.camera);
+		return this;
+	};

-        this.ground = new Mesh(plane, checkerboardMat)
-        this.ground.rotation.x = -Math.PI / 2
-        this.ground.position.set(options?.x ?? 0, options?.y ?? 0.01, options?.z ?? 0)
-        this.ground.receiveShadow = true
-        this.scene.add(this.ground)
+	public addGroundPlane = (options?: position) => {
+		this.ground = new Mesh(new PlaneGeometry(), new ShadowMaterial({ side: 2 }));
+		this.ground.rotation.x = -Math.PI / 2;
+		this.ground.scale.setScalar(30);
+		this.ground.position.set(options?.x ?? 0, options?.y ?? 0, options?.z ?? 0);
+		this.ground.receiveShadow = true;
+		this.scene.add(this.ground);
+		return this;
+	};

-        const mirror = new Reflector(plane, {
-            clipBias: 0.003,
-            textureWidth: window.innerWidth * window.devicePixelRatio,
-            textureHeight: window.innerHeight * window.devicePixelRatio,
-            color: 0x00bfff
-        })
-        mirror.rotateX(-Math.PI / 2)
-        this.scene.add(mirror)
+	public addOrbitControls = (minDistance: number, maxDistance: number) => {
+		this.controls = new OrbitControls(this.camera, this.renderer.domElement);
+		this.controls.minDistance = minDistance;
+		this.controls.maxDistance = maxDistance;
+		this.controls.update();
+		return this;
+	};

-        return this
-    }
+	public addAmbientLight = (options: light) => {
+		const ambientLight = new AmbientLight(options.color, options.intensity);
+		this.scene.add(ambientLight);
+		return this;
+	};

-    public addOrbitControls = (minDistance: number, maxDistance: number, autoRotate = true) => {
-        this.orbit = new OrbitControls(this.camera, this.renderer.domElement)
-        this.orbit.minDistance = minDistance + (maxDistance - minDistance) / 2
-        this.orbit.maxDistance = maxDistance
-        this.orbit.autoRotate = autoRotate
-        this.orbit.update()
-        this.orbit.minDistance = minDistance
-        return this
-    }
+	public addDirectionalLight = (options: directionalLight) => {
+		const directionalLight = new DirectionalLight(options.color, options.intensity);
+		directionalLight.castShadow = true;
+		directionalLight.shadow.mapSize.setScalar(2048);
+		directionalLight.shadow.mapSize.width = 1024;
+		directionalLight.shadow.mapSize.height = 1024;
+		directionalLight.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
+		directionalLight.shadow.radius = 5;
+		this.scene.add(directionalLight);
+		return this;
+	};

-    public addAmbientLight = (options: light) => {
-        const ambientLight = new AmbientLight(options.color, options.intensity)
-        this.scene.add(ambientLight)
-        return this
-    }
+	public addGridHelper = (options: gridHelperOptions) => {
+		this.gridHelper = new GridHelper(options.size, options.divisions);
+		this.gridHelper.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
+		this.gridHelper.material.opacity = 0.2;
+		this.gridHelper.material.depthWrite = false;
+		this.gridHelper.material.transparent = true;
+		this.scene.add(this.gridHelper);
+		return this;
+	};

-    public addDirectionalLight = (options: directionalLight) => {
-        const directionalLight = new DirectionalLight(options.color, options.intensity)
-        directionalLight.castShadow = true
-        directionalLight.shadow.camera.top = 10
-        directionalLight.shadow.camera.bottom = -10
-        directionalLight.shadow.camera.right = 10
-        directionalLight.shadow.camera.left = -10
-        directionalLight.shadow.mapSize.set(4096, 4096)
+	public addFogExp2 = (color: ColorRepresentation, density?: number) => {
+		this.scene.fog = new FogExp2(color, density);
+		return this;
+	};

-        directionalLight.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0)
-        this.scene.add(directionalLight)
-        return this
-    }
+	public handleResize = () => {
+		this.renderer.setSize(window.innerWidth, window.innerHeight);
+		this.renderer.setPixelRatio(window.devicePixelRatio);
+		this.camera.aspect = window.innerWidth / window.innerHeight;
+		this.camera.updateProjectionMatrix();
+		return this;
+	};

-    private createCheckerboardTexture = (size: number, squares: number) => {
-        const canvas = document.createElement('canvas')
-        canvas.width = size
-        canvas.height = size
-        const context = canvas.getContext('2d')
+	public addRenderCb = (callback: Function) => {
+		this.callback = callback;
+		return this;
+	};

-        const squareSize = size / squares
+	public startRenderLoop = () => {
+		this.renderer.setAnimationLoop(() => {
+            this.controls.update();
+			this.renderer.render(this.scene, this.camera);
+			this.handleRobotShadow();
+			if (this.callback) this.callback();
+			if (!this.liveStreamTexture) return;
+		});
+		return this;
+	};

-        for (let y = 0; y < squares; y++) {
-            for (let x = 0; x < squares; x++) {
-                context!.fillStyle = (x + y) % 2 === 0 ? '#ffffff' : '#000000'
-                context!.fillRect(x * squareSize, y * squareSize, squareSize, squareSize)
-            }
-        }
+	public addArrowHelper = (options?: arrowOptions) => {
+		const dir = new Vector3(
+			options?.direction.x ?? 0,
+			options?.direction.y ?? 0,
+			options?.direction.z ?? 0
+		);
+		const origin = new Vector3(
+			options?.origin.x ?? 0,
+			options?.origin.y ?? 0,
+			options?.origin.z ?? 0
+		);
+		const arrowHelper = new ArrowHelper(
+			dir,
+			origin,
+			options?.length ?? 1.5,
+			options?.color ?? 0xff0000
+		);
+		this.scene.add(arrowHelper);
+		return this;
+	};

-        const texture = new CanvasTexture(canvas)
-        texture.wrapS = texture.wrapT = RepeatWrapping
-        texture.anisotropy = 16
-        return texture
-    }
+	private setJointValue(jointName: string, angle: number) {
+		if (!this.model) return;
+		if (!this.model.joints[jointName]) return;
+		this.model.joints[jointName].setJointValue(angle);
+	}

-    public addFogExp2 = (color: ColorRepresentation, density?: number) => {
-        this.scene.fog = new FogExp2(color, density)
-        return this
-    }
+	isJoint = (j: URDFJoint) => j.isURDFJoint && j.jointType !== 'fixed';

-    public fillParent = () => {
-        const parentElement = this.renderer.domElement.parentElement
-        if (parentElement) {
-            const width = parentElement.clientWidth
-            const height = parentElement.clientHeight
-            this.handleResize(width, height)
-        }
-        return this
-    }
+	highlightLinkGeometry = (m: URDFMimicJoint, revert: boolean, material: MeshPhongMaterial) => {
+		const traverse = (c: any) => {
+			if (c.type === 'Mesh') {
+				if (revert) {
+					c.material = c.__origMaterial;
+					delete c.__origMaterial;
+				} else {
+					c.__origMaterial = c.material;
+					c.material = material;
+				}
+			}

-    public handleResize = (width = window.innerWidth, height = window.innerHeight) => {
-        this.renderer.setSize(width, height)
-        this.renderer.setPixelRatio(window.devicePixelRatio)
-        this.camera.aspect = width / height
-        this.camera.updateProjectionMatrix()
-        return this
-    }
+			if (c === m || !this.isJoint(c)) {
+				for (let i = 0; i < c.children.length; i++) {
+					const child = c.children[i];
+					if (!child.isURDFCollider) {
+						traverse(c.children[i]);
+					}
+				}
+			}
+		};
+		traverse(m);
+	};

-    public addRenderCb = (callback: () => void) => {
-        this.callback = callback
-        return this
-    }
+	public addModel = (model: any) => {
+		this.model = model;
+		this.scene.add(model);
+		return this;
+	};

-    public startRenderLoop = () => {
-        this.renderer.setAnimationLoop(() => {
-            this.renderer.render(this.scene, this.camera)
-            this.orbit.update()
-            this.handleRobotShadow()
-            if (this.callback) this.callback()
-            if (!this.liveStreamTexture) return
-        })
-        return this
-    }
+	public addDragControl = (updateAngle: any) => {
+		const highlightColor = '#FFFFFF';
+		const highlightMaterial = new MeshPhongMaterial({
+			shininess: 10,
+			color: highlightColor,
+			emissive: highlightColor,
+			emissiveIntensity: 0.25
+		});

-    public addArrowHelper = (options?: arrowOptions) => {
-        const dir = new Vector3(
-            options?.direction.x ?? 0,
-            options?.direction.y ?? 0,
-            options?.direction.z ?? 0
-        )
-        const origin = new Vector3(
-            options?.origin.x ?? 0,
-            options?.origin.y ?? 0,
-            options?.origin.z ?? 0
-        )
-        const arrowHelper = new ArrowHelper(
-            dir,
-            origin,
-            options?.length ?? 1.5,
-            options?.color ?? 0xff0000
-        )
-        this.scene.add(arrowHelper)
-        return this
-    }
+		const dragControls = new PointerURDFDragControls(
+			this.scene,
+			this.camera,
+			this.renderer.domElement
+		);
+		dragControls.updateJoint = (joint: URDFMimicJoint, angle: number) => {
+			this.setJointValue(joint.name, angle);
+			updateAngle(joint.name, angle);
+		};
+		dragControls.onDragStart = () => (this.controls.enabled = false);
+		dragControls.onDragEnd = () => (this.controls.enabled = true);
+		dragControls.onHover = (joint: URDFMimicJoint) =>
+			this.highlightLinkGeometry(joint, false, highlightMaterial);
+		dragControls.onUnhover = (joint: URDFMimicJoint) =>
+			this.highlightLinkGeometry(joint, true, highlightMaterial);

-    private setJointValue(jointName: string, angle: number) {
-        if (!this.model) return
-        if (!this.model.joints[jointName]) return
-        this.model.joints[jointName].setJointValue(angle)
-    }
+		this.renderer.domElement.addEventListener('touchstart', (data) =>
+			dragControls._mouseDown(data.touches[0])
+		);
+		this.renderer.domElement.addEventListener('touchmove', (data) =>
+			dragControls._mouseMove(data.touches[0])
+		);
+		this.renderer.domElement.addEventListener('touchend', (data) =>
+			dragControls._mouseUp(data.touches[0])
+		);
+		return this;
+	};

-    isJoint = (j: URDFJoint) => j.isURDFJoint && j.jointType !== 'fixed'
+	public toggleFog = () => {
+		this.scene.fog = this.scene.fog ? null : this.fog;
+	};

-    highlightLinkGeometry = (m: URDFMimicJoint, revert: boolean, material: MeshPhongMaterial) => {
-        const traverse = (c: Object3D) => {
-            if (c.type === 'Mesh') {
-                if (revert) {
-                    c.material = c.__origMaterial
-                    delete c.__origMaterial
-                } else {
-                    c.__origMaterial = c.material
-                    c.material = material
-                }
-            }
-
-            if (c === m || !this.isJoint(c)) {
-                for (let i = 0; i < c.children.length; i++) {
-                    const child = c.children[i]
-                    if (!child.isURDFCollider) {
-                        traverse(c.children[i])
-                    }
-                }
-            }
-        }
-        traverse(m)
-    }
-
-    public addTransformControls = (model: Object3D) => {
-        this.transformControl = new TransformControls(this.camera, this.renderer.domElement)
-        this.transformControl.addEventListener('dragging-changed', (event: { value: boolean }) => {
-            this.orbit.enabled = !event.value
-            this.isDragging = !event.value
-        })
-        this.transformControl.attach(model)
-        this.scene.add(this.transformControl)
-        this.transformControl.setMode('rotate')
-        return this
-    }
-
-    public addModel = (model: URDFRobot) => {
-        this.modelGroup = new Group()
-        this.modelGroup.add(model)
-        this.model = model
-        this.scene.add(this.modelGroup)
-        return this
-    }
-
-    public addDragControl = (updateAngle: (angles: Record<string, number>) => void) => {
-        const highlightColor = '#FFFFFF'
-        const highlightMaterial = new MeshPhongMaterial({
-            shininess: 10,
-            color: highlightColor,
-            emissive: highlightColor,
-            emissiveIntensity: 0.9
-        })
-
-        const dragControls = new PointerURDFDragControls(
-            this.scene,
-            this.camera,
-            this.renderer.domElement
-        )
-        dragControls.updateJoint = (joint: URDFMimicJoint, angle: number) => {
-            this.setJointValue(joint.name, angle)
-            updateAngle({ [joint.name]: angle })
-        }
-        dragControls.onDragStart = () => {
-            this.orbit.enabled = false
-            this.isDragging = true
-        }
-        dragControls.onDragEnd = () => {
-            this.orbit.enabled = true
-            this.isDragging = false
-        }
-        dragControls.onHover = (joint: URDFMimicJoint) =>
-            this.highlightLinkGeometry(joint, false, highlightMaterial)
-        dragControls.onUnhover = (joint: URDFMimicJoint) =>
-            this.highlightLinkGeometry(joint, true, highlightMaterial)
-
-        this.renderer.domElement.addEventListener(
-            'touchstart',
-            data => dragControls._mouseDown(data.touches[0]),
-            { passive: true }
-        )
-        this.renderer.domElement.addEventListener(
-            'touchmove',
-            data => dragControls._mouseMove(data.touches[0]),
-            { passive: true }
-        )
-        this.renderer.domElement.addEventListener(
-            'touchend',
-            data => dragControls._mouseUp(data.touches[0]),
-            { passive: true }
-        )
-        return this
-    }
-
-    public toggleFog = () => {
-        this.scene.fog = this.scene.fog ? null : this.fog
-    }
-
-    private handleRobotShadow = () => {
-        if (this.isLoaded) return
-        const intervalId = setInterval(() => this.model?.traverse(c => (c.castShadow = true)), 10)
-        setTimeout(() => clearInterval(intervalId), 1000)
-        this.isLoaded = true
-    }
+	private handleRobotShadow = () => {
+		if (this.isLoaded) return;
+		const intervalId = setInterval(() => {
+			this.model?.traverse((c) => (c.castShadow = true));
+		}, 10);
+		setTimeout(() => {
+			clearInterval(intervalId);
+		}, 1000);
+		this.isLoaded = true;
+	};
 }
@@ -1,53 +1,71 @@
-import { Result } from '$lib/utilities/result'
-import { browser } from '$app/environment'
+import { Result } from '$lib/utilities/result';

 class FileService {
-    private dbPromise: Promise<Result<IDBDatabase, string>> | null =
-        browser ? this.openDatabase() : null
+	private dbName = 'fileStorageDB';
+	private dbVersion = 1;
+	private storeName = 'files';
+	private dbPromise: Promise<Result<IDBDatabase, string>>;

-    private async openDatabase(): Promise<Result<IDBDatabase, string>> {
-        return new Promise(resolve => {
-            const request = indexedDB.open('fileStorageDB', 1)
+	constructor() {
+		this.dbPromise = this.openDatabase();
+	}

-            request.onupgradeneeded = () => {
-                request.result.createObjectStore('files')
-            }
-            request.onsuccess = () => resolve(Result.ok(request.result))
-            request.onerror = () => resolve(Result.err('Error opening database'))
-        })
-    }
+	private async openDatabase(): Promise<Result<IDBDatabase, string>> {
+		return new Promise((resolve) => {
+			const request = indexedDB.open(this.dbName, this.dbVersion);

-    private async getStore(mode: IDBTransactionMode): Promise<Result<IDBObjectStore, string>> {
-        if (!browser || !this.dbPromise)
-            return Result.err('Not running in browser or DB not initialized')
-        const dbResult = await this.dbPromise
-        if (dbResult.isErr()) return Result.err('Database not initialized')
-        const store = dbResult.inner.transaction('files', mode).objectStore('files')
-        return Result.ok(store)
-    }
+			request.onerror = () => resolve(Result.err('Error opening database'));

-    public async saveFile(key: string, file: Uint8Array): Promise<Result<IDBValidKey, string>> {
-        const storeResult = await this.getStore('readwrite')
-        if (storeResult.isErr()) return Result.err('Failed to access store')
+			request.onsuccess = () => resolve(Result.ok(request.result));

-        return new Promise(resolve => {
-            const request = storeResult.inner.put(file, key)
-            request.onsuccess = () => resolve(Result.ok(request.result))
-            request.onerror = () => resolve(Result.err('Failed to save file'))
-        })
-    }
+			request.onupgradeneeded = (event) => {
+				const db = request.result;
+				if (!db.objectStoreNames.contains(this.storeName)) {
+					db.createObjectStore(this.storeName);
+				}
+			};
+		});
+	}

-    public async getFile(key: string): Promise<Result<Uint8Array | undefined, string>> {
-        const storeResult = await this.getStore('readonly')
-        if (storeResult.isErr()) return Result.err('Failed to access store')
+	private async getStore(mode: IDBTransactionMode): Promise<Result<IDBObjectStore, string>> {
+		const dbResult = await this.dbPromise;
+		if (dbResult.isErr()) {
+			return Result.err('Database not initialized properly');
+		}
+		const db = dbResult.inner;
+		const transaction = db.transaction(this.storeName, mode);
+		return Result.ok(transaction.objectStore(this.storeName));
+	}

-        return new Promise(resolve => {
-            const request = storeResult.inner.get(key)
-            request.onsuccess = () =>
-                resolve(request.result ? Result.ok(request.result) : Result.err('File not found'))
-            request.onerror = () => resolve(Result.err('Failed to retrieve file'))
-        })
-    }
+	public async saveFile(key: string, file: Uint8Array): Promise<Result<IDBValidKey, string>> {
+		const storeResult = await this.getStore('readwrite');
+		if (storeResult.isErr()) {
+			return Result.err('Failed to access object store for writing');
+		}
+		const store = storeResult.inner;
+
+		return new Promise((resolve) => {
+			const request = store.put(file, key);
+			request.onsuccess = () => resolve(Result.ok(request.result));
+			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');
+		if (storeResult.isErr()) {
+			return Result.err('Failed to access object store for reading');
+		}
+		const store = storeResult.inner;
+
+		return new Promise((resolve) => {
+			const request = store.get(key);
+
+			request.onsuccess = () =>
+				resolve(request.result ? Result.ok(request.result) : Result.err('File content not found'));
+			request.onerror = () => resolve(Result.err('Failed to retrieve file'));
+		});
+	}
 }

-export default browser ? new FileService() : null
+export default new FileService();
@@ -1,2 +1,3 @@
-export { default as fileService } from './file-service'
-export { default as resultService } from './result-service'
+export { default as fileService } from './file-service';
+export { default as socketService } from './socket-service';
+export { default as resultService } from './result-service';
@@ -1,19 +1,19 @@
-import { errorLogs, latestErrorLog } from '$lib/stores'
-import type { Result } from '$lib/utilities'
+import { errorLogs, latestErrorLog } from '$lib/stores';
+import type { Result } from '$lib/utilities';

 class ResultService {
-    public handleResult(result: Result<unknown, string>, tag?: string) {
-        if (result.isErr()) {
-            const errorLogEntry = { tag, message: result.inner, exception: result.exception }
-            latestErrorLog.set(errorLogEntry)
-            errorLogs.update(entries => {
-                entries.push(errorLogEntry)
-                return entries
-            })
-        }
+	public handleResult(result: Result<unknown, string>, tag?: string) {
+		if (result.isErr()) {
+			const errorLogEntry = { tag, message: result.inner, exception: result.exception };
+			latestErrorLog.set(errorLogEntry);
+			errorLogs.update((entries) => {
+				entries.push(errorLogEntry);
+				return entries;
+			});
+		}

-        return result
-    }
+		return result;
+	}
 }

-export default new ResultService()
+export default new ResultService();
@@ -0,0 +1,96 @@
+import { isConnected, socketData } from '$lib/stores';
+import { Result, Ok } from '$lib/utilities';
+import { resultService } from '$lib/services';
+import { type WebSocketJsonMsg } from '$lib/models';
+import type { Writable } from 'svelte/store';
+
+type WebsocketOutData = string | ArrayBufferLike | Blob | ArrayBufferView;
+
+// TODO
+/**
+ * MOVE THE store to a store.ts file
+ *
+ * Make an object on the class that encapsulate all the stores
+ *
+ * Make the handle message function look up the type and set the value, to simplify the code
+ */
+
+class SocketService {
+	private socket!: WebSocket;
+    private url?:string
+
+	constructor() {}
+
+	public connect(url: string): void {
+        this.url = url
+		this.socket = new WebSocket(url);
+		this.socket.binaryType = 'arraybuffer';
+		this.socket.onopen = () => this.handleConnected();
+		this.socket.onclose = () => this.handleDisconnected();
+		this.socket.onmessage = (event: MessageEvent) =>
+			resultService.handleResult(this.handleMessage(event), 'SocketService');
+		this.socket.onerror = (error: Event) => console.log(error);
+	}
+
+	public send(data: WebsocketOutData): Result<void, string> {
+		if (this.socket.readyState === WebSocket.OPEN) {
+			this.socket.send(data);
+			return Ok.void();
+		}
+		return Result.err('The connection is not open');
+	}
+
+	public addPublisher(store: Writable<WebsocketOutData>, type?: string) {
+		const publish = (data: WebsocketOutData) =>
+			this.send(type ? JSON.stringify({ type, data }) : data);
+		store.subscribe(publish);
+	}
+
+	private handleConnected(): void {
+		isConnected.set(true);
+	}
+
+	private handleDisconnected(): void {
+		isConnected.set(false);
+        setTimeout(() => this.connect(this.url as string), 500)
+	}
+
+	private getJsonFromMessage(msg: string): Result<WebSocketJsonMsg, string> {
+		try {
+			return Result.ok(JSON.parse(msg) as WebSocketJsonMsg);
+		} catch (error) {
+			return Result.err('Failed to parse socket message', error);
+		}
+	}
+
+	private handleBufferMessage(buffer: ArrayBuffer): Result<void, string> {
+		console.log(buffer);
+		return Ok.void();
+	}
+
+	private handleMessage(event: MessageEvent): Result<void, string> {
+		if (event.data instanceof ArrayBuffer) {
+			return this.handleBufferMessage(event.data);
+		}
+		let msgRes = this.getJsonFromMessage(event.data);
+		if (msgRes.isErr()) {
+			return msgRes;
+		}
+		const msg = msgRes.inner;
+
+		if (msg.type === 'log') {
+			socketData.logs.update((entries) => {
+				entries.push(msg.data);
+				return entries;
+			});
+			return Ok.void();
+		} else if (msg.data && msg.type in socketData) {
+			socketData[msg.type].set(msg.data);
+			return Ok.void();
+		}
+
+		return Result.err(`Got invalid msg: ${JSON.stringify(msg)}`);
+	}
+}
+
+export default new SocketService();
@@ -1,69 +0,0 @@
-import { type Analytics } from '$lib/types/models'
-import { writable } from 'svelte/store'
-
-const analytics_data = {
-    uptime: <number[]>[],
-    free_heap: <number[]>[],
-    total_heap: <number[]>[],
-    used_heap: <number[]>[],
-    min_free_heap: <number[]>[],
-    max_alloc_heap: <number[]>[],
-    fs_used: <number[]>[],
-    fs_total: <number[]>[],
-    core_temp: <number[]>[],
-    cpu0_usage: <number[]>[],
-    cpu1_usage: <number[]>[],
-    cpu_usage: <number[]>[]
-}
-
-const maxAnalyticsData = 100
-
-function createAnalytics() {
-    const { subscribe, update } = writable(analytics_data)
-
-    return {
-        subscribe,
-        addData: (content: Analytics) => {
-            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
-                ),
-                total_heap: [...analytics_data.total_heap, content.total_heap / 1000].slice(
-                    -maxAnalyticsData
-                ),
-                used_heap: [
-                    ...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(-maxAnalyticsData),
-                max_alloc_heap: [
-                    ...analytics_data.max_alloc_heap,
-                    content.max_alloc_heap / 1000
-                ].slice(-maxAnalyticsData),
-                fs_used: [...analytics_data.fs_used, content.fs_used / 1000].slice(
-                    -maxAnalyticsData
-                ),
-                fs_total: [...analytics_data.fs_total, content.fs_total / 1000].slice(
-                    -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()
@@ -1,79 +0,0 @@
-import { persistentStore } from '$lib/utilities'
-import { get, type Writable } from 'svelte/store'
-
-import Visualization from '$lib/components/Visualization.svelte'
-import Stream from '$lib/components/Stream.svelte'
-import ChartWidget from '$lib/components/widget/ChartWidget.svelte'
-import SkillPanel from '$lib/components/SkillPanel.svelte'
-
-export interface WidgetConfig {
-    id: string | number
-    component: keyof typeof WidgetComponents
-    props?: Record<string, unknown>
-}
-
-export interface WidgetContainerConfig {
-    id: string | number
-    layout?: 'row' | 'column' | 'wrap'
-    header?: string
-    widgets: Array<WidgetConfig | WidgetContainerConfig>
-}
-
-export const isWidgetConfig = (
-    widget: WidgetConfig | WidgetContainerConfig
-): widget is WidgetConfig => 'component' in widget
-
-export const WidgetComponents = {
-    Visualization,
-    Stream,
-    ChartWidget,
-    SkillPanel
-}
-
-interface View {
-    name: string
-    content: WidgetContainerConfig
-}
-
-const defaultViews: View[] = [
-    {
-        name: '3D representation',
-        content: {
-            id: 'root',
-            layout: 'column',
-            widgets: [{ id: 2, component: 'Visualization', props: { debug: true } }]
-        }
-    },
-    {
-        name: 'Stream',
-        content: {
-            id: 'root',
-            layout: 'column',
-            widgets: [{ id: 2, component: 'Stream' }]
-        }
-    },
-    {
-        name: 'Split screen',
-        content: {
-            id: 'root',
-            widgets: [
-                { id: 2, component: 'Stream' },
-                { id: 2, component: 'Visualization', props: { debug: true } }
-            ]
-        }
-    },
-    {
-        name: 'Skills',
-        content: {
-            id: 'root',
-            widgets: [
-                { id: 1, component: 'Visualization', props: { debug: true } },
-                { id: 2, component: 'SkillPanel' }
-            ]
-        }
-    }
-]
-
-export const views: Writable<View[]> = persistentStore('views', defaultViews)
-
-export const selectedView = persistentStore('selected_view', get(views)[0].name)
@@ -1,64 +0,0 @@
-import { api } from '$lib/api'
-import { notifications } from '$lib/components/toasts/notifications'
-import Kinematic from '$lib/kinematic'
-import { persistentStore } from '$lib/utilities'
-import { derived, type Writable } from 'svelte/store'
-import { resolve } from '$app/paths'
-
-let featureFlagsStore: Writable<Record<string, boolean | string>>
-
-export function useFeatureFlags() {
-    if (!featureFlagsStore) {
-        featureFlagsStore = persistentStore<Record<string, boolean | string>>('FeatureFlags', {})
-
-        api.get<Record<string, boolean>>('/api/features').then(result => {
-            if (result.isOk()) featureFlagsStore.set(result.inner)
-            else {
-                notifications.error('Feature flag could not be fetched', 2500)
-            }
-        })
-    }
-
-    return featureFlagsStore
-}
-
-const base = resolve('/')
-
-export const variants = {
-    SPOTMICRO_ESP32: {
-        model: `${base}spot_micro.urdf.xacro`,
-        stl: `${base}stl.zip`,
-        kinematics: {
-            coxa: 0.0605,
-            coxa_offset: 0.01,
-            femur: 0.1112,
-            tibia: 0.1185,
-            L: 0.2075,
-            W: 0.078
-        }
-    },
-    SPOTMICRO_YERTLE: {
-        model: `${base}yertle.URDF`,
-        stl: `${base}URDF.zip`,
-        kinematics: {
-            coxa: 0.035,
-            coxa_offset: 0.0,
-            femur: 0.13,
-            tibia: 0.13,
-            L: 0.24,
-            W: 0.078
-        }
-    }
-}
-
-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)
-)
@@ -1,24 +0,0 @@
-import { writable } from 'svelte/store'
-
-export const isFullscreen = writable(false)
-
-export function toggleFullscreen() {
-    isFullscreen.update(state => {
-        !state ? document.documentElement.requestFullscreen() : document.exitFullscreen()
-        return !state
-    })
-}
-
-export function enterFullscreen() {
-    if (!document.fullscreenElement) {
-        document.documentElement.requestFullscreen()
-        isFullscreen.set(true)
-    }
-}
-
-export function exitFullscreen() {
-    if (document.fullscreenElement) {
-        document.exitFullscreen()
-        isFullscreen.set(false)
-    }
-}
@@ -1,87 +0,0 @@
-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
-})
@@ -1,40 +0,0 @@
-import { writable } from 'svelte/store'
-import type { IMUMsg } from '$lib/types/models'
-
-const maxIMUData = 100
-
-export const imu = (() => {
-    const { subscribe, update } = writable({
-        x: [] as number[],
-        y: [] as number[],
-        z: [] as number[],
-        heading: [] as number[],
-        altitude: [] as number[],
-        pressure: [] as number[],
-        bmp_temp: [] as number[]
-    })
-
-    const addData = (content: IMUMsg) => {
-        update(data => {
-            if (content.imu && content.imu[4]) {
-                data.x = [...data.x, content.imu[0]].slice(-maxIMUData)
-                data.y = [...data.y, content.imu[1]].slice(-maxIMUData)
-                data.z = [...data.z, content.imu[2]].slice(-maxIMUData)
-            }
-
-            if (content.mag && content.mag[4]) {
-                data.heading = [...data.heading, content.mag[3]].slice(-maxIMUData)
-            }
-
-            if (content.bmp && content.bmp[3]) {
-                data.pressure = [...data.pressure, content.bmp[0]].slice(-maxIMUData)
-                data.altitude = [...data.altitude, content.bmp[1]].slice(-maxIMUData)
-                data.bmp_temp = [...data.bmp_temp, content.bmp[2]].slice(-maxIMUData)
-            }
-
-            return data
-        })
-    }
-
-    return { subscribe, addData }
-})()
@@ -1,10 +1,3 @@
-export * from './socket-store'
-export * from './logging-store'
-export * from './model-store'
-export * from './socket'
-export * from './fullscreen'
-export * from './telemetry'
-export * from './analytics'
-export * from './featureFlags'
-export * from './location-store'
-export * from './skill'
+export * from './socket-store';
+export * from './logging-store';
+export * from './model-store';
@@ -1,6 +0,0 @@
-import { persistentStore } from '$lib/utilities'
-import { writable } from 'svelte/store'
-import { PUBLIC_VITE_USE_HOST_NAME } from '$env/static/public'
-
-export const apiLocation =
-    PUBLIC_VITE_USE_HOST_NAME ? writable('') : persistentStore('location', '')
@@ -1,11 +1,11 @@
-import { writable, type Writable } from 'svelte/store'
+import { writable, type Writable } from 'svelte/store';

 export interface errorLog {
-    message: unknown
-    tag?: string
-    exception?: unknown
+	message: unknown;
+	tag?: string;
+	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([]);
@@ -1,54 +1,24 @@
-import type { ControllerInput } from '$lib/types/models'
-import { persistentStore } from '$lib/utilities/svelte-utilities'
-import { writable, type Writable } from 'svelte/store'
+import type { ControllerInput } from '$lib/models';
+import { persistentStore } from '$lib/utilities';
+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', []);

-export const model = writable()
+export const model = writable();

-export const modes = ['deactivated', 'idle', 'calibration', 'rest', 'stand', 'walk'] as const
+export const modes = ['idle', 'rest', 'stand', 'walk'] as const;

-export type Modes = (typeof modes)[number]
+export type Modes = (typeof modes)[number];

-export enum ModesEnum {
-    Deactivated = 0,
-    Idle = 1,
-    Calibration = 2,
-    Rest = 3,
-    Stand = 4,
-    Walk = 5
-}
+export const mode: Writable<Modes> = writable('idle');

-export enum WalkGaits {
-    Trot = 0,
-    Crawl = 1
-}
-
-export const walkGaits = ['trot', 'crawl'] as const
-
-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 outControllerData = writable(new Int8Array([0, 0, 0, 0, 0, 0, 70, 0]));

 export const input: Writable<ControllerInput> = writable({
-    left: { x: 0, y: 0 },
-    right: { x: 0, y: 0 },
-    height: 0.5,
-    speed: 0.5,
-    s1: 0.5
-})
+	left: { x: 0, y: 0 },
+	right: { x: 0, y: 0 },
+	height: 70,
+	speed: 0
+});
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Rune Harlyk	d36d3a711f	Merge branch 'walking-gait' of https://github.com/runeharlyk/SpotMicroESP32-Leika into walking-gait	2024-05-27 01:25:43 +02:00
Rune Harlyk	9e40e01065	Updates to use process for camera stream	2024-03-07 15:14:10 +01:00
Rune Harlyk	971418fce8	Updates camera and mocks	2024-03-07 14:01:09 +01:00
Rune Harlyk	fae6171f93	Simplifies spot class and add threaded websocket controller interface	2024-03-05 15:02:31 +01:00
Rune Harlyk	7208cc7b1c	🎍 Adds virtual sensors and camera mjpeg stream	2024-03-05 11:35:10 +01:00
Rune Harlyk	f28d5e345b	🐕 Adds way to simulate the model	2024-03-04 23:41:48 +01:00
Rune Harlyk	5449658df7	Refactors simulation an raspberry pi project	2024-03-04 22:27:43 +01:00
Rune Harlyk	ebca54f2a0	🧪 Adds initial new python mocking	2024-03-04 18:43:07 +01:00
Rune Harlyk	9c5096a3c5	🐾 Updates controller to have command	2024-03-04 18:43:07 +01:00
Rune Harlyk	1753e539db	🦴 Adds Simulator from OpenQuadruped/spot_mini_mini	2024-03-04 18:43:07 +01:00
Rune Harlyk	e673a50fa2	📷 Adds setting for fixing camera on robot	2024-03-04 18:43:06 +01:00
Rune Harlyk	c6eadc36fd	📲 Reconnect socket after connection closes	2024-03-04 18:15:25 +01:00
Rune Harlyk	ccb115cccc	Fixes relative imports	2024-03-04 16:11:50 +01:00
Rune Harlyk	14c0f438a6	🧪 Adds initial new python mocking	2024-03-04 15:57:30 +01:00
Rune Harlyk	68a0e609fc	🐾 Updates controller to have command	2024-03-04 15:56:22 +01:00
Rune Harlyk	6a981b64fa	Adds Simulator from OpenQuadruped/spot_mini_mini	2024-03-04 15:55:45 +01:00
Rune Harlyk	02871591fd	📷 Adds setting for fixing camera on robot	2024-03-01 16:56:56 +01:00
Rune Harlyk	3f07a91ce8	👍 Updates app unit test suite	2024-02-26 15:35:15 +01:00
Rune Harlyk	37b9022a96	🎄 Update app-unit-test.yml	2024-02-26 15:14:31 +01:00
Rune Harlyk	40616f2cda	🌲 Update app-unit-test.yml	2024-02-26 15:13:24 +01:00
Rune Harlyk	aff2765724	Merge branch 'master' into walking-gait	2024-02-26 15:02:45 +01:00
Rune Harlyk	b80a5a97db	👻 Updates node action, version and install to use ci	2024-02-26 15:01:23 +01:00
Rune Harlyk	13b7550022	📲 Reconnect socket after connection closes	2024-02-26 14:45:58 +01:00
Rune Harlyk	70203c3700	🎃 Updates trigger branch for app-unit-test.yml	2024-02-26 14:45:58 +01:00
				`@@ -1 +0,0 @@`
				// place files you want to import through the `$lib` alias in this folder.