support stl load

src/lib/ecs/traits.ts

@@ -9,6 +9,7 @@ import { ColorFormat } from '$lib/buf/draw/v1/metadata_pb'
 import { createBox, createCapsule, createSphere } from '$lib/geometry'
 import { parsePcdInWorker } from '$lib/loaders/pcd'
 import { parsePlyInput } from '$lib/ply'
+import { parseStlInput } from '$lib/stl'
 import { createPose, matrixToPose, poseToMatrix } from '$lib/transform'
 
 export const Name = trait(() => '')
@@ -260,7 +261,12 @@ export const Geometry = (geometry: ViamGeometry) => {
 	} else if (geometry.geometryType.case === 'sphere') {
 		return Sphere(createSphere(geometry.geometryType.value))
 	} else if (geometry.geometryType.case === 'mesh') {
-		return BufferGeometry(parsePlyInput(geometry.geometryType.value.mesh))
+		console.log(geometry.geometryType.value.contentType)
+		if (geometry.geometryType.value.contentType === 'stl') {
+			return BufferGeometry(parseStlInput(geometry.geometryType.value.mesh))
+		} else if (geometry.geometryType.value.contentType === 'ply') {
+			return BufferGeometry(parsePlyInput(geometry.geometryType.value.mesh))
+		}
 	}
 
 	return ReferenceFrame
@@ -302,11 +308,11 @@ export const updateGeometryTrait = (entity: Entity, geometry?: ViamGeometry) =>
 	} else if (geometry.geometryType.case === 'mesh') {
 		if (entity.has(BufferGeometry)) {
 			const old = entity.get(BufferGeometry)
-			entity.set(BufferGeometry, parsePlyInput(geometry.geometryType.value.mesh))
+			entity.set(BufferGeometry, parseStlInput(geometry.geometryType.value.mesh))
 			old?.dispose()
 		} else {
 			entity.remove(Box, Sphere, Capsule)
-			entity.add(BufferGeometry(parsePlyInput(geometry.geometryType.value.mesh)))
+			entity.add(BufferGeometry(parseStlInput(geometry.geometryType.value.mesh)))
 		}
 	} else if (geometry.geometryType.case === 'pointcloud') {
 		updatePointCloud(entity, geometry.geometryType.value.pointCloud)

src/lib/hooks/useGeometries.svelte.ts

@@ -86,6 +86,60 @@ export const provideGeometries = (partID: () => string) => {
 				[client.current?.name, createResourceQuery(client, 'getGeometries', () => options)] as const
 		)
 	)
+
+	// Instrumentation: log per-fetch latency and rolling payload throughput
+	// for arm getGeometries calls, since arms are typically polled at high frequency.
+	const ARM_STATS_LOG_INTERVAL = 30
+	const armQueryStats = new Map<
+		string,
+		{ fetchStart?: number; count: number; totalLatency: number; totalBytes: number; windowStart: number }
+	>()
+
+	$effect(() => {
+		for (const [name, query] of armQueries) {
+			if (!name) {
+				continue
+			}
+
+			untrack(() => {
+				$effect(() => {
+					const stats = armQueryStats.get(name) ?? {
+						count: 0,
+						totalLatency: 0,
+						totalBytes: 0,
+						windowStart: performance.now(),
+					}
+					armQueryStats.set(name, stats)
+
+					if (query.isFetching) {
+						stats.fetchStart = performance.now()
+						return
+					}
+
+					if (stats.fetchStart === undefined) {
+						return
+					}
+
+					const latency = performance.now() - stats.fetchStart
+					stats.fetchStart = undefined
+					stats.count += 1
+					stats.totalLatency += latency
+					stats.totalBytes +=
+						query.data?.reduce((sum, geometry) => sum + geometry.toBinary().byteLength, 0) ?? 0
+
+					if (stats.count % ARM_STATS_LOG_INTERVAL === 0) {
+						const elapsedSeconds = (performance.now() - stats.windowStart) / 1000
+						const avgLatency = stats.totalLatency / stats.count
+						const throughputKBps = stats.totalBytes / 1024 / elapsedSeconds
+
+						console.log(
+							`[🦾 ${name}] getGeometries — avg latency ${avgLatency.toFixed(1)}ms, throughput ${throughputKBps.toFixed(2)} KB/s (n=${stats.count})`
+						)
+					}
+				})
+			})
+		}
+	})
 	const baseQueries = $derived(
 		baseClients.map(
 			(client) =>
@@ -189,6 +243,10 @@ export const provideGeometries = (partID: () => string) => {
 							continue
 						}
 
+						if (geometry.geometryType.case === 'mesh') {
+							geometry.geometryType.value.contentType = "stl";
+						}
+
 						const entityTraits: ConfigurableTrait[] = [
 							...hierarchy.parentTraits(name),
 							traits.Name(label),

src/lib/stl.ts

@@ -0,0 +1,18 @@
+import { BufferGeometry } from 'three'
+import { STLLoader } from 'three/addons/loaders/STLLoader.js'
+
+const stlLoader = new STLLoader()
+
+export const parseStlInput = (mesh: string | Uint8Array): BufferGeometry => {
+	if (typeof mesh === 'string') {
+		return stlLoader.parse(atob(mesh))
+	}
+
+	if (mesh.length === 0) {
+		return new BufferGeometry()
+	}
+
+	return stlLoader.parse(
+		mesh.buffer.slice(mesh.byteOffset, mesh.byteOffset + mesh.byteLength) as ArrayBuffer
+	)
+}