Alliance partners¶
Everything on this page works today, with no account and no network: your partner gives you a file, you load it next to your auto, and anything you suggest back goes to them as a file too.
- Your partner makes the file with Download share file in the editor's command palette (or
Download share file for proposals, to let you suggest changes),
zenith projection, or thezenith.projectionMCP tool. It carries the robot's path over time, its bounding box and the elements it takes, with every command replaced by a token, never the auto file,robot.jsonor any code. The file format has the details. - You load it in the editor's Partners panel (Load share file…, or
drop the file on the panel). A partner's
trajectory.jsonloads the same way; see Bring paths from other planners.
Signed in, a share made to your team loads the same way and carries the same projection; Teams and sharing describes it.
The alliance view¶
The alliance view puts your auto and a partner's auto on one field, on one clock. Both robots follow the same playback. You can give either robot a start offset ("what if I wait 0.5 s"), and turn your own into a real wait step with one click: Make it a wait step, under your start offset, puts that wait in front of your first step and sets the offset back to 0 s. Undo takes the wait out and puts the offset back. A partner's offset cannot become a step in your auto; ask them to add the wait to theirs.
Your start offset belongs to the auto you set it on. Open another auto and its offset is 0 s, so its own predicted findings show; the status line says where the delay stayed, and going back to the first auto finds it again. Opening another project or loading the example clears your offsets, and the partners you loaded stay.
It checks, on a 0.1 s grid:
| check | what it means |
|---|---|
| Collision | the two robots' boxes, each grown by a small margin, overlap at the same time. |
| Near miss | they come close without touching. |
| Start overlap | the two start poses overlap or share a tile. |
| Element conflict | both autos go for the same field element or target. |
| Envelope | your robot enters a partner's envelope while it is active. |
Each finding says "predicted", because it compares two simulated predictions, not real robots. On a collision, a near miss or an envelope, two one-click fixes suggest the smallest delay that clears it without a collision: delay my start, or wait before this step. A start overlap or an element conflict has none, because waiting cannot fix it.
Alliance checks never block anything. They do not stop a save, a deploy, a proposal or a run. They
are advice for the two teams to talk about. From the command line, zenith alliance runs the same
checks.
Envelopes¶
Some teams let the robot pick its own path from vision. An envelope on a step says: while this step runs, for at most so many seconds, the robot stays inside this area. The editor draws it, the step's time becomes that limit, and a later step can say where the robot rejoins a known path.
A share file, like a share, carries the area and the time window, never the command behind it. A partner's alliance view treats that area as taken for that window. A robot passing through a partner's envelope is flagged, and still allowed to run.
Proposals¶
When a partner gives you a propose-level share file (they make it with Download share file for proposals), load it in the Partners panel and press Suggest changes… under it. Save proposal… saves what you changed as a proposal file, which you send to them however you like; the team that owns the auto opens it with Open proposal…. In a proposal you:
- Can: move poses and control points, change heading modes, speeds and timeouts, add or change waits, reorder, add or delete path steps, slide markers and set envelopes, each with a one-line comment.
- Cannot: create, rename or change a command, or see what a command is.
- The owning team opens a proposal in the review view and accepts or rejects each change on its own. Accepted changes go through the normal edit and undo path. A change to a step that has changed since the share can only be rejected.
- A proposal never touches your robot repository, never deploys and cannot run anything.
Only the owning team chooses the propose level: a share file made with plain Download share file gives you no Suggest changes….