From b7fe16c07c4476a345766bdd05aff2e8806a5696 Mon Sep 17 00:00:00 2001
From: Marcus <139352735+sucrammal@users.noreply.github.com>
Date: Tue, 28 Jul 2026 16:33:43 -0400
Subject: [PATCH] DRAFT: New modal for inspect IK

---
 .../MotionPlanReplayer.svelte                 |    2 +
 .../MotionPlanReplayerUI.svelte               |   31 +-
 .../inspect-ik/IKCandidateDetail.svelte       |  102 +
 .../inspect-ik/IKCandidateList.svelte         |  133 +
 .../inspect-ik/IKCandidateRow.svelte          |   55 +
 .../inspect-ik/IKInspectionPanel.svelte       |   75 +
 .../inspect-ik/IKSeedGroup.svelte             |   58 +
 .../inspect-ik/IKStatusDot.svelte             |   25 +
 .../inspect-ik/draw-pose-set.ts               |   85 +
 .../fixtures/pirouette-request.json           | 1625 +++++++++++
 .../fixtures/pirouette-solutions.json         | 2597 +++++++++++++++++
 .../inspect-ik/ik-candidates.ts               |   85 +
 .../inspect-ik/inspect-ik-client.ts           |   37 +
 .../inspect-ik/namespace-snapshot.ts          |   42 +
 .../inspect-ik/parse-ik-solutions.ts          |   99 +
 .../inspect-ik/pose-sets.ts                   |  113 +
 .../inspect-ik/relations.ts                   |   11 +
 .../inspect-ik/useIKInspection.svelte.ts      |  313 ++
 .../inspect-ik/world-state-obstacles.ts       |   71 +
 19 files changed, 5556 insertions(+), 3 deletions(-)
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateDetail.svelte
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateList.svelte
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateRow.svelte
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/IKInspectionPanel.svelte
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/IKSeedGroup.svelte
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/IKStatusDot.svelte
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/draw-pose-set.ts
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/fixtures/pirouette-request.json
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/fixtures/pirouette-solutions.json
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/ik-candidates.ts
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/inspect-ik-client.ts
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/namespace-snapshot.ts
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/parse-ik-solutions.ts
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/pose-sets.ts
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/relations.ts
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/useIKInspection.svelte.ts
 create mode 100644 src/lib/plugins/MotionPlanReplayer/inspect-ik/world-state-obstacles.ts

diff --git a/src/lib/plugins/MotionPlanReplayer/MotionPlanReplayer.svelte b/src/lib/plugins/MotionPlanReplayer/MotionPlanReplayer.svelte
index bd4ce286b..74d96070c 100644
--- a/src/lib/plugins/MotionPlanReplayer/MotionPlanReplayer.svelte
+++ b/src/lib/plugins/MotionPlanReplayer/MotionPlanReplayer.svelte
@@ -5,6 +5,7 @@
 
 	import { useEnvironment } from '$lib/hooks/useEnvironment.svelte'
 
+	import { provideIKInspection } from './inspect-ik/useIKInspection.svelte'
 	import MotionPlanReplayerUI from './MotionPlanReplayerUI.svelte'
 	import { type ResolvePlanSnapshots } from './plan-dropper'
 	import { type PlanEntry, provideMotionPlanReplayer } from './useMotionPlanReplayer.svelte'
@@ -20,6 +21,7 @@
 	const { plans, children, resolvePlanSnapshots }: Props = $props()
 
 	provideMotionPlanReplayer(untrack(() => plans))
+	provideIKInspection()
 
 	const environment = useEnvironment()
 </script>
diff --git a/src/lib/plugins/MotionPlanReplayer/MotionPlanReplayerUI.svelte b/src/lib/plugins/MotionPlanReplayer/MotionPlanReplayerUI.svelte
index b59740e34..abac63d80 100644
--- a/src/lib/plugins/MotionPlanReplayer/MotionPlanReplayerUI.svelte
+++ b/src/lib/plugins/MotionPlanReplayer/MotionPlanReplayerUI.svelte
@@ -1,13 +1,15 @@
 <script lang="ts">
 	import type { Snippet } from 'svelte'
 
-	import { ToastVariant, useToast } from '@viamrobotics/prime-core'
+	import { Icon, ToastVariant, useToast } from '@viamrobotics/prime-core'
 	import { Eye, EyeOff } from 'lucide-svelte'
 
 	import { DashboardPortal } from '$lib'
 	import DashboardButton from '$lib/components/overlay/dashboard/Button.svelte'
 	import FloatingPanel from '$lib/components/overlay/FloatingPanel.svelte'
 
+	import IKInspectionPanel from './inspect-ik/IKInspectionPanel.svelte'
+	import { useIKInspection } from './inspect-ik/useIKInspection.svelte'
 	import MotionPlanReplayerScrubber from './MotionPlanReplayerScrubber.svelte'
 	import { planDropper, type ResolvePlanSnapshots } from './plan-dropper'
 	import { useMotionPlanReplayer } from './useMotionPlanReplayer.svelte'
@@ -22,6 +24,7 @@
 	const truncate = (s: string, max = 40): string => (s.length > max ? `${s.slice(0, max - 1)}…` : s)
 
 	const ctx = useMotionPlanReplayer()
+	const ik = useIKInspection()
 	const toast = useToast()
 
 	let isOpen = $state(false)
@@ -101,14 +104,16 @@
 			{@const isActive = ctx.activePlanIndex === i}
 			<div
 				class={[
-					'flex cursor-pointer items-center gap-1 rounded px-2 py-1',
+					'group flex cursor-pointer items-center gap-1 rounded px-2 py-1',
 					isActive ? 'bg-light font-medium' : 'hover:bg-ghost-light',
 				]}
 				role="button"
 				tabindex="0"
 				onclick={() => (isActive ? ctx.clearActivePlan() : ctx.selectPlan(i))}
 				onkeydown={(e) =>
-					e.key === 'Enter' && (isActive ? ctx.clearActivePlan() : ctx.selectPlan(i))}
+					e.target === e.currentTarget &&
+					e.key === 'Enter' &&
+					(isActive ? ctx.clearActivePlan() : ctx.selectPlan(i))}
 			>
 				<span class="text-subtle-1 mr-1 shrink-0">
 					{#if isActive}
@@ -119,6 +124,24 @@
 				</span>
 				<span class="grow truncate">{plan.name}</span>
 
+				<!-- MOCK: inspectIK ignores this plan and returns a bundled demo pair. -->
+				<button
+					type="button"
+					class="text-subtle-1 hover:bg-ghost-light hover:text-default focus-visible:ring-info-dark ml-1 rounded p-0.5 opacity-0 transition-opacity group-hover:opacity-100 focus-visible:opacity-100 focus-visible:ring-1 focus-visible:outline-none aria-disabled:opacity-50"
+					aria-label={`Inspect IK for ${plan.name}`}
+					aria-disabled={ik.status === 'loading'}
+					onclick={(e) => {
+						e.stopPropagation()
+						if (ik.status !== 'loading') void ik.inspect(plan.name, plan.content)
+					}}
+				>
+					<Icon
+						name="bug-outline"
+						size="sm"
+						aria-hidden="true"
+					/>
+				</button>
+
 				<button
 					type="button"
 					class="text-subtle-1 ml-1 rounded px-1 hover:text-red-500"
@@ -161,3 +184,5 @@
 		</div>
 	</div>
 </FloatingPanel>
+
+<IKInspectionPanel />
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateDetail.svelte b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateDetail.svelte
new file mode 100644
index 000000000..cfdbba18b
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateDetail.svelte
@@ -0,0 +1,102 @@
+<script lang="ts">
+	import type { IKCandidate } from './ik-candidates'
+	import type { PoseKind, PoseSet } from './pose-sets'
+
+	import IKStatusDot from './IKStatusDot.svelte'
+	import { hasSolution, IK_STATUS_LABEL, isScored } from './parse-ik-solutions'
+
+	interface Props {
+		candidate: IKCandidate
+		poseSets: PoseSet[]
+		poseVisibility: Record<PoseKind, boolean>
+		setPoseVisible: (kind: PoseKind, visible: boolean) => void
+	}
+
+	const { candidate, poseSets, poseVisibility, setPoseVisible }: Props = $props()
+
+	let expanded = $state(false)
+
+	const cost = $derived(candidate.solution.cost)
+	const detail = $derived(candidate.solution.error ?? candidate.solution.firstError ?? '')
+	// Roughly the two lines the clamp shows — below it the reveal control is just noise.
+	const clampable = $derived(detail.length > 120)
+	const hasStartPose = $derived(poseSets.some((poseSet) => poseSet.kind === 'start'))
+	const solved = $derived(hasSolution(candidate.solution))
+</script>
+
+<div class="border-light flex shrink-0 flex-col gap-2 border-t p-2">
+	<div class="flex items-center gap-2">
+		<IKStatusDot
+			status={candidate.status}
+			labelled
+		/>
+		<span class="min-w-0 truncate">{candidate.seed} · #{candidate.indexInSeed + 1}</span>
+		<span class="text-subtle-1 ml-auto shrink-0">{IK_STATUS_LABEL[candidate.status]}</span>
+		<span class="font-roboto-mono shrink-0 tabular-nums">
+			{#if isScored(cost)}
+				{cost.toFixed(4)}
+			{:else}
+				<span class="text-subtle-2">unscored</span>
+			{/if}
+		</span>
+	</div>
+
+	<div class="flex flex-wrap items-center gap-1">
+		<span class="text-subtle-1 mr-0.5">Show</span>
+		{#each poseSets as poseSet (poseSet.kind)}
+			{@const shown = poseVisibility[poseSet.kind]}
+			<button
+				type="button"
+				aria-pressed={shown}
+				class={[
+					'flex items-center gap-1 rounded border px-1.5 py-0.5',
+					'hover:bg-ghost-light focus-visible:ring-info-dark focus-visible:ring-1 focus-visible:outline-none',
+					shown ? 'border-medium bg-light' : 'border-light text-subtle-2',
+				]}
+				onclick={() => setPoseVisible(poseSet.kind, !shown)}
+			>
+				<span
+					class={[
+						'size-2 shrink-0 rounded-full',
+						poseSet.style.swatchClass,
+						// Hollow rather than hidden, so the row keeps its shape and the colour stays legible.
+						!shown && 'opacity-40',
+					]}
+					aria-hidden="true"
+				></span>
+				{poseSet.label}
+			</button>
+		{/each}
+	</div>
+
+	{#if !hasStartPose}
+		<p class="text-subtle-2">
+			Start pose unavailable — the request carries no start configuration.
+		</p>
+	{/if}
+
+	{#if detail}
+		<div class="border-light bg-extralight rounded border p-1.5">
+			<p class={['font-roboto-mono text-[11px] break-words', !expanded && 'line-clamp-2']}>
+				{detail}
+			</p>
+			{#if clampable}
+				<button
+					type="button"
+					class="text-link hover:text-link focus-visible:ring-info-dark mt-1 rounded focus-visible:ring-1 focus-visible:outline-none"
+					aria-expanded={expanded}
+					onclick={() => (expanded = !expanded)}
+				>
+					{expanded ? 'Show less' : 'Show more'}
+				</button>
+			{/if}
+		</div>
+	{:else if !solved}
+		<p class="text-subtle-1">
+			The solver returned no configuration for this seed, so there is no pose to draw — it failed
+			before producing a candidate rather than producing one that collides.
+		</p>
+	{:else}
+		<p class="text-subtle-2">No failure detail was recorded for this candidate.</p>
+	{/if}
+</div>
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateList.svelte b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateList.svelte
new file mode 100644
index 000000000..b519f60d8
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateList.svelte
@@ -0,0 +1,133 @@
+<script lang="ts">
+	import { Icon, Tooltip } from '@viamrobotics/prime-core'
+
+	import IKCandidateDetail from './IKCandidateDetail.svelte'
+	import IKCandidateRow from './IKCandidateRow.svelte'
+	import IKSeedGroup from './IKSeedGroup.svelte'
+	import IKStatusDot from './IKStatusDot.svelte'
+	import { IK_STATUS_DESCRIPTION, IK_STATUS_LABEL, type IKStatus } from './parse-ik-solutions'
+	import { useIKInspection } from './useIKInspection.svelte'
+
+	const ctx = useIKInspection()
+
+	const ORDER: IKStatus[] = ['valid', 'path-invalid', 'invalid']
+</script>
+
+<div class="flex h-full flex-col">
+	<div class="border-light flex shrink-0 flex-col gap-2 border-b p-2">
+		<div class="flex items-center gap-2">
+			<span class="font-medium tabular-nums">{ctx.totalCount} candidates</span>
+			<span class="text-subtle-1 ml-auto tabular-nums">{ctx.seedBuckets.length} seeds</span>
+		</div>
+
+		<div class="flex flex-wrap items-center gap-1">
+			{#each ORDER as status (status)}
+				{@const active = ctx.statusFilter.has(status)}
+				<button
+					type="button"
+					aria-pressed={active}
+					class={[
+						'flex items-center gap-1 rounded border px-1.5 py-0.5 tabular-nums',
+						'hover:bg-ghost-light focus-visible:ring-info-dark focus-visible:ring-1 focus-visible:outline-none',
+						active ? 'border-medium bg-light' : 'border-light text-subtle-2',
+					]}
+					onclick={() => ctx.toggleStatusFilter(status)}
+				>
+					<IKStatusDot {status} />
+					{ctx.counts[status]}
+					<span class="sr-only">{IK_STATUS_LABEL[status]}</span>
+				</button>
+			{/each}
+
+			<Tooltip
+				let:tooltipID
+				location="bottom"
+			>
+				<button
+					type="button"
+					aria-describedby={tooltipID}
+					aria-label="What the colours mean"
+					class="text-subtle-1 hover:text-default hover:bg-ghost-light focus-visible:ring-info-dark rounded p-0.5 focus-visible:ring-1 focus-visible:outline-none"
+				>
+					<Icon
+						name="help-circle-outline"
+						size="sm"
+						aria-hidden="true"
+					/>
+				</button>
+				<span slot="description">
+					{#each ORDER as status (status)}
+						<span class="mb-0.5 block last:mb-0">
+							<span class="font-medium">{IK_STATUS_LABEL[status]}</span> — {IK_STATUS_DESCRIPTION[
+								status
+							]}
+						</span>
+					{/each}
+				</span>
+			</Tooltip>
+
+			<div class="ml-auto flex items-center gap-1">
+				<span class="text-subtle-1">Sort</span>
+				{#each [['seed', 'Seed'], ['cost', 'Cost']] as const as [mode, label] (mode)}
+					<button
+						type="button"
+						aria-pressed={ctx.sortMode === mode}
+						class={[
+							'rounded border px-1.5 py-0.5',
+							'hover:bg-ghost-light focus-visible:ring-info-dark focus-visible:ring-1 focus-visible:outline-none',
+							ctx.sortMode === mode ? 'border-medium bg-light' : 'border-light text-subtle-2',
+						]}
+						onclick={() => ctx.setSortMode(mode)}
+					>
+						{label}
+					</button>
+				{/each}
+			</div>
+		</div>
+	</div>
+
+	<div class="min-h-0 flex-1 overflow-y-auto p-1">
+		{#if ctx.visibleCandidates.length === 0}
+			<div class="text-subtle-1 flex h-full flex-col items-center justify-center gap-2 text-center">
+				<p>No candidates match this filter.</p>
+				<button
+					type="button"
+					class="border-light hover:bg-light focus-visible:ring-info-dark rounded border px-2 py-1 focus-visible:ring-1 focus-visible:outline-none"
+					onclick={() => ctx.resetStatusFilter()}
+				>
+					Show all
+				</button>
+			</div>
+		{:else if ctx.sortMode === 'seed'}
+			{#each ctx.seedBuckets as bucket (bucket.seedIndex)}
+				<IKSeedGroup
+					{bucket}
+					expanded={ctx.expandedSeeds.has(bucket.seedIndex)}
+					selectedId={ctx.selectedCandidate?.id ?? null}
+					ontoggle={() => ctx.toggleSeed(bucket.seedIndex)}
+					onselect={(id) => ctx.select(id)}
+				/>
+			{/each}
+		{:else}
+			<div class="flex flex-col gap-0.5">
+				{#each ctx.visibleCandidates as candidate (candidate.id)}
+					<IKCandidateRow
+						{candidate}
+						selected={candidate.id === ctx.selectedCandidate?.id}
+						showSeed
+						onselect={() => ctx.select(candidate.id)}
+					/>
+				{/each}
+			</div>
+		{/if}
+	</div>
+
+	{#if ctx.selectedCandidate}
+		<IKCandidateDetail
+			candidate={ctx.selectedCandidate}
+			poseSets={ctx.poseSets}
+			poseVisibility={ctx.poseVisibility}
+			setPoseVisible={ctx.setPoseVisible}
+		/>
+	{/if}
+</div>
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateRow.svelte b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateRow.svelte
new file mode 100644
index 000000000..8ea5eb839
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKCandidateRow.svelte
@@ -0,0 +1,55 @@
+<script lang="ts">
+	import { Tooltip } from '@viamrobotics/prime-core'
+
+	import type { IKCandidate } from './ik-candidates'
+
+	import IKStatusDot from './IKStatusDot.svelte'
+	import { isScored } from './parse-ik-solutions'
+
+	interface Props {
+		candidate: IKCandidate
+		selected: boolean
+		/** Cost-sorted mode has no seed headers, so the row has to carry its own. */
+		showSeed?: boolean
+		onselect: () => void
+	}
+
+	const { candidate, selected, showSeed = false, onselect }: Props = $props()
+
+	const cost = $derived(candidate.solution.cost)
+</script>
+
+<Tooltip
+	let:tooltipID
+	location="right"
+>
+	<button
+		type="button"
+		aria-describedby={tooltipID}
+		aria-pressed={selected}
+		class={[
+			'flex w-full items-center gap-2 rounded px-2 py-1 text-left',
+			'hover:bg-ghost-light focus-visible:ring-info-dark focus-visible:ring-1 focus-visible:outline-none',
+			selected && 'bg-light font-medium',
+		]}
+		onclick={onselect}
+	>
+		<IKStatusDot
+			status={candidate.status}
+			labelled
+		/>
+		<span class="font-roboto-mono grow tabular-nums">
+			{#if isScored(cost)}
+				{cost.toFixed(4)}
+			{:else}
+				<span class="text-subtle-2">—</span>
+			{/if}
+		</span>
+		{#if showSeed}
+			<span class="text-subtle-2 min-w-0 truncate">{candidate.seed}</span>
+		{/if}
+	</button>
+	<p slot="description">
+		{candidate.seed} · #{candidate.indexInSeed + 1}{isScored(cost) ? '' : ' · unscored'}
+	</p>
+</Tooltip>
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKInspectionPanel.svelte b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKInspectionPanel.svelte
new file mode 100644
index 000000000..d9e69e927
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKInspectionPanel.svelte
@@ -0,0 +1,75 @@
+<script lang="ts">
+	import { useThrelte } from '@threlte/core'
+	import { Badge, Icon } from '@viamrobotics/prime-core'
+
+	import FloatingPanel from '$lib/components/overlay/FloatingPanel.svelte'
+
+	import IKCandidateList from './IKCandidateList.svelte'
+	import { useIKInspection } from './useIKInspection.svelte'
+
+	const ctx = useIKInspection()
+	const { dom } = useThrelte()
+
+	const SIZE = { width: 380, height: 520 }
+
+	// Every FloatingPanel renders at the same z-index with no bring-to-front, so opening away from
+	// the replayer's centred default is the only thing keeping the two from stacking.
+	const defaultPosition = {
+		x: Math.max(16, dom.clientWidth - SIZE.width - 16),
+		y: 96,
+	}
+</script>
+
+<FloatingPanel
+	bind:isOpen={() => ctx.isOpen, (open) => ctx.setOpen(open)}
+	title="IK Inspection"
+	defaultSize={SIZE}
+	minSize={{ width: 320, height: 320 }}
+	{defaultPosition}
+	resizable
+	bodyClass="bg-white"
+>
+	{#snippet headerPrefix()}
+		<Badge
+			label="demo data"
+			variant="warning"
+		/>
+	{/snippet}
+
+	<div class="flex h-full flex-col text-xs">
+		{#if ctx.status === 'loading'}
+			<div
+				class="text-subtle-1 flex grow flex-col items-center justify-center gap-3"
+				role="status"
+			>
+				<div class="flex w-40 flex-col gap-1.5">
+					{#each [0, 1, 2] as row (row)}
+						<div class="bg-light h-2 animate-pulse rounded"></div>
+					{/each}
+				</div>
+				<p>Running IK inspection…</p>
+			</div>
+		{:else if ctx.status === 'error'}
+			<div class="flex grow flex-col items-center justify-center gap-2 p-4 text-center">
+				<Icon
+					name="alert-circle-outline"
+					size="lg"
+					aria-hidden="true"
+				/>
+				<p class="text-danger-dark break-words">{ctx.error}</p>
+			</div>
+		{:else if ctx.status === 'ready'}
+			<p class="text-subtle-2 border-light shrink-0 border-b px-2 py-1">
+				Demo fixture — candidates come from <span class="font-roboto-mono">pirouette-request</span>,
+				not from {ctx.planName ?? 'the selected plan'}.
+			</p>
+			<div class="min-h-0 flex-1">
+				<IKCandidateList />
+			</div>
+		{:else}
+			<div class="text-subtle-1 flex grow items-center justify-center p-4 text-center">
+				Use a plan's bug icon to inspect its IK candidates.
+			</div>
+		{/if}
+	</div>
+</FloatingPanel>
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKSeedGroup.svelte b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKSeedGroup.svelte
new file mode 100644
index 000000000..cb884f2c9
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKSeedGroup.svelte
@@ -0,0 +1,58 @@
+<script lang="ts">
+	import { Icon } from '@viamrobotics/prime-core'
+
+	import type { IKSeedBucket } from './ik-candidates'
+
+	import IKCandidateRow from './IKCandidateRow.svelte'
+	import IKStatusDot from './IKStatusDot.svelte'
+	import { IK_STATUS_LABEL, type IKStatus } from './parse-ik-solutions'
+
+	interface Props {
+		bucket: IKSeedBucket
+		expanded: boolean
+		selectedId: string | null
+		ontoggle: () => void
+		onselect: (id: string) => void
+	}
+
+	const { bucket, expanded, selectedId, ontoggle, onselect }: Props = $props()
+
+	const ORDER: IKStatus[] = ['valid', 'path-invalid', 'invalid']
+</script>
+
+<div class="flex flex-col">
+	<button
+		type="button"
+		aria-expanded={expanded}
+		class="hover:bg-ghost-light focus-visible:ring-info-dark flex w-full items-center gap-1 rounded px-1 py-1 text-left focus-visible:ring-1 focus-visible:outline-none"
+		onclick={ontoggle}
+	>
+		<Icon
+			name={expanded ? 'chevron-down' : 'chevron-right'}
+			size="sm"
+			aria-hidden="true"
+		/>
+		<span class="grow truncate">{bucket.seed}</span>
+		{#each ORDER as status (status)}
+			<span
+				class="text-subtle-1 flex items-center gap-1 tabular-nums"
+				title={`${bucket.counts[status]} ${IK_STATUS_LABEL[status]}`}
+			>
+				<IKStatusDot {status} />
+				{bucket.counts[status]}
+			</span>
+		{/each}
+	</button>
+
+	{#if expanded}
+		<div class="flex flex-col gap-0.5 pb-1 pl-4">
+			{#each bucket.candidates as candidate (candidate.id)}
+				<IKCandidateRow
+					{candidate}
+					selected={candidate.id === selectedId}
+					onselect={() => onselect(candidate.id)}
+				/>
+			{/each}
+		</div>
+	{/if}
+</div>
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKStatusDot.svelte b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKStatusDot.svelte
new file mode 100644
index 000000000..03b8b0b1b
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/IKStatusDot.svelte
@@ -0,0 +1,25 @@
+<script lang="ts">
+	import { IK_STATUS_LABEL, type IKStatus } from './parse-ik-solutions'
+
+	interface Props {
+		status: IKStatus
+		/** Set when no adjacent text already names the status, so the dot isn't the only cue. */
+		labelled?: boolean
+	}
+
+	const { status, labelled = false }: Props = $props()
+</script>
+
+<span
+	class={[
+		'size-2 shrink-0 rounded-full',
+		{
+			'bg-success-dark': status === 'valid',
+			'bg-warning-dark': status === 'path-invalid',
+			'bg-danger-dark': status === 'invalid',
+		},
+	]}
+	role={labelled ? 'img' : undefined}
+	aria-label={labelled ? IK_STATUS_LABEL[status] : undefined}
+	aria-hidden={labelled ? undefined : 'true'}
+></span>
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/draw-pose-set.ts b/src/lib/plugins/MotionPlanReplayer/inspect-ik/draw-pose-set.ts
new file mode 100644
index 000000000..b7f71d372
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/draw-pose-set.ts
@@ -0,0 +1,85 @@
+import type { Entity, World } from 'koota'
+
+import type { Transform } from '$lib/buf/common/v1/common_pb'
+import type { Snapshot } from '$lib/buf/draw/v1/snapshot_pb'
+
+import { traits } from '$lib/ecs'
+import { reconcileSnapshotEntities, type SnapshotEntity } from '$lib/snapshot'
+
+import { transformsToSnapshot } from '../plan-to-snapshots'
+import { namespaceSnapshot } from './namespace-snapshot'
+import { OBSTACLE_STYLE, type PoseSet, type PoseStyle } from './pose-sets'
+import * as inspectRelations from './relations'
+import { OBSTACLE_PREFIX } from './world-state-obstacles'
+
+export interface DrawnSet {
+	root: Entity
+	entityMap: Map<string, SnapshotEntity>
+}
+
+// koota's `set` writes the trait's store slot but will not add an absent trait — the entity's
+// mask is untouched, so `has` stays false and nothing querying the trait ever sees the value.
+// Plan transforms carry no color metadata, so `Color` is always absent on spawn; `Opacity` only
+// happens to be present because `drawTransform` adds it unconditionally. Guard both rather than
+// depend on that.
+const setOrAddColor = (entity: Entity, value: PoseStyle['rgb']) => {
+	if (entity.has(traits.Color)) entity.set(traits.Color, value)
+	else entity.add(traits.Color(value))
+}
+
+const setOrAddOpacity = (entity: Entity, value: number) => {
+	if (entity.has(traits.Opacity)) entity.set(traits.Opacity, value)
+	else entity.add(traits.Opacity(value))
+}
+
+const drawSnapshot = (
+	world: World,
+	rootName: string,
+	snapshot: Snapshot,
+	style: PoseStyle
+): DrawnSet => {
+	// Spawned before the reconcile so `resolveOrphans` can parent the set's top-level frames onto
+	// it within the same flush.
+	const root = world.spawn(traits.Name(rootName))
+
+	// A fresh empty map. Reconcile garbage-collects only entities present in the map it is handed,
+	// so passing an empty one guarantees nothing already in the scene gets swept.
+	const result = reconcileSnapshotEntities(world, snapshot, new Map())
+
+	for (const spawned of result.spawned) {
+		spawned.entity.add(inspectRelations.PartOfInspection(root))
+
+		// Frames without geometry carry `ReferenceFrame` and render as axes, which the plan colour
+		// would not apply to anyway.
+		if (!spawned.entity.has(traits.ReferenceFrame)) setOrAddColor(spawned.entity, style.rgb)
+		setOrAddOpacity(spawned.entity, style.opacity)
+	}
+
+	return { root, entityMap: result.current }
+}
+
+export const drawPoseSet = (world: World, poseSet: PoseSet, snapshot: Snapshot): DrawnSet =>
+	drawSnapshot(world, poseSet.prefix, namespaceSnapshot(snapshot, poseSet.prefix), poseSet.style)
+
+/**
+ * Obstacles keep their `obstacle/` names and stay parented to `world` — they are the fixed scene,
+ * not one of the candidate poses, so they are drawn once and survive candidate changes.
+ */
+export const drawObstacles = (world: World, transforms: Transform[]): DrawnSet =>
+	drawSnapshot(world, OBSTACLE_PREFIX, transformsToSnapshot(transforms), OBSTACLE_STYLE)
+
+export const destroyDrawnSet = (drawn: DrawnSet): void => {
+	// `PartOfInspection` is autoDestroy: 'source', so the root takes every member with it.
+	if (drawn.root.isAlive()) drawn.root.destroy()
+	drawn.entityMap.clear()
+}
+
+/**
+ * Toggles the root only. Every frame in a pose set is a `ChildOf` descendant of it, and
+ * `useInheritedInvisible` walks that chain, so one trait hides the whole arm.
+ */
+export const setDrawnSetVisible = (drawn: DrawnSet, visible: boolean): void => {
+	if (!drawn.root.isAlive()) return
+	if (visible) drawn.root.remove(traits.Invisible)
+	else drawn.root.add(traits.Invisible)
+}
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/fixtures/pirouette-request.json b/src/lib/plugins/MotionPlanReplayer/inspect-ik/fixtures/pirouette-request.json
new file mode 100644
index 000000000..0be6c6baa
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/fixtures/pirouette-request.json
@@ -0,0 +1,1625 @@
+{
+	"frame_system": {
+		"name": "builtin",
+		"world": {
+			"frame_type": "static",
+			"frame": {
+				"id": "world",
+				"translation": {
+					"X": 0,
+					"Y": 0,
+					"Z": 0
+				},
+				"orientation": {
+					"type": "quaternion",
+					"value": {
+						"W": 1,
+						"X": 0,
+						"Y": 0,
+						"Z": 0
+					}
+				}
+			}
+		},
+		"frames": {
+			"arm": {
+				"frame_type": "model",
+				"frame": {
+					"name": "arm",
+					"model": {
+						"name": "UR5e",
+						"kinematic_param_type": "SVA",
+						"links": [
+							{
+								"id": "base_link",
+								"translation": {
+									"X": 0,
+									"Y": 0,
+									"Z": 162.5
+								},
+								"orientation": null,
+								"geometry": {
+									"type": "",
+									"x": 0,
+									"y": 0,
+									"z": 0,
+									"r": 60,
+									"l": 260,
+									"translation": {
+										"X": 0,
+										"Y": 0,
+										"Z": 130
+									},
+									"orientation": {
+										"type": ""
+									},
+									"Label": ""
+								},
+								"parent": "world"
+							},
+							{
+								"id": "shoulder_link",
+								"translation": {
+									"X": 0,
+									"Y": 0,
+									"Z": 0
+								},
+								"orientation": null,
+								"geometry": {
+									"type": "",
+									"x": 0,
+									"y": 0,
+									"z": 0,
+									"r": 55,
+									"l": 0,
+									"translation": {
+										"X": 0,
+										"Y": 0,
+										"Z": 0
+									},
+									"orientation": {
+										"type": ""
+									},
+									"Label": ""
+								},
+								"parent": "shoulder_pan_joint"
+							},
+							{
+								"id": "upper_arm_link",
+								"translation": {
+									"X": -425,
+									"Y": 0,
+									"Z": 0
+								},
+								"orientation": null,
+								"geometry": {
+									"type": "",
+									"x": 0,
+									"y": 0,
+									"z": 0,
+									"r": 65,
+									"l": 550,
+									"translation": {
+										"X": -212.5,
+										"Y": -130,
+										"Z": 0
+									},
+									"orientation": {
+										"type": "ov_degrees",
+										"value": {
+											"th": 0,
+											"x": -1,
+											"y": 0,
+											"z": 0
+										}
+									},
+									"Label": ""
+								},
+								"parent": "shoulder_lift_joint"
+							},
+							{
+								"id": "forearm_link",
+								"translation": {
+									"X": -392.2,
+									"Y": 0,
+									"Z": 0
+								},
+								"orientation": null,
+								"geometry": {
+									"type": "",
+									"x": 0,
+									"y": 0,
+									"z": 0,
+									"r": 50,
+									"l": 490,
+									"translation": {
+										"X": -196.1,
+										"Y": 0,
+										"Z": 0
+									},
+									"orientation": {
+										"type": "ov_degrees",
+										"value": {
+											"th": 0,
+											"x": -1,
+											"y": 0,
+											"z": 0
+										}
+									},
+									"Label": ""
+								},
+								"parent": "elbow_joint"
+							},
+							{
+								"id": "wrist_1_link",
+								"translation": {
+									"X": 0,
+									"Y": -133.3,
+									"Z": 0
+								},
+								"orientation": null,
+								"geometry": {
+									"type": "",
+									"x": 0,
+									"y": 0,
+									"z": 0,
+									"r": 40,
+									"l": 230,
+									"translation": {
+										"X": 0,
+										"Y": -80.65,
+										"Z": 0
+									},
+									"orientation": {
+										"type": "ov_degrees",
+										"value": {
+											"th": 0,
+											"x": 0,
+											"y": -1,
+											"z": 0
+										}
+									},
+									"Label": ""
+								},
+								"parent": "wrist_1_joint"
+							},
+							{
+								"id": "wrist_2_link",
+								"translation": {
+									"X": 0,
+									"Y": 0,
+									"Z": -99.7
+								},
+								"orientation": null,
+								"geometry": {
+									"type": "",
+									"x": 0,
+									"y": 0,
+									"z": 0,
+									"r": 70,
+									"l": 0,
+									"translation": {
+										"X": 0,
+										"Y": 0,
+										"Z": 0
+									},
+									"orientation": {
+										"type": "ov_degrees",
+										"value": {
+											"th": 0,
+											"x": 0,
+											"y": 0,
+											"z": -1
+										}
+									},
+									"Label": ""
+								},
+								"parent": "wrist_2_joint"
+							},
+							{
+								"id": "ee_link",
+								"translation": {
+									"X": 0,
+									"Y": -99.6,
+									"Z": 0
+								},
+								"orientation": {
+									"type": "ov_degrees",
+									"value": {
+										"th": 90,
+										"x": 0,
+										"y": -1,
+										"z": 0
+									}
+								},
+								"geometry": {
+									"type": "",
+									"x": 0,
+									"y": 0,
+									"z": 0,
+									"r": 40,
+									"l": 170,
+									"translation": {
+										"X": 0,
+										"Y": -49.85,
+										"Z": 0
+									},
+									"orientation": {
+										"type": "ov_degrees",
+										"value": {
+											"th": 0,
+											"x": 0,
+											"y": -1,
+											"z": 0
+										}
+									},
+									"Label": ""
+								},
+								"parent": "wrist_3_joint"
+							}
+						],
+						"joints": [
+							{
+								"id": "shoulder_pan_joint",
+								"type": "revolute",
+								"parent": "base_link",
+								"axis": {
+									"X": 0,
+									"Y": 0,
+									"Z": 1
+								},
+								"max": 360,
+								"min": -360
+							},
+							{
+								"id": "shoulder_lift_joint",
+								"type": "revolute",
+								"parent": "shoulder_link",
+								"axis": {
+									"X": 0,
+									"Y": -1,
+									"Z": 0
+								},
+								"max": 360,
+								"min": -360
+							},
+							{
+								"id": "elbow_joint",
+								"type": "revolute",
+								"parent": "upper_arm_link",
+								"axis": {
+									"X": 0,
+									"Y": -1,
+									"Z": 0
+								},
+								"max": 180,
+								"min": -180
+							},
+							{
+								"id": "wrist_1_joint",
+								"type": "revolute",
+								"parent": "forearm_link",
+								"axis": {
+									"X": 0,
+									"Y": -1,
+									"Z": 0
+								},
+								"max": 360,
+								"min": -360
+							},
+							{
+								"id": "wrist_2_joint",
+								"type": "revolute",
+								"parent": "wrist_1_link",
+								"axis": {
+									"X": 0,
+									"Y": 0,
+									"Z": -1
+								},
+								"max": 360,
+								"min": -360
+							},
+							{
+								"id": "wrist_3_joint",
+								"type": "revolute",
+								"parent": "wrist_2_link",
+								"axis": {
+									"X": 0,
+									"Y": -1,
+									"Z": 0
+								},
+								"max": 360,
+								"min": -360
+							}
+						],
+						"original_file": {
+							"bytes": "{
    "name": "UR5e",
    "kinematic_param_type": "SVA",
    "links": [
        {
            "id": "base_link",
            "parent": "world",
            "translation": {
                "x": 0,
                "y": 0,
                "z": 162.5
            },
            "geometry": {
                "r": 60.0,
                "l": 260.0,
                "translation": {
                    "x": 0,
                    "y": 0,
                    "z": 130.0
                }
            }
        },
        {
            "id": "shoulder_link",
            "parent": "shoulder_pan_joint",
            "translation": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "geometry": {
                "r": 55.0
            }
        },
        {
            "id": "upper_arm_link",
            "parent": "shoulder_lift_joint",
            "translation": {
                "x": -425,
                "y": 0,
                "z": 0
            },
            "geometry": {
                "r": 65.0,
                "l": 550.0,
                "translation": {
                    "x": -212.5,
                    "y": -130,
                    "z": 0
                },
                "orientation": {
                    "type": "ov_degrees",
                    "value": {
                        "x": -1,
                        "y": 0,
                        "z": 0,
                        "th": 0
                    }
                }
            }
        },
        {
            "id": "forearm_link",
            "parent": "elbow_joint",
            "translation": {
                "x": -392.2,
                "y": 0,
                "z": 0
            },
            "geometry": {
                "r": 50.0,
                "l": 490.0,
                "translation": {
                    "x": -196.1,
                    "y": 0,
                    "z": 0
                },
                "orientation": {
                    "type": "ov_degrees",
                    "value": {
                        "x": -1,
                        "y": 0,
                        "z": 0,
                        "th": 0
                    }
                }
            }
        },
        {
            "id": "wrist_1_link",
            "parent": "wrist_1_joint",
            "translation": {
                "x": 0,
                "y": -133.3,
                "z": 0
            },
            "geometry": {
                "r": 40.0,
                "l": 230.0,
                "translation": {
                    "x": 0,
                    "y": -80.65,
                    "z": 0
                },
                "orientation": {
                    "type": "ov_degrees",
                    "value": {
                        "x": 0,
                        "y": -1,
                        "z": 0,
                        "th": 0
                    }
                }
            }
        },
        {
            "id": "wrist_2_link",
            "parent": "wrist_2_joint",
            "translation": {
                "x": 0,
                "y": 0,
                "z": -99.7
            },
            "geometry": {
                "r": 70.0,
                "translation": {
                    "x": 0,
                    "y": 0,
                    "z": 0
                },
                "orientation": {
                    "type": "ov_degrees",
                    "value": {
                        "x": 0,
                        "y": 0,
                        "z": -1,
                        "th": 0
                    }
                }
            }
        },
        {
            "id": "ee_link",
            "parent": "wrist_3_joint",
            "translation": {
                "x": 0,
                "y": -99.6,
                "z": 0
            },
            "orientation": {
                "type": "ov_degrees",
                "value": {
                    "x": 0,
                    "y": -1,
                    "z": 0,
                    "th": 90
                }
            },
            "geometry": {
                "r": 40.0,
                "l": 170.0,
                "translation": {
                    "x": 0,
                    "y": -49.85,
                    "z": 0
                },
                "orientation": {
                    "type": "ov_degrees",
                    "value": {
                        "x": 0,
                        "y": -1,
                        "z": 0,
                        "th": 0
                    }
                }
            }
        }
    ],
    "joints": [
        {
            "id": "shoulder_pan_joint",
            "type": "revolute",
            "parent": "base_link",
            "axis": {
                "x": 0,
                "y": 0,
                "z": 1
            },
            "max": 360,
            "min": -360
        },
        {
            "id": "shoulder_lift_joint",
            "type": "revolute",
            "parent": "shoulder_link",
            "axis": {
                "x": 0,
                "y": -1,
                "z": 0
            },
            "max": 360,
            "min": -360
        },
        {
            "id": "elbow_joint",
            "type": "revolute",
            "parent": "upper_arm_link",
            "axis": {
                "x": 0,
                "y": -1,
                "z": 0
            },
            "max": 180,
            "min": -180
        },
        {
            "id": "wrist_1_joint",
            "type": "revolute",
            "parent": "forearm_link",
            "axis": {
                "x": 0,
                "y": -1,
                "z": 0
            },
            "max": 360,
            "min": -360
        },
        {
            "id": "wrist_2_joint",
            "type": "revolute",
            "parent": "wrist_1_link",
            "axis": {
                "x": 0,
                "y": 0,
                "z": -1
            },
            "max": 360,
            "min": -360
        },
        {
            "id": "wrist_3_joint",
            "type": "revolute",
            "parent": "wrist_2_link",
            "axis": {
                "x": 0,
                "y": -1,
                "z": 0
            },
            "max": 360,
            "min": -360
        }
    ]
}
",
+							"extension": "json"
+						}
+					},
+					"limits": [
+						{
+							"Min": -6.283185307179586,
+							"Max": 6.283185307179586
+						},
+						{
+							"Min": -6.283185307179586,
+							"Max": 6.283185307179586
+						},
+						{
+							"Min": -3.141592653589793,
+							"Max": 3.141592653589793
+						},
+						{
+							"Min": -6.283185307179586,
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+							"wrist_1_link": "wrist_1_joint",
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+							"wrist_2_link": "wrist_2_joint",
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+								"Label": "upper_arm_link"
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+					"inner_frame": {
+						"frame_type": "rotational",
+						"frame": {
+							"id": "wrist_1_joint",
+							"type": "revolute",
+							"parent": "",
+							"axis": {
+								"X": 0,
+								"Y": -1,
+								"Z": 0
+							},
+							"max": 360,
+							"min": -360
+						}
+					}
+				}
+			},
+			"arm:wrist_1_link": {
+				"frame_type": "named",
+				"frame": {
+					"name": "arm:wrist_1_link",
+					"inner_frame": {
+						"frame_type": "static",
+						"frame": {
+							"id": "wrist_1_link",
+							"translation": {
+								"X": 0,
+								"Y": -133.3,
+								"Z": 0
+							},
+							"orientation": {
+								"type": "quaternion",
+								"value": {
+									"W": 1,
+									"X": 0,
+									"Y": 0,
+									"Z": 0
+								}
+							},
+							"geometry": {
+								"type": "capsule",
+								"x": 0,
+								"y": 0,
+								"z": 0,
+								"r": 40,
+								"l": 230,
+								"translation": {
+									"X": 0,
+									"Y": -80.65,
+									"Z": 0
+								},
+								"orientation": {
+									"type": "quaternion",
+									"value": {
+										"W": 0.5000000000000001,
+										"X": 0.4999999999999999,
+										"Y": 0.5,
+										"Z": -0.5
+									}
+								},
+								"Label": "wrist_1_link"
+							}
+						}
+					}
+				}
+			},
+			"arm:wrist_2_joint": {
+				"frame_type": "named",
+				"frame": {
+					"name": "arm:wrist_2_joint",
+					"inner_frame": {
+						"frame_type": "rotational",
+						"frame": {
+							"id": "wrist_2_joint",
+							"type": "revolute",
+							"parent": "",
+							"axis": {
+								"X": 0,
+								"Y": 0,
+								"Z": -1
+							},
+							"max": 360,
+							"min": -360
+						}
+					}
+				}
+			},
+			"arm:wrist_2_link": {
+				"frame_type": "named",
+				"frame": {
+					"name": "arm:wrist_2_link",
+					"inner_frame": {
+						"frame_type": "static",
+						"frame": {
+							"id": "wrist_2_link",
+							"translation": {
+								"X": 0,
+								"Y": 0,
+								"Z": -99.7
+							},
+							"orientation": {
+								"type": "quaternion",
+								"value": {
+									"W": 1,
+									"X": 0,
+									"Y": 0,
+									"Z": 0
+								}
+							},
+							"geometry": {
+								"type": "sphere",
+								"x": 0,
+								"y": 0,
+								"z": 0,
+								"r": 70,
+								"l": 0,
+								"translation": {
+									"X": 0,
+									"Y": 0,
+									"Z": 0
+								},
+								"orientation": {
+									"type": "quaternion",
+									"value": {
+										"W": 6.123233995736757e-17,
+										"X": 0,
+										"Y": 1,
+										"Z": 0
+									}
+								},
+								"Label": "wrist_2_link"
+							}
+						}
+					}
+				}
+			},
+			"arm:wrist_3_joint": {
+				"frame_type": "named",
+				"frame": {
+					"name": "arm:wrist_3_joint",
+					"inner_frame": {
+						"frame_type": "rotational",
+						"frame": {
+							"id": "wrist_3_joint",
+							"type": "revolute",
+							"parent": "",
+							"axis": {
+								"X": 0,
+								"Y": -1,
+								"Z": 0
+							},
+							"max": 360,
+							"min": -360
+						}
+					}
+				}
+			},
+			"arm_origin": {
+				"frame_type": "tail_geometry_static",
+				"frame": {
+					"id": "arm_origin",
+					"translation": {
+						"X": 0,
+						"Y": 0,
+						"Z": 0
+					},
+					"orientation": {
+						"type": "quaternion",
+						"value": {
+							"W": 1,
+							"X": 0,
+							"Y": 0,
+							"Z": 0
+						}
+					}
+				}
+			},
+			"floor": {
+				"frame_type": "static",
+				"frame": {
+					"id": "floor",
+					"translation": {
+						"X": 0,
+						"Y": 0,
+						"Z": 0
+					},
+					"orientation": {
+						"type": "quaternion",
+						"value": {
+							"W": 1,
+							"X": 0,
+							"Y": 0,
+							"Z": 0
+						}
+					}
+				}
+			},
+			"floor_origin": {
+				"frame_type": "tail_geometry_static",
+				"frame": {
+					"id": "floor_origin",
+					"translation": {
+						"X": 0,
+						"Y": 0,
+						"Z": -50
+					},
+					"orientation": {
+						"type": "quaternion",
+						"value": {
+							"W": 1,
+							"X": 0,
+							"Y": 0,
+							"Z": 0
+						}
+					},
+					"geometry": {
+						"type": "box",
+						"x": 2000,
+						"y": 2000,
+						"z": 10,
+						"r": 0,
+						"l": 0,
+						"translation": {
+							"X": 0,
+							"Y": 0,
+							"Z": 0
+						},
+						"orientation": {
+							"type": "quaternion",
+							"value": {
+								"W": 1,
+								"X": 0,
+								"Y": 0,
+								"Z": 0
+							}
+						},
+						"Label": "floor_origin"
+					}
+				}
+			},
+			"gripper": {
+				"frame_type": "static",
+				"frame": {
+					"id": "gripper",
+					"translation": {
+						"X": 0,
+						"Y": 0,
+						"Z": 0
+					},
+					"orientation": {
+						"type": "quaternion",
+						"value": {
+							"W": 1,
+							"X": 0,
+							"Y": 0,
+							"Z": 0
+						}
+					}
+				}
+			},
+			"gripper_origin": {
+				"frame_type": "tail_geometry_static",
+				"frame": {
+					"id": "gripper_origin",
+					"translation": {
+						"X": 0,
+						"Y": 0,
+						"Z": 100
+					},
+					"orientation": {
+						"type": "quaternion",
+						"value": {
+							"W": 1,
+							"X": 0,
+							"Y": 0,
+							"Z": 0
+						}
+					},
+					"geometry": {
+						"type": "box",
+						"x": 60,
+						"y": 60,
+						"z": 30,
+						"r": 0,
+						"l": 0,
+						"translation": {
+							"X": 0,
+							"Y": 0,
+							"Z": -15
+						},
+						"orientation": {
+							"type": "quaternion",
+							"value": {
+								"W": 1,
+								"X": 0,
+								"Y": 0,
+								"Z": 0
+							}
+						},
+						"Label": "gripper_origin"
+					}
+				}
+			},
+			"pallet": {
+				"frame_type": "static",
+				"frame": {
+					"id": "pallet",
+					"translation": {
+						"X": 0,
+						"Y": 0,
+						"Z": 0
+					},
+					"orientation": {
+						"type": "quaternion",
+						"value": {
+							"W": 1,
+							"X": 0,
+							"Y": 0,
+							"Z": 0
+						}
+					}
+				}
+			},
+			"pallet_origin": {
+				"frame_type": "tail_geometry_static",
+				"frame": {
+					"id": "pallet_origin",
+					"translation": {
+						"X": 200,
+						"Y": 500,
+						"Z": 100
+					},
+					"orientation": {
+						"type": "quaternion",
+						"value": {
+							"W": 1,
+							"X": 0,
+							"Y": 0,
+							"Z": 0
+						}
+					}
+				}
+			},
+			"pick-station": {
+				"frame_type": "static",
+				"frame": {
+					"id": "pick-station",
+					"translation": {
+						"X": 0,
+						"Y": 0,
+						"Z": 0
+					},
+					"orientation": {
+						"type": "quaternion",
+						"value": {
+							"W": 1,
+							"X": 0,
+							"Y": 0,
+							"Z": 0
+						}
+					}
+				}
+			},
+			"pick-station_origin": {
+				"frame_type": "tail_geometry_static",
+				"frame": {
+					"id": "pick-station_origin",
+					"translation": {
+						"X": 400,
+						"Y": -300,
+						"Z": 200
+					},
+					"orientation": {
+						"type": "quaternion",
+						"value": {
+							"W": 1,
+							"X": 0,
+							"Y": 0,
+							"Z": 0
+						}
+					}
+				}
+			}
+		},
+		"parents": {
+			"arm": "arm_origin",
+			"arm:base_link": "arm_origin",
+			"arm:ee_link": "arm:wrist_3_joint",
+			"arm:elbow_joint": "arm:upper_arm_link",
+			"arm:forearm_link": "arm:elbow_joint",
+			"arm:shoulder_lift_joint": "arm:shoulder_link",
+			"arm:shoulder_link": "arm:shoulder_pan_joint",
+			"arm:shoulder_pan_joint": "arm:base_link",
+			"arm:upper_arm_link": "arm:shoulder_lift_joint",
+			"arm:wrist_1_joint": "arm:forearm_link",
+			"arm:wrist_1_link": "arm:wrist_1_joint",
+			"arm:wrist_2_joint": "arm:wrist_1_link",
+			"arm:wrist_2_link": "arm:wrist_2_joint",
+			"arm:wrist_3_joint": "arm:wrist_2_link",
+			"arm_origin": "world",
+			"floor": "floor_origin",
+			"floor_origin": "world",
+			"gripper": "gripper_origin",
+			"gripper_origin": "arm",
+			"pallet": "pallet_origin",
+			"pallet_origin": "world",
+			"pick-station": "pick-station_origin",
+			"pick-station_origin": "world"
+		}
+	},
+	"goals": [
+		{
+			"poses": {
+				"gripper": {
+					"referenceFrame": "world",
+					"pose": {
+						"x": 400,
+						"y": -300,
+						"z": 420,
+						"oX": 1.2246467991473515e-16,
+						"oZ": -1
+					}
+				}
+			},
+			"configuration": null
+		}
+	],
+	"start_state": {
+		"poses": null,
+		"configuration": {
+			"arm": [
+				4.081750377684086, -1.4964197133000183, 1.5901956311183134,
+				-1.6645721653113386, -1.5707959818938046, 2.510953637167213
+			],
+			"arm_origin": [],
+			"floor": [],
+			"floor_origin": [],
+			"gripper": [],
+			"gripper_origin": [],
+			"pallet": [],
+			"pallet_origin": [],
+			"pick-station": [],
+			"pick-station_origin": []
+		}
+	},
+	"world_state": {
+		"obstacles": [
+			{
+				"referenceFrame": "world",
+				"geometries": [
+					{
+						"center": {
+							"x": 200,
+							"y": 500,
+							"z": 100,
+							"oZ": 1
+						},
+						"box": {
+							"dimsMm": {
+								"x": 350,
+								"y": 350,
+								"z": 100
+							}
+						},
+						"label": "pallet"
+					},
+					{
+						"center": {
+							"x": 200,
+							"y": -500,
+							"z": 220,
+							"oZ": 1
+						},
+						"box": {
+							"dimsMm": {
+								"x": 400,
+								"y": 400,
+								"z": 40
+							}
+						},
+						"label": "pick-station"
+					}
+				]
+			}
+		]
+	},
+	"constraints": {
+		"linear_constraints": [],
+		"pseudolinear_constraints": [],
+		"orientation_constraints": [
+			{
+				"OrientationToleranceDegs": 30
+			}
+		],
+		"collision_specifications": []
+	},
+	"planner_options": {
+		"goal_metric_type": "squared_norm",
+		"max_ik_solutions": 100,
+		"min_ik_score": 0.01,
+		"resolution": 2,
+		"timeout": 30,
+		"goal_threshold": 0.1,
+		"frame_step": 0.01,
+		"input_ident_dist": 0.0001,
+		"iter_before_rand": 50,
+		"position_seeds": 0,
+		"return_partial_plan": false,
+		"configuration_distance_metric": "fs_config_l2",
+		"collision_buffer_mm": 1e-8,
+		"rseed": 0,
+		"meshes_as_octrees": false
+	}
+}
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/fixtures/pirouette-solutions.json b/src/lib/plugins/MotionPlanReplayer/inspect-ik/fixtures/pirouette-solutions.json
new file mode 100644
index 000000000..8dc71f956
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/fixtures/pirouette-solutions.json
@@ -0,0 +1,2597 @@
+[
+	{
+		"seed": "start · full limits",
+		"solutions": [
+			{
+				"cost": 10.651956098914805,
+				"configuration": {
+					"arm": [
+						-0.3736384529843958, -2.9840002348518087,
+						1.5090402833317484, 3.045755520297502,
+						-4.712386919585232, -5.086024714885804
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 9.38919560062994,
+				"configuration": {
+					"arm": [
+						2.228227204912571, 4.691979215156888,
+						1.5090413752136582, 4.794553277702239,
+						-1.5707965099395806, 0.6574288984058989
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.75728 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.17282778739626584 -1.889626178436074e-07 0.9641943258899853 -0.20114635921445922}",
+				"last_good_inputs": {
+					"arm": [
+						4.006169821124471, -1.2440772327221639,
+						1.5868864284503565, -1.4011903511302024,
+						-1.5707960034257684, 2.435373016751703
+					]
+				}
+			},
+			{
+				"cost": 8.592302864290106,
+				"configuration": {
+					"arm": [
+						-0.373637494816117, 4.228153412958453,
+						-0.878635919903603, -4.920313848993856,
+						-1.5707964195213875, 4.338751548069538
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.78945 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-1.3690423385548887e-07 0.2654673753033997 0.9641198435098715 7.821760187187972e-08}",
+				"last_good_inputs": {
+					"arm": [
+						3.710468054975736, -1.019371952778479,
+						1.3844596685331538, -1.9358839722848817,
+						-1.5707960183627698, 2.663270129742407
+					]
+				}
+			},
+			{
+				"cost": 14.669677173433206,
+				"configuration": {
+					"arm": [
+						-4.054958453139637, 4.691977815357016,
+						1.5090444388372222, 4.794549700883186,
+						-1.5707936158276619, -5.6257530277769
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 31.11110 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.2230485663197744 -9.424901960891813e-08 0.9633708819561094 -0.1488821039003417}",
+				"last_good_inputs": {
+					"arm": [
+						3.742720843066431, -1.238569816272642,
+						1.5868143314399346, -1.3954420875532334,
+						-1.5707958833077154, 2.1719241927945414
+					]
+				}
+			},
+			{
+				"cost": 6.777793118506012,
+				"configuration": {
+					"arm": [
+						2.2282267088842103, 4.691979819269963,
+						1.5090424228047976, -1.4886346207005694,
+						-1.570793796844969, 0.65743017302692
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "obstacle constraint: violation between gripper_origin and pallet geometries",
+				"last_good_inputs": {
+					"arm": [
+						3.980238939433383, -1.1575012804817841,
+						1.5857511349226443, -1.6549366405557793,
+						-1.5707958622258156, 2.409442210125047
+					]
+				}
+			},
+			{
+				"cost": 12.107385722491026,
+				"configuration": {
+					"arm": [
+						-4.054957321748623, 6.037540282229422,
+						-0.8786356659726481, -3.5881083160555236,
+						-4.712388684572695, 3.7990240842423884
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 7.534474453875696,
+				"configuration": {
+					"arm": [
+						-0.37363771066678825, -2.984000675112053,
+						1.5090406621057215, 3.0457556413468017,
+						-4.712388614422924, 1.1971580412276441
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
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+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 6.412462910783247,
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+					"pick-station": [],
+					"pick-station_origin": []
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+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.65099 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{0.12291496043222869 -0.18519082190542938 0.9644398815252064 0.14301044335145965}",
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+						-1.5707960003885648, 2.2526703276253723
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+					"pick-station_origin": []
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+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
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+						-4.712395272315822, 1.1971595696444832
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+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			}
+		]
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+	{
+		"seed": "start · sensitivity 3%",
+		"solutions": [
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+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
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+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 9.365879170160442,
+				"configuration": {
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+					"pick-station": [],
+					"pick-station_origin": []
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+				"last_good_inputs": {
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+						-1.4108075037306786, 2.5765498242490126
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+					"pick-station_origin": []
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+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
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+						-1.5090410621821366, -1.6529600838328302,
+						-4.7123862374166565, -5.086027506766407
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+					"pallet": [],
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+					"pick-station": [],
+					"pick-station_origin": []
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+				"checkpath_valid": false,
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+					"pick-station_origin": []
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+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
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+						0.8786379063841915, -4.5044664140733435,
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+					"pick-station": [],
+					"pick-station_origin": []
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+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.54874 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{0.0028901164369905656 0.23651312552084283 0.9646753641591301 0.11599409669372182}",
+				"last_good_inputs": {
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+						1.553958895136483, -1.8091964094612554,
+						-1.4108075430544993, 2.5765498279705095
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+				"last_good_inputs": {
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+						1.5180084022524545, -1.952676784705453,
+						-1.8895086124967044, 2.0042029438852453
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+						0.878634858622766, -4.50445980729934, 1.570791715437851,
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+				"checkpath_valid": false,
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+						1.5254084620176385, -1.9231421820972832,
+						-1.2847563613034223, 2.0561513627137287
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+				"first_error": "gripper orientation constraint violated dist: 30.00000 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.21805714448347535 -1.4026550173203563e-07 0.9659258004564713 -0.13942176929094738}",
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+					"pick-station_origin": []
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+						1.5865637740241592, -1.6566984067513701,
+						-1.2896040857511668, 2.4280027878506565
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+	{
+		"seed": "start · sensitivity 25%",
+		"solutions": [
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+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
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+						1.5090371526698543, 4.794561580234015,
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+					"pick-station": [],
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+				"first_error": "gripper orientation constraint violated dist: 30.99532 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.1760522419933894 0.11737172194978762 0.9636413773795046 -0.16317102309470874}",
+				"last_good_inputs": {
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+						1.5871897615461483, -1.4253449895503996,
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+				"first_error": "gripper orientation constraint violated dist: 30.54942 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.2465597390500627 0.03532610160129595 0.9646737554088296 0.08581903781006316}",
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+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 9.55669831245379,
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+					"pick-station": [],
+					"pick-station_origin": []
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+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.04822 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.1092502089000105 0.23507397718467393 0.9658168360983117 0.00156723161339659}",
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+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.54942 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.24655978896438013 0.03532604626313074 0.9646737502940139 0.08581897467889783}",
+				"last_good_inputs": {
+					"arm": [
+						3.604597764324962, -1.1335198221200113,
+						1.585436740231311, -1.654254937406974,
+						-1.2023376217282262, 2.0338010003293205
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+			},
+			{
+				"cost": 9.782627835198635,
+				"configuration": {
+					"arm": [
+						-0.3736373811252857, -2.0550309345705693,
+						-0.8786373628366784, 1.3628736703218904,
+						4.712389139914974, -1.94443396339343
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
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+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.24000 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.13985814809110605 -1.6518868714747136e-07 0.965381595881782 0.2201773665598771}",
+				"last_good_inputs": {
+					"arm": [
+						3.716408581461718, -1.5422258334442036,
+						1.3877513256140042, -1.4163216067894138,
+						-1.0555748019054847, 2.14561185392124
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+				}
+			},
+			{
+				"cost": 9.031235481620874,
+				"configuration": {
+					"arm": [
+						-0.3736384334988178, -1.5503894514765677,
+						-1.509038468970165, 4.630220989520482,
+						1.5707982732505812, 1.1971573261348214
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.55013 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.2040181034733739 0.16498649227499337 0.9646721588399251 0.023742299405062714}",
+				"last_good_inputs": {
+					"arm": [
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+						1.3056352147429242, -1.0866071251471394,
+						-1.28234620996438, 2.3903256325614444
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+			},
+			{
+				"cost": 5.026053463966332,
+				"configuration": {
+					"arm": [
+						5.909547588678186, -1.5503880493287112,
+						-1.5090405582383668, -1.652961112116691,
+						-4.712387529264098, 1.1971562232264599
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.41883 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{0.2229354992270385 -0.13211023152128135 0.964973395242968 0.04090227848229194}",
+				"last_good_inputs": {
+					"arm": [
+						4.267179080248705, -1.5018947618826393,
+						1.2757803655314037, -1.6633942323785482,
+						-1.889508167858907, 2.377669841550035
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+				}
+			},
+			{
+				"cost": 7.027019827588537,
+				"configuration": {
+					"arm": [
+						2.22822687639683, -1.5912050198833916,
+						1.5090406485161256, 4.794554595578257,
+						-1.5707940288257152, 0.6574289666414195
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.05826 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.1833602871181342 -1.8106706265957132e-07 0.9657941083715812 -0.1833596066277019}",
+				"last_good_inputs": {
+					"arm": [
+						3.930589237773281, -1.5041497771378856,
+						1.5835771665177467, -1.1378084294717987,
+						-1.5707958226144654, 2.3597924019010317
+					]
+				}
+			}
+		]
+	},
+	{
+		"seed": "Seed cache 0",
+		"solutions": [
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+				"cost": 11.720547779862805,
+				"configuration": {
+					"arm": [
+						-0.37363688574089604, 4.732797414736696,
+						-1.5090414485310972, -1.6529614658844136,
+						1.5707946694852062, -5.086024984746715
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.04165 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.2002033833297705 -0.1308049529542472 0.9658316157491073 0.09988973723771245}",
+				"last_good_inputs": {
+					"arm": [
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+						1.2777105701949845, -1.663401499749285,
+						-1.254040560845673, 1.7449772802469656
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+			{
+				"cost": 9.870185882607693,
+				"configuration": {
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+						-0.878635792050774, -4.92031399645751, 4.71238870043685,
+						-1.9444338852390362
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
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+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.45601 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{0.029238805062782657 -0.035111965518315344 0.964888214055706 0.25865609703297326}",
+				"last_good_inputs": {
+					"arm": [
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+						1.4470034085745063, -1.8534051915178165,
+						-1.2063712703186267, 2.2525411608676507
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+				}
+			},
+			{
+				"cost": 8.903561181889621,
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+						-0.8786373667219466, 1.3628759200942964,
+						4.712388398471403, 4.338745394665077
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+					"arm_origin": [],
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+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
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+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.45599 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.14216818628662292 0.18406194931646835 0.9648882777348431 0.12206562624949942}",
+				"last_good_inputs": {
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+						1.4470033172435783, -1.4889801763578117,
+						-1.2063712878326225, 2.616965559102089
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+			{
+				"cost": 6.060877496877919,
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+						1.509041267751084, -3.2374298506845616,
+						1.570797159417415, 1.1971588789144747
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+					"floor": [],
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+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 9.411264681915078,
+				"configuration": {
+					"arm": [
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+						-0.8786377250813987, 1.3628752126112356,
+						-1.5708024125046767, -1.9444355079735194
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.00001 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.21805708935487042 -2.10620450231282e-07 0.9659257768668863 -0.13942201894299042}",
+				"last_good_inputs": {
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+						1.3898736263389508, -1.418924022804463,
+						-1.5707965036758271, 2.149441798636057
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+			{
+				"cost": 9.624413475020816,
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+						0.8786408554654872, 0.44651615052379373,
+						4.712391920984488, 4.338752298311065
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+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 11.59405448219547,
+				"configuration": {
+					"arm": [
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+						1.5090410635607447, 3.045755103754528,
+						-4.71238898529748, -5.0860263013449725
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+					"arm_origin": [],
+					"floor": [],
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+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 4.653283557592129,
+				"configuration": {
+					"arm": [
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+						-1.5090364235443385, 0.09584060094768622,
+						-1.5707948732936134, 0.6574343132701096
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 2.6721300670442427,
+				"configuration": {
+					"arm": [
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+						1.5090412877843629, -1.4886318163056027,
+						-1.5707957126331542, 0.6574324421618585
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": true
+			},
+			{
+				"cost": 12.369755125953832,
+				"configuration": {
+					"arm": [
+						2.228227987758861, -1.591205196260639,
+						1.5090409438630503, 4.794553253525228,
+						4.712388658970535, -5.6257540125622985
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.71049 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.22759733392518666 -0.13311210914410027 0.964302480882932 0.024522343941371195}",
+				"last_good_inputs": {
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+						1.5860627535266103, -1.3356352226854022,
+						-1.2508189862942318, 2.096584266116173
+					]
+				}
+			}
+		]
+	},
+	{
+		"seed": "Seed cache 1",
+		"solutions": [
+			{
+				"cost": 4.940600506854566,
+				"configuration": {
+					"arm": [
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+						0.8786360631352572, -4.504464245317324,
+						-4.7123890352042705, 3.7990242138583254
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.68219 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{0.2045342844349829 0.16572847988351172 0.9643678998809297 0.026350543171158713}",
+				"last_good_inputs": {
+					"arm": [
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+						1.5248834002406415, -1.9252385881138203,
+						-1.8591547645648137, 2.6291823374432086
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+			},
+			{
+				"cost": 7.169885117439539,
+				"configuration": {
+					"arm": [
+						2.2282281204449648, -1.0865608192244054,
+						0.8786360468965729, 1.7787210440356322,
+						1.5707969654893892, -2.4841615408996534
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.41882 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.2220979556646862 -0.13211006371973336 0.9649733478261935 0.04523126284599463}",
+				"last_good_inputs": {
+					"arm": [
+						3.8937118878192476, -1.454839825495246,
+						1.518008426921905, -1.3152525643630952,
+						-1.2520836538984081, 2.0042028220010093
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+				}
+			},
+			{
+				"cost": 6.909571458910106,
+				"configuration": {
+					"arm": [
+						2.2282274531726487, -1.086560214715948,
+						0.8786361355557025, -4.50446334780328,
+						1.5707951543687042, -2.484161174831772
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.68221 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{0.03444656687398772 -0.16572884702872143 0.964367810807896 0.20332758979221824}",
+				"last_good_inputs": {
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+						1.524883406887929, -1.9252385057333041,
+						-1.2824373751837193, 2.052464837998224
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+				}
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+			{
+				"cost": 2.6721303127781106,
+				"configuration": {
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+						1.509041009691801, -1.4886318720963434,
+						-1.5707964606233729, 0.6574316117219466
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
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+					"pallet": [],
+					"pallet_origin": [],
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+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": true
+			},
+			{
+				"cost": 9.453028507106467,
+				"configuration": {
+					"arm": [
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+						1.5090410287645017, 4.794553222884604,
+						4.712388157986595, 0.657432093529513
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.55397 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.2608619375987625 0.035336515629725916 0.9646633079793911 -0.01127308359002739}",
+				"last_good_inputs": {
+					"arm": [
+						3.973778215916953, -1.5019411926345665,
+						1.5854681785540137, -1.2883124339601186,
+						-1.2047852552988298, 2.4029815084116186
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+				}
+			},
+			{
+				"cost": 7.169884247572685,
+				"configuration": {
+					"arm": [
+						2.2282282241241713, -1.0865616164644931,
+						0.8786368329659168, 1.7787195046230013,
+						1.570797105389879, -2.4841614831426826
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.41882 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.22209789557350534 -0.1321100795137162 0.9649733571895069 0.045231312020681265}",
+				"last_good_inputs": {
+					"arm": [
+						3.893711898337428, -1.454839906374675,
+						1.5180085066680702, -1.315252720535391,
+						-1.2520836397056048, 2.004202827860412
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+				}
+			},
+			{
+				"cost": 5.304676701647277,
+				"configuration": {
+					"arm": [
+						2.228231024212523, -1.086557770806609,
+						0.8786307443431408, 1.7787263815994745,
+						-4.712382472827537, 3.799024681008788
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.41879 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{0.028346537265101366 0.1321096338110106 0.9649734885024822 -0.22487704410799522}",
+				"last_good_inputs": {
+					"arm": [
+						3.8937121824043626, -1.4548395162354695,
+						1.5180078889817017, -1.315252022871111,
+						-1.889507654887082, 2.6416275111801264
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+				}
+			},
+			{
+				"cost": 6.909571847106741,
+				"configuration": {
+					"arm": [
+						2.2282281188283224, -1.0865606700899575,
+						0.8786352623313833, -4.504464233827058,
+						1.570797047161925, -2.4841601671404274
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.68223 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{0.03444658327351555 -0.1657288552364049 0.9643677814151029 0.20332771973177627}",
+				"last_good_inputs": {
+					"arm": [
+						3.9116203152770352, -1.458799801121317,
+						1.5248833267369044, -1.9252385870591582,
+						-1.282437201449076, 2.0524649304916323
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+				}
+			},
+			{
+				"cost": 5.2921781913441,
+				"configuration": {
+					"arm": [
+						2.2282281953733314, -1.0865608365517987,
+						0.8786356094381066, 1.7787216452446057,
+						1.5707978684224622, 3.7990248321109323
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.68223 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.2045346175140891 0.165728549731585 0.9643678218146037 -0.02635037553408718}",
+				"last_good_inputs": {
+					"arm": [
+						3.911620322302906, -1.4587998164004232,
+						1.5248833585969417, -1.348521042603305,
+						-1.282437126067674, 2.629182394191033
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+				}
+			},
+			{
+				"cost": 7.027022720283706,
+				"configuration": {
+					"arm": [
+						2.2282276693996454, -1.5912042576780214,
+						1.5090390214808445, 4.794558318842148,
+						-1.5707964638779344, 0.6574303648918124
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.05827 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.18336028241532354 -1.8302454607659293e-07 0.9657940774274197 -0.18335977431993633}",
+				"last_good_inputs": {
+					"arm": [
+						3.9305893024453553, -1.5041497149774476,
+						1.5835770338274906, -1.1378081258269765,
+						-1.5707960212012482, 2.3597925159331026
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+			}
+		]
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+	{
+		"seed": "Seed cache 2",
+		"solutions": [
+			{
+				"cost": 10.452718498945213,
+				"configuration": {
+					"arm": [
+						-4.054955401851624, 4.691978534674866,
+						1.509044968129802, -1.4886389915669158,
+						-1.5708008563473446, 0.6574322875545272
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
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+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.54941 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.15080926807317963 0.1846028568275688 0.9646738222114692 -0.11217293191428152}",
+				"last_good_inputs": {
+					"arm": [
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+						1.5854367959430613, -1.654255096480647,
+						-1.5707962677413887, 2.402259483949185
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+			},
+			{
+				"cost": 12.656725364542774,
+				"configuration": {
+					"arm": [
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+						0.878635959769509, 1.7787218016226285,
+						-4.712389975782374, -2.4841612429079234
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
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+					"pallet": [],
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+					"pick-station": [],
+					"pick-station_origin": []
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+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.54875 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.1571235454206217 0.05947015210416703 0.9646753347919005 -0.20292114460374994}",
+				"last_good_inputs": {
+					"arm": [
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+						1.553958796003328, -1.4892192318100717,
+						-1.7307845649159077, 2.2565727867930163
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+			},
+			{
+				"cost": 12.644224320174414,
+				"configuration": {
+					"arm": [
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+						0.8786359873430881, 1.778720895029097,
+						1.5707962239001343, -2.4841612882062454
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+					"pallet": [],
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+					"pick-station": [],
+					"pick-station_origin": []
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+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.04823 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.23123424628317177 0.09299394485672534 0.9658167942287625 -0.07127951705443919}",
+				"last_good_inputs": {
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+						1.556154969147585, -1.4998467256962869,
+						-1.420503762172181, 2.2719898058607666
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+			},
+			{
+				"cost": 11.533108172563667,
+				"configuration": {
+					"arm": [
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+						0.8786362716971128, -4.504464922529592,
+						1.5707970549227184, 3.799024436348588
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+					"arm_origin": [],
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+					"pallet": [],
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+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.04822 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.10925018461737748 0.23507403161043885 0.9658168256871184 0.001567176806102512}",
+				"last_good_inputs": {
+					"arm": [
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+						1.556154982750941, -1.8004312324004834,
+						-1.420503722416471, 2.572574308115705
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+			},
+			{
+				"cost": 11.699140646152673,
+				"configuration": {
+					"arm": [
+						-4.054958008737735, 5.196623246256051,
+						0.878637803015962, 1.7787199724802372,
+						-4.712390537754422, 3.7990235541115527
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.41444 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.08582027013354858 0.172609329903885 0.9649834575967576 -0.1778983615128115}",
+				"last_good_inputs": {
+					"arm": [
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+						1.5627435544168338, -1.53172910443975,
+						-1.6919994755612668, 2.5606476926048805
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+				}
+			},
+			{
+				"cost": 11.533107075981833,
+				"configuration": {
+					"arm": [
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+						0.8786414563468735, -4.504467515210506,
+						1.5707908985086467, 3.7990186205891434
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+					"arm_origin": [],
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+					"floor_origin": [],
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+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.04821 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.10925007968784266 0.2350739658009587 0.9658168537105906 0.001567092653798962}",
+				"last_good_inputs": {
+					"arm": [
+						3.6924941469039103, -1.176227926291468,
+						1.5561552307820254, -1.800431356433058,
+						-1.42050401693628, 2.5725740298926447
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+			},
+			{
+				"cost": 12.644224342485888,
+				"configuration": {
+					"arm": [
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+						0.8786360875369239, 1.7787209670334194,
+						1.5707960765040105, -2.4841612137037243
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.04823 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.23123424802942874 0.09299394844580665 0.9658167930594639 -0.07127952255070176}",
+				"last_good_inputs": {
+					"arm": [
+						3.6924942913123533, -1.17622778740691,
+						1.5561549739408087, -1.4998467222516356,
+						-1.4205037692235387, 2.2719898094249307
+					]
+				}
+			},
+			{
+				"cost": 11.533108025795338,
+				"configuration": {
+					"arm": [
+						-4.05495777019379, 5.1966236398357095,
+						0.8786372380179417, -4.504465400588566, 1.570795694951,
+						3.799023988394337
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 30.04822 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.10925016195314234 0.2350740352781181 0.965816827393055 0.0015671552852444565}",
+				"last_good_inputs": {
+					"arm": [
+						3.6924942780170893, -1.1762278244925992,
+						1.5561550289792525, -1.8004312552705886,
+						-1.4205037874768465, 2.5725742866857946
+					]
+				}
+			},
+			{
+				"cost": 14.669681422205146,
+				"configuration": {
+					"arm": [
+						-4.054957471757169, 4.691981296113241,
+						1.509039266110577, 4.794555861744819,
+						-1.5707962320119964, -5.6257540166944535
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": true,
+				"checkpath_valid": false,
+				"first_error": "gripper orientation constraint violated dist: 31.11111 \u003e 30.00000 from: \u0026{-1.626604524119997e-07 -2.0686098148815533e-07 0.9999999999999631 6.966321910796991e-08} to: \u0026{6.123233995736757e-17 0 1 0} currPose: \u0026{-0.22304861347625046 -1.504157593814175e-07 0.9633708560640112 -0.1488822007924179}",
+				"last_good_inputs": {
+					"arm": [
+						3.742720883957367, -1.2385696712411325,
+						1.5868141159096578, -1.3954418308506653,
+						-1.570795992315396, 2.1719241515896437
+					]
+				}
+			},
+			{
+				"cost": 12.308507099392822,
+				"configuration": {
+					"arm": [
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+						1.509041885704453, 4.794551853484722,
+						-1.5707971431767083, 0.6574310059625245
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+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
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+					"arm": [
+						-0.3736371484331296, -2.8959487347882567,
+						0.8786368792596455, 0.44651295560922616,
+						4.712389995669618, 4.338754562083356
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 6.0608767969493815,
+				"configuration": {
+					"arm": [
+						-0.3736374277507892, -2.9840005537179954,
+						1.509041209868871, -3.2374298439737763,
+						1.570796133370334, 1.1971588945042113
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 9.327330361862147,
+				"configuration": {
+					"arm": [
+						-0.37363765267174454, -2.895947855995494,
+						0.8786362293654312, 0.4465150752101046,
+						4.71238887224054, -1.9444344919974075
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 9.675546521834736,
+				"configuration": {
+					"arm": [
+						-0.37363739933474105, -2.9840015988295483,
+						1.5090432083984824, -3.2374285310070756,
+						-4.712389141109657, -5.086026738215047
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			}
+		]
+	},
+	{
+		"seed": "Seed cache 9",
+		"solutions": [
+			{
+				"cost": 7.521977575255319,
+				"configuration": {
+					"arm": [
+						-0.3736402795087443, -2.9840006943070794,
+						1.5090400665710204, 3.045755772686928,
+						1.5708020301509193, 1.1971626666913304
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 10.639460273755022,
+				"configuration": {
+					"arm": [
+						-0.3736395000490705, -2.98399969893395,
+						1.5090386422920332, 3.045756889571019,
+						1.570800849752134, -5.086026673991787
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 9.327330277978287,
+				"configuration": {
+					"arm": [
+						-0.37363796010698475, -2.8959480408654596,
+						0.8786356405846724, 0.44651563221042906,
+						4.712388253205772, -1.9444344731725225
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 6.07337741196238,
+				"configuration": {
+					"arm": [
+						-0.3736379354116039, -2.984000672048243,
+						1.509041166631658, -3.2374297405132175,
+						-4.712388160657027, 1.1971579458458856
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 6.863842417933423,
+				"configuration": {
+					"arm": [
+						-0.3736375277729669, -2.895947451989923,
+						0.8786353341581805, 0.44651544036255475,
+						-1.5707961234269643, -1.944434081887619
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 6.060877575677823,
+				"configuration": {
+					"arm": [
+						-0.3736374369137544, -2.9840013933831404,
+						1.5090435627589642, -3.2374290878284007,
+						1.5707960381253063, 1.1971550503426307
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 9.663044174085472,
+				"configuration": {
+					"arm": [
+						-0.37363641862781877, -2.9839992349995863,
+						1.509038606672657, -3.2374311842043375,
+						1.570794106445414, -5.086025549125828
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 6.0608789943784425,
+				"configuration": {
+					"arm": [
+						-0.37363837092061586, -2.9840002546918174,
+						1.5090416728090092, -3.2374295898366587,
+						1.5707991401627615, 1.1971586305172148
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 5.532823687169383,
+				"configuration": {
+					"arm": [
+						-0.37363772294233344, -2.89594749564896,
+						0.8786365676753057, 0.44651697322850137,
+						-1.5707970636757966, 4.338749556969685
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			},
+			{
+				"cost": 6.073378633959247,
+				"configuration": {
+					"arm": [
+						-0.37363823448125033, -2.984001181400317,
+						1.5090425829859018, -3.2374293228072735,
+						-4.712389020294109, 1.1971554420103376
+					],
+					"arm_origin": [],
+					"floor": [],
+					"floor_origin": [],
+					"gripper": [],
+					"gripper_origin": [],
+					"pallet": [],
+					"pallet_origin": [],
+					"pick-station": [],
+					"pick-station_origin": []
+				},
+				"configuration_valid": false,
+				"error": "obstacle constraint: violation between arm:upper_arm_link and pick-station geometries"
+			}
+		]
+	}
+]
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/ik-candidates.ts b/src/lib/plugins/MotionPlanReplayer/inspect-ik/ik-candidates.ts
new file mode 100644
index 000000000..b6567414e
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/ik-candidates.ts
@@ -0,0 +1,85 @@
+import {
+	classifyIKSolution,
+	type IKSeedGroup,
+	type IKSolution,
+	type IKStatus,
+	isScored,
+} from './parse-ik-solutions'
+
+export interface IKCandidate {
+	/** `seedIndex:indexInSeed` — stable across filter and sort, so rows keep their DOM. */
+	id: string
+	seed: string
+	seedIndex: number
+	indexInSeed: number
+	status: IKStatus
+	solution: IKSolution
+}
+
+export type IKStatusCounts = Record<IKStatus, number>
+
+export interface IKSeedBucket {
+	seed: string
+	seedIndex: number
+	candidates: IKCandidate[]
+	counts: IKStatusCounts
+}
+
+const emptyCounts = (): IKStatusCounts => ({ valid: 0, 'path-invalid': 0, invalid: 0 })
+
+export const toCandidates = (groups: IKSeedGroup[]): IKCandidate[] =>
+	groups.flatMap((group, seedIndex) =>
+		group.solutions.map((solution, indexInSeed) => ({
+			id: `${seedIndex}:${indexInSeed}`,
+			seed: group.seed,
+			seedIndex,
+			indexInSeed,
+			status: classifyIKSolution(solution),
+			solution,
+		}))
+	)
+
+export const countByStatus = (candidates: IKCandidate[]): IKStatusCounts => {
+	const counts = emptyCounts()
+	for (const candidate of candidates) counts[candidate.status] += 1
+	return counts
+}
+
+export const filterByStatus = (
+	candidates: IKCandidate[],
+	allowed: ReadonlySet<IKStatus>
+): IKCandidate[] => candidates.filter((candidate) => allowed.has(candidate.status))
+
+/** Unscored candidates sort last; a raw -1 would otherwise lead the list. */
+export const sortByCost = (candidates: IKCandidate[]): IKCandidate[] =>
+	candidates.toSorted((a, b) => {
+		const left = a.solution.cost
+		const right = b.solution.cost
+		if (isScored(left) && isScored(right)) return left - right
+		if (isScored(left)) return -1
+		if (isScored(right)) return 1
+		return 0
+	})
+
+export const groupBySeed = (candidates: IKCandidate[]): IKSeedBucket[] => {
+	const buckets = new Map<number, IKSeedBucket>()
+
+	for (const candidate of candidates) {
+		let bucket = buckets.get(candidate.seedIndex)
+		if (!bucket) {
+			bucket = {
+				seed: candidate.seed,
+				seedIndex: candidate.seedIndex,
+				candidates: [],
+				counts: emptyCounts(),
+			}
+			buckets.set(candidate.seedIndex, bucket)
+		}
+		bucket.candidates.push(candidate)
+		bucket.counts[candidate.status] += 1
+	}
+
+	// Sorting rather than trusting Map insertion order, which follows the (possibly cost-sorted)
+	// candidate list rather than the file.
+	return [...buckets.values()].toSorted((a, b) => a.seedIndex - b.seedIndex)
+}
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/inspect-ik-client.ts b/src/lib/plugins/MotionPlanReplayer/inspect-ik/inspect-ik-client.ts
new file mode 100644
index 000000000..b7a5b3c39
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/inspect-ik-client.ts
@@ -0,0 +1,37 @@
+import { type IKSeedGroup, parseIKSolutions } from './parse-ik-solutions'
+
+export interface InspectIKResult {
+	/** Raw request JSON, parseable by `parsePlan`. */
+	requestContent: string
+	seedGroups: IKSeedGroup[]
+}
+
+/**
+ * MOCK — stands in for the RDK inspect-ik endpoint, which has not merged yet.
+ *
+ * It ignores the plan it is handed and always returns the bundled pirouette pair. That pairing is
+ * the point: the request and the solutions describe the same scene, which is what makes the
+ * candidate poses drawable at all. An arbitrary uploaded plan would not match the solutions.
+ *
+ * When the real route lands, this file is the only thing replaced — everything downstream consumes
+ * `InspectIKResult` and does not care where it came from.
+ */
+// The parameter is the whole point of the real signature, so it stays even though the mock has
+// nothing to do with it — the real implementation drops the disable, not the argument.
+// eslint-disable-next-line @typescript-eslint/no-unused-vars
+export const inspectIK = async (planContent: string): Promise<InspectIKResult> => {
+	// Dynamic so the two fixtures (~116 KB) land in their own chunk instead of the entry bundle.
+	const [request, solutions] = await Promise.all([
+		import('./fixtures/pirouette-request.json?raw'),
+		import('./fixtures/pirouette-solutions.json?raw'),
+	])
+
+	// The real call is a network round trip. Without a delay the loading state would never be
+	// visible once the chunk is cached, and the mockup is partly about how that reads.
+	await new Promise((resolve) => setTimeout(resolve, 500))
+
+	return {
+		requestContent: request.default,
+		seedGroups: parseIKSolutions(solutions.default),
+	}
+}
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/namespace-snapshot.ts b/src/lib/plugins/MotionPlanReplayer/inspect-ik/namespace-snapshot.ts
new file mode 100644
index 000000000..65fc45b59
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/namespace-snapshot.ts
@@ -0,0 +1,42 @@
+import { PoseInFrame, Transform } from '$lib/buf/common/v1/common_pb'
+import { Snapshot } from '$lib/buf/draw/v1/snapshot_pb'
+
+import { transformsToSnapshot } from '../plan-to-snapshots'
+
+export const NAMESPACE_SEPARATOR = '/'
+
+export const namespacedFrameName = (prefix: string, frame: string): string =>
+	`${prefix}${NAMESPACE_SEPARATOR}${frame}`
+
+/**
+ * Prefixes every frame name in a snapshot so two copies of one kinematic chain can coexist.
+ *
+ * `resolveOrphans` (src/lib/ecs/hierarchy.ts) indexes name -> entity across the entire world, one
+ * slot per name. Without a prefix the second copy's links parent onto the first copy's and the two
+ * collapse into a single chain.
+ *
+ * World-parented frames are re-parented onto `prefix` itself, which the caller spawns as the pose
+ * set's root: `parentTraits` yields no parent for 'world', so they would otherwise become a dozen
+ * separate tree roots rather than one group that can be hidden with a single `Invisible`.
+ */
+export const namespaceSnapshot = (snapshot: Snapshot, prefix: string): Snapshot => {
+	const transforms = snapshot.transforms.map((transform) => {
+		const parent = transform.poseInObserverFrame?.referenceFrame ?? ''
+
+		return new Transform({
+			referenceFrame: namespacedFrameName(prefix, transform.referenceFrame),
+			poseInObserverFrame: new PoseInFrame({
+				referenceFrame:
+					parent === '' || parent === 'world' ? prefix : namespacedFrameName(prefix, parent),
+				pose: transform.poseInObserverFrame?.pose,
+			}),
+			physicalObject: transform.physicalObject,
+			// Each pose set is built by its own `parsedPlanToSnapshots` call, and
+			// `buildFrameDescriptors` mints fresh uuids per call, so these are already unique
+			// across sets and can carry through untouched.
+			uuid: transform.uuid,
+		})
+	})
+
+	return transformsToSnapshot(transforms)
+}
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/parse-ik-solutions.ts b/src/lib/plugins/MotionPlanReplayer/inspect-ik/parse-ik-solutions.ts
new file mode 100644
index 000000000..1e8431993
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/parse-ik-solutions.ts
@@ -0,0 +1,99 @@
+import { z } from 'zod'
+
+/** Traffic-light class: `valid` is green, `path-invalid` yellow, `invalid` red. */
+export type IKStatus = 'valid' | 'path-invalid' | 'invalid'
+
+/**
+ * A seed the solver returned nothing for reports `cost: -1` with a null configuration and no
+ * error, rather than being omitted. The sentinel has to survive parsing: rendered literally it
+ * would lead every cost-sorted list with a value that isn't a cost.
+ */
+export const UNSCORED_COST = -1
+
+export const isScored = (cost: number): boolean => cost !== UNSCORED_COST
+
+/** No configuration means there is nothing to draw — distinct from a configuration that collides. */
+export const hasSolution = (solution: Pick<IKSolution, 'configuration'>): boolean =>
+	solution.configuration !== null
+
+const SolutionSchema = z
+	.object({
+		cost: z.number(),
+		configuration: z.record(z.string(), z.array(z.number())).nullable(),
+		configuration_valid: z.boolean(),
+		checkpath_valid: z.boolean().optional(),
+		error: z.string().optional(),
+		first_error: z.string().optional(),
+		last_good_inputs: z.record(z.string(), z.array(z.number())).optional(),
+	})
+	.transform((solution) => ({
+		cost: solution.cost,
+		configuration: solution.configuration,
+		configurationValid: solution.configuration_valid,
+		// Absent means the path check never ran, which only happens when the configuration was
+		// already rejected — the same outcome as an explicit false.
+		checkpathValid: solution.checkpath_valid ?? false,
+		error: solution.error,
+		firstError: solution.first_error,
+		lastGoodInputs: solution.last_good_inputs,
+	}))
+
+export type IKSolution = z.infer<typeof SolutionSchema>
+
+const SeedGroupSchema = z.object({
+	seed: z.string(),
+	solutions: z.array(SolutionSchema),
+})
+
+export type IKSeedGroup = z.infer<typeof SeedGroupSchema>
+
+export class IKSolutionsParseError extends Error {
+	constructor(message: string) {
+		super(message)
+		this.name = 'IKSolutionsParseError'
+	}
+}
+
+export const IK_STATUS_LABEL: Record<IKStatus, string> = {
+	valid: 'Valid',
+	'path-invalid': 'Path blocked',
+	invalid: 'Goal blocked',
+}
+
+/** Legend-length. The full reasoning lives in the MotionPlanFailure Debugging guide. */
+export const IK_STATUS_DESCRIPTION: Record<IKStatus, string> = {
+	valid: 'End pose and the direct joint-space path are both clear.',
+	'path-invalid': 'End pose is reachable, but interpolating straight to it collides.',
+	invalid: 'The end pose itself collides — the goal is the problem, not the route.',
+}
+
+export const classifyIKSolution = (solution: {
+	configurationValid: boolean
+	checkpathValid: boolean
+}): IKStatus => {
+	if (!solution.configurationValid) return 'invalid'
+	return solution.checkpathValid ? 'valid' : 'path-invalid'
+}
+
+const IKSolutionsSchema = z
+	.string()
+	.transform((content, ctx) => {
+		try {
+			return JSON.parse(content) as unknown
+		} catch {
+			ctx.addIssue({ code: 'custom', message: 'IK solutions contain invalid JSON' })
+			return z.NEVER
+		}
+	})
+	.pipe(z.array(SeedGroupSchema).min(1, 'IK solutions contain no seed groups'))
+
+export const parseIKSolutions = (content: string): IKSeedGroup[] => {
+	const result = IKSolutionsSchema.safeParse(content)
+	if (result.success) return result.data
+
+	const issue = result.error.issues[0]
+	const path = issue?.path.join('.')
+	throw new IKSolutionsParseError(
+		path ? `${issue!.message} (at ${path})` : (issue?.message ?? 'IK solutions are invalid')
+	)
+}
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/pose-sets.ts b/src/lib/plugins/MotionPlanReplayer/inspect-ik/pose-sets.ts
new file mode 100644
index 000000000..f8b6b528d
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/pose-sets.ts
@@ -0,0 +1,113 @@
+import type { IKCandidate } from './ik-candidates'
+
+export type PoseKind = 'start' | 'lastGood' | 'end'
+
+export interface PoseStyle {
+	/** Scene colour, 0-1 floats. Three.js materials can't read Tailwind tokens. */
+	rgb: { r: number; g: number; b: number }
+	opacity: number
+	/** The same role as a DOM class, kept alongside the scene colour so the two can't drift. */
+	swatchClass: string
+}
+
+export interface PoseSet {
+	kind: PoseKind
+	/** Frame-name namespace, and the name of the set's root entity. */
+	prefix: string
+	label: string
+	configuration: Record<string, number[]>
+	style: PoseStyle
+}
+
+const START: PoseStyle = {
+	rgb: { r: 0.29, g: 0.47, b: 0.7 },
+	opacity: 0.3,
+	swatchClass: 'bg-info-dark',
+}
+
+const LAST_GOOD: PoseStyle = {
+	rgb: { r: 0.95, g: 0.66, b: 0.15 },
+	opacity: 0.5,
+	swatchClass: 'bg-warning-dark',
+}
+
+const END_VALID: PoseStyle = {
+	rgb: { r: 0.13, g: 0.65, b: 0.35 },
+	opacity: 0.6,
+	swatchClass: 'bg-success-dark',
+}
+
+const END_FAILED: PoseStyle = {
+	rgb: { r: 0.85, g: 0.25, b: 0.25 },
+	opacity: 0.6,
+	swatchClass: 'bg-danger-dark',
+}
+
+/** Deliberately desaturated: obstacles are the fixed world, not one of the candidate poses. */
+export const OBSTACLE_STYLE: PoseStyle = {
+	rgb: { r: 0.45, g: 0.45, b: 0.48 },
+	opacity: 0.35,
+	swatchClass: 'bg-medium',
+}
+
+export const POSE_KINDS: PoseKind[] = ['start', 'lastGood', 'end']
+
+const PREFIX: Record<PoseKind, string> = {
+	start: 'ik-start',
+	lastGood: 'ik-last-good',
+	end: 'ik-end',
+}
+
+/**
+ * Which poses a candidate is worth drawing. A green candidate only needs start and end; a yellow
+ * one also needs the last configuration the path check accepted, which is where the useful
+ * information is — the end pose itself was fine.
+ */
+export const poseSetsForCandidate = (
+	candidate: IKCandidate,
+	startConfiguration: Record<string, number[]>
+): PoseSet[] => {
+	const { solution, status } = candidate
+	const sets: PoseSet[] = []
+
+	// An empty start configuration would draw an all-zeros arm that reads as a real pose. Leaving
+	// the set out is honest about not knowing where the arm started.
+	if (Object.keys(startConfiguration).length > 0) {
+		sets.push({
+			kind: 'start',
+			prefix: PREFIX.start,
+			label: 'Start',
+			configuration: startConfiguration,
+			style: START,
+		})
+	}
+
+	// A seed the solver returned nothing for has no pose to show — only the start. 35 of the 130
+	// demo candidates are like this, all of them `cost: -1` with no error.
+	if (!solution.configuration) return sets
+
+	if (status === 'path-invalid' && solution.lastGoodInputs) {
+		sets.push({
+			kind: 'lastGood',
+			prefix: PREFIX.lastGood,
+			label: 'Last good',
+			configuration: solution.lastGoodInputs,
+			style: LAST_GOOD,
+		})
+	}
+
+	// Only a red candidate's end pose actually collides. A yellow one reached a valid configuration
+	// and failed on the way there, so drawing its end pose as a failure would point the user at the
+	// goal when the goal is fine.
+	const endFailed = status === 'invalid'
+
+	sets.push({
+		kind: 'end',
+		prefix: PREFIX.end,
+		label: endFailed ? 'Failing pose' : 'End',
+		configuration: solution.configuration,
+		style: endFailed ? END_FAILED : END_VALID,
+	})
+
+	return sets
+}
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/relations.ts b/src/lib/plugins/MotionPlanReplayer/inspect-ik/relations.ts
new file mode 100644
index 000000000..1c7fe460c
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/relations.ts
@@ -0,0 +1,11 @@
+import { relation } from 'koota'
+
+/**
+ * Members are the source, the set's root is the target, so destroying the root destroys the set —
+ * the same shape as the replayer's `PartOfPlan`.
+ *
+ * Kept separate from `PartOfPlan` rather than reused: the replayer queries that relation every
+ * scrub step to preserve user-edited display state, and inspection entities have no business
+ * showing up in it.
+ */
+export const PartOfInspection = relation({ autoDestroy: 'source' })
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/useIKInspection.svelte.ts b/src/lib/plugins/MotionPlanReplayer/inspect-ik/useIKInspection.svelte.ts
new file mode 100644
index 000000000..626231ba0
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/useIKInspection.svelte.ts
@@ -0,0 +1,313 @@
+import { useThrelte } from '@threlte/core'
+import { onDestroy } from 'svelte'
+
+import type { Transform } from '$lib/buf/common/v1/common_pb'
+
+import { useWorld } from '$lib/ecs'
+
+import type { IKStatus } from './parse-ik-solutions'
+
+import { type ParsedPlan, parsePlan } from '../parse-plan'
+import { parsedPlanToSnapshots } from '../plan-to-snapshots'
+import {
+	destroyDrawnSet,
+	type DrawnSet,
+	drawObstacles,
+	drawPoseSet,
+	setDrawnSetVisible,
+} from './draw-pose-set'
+import {
+	countByStatus,
+	filterByStatus,
+	groupBySeed,
+	type IKCandidate,
+	type IKSeedBucket,
+	type IKStatusCounts,
+	sortByCost,
+	toCandidates,
+} from './ik-candidates'
+import { inspectIK } from './inspect-ik-client'
+import { type PoseKind, type PoseSet, poseSetsForCandidate } from './pose-sets'
+import { worldStateObstacleTransforms } from './world-state-obstacles'
+
+export type IKSortMode = 'seed' | 'cost'
+export type IKInspectionStatus = 'idle' | 'loading' | 'ready' | 'error'
+
+const ALL_STATUSES: IKStatus[] = ['valid', 'path-invalid', 'invalid']
+
+const allVisible = (): Record<PoseKind, boolean> => ({ start: true, lastGood: true, end: true })
+
+/**
+ * `parsePlan` drops everything but the frame system, and this mockup deliberately does not widen
+ * it — see viam-kb `visualization/local-viz-motion-plan-parsing-improvements.md` §3. The request is
+ * a single JSON object, so the two fields the panel needs are one parse away.
+ */
+const readRequestExtras = (
+	content: string
+): { startConfiguration: Record<string, number[]>; worldState: unknown } => {
+	try {
+		const raw = JSON.parse(content) as {
+			start_state?: { configuration?: Record<string, number[]> }
+			world_state?: unknown
+		}
+		return {
+			startConfiguration: raw.start_state?.configuration ?? {},
+			worldState: raw.world_state,
+		}
+	} catch {
+		return { startConfiguration: {}, worldState: undefined }
+	}
+}
+
+export interface IKInspectionContext {
+	readonly isOpen: boolean
+	readonly status: IKInspectionStatus
+	readonly error: string | null
+	readonly planName: string | null
+	readonly candidates: IKCandidate[]
+	readonly counts: IKStatusCounts
+	readonly totalCount: number
+	readonly statusFilter: ReadonlySet<IKStatus>
+	readonly sortMode: IKSortMode
+	readonly visibleCandidates: IKCandidate[]
+	readonly seedBuckets: IKSeedBucket[]
+	readonly expandedSeeds: ReadonlySet<number>
+	readonly selectedCandidate: IKCandidate | undefined
+	readonly poseSets: PoseSet[]
+	readonly poseVisibility: Record<PoseKind, boolean>
+	setOpen: (open: boolean) => void
+	inspect: (planName: string, planContent: string) => Promise<void>
+	select: (id: string | null) => void
+	toggleStatusFilter: (status: IKStatus) => void
+	resetStatusFilter: () => void
+	setSortMode: (mode: IKSortMode) => void
+	toggleSeed: (seedIndex: number) => void
+	setPoseVisible: (kind: PoseKind, visible: boolean) => void
+	clear: () => void
+}
+
+// One inspection panel per app, so the context is published to a module-level variable like the
+// replayer's own hook rather than through Svelte context.
+let context: IKInspectionContext | undefined
+
+export const provideIKInspection = (): IKInspectionContext => {
+	const world = useWorld()
+	const { invalidate } = useThrelte()
+
+	// Proto objects and ECS handles live outside $state — a Svelte 5 deep proxy over a Snapshot or
+	// a 130-element candidate list is pure overhead, and koota entities must not be proxied.
+	let parsedRequest: ParsedPlan | undefined
+	let startConfiguration: Record<string, number[]> = {}
+	let obstacleTransforms: Transform[] = []
+	const drawnSets = new Map<PoseKind, DrawnSet>()
+	let drawnObstacles: DrawnSet | undefined
+
+	let isOpen = $state(false)
+	let status = $state<IKInspectionStatus>('idle')
+	let error = $state<string | null>(null)
+	let planName = $state<string | null>(null)
+	let selectedId = $state<string | null>(null)
+	let sortMode = $state<IKSortMode>('seed')
+	let poseVisibility = $state<Record<PoseKind, boolean>>(allVisible())
+	let candidates = $state.raw<IKCandidate[]>([])
+	let statusFilter = $state.raw<ReadonlySet<IKStatus>>(new Set(ALL_STATUSES))
+	let expandedSeeds = $state.raw<ReadonlySet<number>>(new Set([0]))
+
+	const counts = $derived(countByStatus(candidates))
+	const filtered = $derived(filterByStatus(candidates, statusFilter))
+	const visibleCandidates = $derived(sortMode === 'cost' ? sortByCost(filtered) : filtered)
+	const seedBuckets = $derived(groupBySeed(visibleCandidates))
+	const selectedCandidate = $derived(candidates.find((candidate) => candidate.id === selectedId))
+	const poseSets = $derived(
+		selectedCandidate ? poseSetsForCandidate(selectedCandidate, startConfiguration) : []
+	)
+
+	const clearPoseSets = () => {
+		for (const drawn of drawnSets.values()) destroyDrawnSet(drawn)
+		drawnSets.clear()
+	}
+
+	const teardownScene = () => {
+		clearPoseSets()
+		if (drawnObstacles) destroyDrawnSet(drawnObstacles)
+		drawnObstacles = undefined
+		invalidate()
+	}
+
+	const ensureObstacles = () => {
+		if (drawnObstacles || obstacleTransforms.length === 0) return
+		drawnObstacles = drawObstacles(world, obstacleTransforms)
+	}
+
+	const drawSelection = () => {
+		clearPoseSets()
+
+		const candidate = candidates.find((entry) => entry.id === selectedId)
+		if (!candidate || !parsedRequest) {
+			invalidate()
+			return
+		}
+
+		for (const poseSet of poseSetsForCandidate(candidate, startConfiguration)) {
+			// One call per pose set, each with a single-step trajectory: a solution's configuration
+			// is already exactly the shape of one trajectory step, and a fresh call mints fresh
+			// frame uuids so the sets stay independent.
+			const [snapshot] = parsedPlanToSnapshots({
+				...parsedRequest,
+				trajectory: [poseSet.configuration],
+			})
+			if (!snapshot) continue
+
+			const drawn = drawPoseSet(world, poseSet, snapshot)
+			setDrawnSetVisible(drawn, poseVisibility[poseSet.kind])
+			drawnSets.set(poseSet.kind, drawn)
+		}
+
+		invalidate()
+	}
+
+	const clear = () => {
+		teardownScene()
+		parsedRequest = undefined
+		startConfiguration = {}
+		obstacleTransforms = []
+		candidates = []
+		selectedId = null
+		error = null
+		status = 'idle'
+	}
+
+	const inspect = async (name: string, planContent: string) => {
+		clear()
+		planName = name
+		status = 'loading'
+		isOpen = true
+
+		try {
+			const result = await inspectIK(planContent)
+
+			parsedRequest = parsePlan(result.requestContent)
+			const extras = readRequestExtras(result.requestContent)
+			startConfiguration = extras.startConfiguration
+			obstacleTransforms = worldStateObstacleTransforms(extras.worldState)
+			candidates = toCandidates(result.seedGroups)
+
+			ensureObstacles()
+			status = 'ready'
+			invalidate()
+		} catch (error_) {
+			console.warn('[InspectIK] inspection failed:', error_)
+			error = error_ instanceof Error ? error_.message : 'IK inspection failed.'
+			status = 'error'
+		}
+	}
+
+	const setOpen = (open: boolean) => {
+		if (open === isOpen) return
+		isOpen = open
+
+		// Geometry the user cannot reach from a closed panel is worse than a redraw on reopen.
+		if (open) {
+			ensureObstacles()
+			drawSelection()
+		} else {
+			teardownScene()
+		}
+	}
+
+	context = {
+		get isOpen() {
+			return isOpen
+		},
+		get status() {
+			return status
+		},
+		get error() {
+			return error
+		},
+		get planName() {
+			return planName
+		},
+		get candidates() {
+			return candidates
+		},
+		get counts() {
+			return counts
+		},
+		get totalCount() {
+			return candidates.length
+		},
+		get statusFilter() {
+			return statusFilter
+		},
+		get sortMode() {
+			return sortMode
+		},
+		get visibleCandidates() {
+			return visibleCandidates
+		},
+		get seedBuckets() {
+			return seedBuckets
+		},
+		get expandedSeeds() {
+			return expandedSeeds
+		},
+		get selectedCandidate() {
+			return selectedCandidate
+		},
+		get poseSets() {
+			return poseSets
+		},
+		get poseVisibility() {
+			return poseVisibility
+		},
+		setOpen,
+		inspect,
+		select: (id) => {
+			selectedId = id
+			drawSelection()
+		},
+		toggleStatusFilter: (value) => {
+			const next = new Set(statusFilter)
+			if (next.has(value)) next.delete(value)
+			else next.add(value)
+			statusFilter = next
+		},
+		resetStatusFilter: () => {
+			statusFilter = new Set(ALL_STATUSES)
+		},
+		setSortMode: (mode) => {
+			sortMode = mode
+		},
+		toggleSeed: (seedIndex) => {
+			const next = new Set(expandedSeeds)
+			if (next.has(seedIndex)) next.delete(seedIndex)
+			else next.add(seedIndex)
+			expandedSeeds = next
+		},
+		setPoseVisible: (kind, visible) => {
+			poseVisibility = { ...poseVisibility, [kind]: visible }
+			const drawn = drawnSets.get(kind)
+			if (drawn) setDrawnSetVisible(drawn, visible)
+			invalidate()
+		},
+		clear,
+	}
+
+	// Only clear if we still own the singleton
+	const instance = context
+	onDestroy(() => {
+		clear()
+		if (context === instance) context = undefined
+	})
+
+	return context
+}
+
+export const useIKInspection = (): IKInspectionContext => {
+	if (context === undefined) {
+		throw new Error('useIKInspection must be used with a mounted <MotionPlanReplayer>')
+	}
+
+	return context
+}
diff --git a/src/lib/plugins/MotionPlanReplayer/inspect-ik/world-state-obstacles.ts b/src/lib/plugins/MotionPlanReplayer/inspect-ik/world-state-obstacles.ts
new file mode 100644
index 000000000..84eb10439
--- /dev/null
+++ b/src/lib/plugins/MotionPlanReplayer/inspect-ik/world-state-obstacles.ts
@@ -0,0 +1,71 @@
+import type { JsonValue } from '@bufbuild/protobuf'
+
+import { UuidTool } from 'uuid-tool'
+
+import { Geometry, PoseInFrame, Transform } from '$lib/buf/common/v1/common_pb'
+// Not the generated Pose: this one defaults to the 0,0,1,0 orientation vector, where the proto's
+// zero value is a degenerate all-zero axis.
+import { Pose } from '$lib/math'
+
+/** Frame names here are shared with `frame_system.frames` (`pallet`, `pick-station`) and the ECS
+ * name index is global, so obstacles get their own namespace. */
+export const OBSTACLE_PREFIX = 'obstacle'
+
+type WorldStateJson = {
+	obstacles?: Array<{ referenceFrame?: string; geometries?: unknown[] }>
+}
+
+const newUuid = (): Uint8Array<ArrayBuffer> =>
+	Uint8Array.from(UuidTool.toBytes(crypto.randomUUID()))
+
+/**
+ * Builds drawable transforms for obstacles that live only in `world_state`.
+ *
+ * `world_state` is protobuf-JSON (viam.common.v1.WorldState): geometry type is a oneof keyed by
+ * field name, dimensions sit under `box.dimsMm`, the pose is an orientation vector in `center`, and
+ * the label is lowercase. That is a different encoding from the Go-marshalled geometry
+ * `parseGeometry` in build-frame-descriptors.ts reads, which is why this decodes through
+ * protobuf-es rather than reusing it.
+ *
+ * Obstacles RDK already flattened into `frame_system.frames` carry inline geometry and render
+ * through the normal descriptor path; this covers only the ones it did not flatten.
+ */
+export const worldStateObstacleTransforms = (worldState: unknown): Transform[] => {
+	const obstacles = (worldState as WorldStateJson | undefined)?.obstacles
+	if (!Array.isArray(obstacles)) return []
+
+	const transforms: Transform[] = []
+
+	for (const obstacle of obstacles) {
+		const geometries = obstacle?.geometries
+		if (!Array.isArray(geometries)) continue
+
+		for (const [index, raw] of geometries.entries()) {
+			let geometry: Geometry
+			try {
+				// protobuf-es rejects unknown fields by default, which would drop every obstacle the
+				// moment RDK adds a field ahead of our vendored proto.
+				geometry = Geometry.fromJson(raw as JsonValue, { ignoreUnknownFields: true })
+			} catch (error) {
+				console.warn('[InspectIK] skipping unreadable world_state geometry:', error)
+				continue
+			}
+
+			transforms.push(
+				new Transform({
+					referenceFrame: `${OBSTACLE_PREFIX}/${geometry.label || `geometry-${index}`}`,
+					// The geometry's own `center` already positions it within the obstacle's
+					// reference frame, so the transform itself is identity.
+					poseInObserverFrame: new PoseInFrame({
+						referenceFrame: obstacle.referenceFrame || 'world',
+						pose: new Pose(),
+					}),
+					physicalObject: geometry,
+					uuid: newUuid(),
+				})
+			)
+		}
+	}
+
+	return transforms
+}