feat: add timing_mode

nova_rerun_bridge/examples/02_plan_and_execute.py

@@ -44,7 +44,9 @@ async def test():
 
             joint_trajectory = await motion_group.plan(actions, tcp)
 
-            await nova_bridge.log_trajectory(joint_trajectory, tcp, motion_group, time_offset=0)
+            await nova_bridge.log_trajectory(joint_trajectory, tcp, motion_group)
+            await nova_bridge.log_trajectory(joint_trajectory, tcp, motion_group)
+
             await motion_group.execute(joint_trajectory, tcp, actions=actions)
 
         await nova.close()

nova_rerun_bridge/examples/04_move_multiple_robots.py

@@ -4,6 +4,7 @@
 from nova.actions import jnt, ptp
 
 from nova_rerun_bridge import NovaRerunBridge
+from nova_rerun_bridge.trajectory import TimingMode
 
 """
 Example: Move multiple robots simultaneously.
@@ -24,7 +25,7 @@ async def move_robot(controller: Controller, nova_bridge: NovaRerunBridge):
         actions = [jnt(home_joints), ptp(target_pose), jnt(home_joints)]
 
         trajectory = await motion_group.plan(actions, tcp)
-        await nova_bridge.log_trajectory(trajectory, tcp, motion_group, time_offset=0)
+        await nova_bridge.log_trajectory(trajectory, tcp, motion_group, timing_mode=TimingMode.SYNC)
 
         await motion_group.plan_and_execute(actions, tcp)
 

nova_rerun_bridge/nova_reun_bridge.py

@@ -1,3 +1,4 @@
+from datetime import datetime
 from typing import Dict
 
 import rerun as rr
@@ -9,7 +10,7 @@
 from nova_rerun_bridge.blueprint import send_blueprint
 from nova_rerun_bridge.collision_scene import log_collision_scenes
 from nova_rerun_bridge.consts import RECORDING_INTERVAL
-from nova_rerun_bridge.trajectory import log_motion
+from nova_rerun_bridge.trajectory import TimingMode, log_motion
 
 
 class NovaRerunBridge:
@@ -39,7 +40,8 @@ async def main():
     def __init__(self, nova: Nova, spawn: bool = True) -> None:
         self.nova = nova
         if spawn:
-            rr.init(application_id="nova", recording_id="nova_live", spawn=True)
+            recording_id = f"nova_{datetime.now().strftime('%Y%m%d_%H%M%S')}"
+            rr.init(application_id="nova", recording_id=recording_id, spawn=True)
         logger.add(sink=rr.LoggingHandler("logs/handler"))
 
     async def setup_blueprint(self) -> None:
@@ -98,7 +100,9 @@ async def fetch_and_log_collision_scene(
     def log_collision_scene(self, collision_scenes: Dict[str, models.CollisionScene]) -> None:
         log_collision_scenes(collision_scenes=collision_scenes)
 
-    async def log_motion(self, motion_id: str, time_offset: float = 0) -> None:
+    async def log_motion(
+        self, motion_id: str, timing_mode=TimingMode.CONTINUE, time_offset: float = 0
+    ) -> None:
         # Fetch motion details from api
         motion = await self.nova._api_client.motion_api.get_planned_motion(
             self.nova.cell()._cell_id, motion_id
@@ -133,17 +137,21 @@ async def log_motion(self, motion_id: str, time_offset: float = 0) -> None:
             trajectory=trajectory.trajectory,
             collision_scenes=collision_scenes,
             time_offset=time_offset,
+            timing_mode=timing_mode,
         )
 
     async def log_trajectory(
         self,
         joint_trajectory: models.JointTrajectory,
         tcp: str,
         motion_group: MotionGroup,
+        timing_mode=TimingMode.CONTINUE,
         time_offset: float = 0,
     ) -> None:
         load_plan_response = await motion_group._load_planned_motion(joint_trajectory, tcp)
-        await self.log_motion(load_plan_response.motion, time_offset=time_offset)
+        await self.log_motion(
+            load_plan_response.motion, timing_mode=timing_mode, time_offset=time_offset
+        )
 
     async def __aenter__(self) -> "NovaRerunBridge":
         """Context manager entry point.

nova_rerun_bridge/trajectory.py

@@ -1,3 +1,4 @@
+from enum import Enum, auto
 from typing import Dict, List
 
 import numpy as np
@@ -11,6 +12,18 @@
 from nova_rerun_bridge.robot_visualizer import RobotVisualizer
 
 
+class TimingMode(Enum):
+    """Controls how trajectories are timed relative to each other."""
+
+    RESET = auto()  # Start at time_offset
+    CONTINUE = auto()  # Start after last trajectory
+    SYNC = auto()  # Use exact time_offset provided
+
+
+# Global variable to track last logged time
+_last_logged_time = 0.0
+
+
 def log_motion(
     motion_id: str,
     model_from_controller: str,
@@ -19,10 +32,28 @@ def log_motion(
     trajectory: List[models.TrajectorySample],
     collision_scenes: Dict[str, models.CollisionScene],
     time_offset: float = 0,
+    timing_mode: TimingMode = TimingMode.RESET,
 ):
     """
-    Fetch and process a single motion if not processed already.
+    Fetch and process a single motion with timing control.
+
+    Args:
+        ...existing args...
+        timing_mode: Controls how trajectory timing is handled
+            RESET: Start at time_offset (default)
+            CONTINUE: Start after last trajectory
+            SYNC: Use exact time_offset provided
     """
+    global _last_logged_time
+
+    # Calculate start time based on timing mode
+    if timing_mode == TimingMode.CONTINUE:
+        effective_offset = _last_logged_time
+    elif timing_mode == TimingMode.SYNC:
+        effective_offset = time_offset
+    else:  # TimingMode.RESET
+        effective_offset = time_offset
+        _last_logged_time = 0.0
 
     # Initialize DHRobot and Visualizer
     robot = DHRobot(optimizer_config.dh_parameters, optimizer_config.mounting)
@@ -40,7 +71,7 @@ def log_motion(
         collision_tcp=collision_tcp,
     )
 
-    rr.set_time_seconds(TIME_INTERVAL_NAME, time_offset)
+    rr.set_time_seconds(TIME_INTERVAL_NAME, effective_offset)
 
     # Process trajectory points
     log_trajectory(
@@ -50,9 +81,13 @@ def log_motion(
         visualizer=visualizer,
         trajectory=trajectory,
         optimizer_config=optimizer_config,
-        timer_offset=time_offset,
+        timer_offset=effective_offset,
     )
 
+    # Update last logged time
+    if trajectory:
+        _last_logged_time = effective_offset + trajectory[-1].time
+
 
 def log_trajectory_path(
     motion_id: str, trajectory: List[models.TrajectorySample], motion_group: str