Action search tree debugger

• Use the time-slider to pick a timepoint. This will update the tree view
• Click nodes in the tree view to expand/collapse branches.
• Hover on nodes in the tree view to display cost plots.
• White nodes are "free" nodes with children (they collapse/expand), gray nodes are free leaf nodes, green are terminals, and red are blocked.
• The x-axis on both the tree and the plots is s (distance along path)
• The y-axis on the tree is vx (forward velocity)