[RSDK-13506] Round trip tool for trajectory generation#191
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acmorrow merged 6 commits intoviam-modules:mainfrom Mar 13, 2026
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npmenard
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Mr. Claude - he was most insistent on the need for this.
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This looks way worse than it is, but it gives us a round trip tool for trajectory generation: the planner now emits a standard format for failed trajectories, and there is a simple command line tool that can load that and replay the trajectory generation into our visualizer format. You can run like this:
And get the phase plot immediately.
In large part, there was a lot of code motion here, because I'm also prepping for two things:
We aren't quite ready for 2, because we still have some failing trajectories. This tool will let us make short work (hopefully!) of those failures.