dig-bag-replay

name	dig-bag-replay
description	Replay split DIG bags in the `moleworks_ros` container with bag TF, live self-filter, live elevation mapping, live excavation mapping, and Foxglove. Use when reviewing DIG episodes from `sensors/`, `state/`, `commands/`, `lidar/`, and optional `elevation_map/` bags.

Dig Bag Replay

Use this for offline DIG bag review in moleworks_ros.

There are two entrypoints:

• full split-run replay: local self-filter + local elevation mapping + local excavation mapping
• fast single-scoop review: replay one monolithic segment bag exactly as recorded

Assumption:

• one active replay session at a time; each helper clears the other replay session before launch

Do not use it for the live robot stack:

• for the real robot, use robot-startup
• for Newton sim startup, use newton-sim-ros-startup

Quick Start

Full split-run replay:

~/.codex/skills/dig-bag-replay/scripts/dig_bag_replay_tmux.sh \
  --bag-root /home/lorenzo/mcap/dig3d_2026-03-26/dig3d_real_run_2026-03-26_21-02-16 \
  --attach

Single-scoop segment replay from a manifest row:

~/.codex/skills/dig-bag-replay/scripts/dig_segment_replay_tmux.sh \
  --manifest /home/lorenzo/mcap/dig3d_2026-03-26/split_single_scoops_obs_2026-03-28/single_scoop_manifest_2026-03-28.csv \
  --segment-name trenching_single_2026-03-26_21-44-29_s01_strong_scoop \
  --attach

Each helper starts a fresh tmux session with:

• replay: launches the replay command in moleworks_ros
• monitor: sourced ROS shell in the same container

Foxglove bridge is exposed on ws://localhost:8766.

Before launch, the helper stops prior replay-style processes in that container:

• dig_bag_replay.launch.py
• foxglove_bridge
• self_filter
• elevation_mapping_node
• mole_excavation_mapping_node
• ros2 bag play

Defaults

• container: moleworks_ros
• container workspace: /workspace/moleworks/ros2_ws
• tmux session: bag_replay
• segment tmux session: segment_replay
• playback rate: 0.2
• end effector: shovel
• excavation preload: package://mole_maps/maps/hong0326_no_holes/hong0326_no_holes_surface

Kleinkram Downloads

Downloaded Kleinkram missions produced by the upload skill are usually flattened into one mission directory. dig_bag_replay_tmux.sh expects one split run root with sensors/, state/, commands/, lidar/, and optional elevation_map/, so reconstruct first:

python3 /home/lorenzo/codex_skills/skills/kleinkram-upload/scripts/reconstruct_split_bags.py \
  /path/to/downloaded_project/mission_name/project_name/mission_name

Then point --bag-root at one reconstructed run:

~/.codex/skills/dig-bag-replay/scripts/dig_bag_replay_tmux.sh \
  --bag-root /path/to/downloaded_project/reconstructed_runs/run_name \
  --attach

Workflow

Use full split-run replay when:

• you want to validate self-filter, elevation mapping, or excavation mapping behavior
• the run exists as sensors/, state/, commands/, lidar/, optional elevation_map/

Full split-run workflow:

1. Run dig_bag_replay_tmux.sh with --bag-root.
2. Open Foxglove on ws://localhost:8766.
3. Review replayed /tf, /tf_static, /mole/state, /mole/actuator_commands, raw lidar.
4. Review /mole/robot_description if you want the URDF model in Foxglove.
5. Review live /mole/self_filter, /mole/elevation_map_filter, /mole/excavation_mapping/grid_map.
6. Use the monitor window for checks.

Use fast single-scoop segment replay when:

• you want to review accept/reject quality for one split scoop from the manifest
• the segment exists only as one monolithic .mcap
• you do not need to regenerate mapping live

Single-scoop workflow:

1. Pick a segment_name from single_scoop_manifest_*.csv or PLAYBACK_PRIORITY_*.md.
2. Run dig_segment_replay_tmux.sh with --manifest and --segment-name.
3. Open Foxglove on ws://localhost:8766.
4. Review the recorded topics already inside the segment bag:
   • /tf, /tf_static
   • live /mole/robot_description for the URDF model
   • /mole/state, /mole/actuator_commands, /dig_3d/observations
   • /mole/livox_lidar_publisher/lidar_front_left
   • recorded /mole/elevation_map_filter
   • recorded /mole/excavation_mapping/grid_map
   • camera topics when present
5. Use full split-run replay later if you need to rerun mapping with changed code.

Useful Commands

Check the loaded excavation preload:

ros2 param get /mole/excavation_mapping design_bag_path

Check that elevation mapping uses the filtered cloud:

ros2 topic info -v /mole/livox_lidar_publisher/lidar_front_left_filtered
ros2 node info /mole/elevation_mapping_node

Override the excavation preload:

~/.codex/skills/dig-bag-replay/scripts/dig_bag_replay_tmux.sh \
  --bag-root /path/to/run \
  --design-bag-path package://mole_maps/maps/hong0326_holes/hong0326_holes_surface \
  --attach

Resource

• Split-run helper: scripts/dig_bag_replay_tmux.sh
• Segment helper: scripts/dig_segment_replay_tmux.sh