feat: add planning group Viser panel

dimos/manipulation/visualization/viser/animation.py

@@ -15,11 +15,31 @@
 from __future__ import annotations
 
 from collections.abc import Callable, Sequence
+from dataclasses import dataclass
 import time
 
+from dimos.manipulation.planning.spec.models import PlanningGroupID
 from dimos.msgs.sensor_msgs.JointState import JointState
 
 
+@dataclass(frozen=True)
+class PreviewTrack:
+    """One render track owned by one or more planning groups."""
+
+    robot_id: str
+    group_ids: tuple[PlanningGroupID, ...]
+    joint_names: tuple[str, ...]
+    path: tuple[JointState, ...]
+
+
+@dataclass(frozen=True)
+class GroupPreviewAnimation:
+    """Group-native preview transaction for a generated plan."""
+
+    group_ids: tuple[PlanningGroupID, ...]
+    tracks: tuple[PreviewTrack, ...]
+
+
 def interpolate_joint_path(
     path: Sequence[JointState], duration: float, fps: float
 ) -> list[list[float]]:
@@ -57,10 +77,10 @@ def sampled_joint_path_frames(
 ) -> list[list[float]]:
     """Return animation frames while preserving already sampled trajectories.
 
-    ManipulationModule.preview_path() owns trajectory-aware interpolation because it has access
-    to JointTrajectory waypoint timing. If a path arrives already sampled near the target display
-    rate, Viser should play those samples directly instead of re-interpolating by waypoint index.
-    Sparse direct VisualizationSpec callers still get local interpolation as a fallback.
+    ViserManipulationVisualizer.animate_plan() projects GeneratedPlan waypoints into robot-local
+    preview paths. If a path arrives already sampled near the target display rate, Viser should
+    play those samples directly instead of re-interpolating by waypoint index. Sparse direct scene
+    callers still get local interpolation as a fallback.
     """
     waypoints = [list(waypoint.position) for waypoint in path if waypoint.position]
     if not waypoints:
@@ -92,7 +112,8 @@ def animate(self, path: Sequence[JointState], duration: float, fps: float) -> bo
         if not frames:
             return False
         step_delay = duration / max(len(frames) - 1, 1) if duration > 0.0 else 0.0
-        for joints in frames:
+        for index, joints in enumerate(frames):
             self._set_joints(joints)
-            self._sleep(step_delay)
+            if index < len(frames) - 1:
+                self._sleep(step_delay)
         return True