When the robot execution encountered some error, it is difficult to debug what happened based on the error message alone. To understand the true cause, integrators often need the following information:

The environment at that time, including the detected objects, point cloud, and more

The trajectory of the robot

The robot values along the trajectory: joint values, joint velocity, signal values, etc.

Historically, we have been using trajviz (our in-house developer built it) for visualizing such information. This is a command line tool that requires ssh access. To enable the debugging flow in web UI, we propose implementing a similar tool under playback (WebUI’s diagnosis tool).