compas_fab trajectory integration by paulocinco · Pull Request #2 · compas-dev/compas_threejs

paulocinco · 2026-03-16T09:23:34Z

This PR introduces web-based interactive trajectory scrubber (src/compas_threejs/robot/robot_trajectory_scrubber.py) using compas_threejs. It allows users to smoothly scrub through a JointTrajectory via a UI slider, visualizing the full kinematic chain, custom tooling, and dynamic scene objects.

Additionally, it includes a core framework fix to Material to properly support WebGL transparency.

Key Features & Implementation Details

Stateless Trajectory Scrubbing: Implemented a slider callback that evaluates joint configurations purely based on the frame_index. Instead of rebuilding or re-rendering geometries over the WebSocket, it leverages the viewer.transform() function to push lightweight 4x4 transformation matrices. This ensures zero lag and allows for aggressive forwards/backwards scrubbing without desyncing the scene graph.
TCP Path Trace: Extracts the TCP path into a batched, static Polyline geometry. Utilized LineMaterial to ensure native WebGL line thickness and visibility.
Dynamic TCP Triad ("Skinny Cylinder" Workaround): Because batched 1D lines in Three.js do not receive independent Object3D transform nodes, pure lines cannot be updated dynamically over the WebSocket. Solved this by generating a Triad out of 1mm-radius Cylinder meshes, unlocking the transform function to perfectly track the moving TCP.
Target "Ghost" Configuration: Automatically calculates the forward kinematics of the final trajectory point and spawns a translucent, static "Ghost" of both the robot and the tool to indicate the target destination.
Bulletproof Mesh Extraction: Added a robust safe-origin extraction check (getattr(visual, 'init_frame')) to prevent coordinate explosions when parsing complex RobotModel and ToolModel geometries.

Core Framework Fixes

Material Transparency: Modified the Material class (Python) and the corresponding Three.js frontend parser to explicitly accept and pass the transparent=True and opacity kwargs,.

How to Test

Run python examples/robot_trajectory_scrubber.py.
Move the UI slider to scrub the trajectory.
Verify the Triad (Red/Green/Blue) stays attached to the tool tip.
Verify the Ghost robot at the end of the path renders with correct opacity.

- ADD: transfofm_manager.ts - ADD: example files -MOD: viewer.update_transform

… guid

… into fab_integration

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Pull request overview

This PR adds trajectory scrubbing visualization for compas_fab robots using the compas_threejs viewer. It introduces a transform dispatch mechanism for efficiently updating object positions via 4x4 matrices over WebSocket, adds material transparency support, and includes a trajectory scrubber example.

Changes:

New transform() method on the Python Viewer and corresponding frontend transformManager for lightweight matrix-only updates over WebSocket
Material transparency support (opacity, transparent, depthWrite) in both Material and PhysicalMaterial classes and their frontend counterparts
Robot trajectory scrubber example with ghost robot, TCP triad, and path trace visualization

Reviewed changes

Copilot reviewed 15 out of 22 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
`src/compas_threejs/viewer/viewer.py`	Adds `transform()` method for pushing 4x4 matrices
`src/compas_threejs/viewer/server.py`	Improved WebSocket error handling
`src/compas_threejs/materials/material.py`	Adds `opacity` property with validation
`src/compas_threejs/materials/physical_material.py`	Adds `opacity` property and serialization
`frontend/.../transform_manager.ts`	New frontend handler for transform dispatch
`frontend/.../material_manager.ts`	Adds opacity/transparent/depthWrite to material builders
`frontend/.../geometry_manager.ts`	Sets `mesh.name = guid` for lookup; fixes `PlaneHelper` typo
`frontend/.../messages.ts`	Registers `transform` dispatch case
`src/compas_threejs/robot/robot_trajectory_scrubber.py`	Example script for trajectory scrubbing
`src/compas_threejs/viewer/frontend/assets/*.css`	Contains unresolved merge conflicts
`frontend/compas_threejs/package.json`	Bumps tailwind-merge to ^3.5.0
Font JSON files, vite.svg, index.html	Minor cleanup (deletions/whitespace)

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+
+            try {
+                for (let i = 0; i < 16; i++) {
+                    matrix.push(view.getFloat64(5 + (i * 13), true));
+                }
+                return matrix;
+            } catch (e) {


+slider = Slider(
+    label="Scrub Trajectory", min=0, max=len(trajectory.points) - 1, step=1,
+    default_value=0, action=scrub_robot
+)
+viewer.add_ui_element(slider)
+scrub_robot([0]) 
+
+viewer.start(show=True)


@@ -0,0 +1,356 @@
+import time


+<<<<<<<< HEAD:src/compas_threejs/viewer/frontend/assets/index-DR6BEI-Y.css
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264.376);--sidebar-primary-foreground:oklch(98.5% 0 0);--sidebar-accent:oklch(26.9% 0 0);--sidebar-accent-foreground:oklch(98.5% 0 0);--sidebar-border:oklch(100% 0 0/.1);--sidebar-ring:oklch(55.6% 0 0)}@property --tw-rotate-x{syntax:"*";inherits:false}@property --tw-rotate-y{syntax:"*";inherits:false}@property --tw-rotate-z{syntax:"*";inherits:false}@property --tw-skew-x{syntax:"*";inherits:false}@property --tw-skew-y{syntax:"*";inherits:false}@property --tw-border-style{syntax:"*";inherits:false;initial-value:solid}@property --tw-font-weight{syntax:"*";inherits:false}@property --tw-shadow{syntax:"*";inherits:false;initial-value:0 0 #0000}@property --tw-shadow-color{syntax:"*";inherits:false}@property --tw-shadow-alpha{syntax:"<percentage>";inherits:false;initial-value:100%}@property --tw-inset-shadow{syntax:"*";inherits:false;initial-value:0 0 #0000}@property --tw-inset-shadow-color{syntax:"*";inherits:false}@property --tw-inset-shadow-alpha{syntax:"<percentage>";inherits:false;initial-value:100%}@property --tw-ring-color{syntax:"*";inherits:false}@property --tw-ring-shadow{syntax:"*";inherits:false;initial-value:0 0 #0000}@property --tw-inset-ring-color{syntax:"*";inherits:false}@property --tw-inset-ring-shadow{syntax:"*";inherits:false;initial-value:0 0 #0000}@property --tw-ring-inset{syntax:"*";inherits:false}@property --tw-ring-offset-width{syntax:"<length>";inherits:false;initial-value:0}@property --tw-ring-offset-color{syntax:"*";inherits:false;initial-value:#fff}@property --tw-ring-offset-shadow{syntax:"*";inherits:false;initial-value:0 0 #0000}@property --tw-outline-style{syntax:"*";inherits:false;initial-value:solid}div.fixed-sidebar[data-v-aba02887]{position:fixed;top:0;left:0;width:200px;height:100%;background-color:#0000;padding:20px;display:flex;flex-direction:column;gap:15px;align-items:left}.slider-container[data-v-aba02887]{display:flex;align-items:center;gap:10px}.dynamic-item[data-v-aba02887]{width:100%;display:flex;flex-direction:column;align-items:left;gap:8px}.dynamic-label[data-v-aba02887]{font-weight:500;font-size:15px;color:#333;margin-bottom:-13px;padding:0}.info-module[data-v-ec1a0b43]{position:absolute;z-index:1000;padding:20px;border:1px solid #ddd;border-radius:8px;font-family:sans-serif;bottom:0;right:0%;text-align:right;background-color:#c8c8c880;margin:20px}h1[data-v-ec1a0b43],p[data-v-ec1a0b43]{color:#000}
+========
 @layer properties{@supports (((-webkit-hyphens:none)) and (not (margin-trim:inline))) or ((-moz-orient:inline) and (not (color:rgb(from red r g b)))){*,:before,:after,::backdrop{--tw-rotate-x:initial;--tw-rotate-y:initial;--tw-rotate-z:initial;--tw-skew-x:initial;--tw-skew-y:initial;--tw-border-style:solid;--tw-font-weight:initial;--tw-shadow:0 0 #0000;--tw-shadow-color:initial;--tw-shadow-alpha:100%;--tw-inset-shadow:0 0 #0000;--tw-inset-shadow-color:initial;--tw-inset-shadow-alpha:100%;--tw-ring-color:initial;--tw-ring-shadow:0 0 #0000;--tw-inset-ring-color:initial;--tw-inset-ring-shadow:0 0 #0000;--tw-ring-inset:initial;--tw-ring-offset-width:0px;--tw-ring-offset-color:#fff;--tw-ring-offset-shadow:0 0 #0000;--tw-outline-style:solid;--tw-animation-delay:0s;--tw-animation-direction:normal;--tw-animation-duration:initial;--tw-animation-fill-mode:none;--tw-animation-iteration-count:1;--tw-enter-blur:0;--tw-enter-opacity:1;--tw-enter-rotate:0;--tw-enter-scale:1;--tw-enter-translate-x:0;--tw-enter-translate-y:0;--tw-exit-blur:0;--tw-exit-opacity:1;--tw-exit-rotate:0;--tw-exit-scale:1;--tw-exit-translate-x:0;--tw-exit-translate-y:0}}}@layer theme{:root,:host{--font-sans:ui-sans-serif,system-ui,sans-serif,"Apple Color Emoji","Segoe UI Emoji","Segoe UI Symbol","Noto Color Emoji";--font-mono:ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,"Liberation Mono","Courier New",monospace;--color-white:#fff;--spacing:.25rem;--text-sm:.875rem;--text-sm--line-height:calc(1.25/.875);--font-weight-medium:500;--default-transition-duration:.15s;--default-transition-timing-function:cubic-bezier(.4,0,.2,1);--default-font-family:var(--font-sans);--default-mono-font-family:var(--font-mono)}}@layer 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calc(4px + var(--tw-ring-offset-width))var(--tw-ring-color,currentcolor);box-shadow:var(--tw-inset-shadow),var(--tw-inset-ring-shadow),var(--tw-ring-offset-shadow),var(--tw-ring-shadow),var(--tw-shadow)}.focus-visible\:ring-\[3px\]:focus-visible{--tw-ring-shadow:var(--tw-ring-inset,)0 0 0 calc(3px + var(--tw-ring-offset-width))var(--tw-ring-color,currentcolor);box-shadow:var(--tw-inset-shadow),var(--tw-inset-ring-shadow),var(--tw-ring-offset-shadow),var(--tw-ring-shadow),var(--tw-shadow)}.focus-visible\:ring-destructive\/20:focus-visible{--tw-ring-color:var(--destructive)}@supports (color:color-mix(in lab,red,red)){.focus-visible\:ring-destructive\/20:focus-visible{--tw-ring-color:color-mix(in oklab,var(--destructive)20%,transparent)}}.focus-visible\:ring-ring\/50:focus-visible{--tw-ring-color:var(--ring)}@supports (color:color-mix(in lab,red,red)){.focus-visible\:ring-ring\/50:focus-visible{--tw-ring-color:color-mix(in 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*){background-color:var(--destructive)}@supports (color:color-mix(in lab,red,red)){.dark\:bg-destructive\/60:is(.dark *){background-color:color-mix(in oklab,var(--destructive)60%,transparent)}}.dark\:bg-input\/30:is(.dark *){background-color:var(--input)}@supports (color:color-mix(in lab,red,red)){.dark\:bg-input\/30:is(.dark *){background-color:color-mix(in oklab,var(--input)30%,transparent)}}@media(hover:hover){.dark\:hover\:bg-accent\/50:is(.dark *):hover{background-color:var(--accent)}@supports (color:color-mix(in lab,red,red)){.dark\:hover\:bg-accent\/50:is(.dark *):hover{background-color:color-mix(in oklab,var(--accent)50%,transparent)}}.dark\:hover\:bg-input\/50:is(.dark *):hover{background-color:var(--input)}@supports (color:color-mix(in lab,red,red)){.dark\:hover\:bg-input\/50:is(.dark *):hover{background-color:color-mix(in oklab,var(--input)50%,transparent)}}}.dark\:focus-visible\:ring-destructive\/40:is(.dark *):focus-visible{--tw-ring-color:var(--destructive)}@supports 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--tw-exit-translate-y{syntax:"*";inherits:false;initial-value:0}:root{--radius:.625rem;--background:oklch(100% 0 0);--foreground:oklch(14.5% 0 0);--card:oklch(100% 0 0);--card-foreground:oklch(14.5% 0 0);--popover:oklch(100% 0 0);--popover-foreground:oklch(14.5% 0 0);--primary:oklch(20.5% 0 0);--primary-foreground:oklch(98.5% 0 0);--secondary:oklch(97% 0 0);--secondary-foreground:oklch(20.5% 0 0);--muted:oklch(97% 0 0);--muted-foreground:oklch(55.6% 0 0);--accent:oklch(97% 0 0);--accent-foreground:oklch(20.5% 0 0);--destructive:oklch(57.7% .245 27.325);--border:oklch(92.2% 0 0);--input:oklch(92.2% 0 0);--ring:oklch(70.8% 0 0);--chart-1:oklch(64.6% .222 41.116);--chart-2:oklch(60% .118 184.704);--chart-3:oklch(39.8% .07 227.392);--chart-4:oklch(82.8% .189 84.429);--chart-5:oklch(76.9% .188 70.08);--sidebar:oklch(98.5% 0 0);--sidebar-foreground:oklch(14.5% 0 0);--sidebar-primary:oklch(20.5% 0 0);--sidebar-primary-foreground:oklch(98.5% 0 0);--sidebar-accent:oklch(97% 0 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264.376);--sidebar-primary-foreground:oklch(98.5% 0 0);--sidebar-accent:oklch(26.9% 0 0);--sidebar-accent-foreground:oklch(98.5% 0 0);--sidebar-border:oklch(100% 0 0/.1);--sidebar-ring:oklch(55.6% 0 0)}@property --tw-rotate-x{syntax:"*";inherits:false}@property --tw-rotate-y{syntax:"*";inherits:false}@property --tw-rotate-z{syntax:"*";inherits:false}@property --tw-skew-x{syntax:"*";inherits:false}@property --tw-skew-y{syntax:"*";inherits:false}@property --tw-border-style{syntax:"*";inherits:false;initial-value:solid}@property --tw-font-weight{syntax:"*";inherits:false}@property --tw-shadow{syntax:"*";inherits:false;initial-value:0 0 #0000}@property --tw-shadow-color{syntax:"*";inherits:false}@property --tw-shadow-alpha{syntax:"<percentage>";inherits:false;initial-value:100%}@property --tw-inset-shadow{syntax:"*";inherits:false;initial-value:0 0 #0000}@property --tw-inset-shadow-color{syntax:"*";inherits:false}@property --tw-inset-shadow-alpha{syntax:"<percentage>";inherits:false;initial-value:100%}@property --tw-ring-color{syntax:"*";inherits:false}@property --tw-ring-shadow{syntax:"*";inherits:false;initial-value:0 0 #0000}@property --tw-inset-ring-color{syntax:"*";inherits:false}@property --tw-inset-ring-shadow{syntax:"*";inherits:false;initial-value:0 0 #0000}@property --tw-ring-inset{syntax:"*";inherits:false}@property --tw-ring-offset-width{syntax:"<length>";inherits:false;initial-value:0}@property --tw-ring-offset-color{syntax:"*";inherits:false;initial-value:#fff}@property --tw-ring-offset-shadow{syntax:"*";inherits:false;initial-value:0 0 #0000}@property --tw-outline-style{syntax:"*";inherits:false;initial-value:solid}div.fixed-sidebar[data-v-aba02887]{position:fixed;top:0;left:0;width:200px;height:100%;background-color:#0000;padding:20px;display:flex;flex-direction:column;gap:15px;align-items:left}.slider-container[data-v-aba02887]{display:flex;align-items:center;gap:10px}.dynamic-item[data-v-aba02887]{width:100%;display:flex;flex-direction:column;align-items:left;gap:8px}.dynamic-label[data-v-aba02887]{font-weight:500;font-size:15px;color:#333;margin-bottom:-13px;padding:0}.info-module[data-v-f65f179a]{position:absolute;z-index:1000;padding:20px;border:1px solid #ddd;border-radius:8px;font-family:sans-serif;bottom:0;right:0%;text-align:right;background-color:#c8c8c880;margin:20px}h1[data-v-f65f179a],p[data-v-f65f179a]{color:#000}
+>>>>>>>> b7fbbe65479befcc0365c9a31b4563a2fb9db867:src/compas_threejs/viewer/frontend/assets/index-FG4o54Kc.css


+    scene.traverse((child) => {
+        if (child.name && String(child.name).trim() === targetGuid) {
+            targetObject = child;
+        }
+    });


+from compas_fab.robots import RigidBody, RigidBodyState, JointTrajectory, JointTrajectoryPoint, ToolState
+from compas_robots import RobotModel, Configuration, ToolModel
+from compas_fab.robots.robot_library import RobotCellLibrary
+import random


ericgozzi

Hey @paulocinco Thank's a lot for the amazing work! It looks great!
I left dome comments around, le me know what you think 😉

ericgozzi · 2026-03-23T13:49:27Z

        else:
            self.queued_messages.append((binary_data, obj_id))

+    def transform(self, geometry, matrix):


I think it would be better to pass a compas.geometry.Transformation object, so the matrix is directly handled by that class and the user is not expected to build the matrix.

ericgozzi · 2026-03-23T13:58:03Z

+                "guid": str(obj_id),
+                "matrix": flat_matrix
+            }
+            self._send_dictionary_message(message)


compas_pb should be able to handle the Transformation objects. It would be nice to use directly that to endocde the messages to the bytestream. Give a look at the add_geometry method and how it uses compas_pb to encode the message. The _send_dictionary_message in my opinion should be used only for the objects that compas_pb can't handle.

ericgozzi · 2026-03-23T14:13:27Z

+
+export function transformManager(data: { [key: string]: any }) {
+    const targetGuid = String(data.guid?.value || data.guid || "").trim();
+    const matrixArray = extractMatrix(data.matrix);


Give a look to the compas_pb_ts API, it should already be able to build the THREEJS.Matrix.
You can find it in ./frontend/compas_threejs/src/protobuff/geometry/transformation.ts. Give a look on how geometries are decode as reference.

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Co-authored-by: Eric <ericgozzi@cosmicgarage.ch>

…ompas_threejs into fab_integration

… into fab_integration

paulocinco added 8 commits March 13, 2026 08:58

robot visualistion working

33f0e44

- ADD: transfofm_manager.ts - ADD: example files -MOD: viewer.update_transform

robot traj setup

357465c

added opacity parameter to physical material

a90c73d

fix streaming data error when viewer.start(show=True)

0fd91b5

--

4c33bdc

opacity added to Material object

a915f3e

changed update_transform to transform. takes geom as input instead of…

c8510c9

… guid

Merge branch 'main' of https://github.com/gramaziokohler/compas_threejs…

71c02bc

… into fab_integration

paulocinco requested review from Copilot and ericgozzi March 16, 2026 09:23

paulocinco assigned ericgozzi Mar 16, 2026

paulocinco added the enhancement New feature or request label Mar 16, 2026

Copilot started reviewing on behalf of paulocinco March 16, 2026 09:24 View session

Copilot AI reviewed Mar 16, 2026

View reviewed changes

paulocinco added 3 commits March 17, 2026 09:51

linematerial opacity added

a245b69

work object movment

faae608

trajectory timeline added and works

4854219

ericgozzi requested changes Mar 23, 2026

View reviewed changes

paulocinco and others added 10 commits March 23, 2026 15:50

Potential fix for pull request finding

1a6a08c

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Potential fix for pull request finding

6ab36a2

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Update src/compas_threejs/ui/timeline.py

fcb475f

Co-authored-by: Eric <ericgozzi@cosmicgarage.ch>

Update frontend/compas_threejs/src/viewer/transform_manager.ts

05c6005

Co-authored-by: Eric <ericgozzi@cosmicgarage.ch>

camera options

b742d5e

Merge branch 'fab_integration' of https://github.com/gramaziokohler/c…

722185d

…ompas_threejs into fab_integration

clean up messages

fa34691

robot traj example relocated

cbd66e4

Merge branch 'main' of https://github.com/gramaziokohler/compas_threejs…

6ff0cc3

… into fab_integration

chore: automated build of frontend assets

588445c

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compas_fab trajectory integration - #2

compas_fab trajectory integration#2
paulocinco wants to merge 21 commits into
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paulocinco commented Mar 16, 2026 •

edited

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paulocinco commented Mar 16, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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paulocinco commented Mar 16, 2026 •

edited

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