SCOPE: Motion plan replay plugin#782
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For now, no helpers are being placed in lib/snapshot.ts. Consider moving some of these helpers later.
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1. Joints (frame_type: rotational) should not be apart of the main tree 2. Geometry: translations vs. translations. One is the offset from origin frame for the attachment point of the next link, the other is the offset from origin frame to geometry center of the link.
Cameras, grippers, and obstacles parented to model frames (e.g. "left-arm") were permanently orphaned because model frames are never spawned as ECS entities. They now redirect to the arm's end-effector via model.primary_output_frame, falling back to model.links[last].id: Viam's convention that the last link is always the end-effector.
Updated motion replay entities get their preserved opacity restored, so slider changes stick across scrubs.
Semantic error messages for duplicate or invalid motion plan JSON.
Fill in gaps (large jumps in angle change) with sub-steps, where every joint moves at a velocity proportional to its total delta.
- planToSnapshots unexported - GeometryDescriptor collapsed: parseGeometry() now returns Geometry | null directly - computeJointedLinkPose moved - LocalPose → Pose getting rid of unnecessary type.
Matthew MacFarquhar (mattmacf98)
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Matthew MacFarquhar (mattmacf98)
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Great POC! looks very nice!
my main things for when we do the full impl are
- we should try to be more koota native and create a plan entity and relationships for the plan <--> plan entities
- I think we can use zod to parse the plans a little easier
- we should strip back some of the (very cool) functionality you added in P0 (i.e. no linear interp between steps, no preserve opacity and visibility (yet), no multiple plans loaded at a time)
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| /* Push toasts above the motion plan scrubber bar (fixed bottom-4, ~44px tall). */ | ||
| body.has-scrubber [aria-label='Toasts'] { |
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todo: for final impl we probably should look into how to do this with component placements instead of the app css
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| const clearActivePlan = () => { | ||
| for (const entry of entityMap.values()) { | ||
| if (world.has(entry.entity)) hierarchy.destroyEntityTree(world, entry.entity) |
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for the final setup, lets look into making a new PlanEntity, which we can then give relationships to all the world entities that are part of it (see the selection plugin https://github.com/viamrobotics/visualization/blob/main/src/lib/plugins/Selection/traits.ts for inspo)
this way we can make this flow more koota native and the relationship has an auto destroy hook e.x. https://github.com/viamrobotics/visualization/blob/main/src/lib/plugins/Selection/relations.ts#L9 so we can make it so all world entities auto clean up when a plan entity is removed
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| const result = reconcileSnapshotEntities(world, snap, entityMap) | ||
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| for (const spawned of result.spawned) { |
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what is this loop trying to do? is it manually trying to apply relationships added in the reconcile step?
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Yea its manually rewiring up parent-child relationships that reconcileSnapshotEntities computed but didn't apply yet. The caller (result.spawned[i].relationships actually applies these relationships for the ECS.
| let foundFrameSystem = false | ||
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| let index = 0 | ||
| for (let i = 0; i < 8; i++) { |
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are the motion plan jsons not valid json? If they are valid, we should just be able to do a big JSON.parse(content) and then use zod to confirm it fits our expected format
const UserSchema = z.object({
name: z.string(),
age: z.number(),
})
const user = UserSchema.parse(JSON.parse(json))
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Yes with a small caveat: motion plan files are concatenation of 2 valid JSON objects: the request (frame_system plus start and end poses) plus the motion plan (plan + trajectory). So there is still a little bit of non-zod work to dissect the file into these objects.
| provideMotionPlanReplayer(untrack(() => plans)) | ||
| </script> | ||
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| {#if plans === undefined} |
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it would be cool if drag and drop just updated the plans array and then we could use the ui for both cases
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Designed a more explicit hook here (f3f70cb) which calls the same addPlan hook from app vs. standalone.
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Screen.Recording.2026-06-18.at.5.01.33.PM.mov