add logging for helper keyframes in simulation visualization

visualization/logger.py

@@ -138,3 +138,24 @@ class SimulationLogger:
 
             except Exception as e:
                 print(f"Error logging camera frame {frame_idx}: {str(e)}")
+
+    def log_helper_keyframes(self, helper_keyframes: List[Dict[str, Any]]) -> None:
+        if not helper_keyframes:
+            return
+
+        try:
+            helper_positions = np.array([
+                vector3_to_numpy(frame['position']) for frame in helper_keyframes
+            ])
+            rr.log(
+                "world/helper_keyframes",
+                rr.Points3D(
+                    helper_positions,
+                    colors=np.full((len(helper_positions), 4),
+                                   [1.0, 1.0, 0.0, 1.0])
+                ),
+                timeless=True
+            )
+
+        except Exception as e:
+            print(f"Error logging helper keyframes: {str(e)}")

visualization/visualizer.py

@@ -29,6 +29,9 @@ def visualize_simulation(file, simulation_index: Optional[int]) -> Optional[str]
         logger.log_camera_trajectory(simulation['cameraFrames'])
         logger.log_camera_frames(simulation['cameraFrames'])
 
+        if 'helper_keyframes' in simulation:
+            logger.log_helper_keyframes(simulation['helper_keyframes'])
+
         rr.save(rrd_path)
 
         return rrd_path