Visualization and replay

LongTAMP supports browser-based viser and Qt-based gepetto-viewer. Visualization is deliberately downstream of planning: tasks can run headless in batch jobs, save paths, and replay them later in a lightweight process.

The screw-assembly replay samples time-parameterized paths at 20 Hz. It also animates gripper fingers at grasp and release boundaries because the planning model represents a grasp as a rigid frame constraint rather than simulating finger closure.

python script/screw_assembly/replay.py \
  script/screw_assembly/runs/<run>/trajectory.json --loop

Starting a live viewer while native planning runs can introduce backend-specific concurrency issues. The TWIN example therefore plans headless, starts the viewer after solving, and replays the completed path sequence.

Recording media

The repository contains real scene captures but no checked-in MP4/WebM demonstration yet. A publishable example video should be generated from a pinned run artifact, state its seed and commit, and keep the original mission.json beside it. That makes the visual trace reproducible rather than an untraceable best-case clip.