✨ Adds skill system

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

.github/workflows/deploy.yml

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

.github/workflows/embedded-build.yml

@@ -0,0 +1,42 @@
+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

.github/workflows/frontend-tests.yml

@@ -1,10 +1,14 @@
-name: CI
+name: Frontend Tests
 
 on:
   push:
     branches: [ master ]
+    paths:
+        - 'app/**'  
   pull_request:
     branches: [ master ]
+    paths:
+        - 'app/**'  
     
 permissions:
   contents: read
@@ -19,7 +23,7 @@ jobs:
     - uses: actions/checkout@v4
     - uses: pnpm/action-setup@v2
       with:
-        version: 8
+        version: 9
 
     - name: Setup Node.js
       uses: actions/setup-node@v4
@@ -30,6 +34,8 @@ 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

.gitignore

@@ -1,2 +1,8 @@
-*.pyc
-spot_env
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
+__pycache__/
+*.py[cod]
+*$py.class
+.pio

.vscode/extensions.json

@@ -2,7 +2,10 @@
     // See http://go.microsoft.com/fwlink/?LinkId=827846
     // for the documentation about the extensions.json format
     "recommendations": [
-        "platformio.platformio-ide"
+        "bradlc.vscode-tailwindcss",
+        "esbenp.prettier-vscode",
+        "platformio.platformio-ide",
+        "svelte.svelte-vscode"
     ],
     "unwantedRecommendations": [
         "ms-vscode.cpptools-extension-pack"

.vscode/settings.json

@@ -1,6 +1,15 @@
 {
     "files.associations": {
-        "cmath": "cpp"
+      "cmath": "cpp",
+      "array": "cpp",
+      "deque": "cpp",
+      "string": "cpp",
+      "unordered_map": "cpp",
+      "unordered_set": "cpp",
+      "vector": "cpp",
+      "string_view": "cpp",
+      "initializer_list": "cpp",
+      "regex": "cpp"
     },
     "editor.tabSize": 4,
     "editor.detectIndentation": false,

app/.env

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

app/.env.embedded

@@ -1,3 +0,0 @@
-VITE_API_URL="leika.local"
-VITE_SOCKET_URL="leika.local"
-VITE_EMBEDDED_BUILD=true

app/.env.mock_embedded

@@ -1,3 +0,0 @@
-VITE_API_URL="hostname"
-VITE_SOCKET_URL="hostname:2096"
-VITE_EMBEDDED_BUILD=true

app/.env.mock_web

@@ -1,3 +0,0 @@
-VITE_API_URL="hostname"
-VITE_SOCKET_URL="hostname:2096"
-VITE_EMBEDDED_BUILD=false

app/.env.web

@@ -1,3 +0,0 @@
-VITE_API_URL="leika.local"
-VITE_SOCKET_URL="leika.local"
-VITE_EMBEDDED_BUILD=false

app/.eslintignore

@@ -10,4 +10,4 @@ node_modules
 # Ignore files for PNPM, NPM and YARN
 pnpm-lock.yaml
 package-lock.json
-yarn.lock
+yarn.lock

app/.eslintrc.cjs

@@ -1,20 +1,31 @@
+/** @type { import("eslint").Linter.Config } */
 module.exports = {
-	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
-	}
-};
+    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'
+            }
+        }
+    ]
+}

app/.eslintrc.json

@@ -1,15 +0,0 @@
-{
-	"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": {}
-}

app/.gitignore

@@ -1,24 +1,9 @@
-# Logs
-logs
-*.log
-npm-debug.log*
-yarn-debug.log*
-yarn-error.log*
-pnpm-debug.log*
-lerna-debug.log*
-
-node_modules
-dist
-dist-ssr
-*.local
-
-# Editor directories and files
-.vscode/*
-!.vscode/extensions.json
-.idea
 .DS_Store
-*.suo
-*.ntvs*
-*.njsproj
-*.sln
-*.sw?
+node_modules
+/build
+/.svelte-kit
+/package
+.env.*
+!.env.example
+vite.config.js.timestamp-*
+vite.config.ts.timestamp-*

app/.npmrc

@@ -0,0 +1 @@
+engine-strict=true

app/.prettierignore

@@ -1,13 +1,4 @@
-.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

app/.prettierrc

@@ -1,9 +1,12 @@
 {
-	"useTabs": true,
-	"singleQuote": true,
-	"trailingComma": "none",
-	"printWidth": 100,
-	"plugins": ["prettier-plugin-svelte"],
-	"pluginSearchDirs": ["."],
-	"overrides": [{ "files": "*.svelte", "options": { "parser": "svelte" } }]
+    "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" } }]
 }

app/.vscode/extensions.json

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

app/README.md

@@ -1,3 +1,29 @@
-# Controller App
+# create-svelte
 
-This is the controller for my spot micro
+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.

app/env.d.ts

@@ -0,0 +1,8 @@
+declare module 'app-env' {
+    interface ENV {
+        VITE_USE_HOST_NAME: boolean
+    }
+
+    const appEnv: ENV
+    export default appEnv
+}

app/index.html

@@ -1,15 +0,0 @@
-<!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>

app/package.json

@@ -1,55 +1,65 @@
 {
-	"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"
-	}
-}
+    "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"
+}

app/playwright.config.ts

@@ -0,0 +1,12 @@
+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

app/postcss.config.js

@@ -1,6 +0,0 @@
-export default {
-	plugins: {
-		tailwindcss: {},
-		autoprefixer: {}
-	}
-};

app/src/App.svelte

@@ -1,48 +0,0 @@
-<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>

app/src/app.css

@@ -1,20 +1,48 @@
-:root {
-	font-family: Inter, system-ui, Avenir, Helvetica, Arial, sans-serif;
-	line-height: 1.5;
-	font-weight: 400;
+@import 'tailwindcss';
+@plugin "daisyui";
 
-	font-synthesis: none;
-	text-rendering: optimizeLegibility;
-	-webkit-font-smoothing: antialiased;
-	-moz-osx-font-smoothing: grayscale;
-	-webkit-text-size-adjust: 100%;
+@plugin "daisyui" {
+    themes:
+        light --default,
+        dark --prefersdark;
 }
 
-body {
-	margin: 0;
+@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;
 }
 
 #three-gui-panel {
-    top: 50px;
-    right:0px
-}
+    top: 64px;
+    right: 0px;
+}
+
+@media (max-width: 1023px) {
+    #three-gui-panel {
+        top: 48px;
+    }
+}

app/src/app.d.ts

@@ -0,0 +1,13 @@
+// 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 {}

app/src/app.html

@@ -0,0 +1,17 @@
+<!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>

app/src/components/Controls.svelte

@@ -1,113 +0,0 @@
-<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} />

app/src/components/Topbar.svelte

@@ -1,84 +0,0 @@
-<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>

app/src/components/Views/Model.svelte

@@ -1,180 +0,0 @@
-<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>

app/src/components/Views/Stream.svelte

@@ -1,19 +0,0 @@
-<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>

app/src/components/input/Button.svelte

@@ -1,11 +0,0 @@
-<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>

app/src/components/input/Range.svelte

@@ -1,29 +0,0 @@
-<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
->
-

app/src/components/settings/Calibration.svelte

@@ -1,86 +0,0 @@
-<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>

app/src/components/settings/Configuration.svelte

@@ -1,23 +0,0 @@
-<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>

app/src/components/settings/Info.svelte

@@ -1,28 +0,0 @@
-<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>

app/src/components/settings/Log.svelte

@@ -1,18 +0,0 @@
-<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>

app/src/index.css

@@ -1,35 +0,0 @@
-@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;
-    }
-  } */

app/src/lib/api.ts

@@ -0,0 +1,79 @@
+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}`)
+    }
+}

app/src/lib/components/Collapsible.svelte

@@ -0,0 +1,44 @@
+<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>

app/src/lib/components/ConfirmDialog.svelte

@@ -0,0 +1,48 @@
+<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}

app/src/lib/components/GithubUpdateDialog.svelte

@@ -0,0 +1,101 @@
+<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}

app/src/lib/components/InfoDialog.svelte

@@ -0,0 +1,43 @@
+<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}

app/src/lib/components/OrientationIndicator.svelte

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

app/src/lib/components/SettingsCard.svelte

@@ -0,0 +1,76 @@
+<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}

app/src/lib/components/SkillPanel.svelte

@@ -0,0 +1,156 @@
+<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>

app/src/lib/components/Spinner.svelte

@@ -0,0 +1,8 @@
+<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>

app/src/lib/components/StatusItem.svelte

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

app/src/lib/components/Stream.svelte

@@ -0,0 +1,17 @@
+<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>

app/src/lib/components/Toast.svelte

@@ -0,0 +1,37 @@
+<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>

app/src/lib/components/Visualization.svelte

@@ -0,0 +1,348 @@
+<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>

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

@@ -0,0 +1,96 @@
+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'

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

@@ -0,0 +1,26 @@
+<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>

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

@@ -0,0 +1,35 @@
+<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>

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

@@ -0,0 +1,2 @@
+export { default as PasswordInput } from './InputPassword.svelte'
+export { default as VerticalSlider } from './VerticalSlider.svelte'

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

@@ -0,0 +1,11 @@
+<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>

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

@@ -0,0 +1,41 @@
+<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>

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

@@ -0,0 +1,15 @@
+<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}

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

@@ -0,0 +1,15 @@
+<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>

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

@@ -0,0 +1,200 @@
+<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>

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

@@ -0,0 +1,56 @@
+<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>

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

@@ -0,0 +1,10 @@
+<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>

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

@@ -0,0 +1,33 @@
+<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>

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

@@ -0,0 +1,34 @@
+<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}

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

@@ -0,0 +1,9 @@
+<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>

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

@@ -0,0 +1,9 @@
+<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>

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

@@ -0,0 +1,18 @@
+<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>

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

@@ -0,0 +1,111 @@
+<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}

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

@@ -0,0 +1,6 @@
+<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)} />

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

@@ -0,0 +1,38 @@
+<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>

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

@@ -0,0 +1,37 @@
+<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>

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

@@ -0,0 +1,42 @@
+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()

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

@@ -0,0 +1,102 @@
+<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>

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

@@ -0,0 +1,20 @@
+<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>

app/src/lib/gait.ts

@@ -0,0 +1,508 @@
+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
+}

app/src/lib/index.ts

@@ -0,0 +1 @@
+// place files you want to import through the `$lib` alias in this folder.

app/src/lib/kinematic.ts

@@ -1,393 +1,184 @@
+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 {
-	private l1: number;
-	private l2: number;
-	private l3: number;
-	private l4: number;
-
-	private L: number;
-	private W: number;
-
-	constructor() {
-		this.l1 = 50;
-		this.l2 = 20;
-		this.l3 = 120;
-		this.l4 = 155;
-
-		this.L = 140;
-		this.W = 75;
-	}
-
-	bodyIK(
-		omega: number,
-		phi: number,
-		psi: number,
-		xm: number,
-		ym: number,
-		zm: number
-	): number[][][] {
-		const { cos, sin } = Math;
-
-		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);
-
-		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);
-
-		const sHp = sin(Math.PI / 2);
-		const cHp = cos(Math.PI / 2);
-		const L = this.L;
-		const W = this.W;
-
-		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]
-			])
-		];
-	}
-
-	private legIK(point: number[]): number[] {
-		const [x, y, z] = point;
-		const { atan2, cos, sin, sqrt, acos } = Math;
-		const { l1, l2, l3, l4 } = this;
-
-		let F;
-
-		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 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));
-
-		return [theta1, theta2, theta3];
-	}
-
-	matrixMultiply(a: number[][], b: number[][]): number[][] {
-		const result: number[][] = [];
-
-		for (let i = 0; i < a.length; i++) {
-			const row: number[] = [];
-
-			for (let j = 0; j < b[0].length; j++) {
-				let sum = 0;
-
-				for (let k = 0; k < a[i].length; k++) {
-					sum += a[i][k] * b[k][j];
-				}
-
-				row.push(sum);
-			}
-
-			result.push(row);
-		}
-
-		return result;
-	}
-
-	multiplyVector(matrix: number[][], vector: number[]): number[] {
-		const rows = matrix.length;
-		const cols = matrix[0].length;
-		const vectorLength = vector.length;
-
-		if (cols !== vectorLength) {
-			throw new Error('Matrix and vector dimensions do not match for multiplication.');
-		}
-
-		const result = [];
-
-		for (let i = 0; i < rows; i++) {
-			let sum = 0;
-
-			for (let j = 0; j < cols; j++) {
-				sum += matrix[i][j] * vector[j];
-			}
-
-			result.push(sum);
-		}
-
-		return result;
-	}
-
-	private 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;
-	}
+    coxa: number
+    coxa_offset: number
+    femur: number
+    tibia: number
+
+    L: number
+    W: number
+
+    DEG2RAD = DEG2RAD
+
+    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
+
+    mountOffsets: number[][]
+    default_feet_positions: number[][]
+
+    invMountRot = [
+        [0, 0, -1],
+        [0, 1, 0],
+        [1, 0, 0]
+    ]
+
+    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
+
+        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
+
+        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]
+        ]
+
+        this.default_feet_positions = this.mountOffsets.map((offset, i) => {
+            return [offset[0], 0, offset[2] + (i % 2 === 1 ? -this.coxa : this.coxa)]
+        })
+    }
+
+    getDefaultFeetPos(): number[][] {
+        return this.default_feet_positions.map(pos => [...pos])
+    }
+
+    calcIK(p: body_state_t): number[] {
+        const roll = p.omega * this.DEG2RAD
+        const pitch = p.phi * this.DEG2RAD
+        const yaw = p.psi * this.DEG2RAD
+        const rot = this.euler2R(roll, pitch, yaw)
+        const inv_rot = [
+            [rot[0][0], rot[1][0], rot[2][0]],
+            [rot[0][1], rot[1][1], rot[2][1]],
+            [rot[0][2], rot[1][2], rot[2][2]]
+        ]
+        const inv_trans = [
+            -inv_rot[0][0] * p.xm - inv_rot[0][1] * p.ym - inv_rot[0][2] * p.zm,
+            -inv_rot[1][0] * p.xm - inv_rot[1][1] * p.ym - inv_rot[1][2] * p.zm,
+            -inv_rot[2][0] * p.xm - inv_rot[2][1] * p.ym - inv_rot[2][2] * p.zm
+        ]
+        return p.feet.flatMap((foot, i) => {
+            const [wx, wy, wz] = foot
+            const bx = inv_rot[0][0] * wx + inv_rot[0][1] * wy + inv_rot[0][2] * wz + inv_trans[0]
+            const by = inv_rot[1][0] * wx + inv_rot[1][1] * wy + inv_rot[1][2] * wz + inv_trans[1]
+            const bz = inv_rot[2][0] * wx + inv_rot[2][1] * wy + inv_rot[2][2] * wz + inv_trans[2]
+
+            const [mx, my, mz] = this.mountOffsets[i]
+            const px = bx - mx,
+                py = by - my,
+                pz = bz - mz
+
+            const lx =
+                this.invMountRot[0][0] * px +
+                this.invMountRot[0][1] * py +
+                this.invMountRot[0][2] * pz
+            const ly =
+                this.invMountRot[1][0] * px +
+                this.invMountRot[1][1] * py +
+                this.invMountRot[1][2] * pz
+            const lz =
+                this.invMountRot[2][0] * px +
+                this.invMountRot[2][1] * py +
+                this.invMountRot[2][2] * pz
+
+            const xLocal = i % 2 === 1 ? -lx : lx
+            return this.legIK(xLocal, ly, lz)
+        })
+    }
+
+    private legIK(x: number, y: number, z: number): [number, number, number] {
+        const F = sqrt(max(0, x * x + y * y - this.coxa * this.coxa))
+        const G = F - this.coxa_offset
+        const H = sqrt(G * G + z * z)
+        const t1 = -atan2(y, x) - atan2(F, -this.coxa)
+        const D =
+            (H * H - this.femur * this.femur - this.tibia * this.tibia) /
+            (2 * this.femur * this.tibia)
+        const t3 = acos(max(-1, min(1, D)))
+        const t2 = atan2(z, G) - atan2(this.tibia * sin(t3), this.femur + this.tibia * cos(t3))
+        return [t1, t2, t3]
+    }
+
+    private euler2R(roll: number, pitch: number, yaw: number): number[][] {
+        const cr = cos(roll),
+            sr = sin(roll)
+        const cp = cos(pitch),
+            sp = sin(pitch)
+        const cy = cos(yaw),
+            sy = sin(yaw)
+        return [
+            [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]
+        ]
+    }
 }

app/src/lib/models.ts

@@ -1,22 +0,0 @@
-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;

app/src/lib/sceneBuilder.ts

@@ -1,319 +1,348 @@
 import {
-	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';
+    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'
 
-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;
-}
-
-interface gridOptions {
-	divisions?: number;
-	size?: number;
+    color?: ColorRepresentation
+    intensity?: number
 }
 
 interface arrowOptions {
-	origin: position;
-	direction: position;
-	length?: number;
-	color?: ColorRepresentation;
+    origin: position
+    direction: position
+    length?: number
+    color?: ColorRepresentation
 }
 
-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);
-}
+type directionalLight = position & light
 
 export default class SceneBuilder {
-	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;
+    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
 
-	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;
-		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
+        if (!parameters?.canvas) document.body.appendChild(this.renderer.domElement)
+        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 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
+    }
 
-		sun.setFromSphericalCoords(1, phi, theta);
-		uniforms['sunPosition'].value.copy(sun);
-		return this;
-	};
+    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
+        })
 
-	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;
-	};
+        const plane = new PlaneGeometry(400, 400)
 
-	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;
-	};
+        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 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;
-	};
+        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 addAmbientLight = (options: light) => {
-		const ambientLight = new AmbientLight(options.color, options.intensity);
-		this.scene.add(ambientLight);
-		return this;
-	};
+        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 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 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 addAmbientLight = (options: light) => {
+        const ambientLight = new AmbientLight(options.color, options.intensity)
+        this.scene.add(ambientLight)
+        return this
+    }
 
-	public addFogExp2 = (color: ColorRepresentation, density?: number) => {
-		this.scene.fog = new FogExp2(color, density);
-		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 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;
-	};
+        directionalLight.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0)
+        this.scene.add(directionalLight)
+        return this
+    }
 
-	public addRenderCb = (callback: Function) => {
-		this.callback = callback;
-		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 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;
-	};
+        const squareSize = size / squares
 
-	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;
-	};
+        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)
+            }
+        }
 
-	private setJointValue(jointName: string, angle: number) {
-		if (!this.model) return;
-		if (!this.model.joints[jointName]) return;
-		this.model.joints[jointName].setJointValue(angle);
-	}
+        const texture = new CanvasTexture(canvas)
+        texture.wrapS = texture.wrapT = RepeatWrapping
+        texture.anisotropy = 16
+        return texture
+    }
 
-	isJoint = (j: URDFJoint) => j.isURDFJoint && j.jointType !== 'fixed';
+    public addFogExp2 = (color: ColorRepresentation, density?: number) => {
+        this.scene.fog = new FogExp2(color, density)
+        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 fillParent = () => {
+        const parentElement = this.renderer.domElement.parentElement
+        if (parentElement) {
+            const width = parentElement.clientWidth
+            const height = parentElement.clientHeight
+            this.handleResize(width, height)
+        }
+        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 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
+    }
 
-	public addModel = (model: any) => {
-		this.model = model;
-		this.scene.add(model);
-		return this;
-	};
+    public addRenderCb = (callback: () => void) => {
+        this.callback = callback
+        return this
+    }
 
-	public addDragControl = (updateAngle: any) => {
-		const highlightColor = '#FFFFFF';
-		const highlightMaterial = new MeshPhongMaterial({
-			shininess: 10,
-			color: highlightColor,
-			emissive: highlightColor,
-			emissiveIntensity: 0.25
-		});
+    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
+    }
 
-		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);
+    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
+    }
 
-		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;
-	};
+    private setJointValue(jointName: string, angle: number) {
+        if (!this.model) return
+        if (!this.model.joints[jointName]) return
+        this.model.joints[jointName].setJointValue(angle)
+    }
 
-	public toggleFog = () => {
-		this.scene.fog = this.scene.fog ? null : this.fog;
-	};
+    isJoint = (j: URDFJoint) => j.isURDFJoint && j.jointType !== 'fixed'
 
-	private handleRobotShadow = () => {
-		if (this.isLoaded) return;
-		const intervalId = setInterval(() => {
-			this.model?.traverse((c) => (c.castShadow = true));
-		}, 10);
-		setTimeout(() => {
-			clearInterval(intervalId);
-		}, 1000);
-		this.isLoaded = true;
-	};
+    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
+    }
 }

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

@@ -1,71 +1,53 @@
-import { Result } from '$lib/utilities/result';
+import { Result } from '$lib/utilities/result'
+import { browser } from '$app/environment'
 
 class FileService {
-	private dbName = 'fileStorageDB';
-	private dbVersion = 1;
-	private storeName = 'files';
-	private dbPromise: Promise<Result<IDBDatabase, string>>;
+    private dbPromise: Promise<Result<IDBDatabase, string>> | null =
+        browser ? this.openDatabase() : null
 
-	constructor() {
-		this.dbPromise = this.openDatabase();
-	}
+    private async openDatabase(): Promise<Result<IDBDatabase, string>> {
+        return new Promise(resolve => {
+            const request = indexedDB.open('fileStorageDB', 1)
 
-	private async openDatabase(): Promise<Result<IDBDatabase, string>> {
-		return new Promise((resolve) => {
-			const request = indexedDB.open(this.dbName, this.dbVersion);
+            request.onupgradeneeded = () => {
+                request.result.createObjectStore('files')
+            }
+            request.onsuccess = () => resolve(Result.ok(request.result))
+            request.onerror = () => resolve(Result.err('Error opening database'))
+        })
+    }
 
-			request.onerror = () => resolve(Result.err('Error opening database'));
+    private async getStore(mode: IDBTransactionMode): Promise<Result<IDBObjectStore, string>> {
+        if (!browser || !this.dbPromise)
+            return Result.err('Not running in browser or DB not initialized')
+        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.onsuccess = () => resolve(Result.ok(request.result));
+    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.onupgradeneeded = (event) => {
-				const db = request.result;
-				if (!db.objectStoreNames.contains(this.storeName)) {
-					db.createObjectStore(this.storeName);
-				}
-			};
-		});
-	}
+        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'))
+        })
+    }
 
-	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));
-	}
+    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')
 
-	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'));
-		});
-	}
+        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'))
+        })
+    }
 }
 
-export default new FileService();
+export default browser ? new FileService() : null

app/src/lib/services/index.ts

@@ -1,3 +1,2 @@
-export { default as fileService } from './file-service';
-export { default as socketService } from './socket-service';
-export { default as resultService } from './result-service';
+export { default as fileService } from './file-service'
+export { default as resultService } from './result-service'

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

@@ -1,19 +1,19 @@
-import { errorLogs, latestErrorLog } from '$lib/stores';
-import type { Result } from '$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()

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

@@ -1,96 +0,0 @@
-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();

app/src/lib/stores/analytics.ts

@@ -0,0 +1,69 @@
+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()

app/src/lib/stores/application.ts

@@ -0,0 +1,79 @@
+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)

app/src/lib/stores/featureFlags.ts

@@ -0,0 +1,64 @@
+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)
+)

app/src/lib/stores/fullscreen.ts

@@ -0,0 +1,24 @@
+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)
+    }
+}

app/src/lib/stores/gamepad.ts

@@ -0,0 +1,87 @@
+import { readable, derived } from 'svelte/store'
+
+export type GamepadState = {
+    available: boolean
+    gamepads: Gamepad[]
+}
+
+const DEADZONE = 0.15
+const dz = (x: number) => {
+    const a = Math.abs(x)
+    if (a < DEADZONE) return 0
+    return ((a - DEADZONE) / (1 - DEADZONE)) * Math.sign(x)
+}
+
+let raf = 0
+let running = false
+
+export const gamepads = readable<GamepadState>({ available: false, gamepads: [] }, set => {
+    const update = () => {
+        const pads = navigator.getGamepads?.() ?? []
+        const list = Array.from(pads)
+            .map(p => p || null)
+            .filter(Boolean) as Gamepad[]
+        set({ available: 'getGamepads' in navigator, gamepads: list })
+        raf = requestAnimationFrame(update)
+    }
+
+    const onConnect = () => update()
+    const onDisconnect = () => update()
+    const onVis = () => {
+        if (document.hidden) {
+            running = false
+            cancelAnimationFrame(raf)
+        } else if (!running) {
+            running = true
+            raf = requestAnimationFrame(update)
+        }
+    }
+
+    window.addEventListener('gamepadconnected', onConnect)
+    window.addEventListener('gamepaddisconnected', onDisconnect)
+    document.addEventListener('visibilitychange', onVis)
+
+    running = true
+    raf = requestAnimationFrame(update)
+
+    return () => {
+        running = false
+        cancelAnimationFrame(raf)
+        window.removeEventListener('gamepadconnected', onConnect)
+        window.removeEventListener('gamepaddisconnected', onDisconnect)
+        document.removeEventListener('visibilitychange', onVis)
+    }
+})
+
+export const gamepad = derived(gamepads, s =>
+    s.available && s.gamepads.length ? s.gamepads[0] : null
+)
+
+export const hasGamepad = derived(gamepads, s => s.available && s.gamepads.length > 0)
+
+export const gamepadAxes = derived(gamepad, g => (g ? g.axes.map(dz) : [0, 0, 0, 0]))
+
+type ButtonEdge = { pressed: boolean; value: number; justPressed: boolean; justReleased: boolean }
+const prev = new Map<number, { pressed: boolean; value: number }[]>()
+
+export const gamepadButtons = derived(gamepad, g => g?.buttons ?? [])
+
+export const gamepadButtonsEdges = derived(gamepad, g => {
+    if (!g) return [] as ButtonEdge[]
+    const p = prev.get(g.index) || []
+    const out = g.buttons.map((b, i): ButtonEdge => {
+        const pr = p[i] || { pressed: false, value: 0 }
+        const pressed = !!b.pressed || b.value > 0.5
+        return {
+            pressed,
+            value: b.value,
+            justPressed: pressed && !pr.pressed,
+            justReleased: !pressed && pr.pressed
+        }
+    })
+    prev.set(
+        g.index,
+        out.map(x => ({ pressed: x.pressed, value: x.value }))
+    )
+    return out
+})

app/src/lib/stores/imu.ts

@@ -0,0 +1,40 @@
+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 }
+})()

app/src/lib/stores/index.ts

@@ -1,3 +1,10 @@
-export * from './socket-store';
-export * from './logging-store';
-export * from './model-store';
+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'

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

@@ -0,0 +1,6 @@
+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', '')

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

@@ -1,11 +1,11 @@
-import { writable, type Writable } from 'svelte/store';
+import { writable, type Writable } from 'svelte/store'
 
 export interface errorLog {
-	message: unknown;
-	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([])

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

@@ -1,24 +1,54 @@
-import type { ControllerInput } from '$lib/models';
-import { persistentStore } from '$lib/utilities';
-import { writable, type Writable } from 'svelte/store';
+import type { ControllerInput } from '$lib/types/models'
+import { persistentStore } from '$lib/utilities/svelte-utilities'
+import { writable, type Writable } from 'svelte/store'
 
-export const emulateModel = writable(true);
+export const emulateModel = writable(true)
 
-export const jointNames = persistentStore('joint_names', []);
+export const jointNames = persistentStore('joint_names', <string[]>[])
 
-export const model = writable();
+export const model = writable()
 
-export const modes = ['idle', 'rest', 'stand', 'walk'] as const;
+export const modes = ['deactivated', 'idle', 'calibration', 'rest', 'stand', 'walk'] as const
 
-export type Modes = (typeof modes)[number];
+export type Modes = (typeof modes)[number]
 
-export const mode: Writable<Modes> = writable('idle');
+export enum ModesEnum {
+    Deactivated = 0,
+    Idle = 1,
+    Calibration = 2,
+    Rest = 3,
+    Stand = 4,
+    Walk = 5
+}
 
-export const outControllerData = writable(new Int8Array([0, 0, 0, 0, 0, 0, 70, 0]));
+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 input: Writable<ControllerInput> = writable({
-	left: { x: 0, y: 0 },
-	right: { x: 0, y: 0 },
-	height: 70,
-	speed: 0
-});
+    left: { x: 0, y: 0 },
+    right: { x: 0, y: 0 },
+    height: 0.5,
+    speed: 0.5,
+    s1: 0.5
+})

app/src/lib/stores/skill.ts

@@ -0,0 +1,85 @@
+import { writable, derived } from 'svelte/store'
+import { socket } from './socket'
+import { MessageTopic, type SkillStatus, type SkillCommand } from '$lib/types/models'
+
+const defaultStatus: SkillStatus = {
+    x: 0,
+    y: 0,
+    z: 0,
+    yaw: 0,
+    distance: 0,
+    skill_active: false,
+    skill_target_x: 0,
+    skill_target_z: 0,
+    skill_target_yaw: 0,
+    skill_traveled_x: 0,
+    skill_traveled_z: 0,
+    skill_rotated: 0,
+    skill_progress: 0,
+    skill_complete: false
+}
+
+function createSkillStore() {
+    const status = writable<SkillStatus>(defaultStatus)
+    const history = writable<SkillCommand[]>([])
+    let unsubscribe: (() => void) | null = null
+
+    function init() {
+        if (unsubscribe) return
+        unsubscribe = socket.on<SkillStatus>(MessageTopic.skillStatus, data => {
+            status.set(data)
+            if (data.event === 'complete') {
+                history.update(h => [...h.slice(-9), getCurrentTarget(data)])
+            }
+        })
+    }
+
+    function getCurrentTarget(s: SkillStatus): SkillCommand {
+        return { x: s.skill_target_x, z: s.skill_target_z, yaw: s.skill_target_yaw }
+    }
+
+    function execute(cmd: SkillCommand) {
+        socket.sendEvent(MessageTopic.skill, cmd)
+    }
+
+    function walk(x: number, z: number = 0, yaw: number = 0, speed: number = 0.5) {
+        execute({ x, z, yaw, speed })
+    }
+
+    function turn(yaw: number, speed: number = 0.5) {
+        execute({ x: 0, z: 0, yaw, speed })
+    }
+
+    function stop() {
+        socket.sendEvent(MessageTopic.displacement, { action: 'clear' })
+    }
+
+    function resetPosition() {
+        socket.sendEvent(MessageTopic.displacement, { action: 'reset' })
+    }
+
+    function destroy() {
+        if (unsubscribe) {
+            unsubscribe()
+            unsubscribe = null
+        }
+    }
+
+    return {
+        status,
+        history,
+        init,
+        destroy,
+        execute,
+        walk,
+        turn,
+        stop,
+        resetPosition,
+        isActive: derived(status, $s => $s.skill_active),
+        progress: derived(status, $s => $s.skill_progress),
+        position: derived(status, $s => ({ x: $s.x, y: $s.y, z: $s.z, yaw: $s.yaw }))
+    }
+}
+
+export const skill = createSkillStore()
+