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Hi Simon,

I have done something similar before and I used a publisher with type moveit_msgs::DisplayRobotState (easily visualized using the rviz RobotState plugin). It should be pretty easy to load the bag file and step through the relevant states, visualizing both the /joint_states and /joint_path_command states. Unfortunately I can't share any code on that at the moment.

Another, perhaps easier option would be to use moveit_visual_tools.

Good luck