app.py

import gradio as gr
import numpy as np
import json
import plotly.graph_objects as go

# -----------------------------
# DATA PATHS (tes "documents 000")
# -----------------------------
DATA_PATH_1 = "000_hinge_0/000_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_APGen_initState_max_v0/Archive_space_Object_000_JointNature_hinge_Item0_Generation_175_PopSize_10000_baseline_MAP-Elite-Explore_APGen_initState_max_v0.jsonl"

DATA_PATH_2 = "000_slider_0/000_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_APGen_initState_max_v0/Archive_space_Object_000_JointNature_slider_Item0_Generation_175_PopSize_10000_baseline_MAP-Elite-Explore_APGen_initState_max_v0.jsonl"


# -----------------------------
# LOAD
# -----------------------------
def load_all_trajectories(path):
    traj_list = []
    count = 0

    with open(path, "r") as f:
        for line in f:
            if count % 50 == 0:
                obj = json.loads(line)
                traj = obj.get("traj_list")

                if traj is not None:
                    traj = [x[:3] for x in traj]
                    traj_list.append(traj)

            count += 1

    return traj_list


def build_dict(path):
    trajs = load_all_trajectories(path)
    return {f"Trajectory {i}": traj for i, traj in enumerate(trajs)}


TRAJ_1 = build_dict(DATA_PATH_1)
TRAJ_2 = build_dict(DATA_PATH_2)

choices_1 = list(TRAJ_1.keys())
choices_2 = list(TRAJ_2.keys())


# -----------------------------
# PLOT FUNCTION (generic)
# -----------------------------
def plot_traj(trajs_dict, choice, progress, title):

    fig = go.Figure()

    for name, traj in trajs_dict.items():
        traj = np.array(traj)

        if len(traj) == 0:
            continue

        # background
        if name != choice:
            fig.add_trace(go.Scatter3d(
                x=traj[:, 0],
                y=traj[:, 1],
                z=traj[:, 2],
                mode="lines",
                line=dict(width=4, color="green"),
                opacity=0.05,
                showlegend=False
            ))

        # selected (progressive)
        else:
            k = max(2, int(len(traj) * progress))
            traj_part = traj[:k]

            fig.add_trace(go.Scatter3d(
                x=traj_part[:, 0],
                y=traj_part[:, 1],
                z=traj_part[:, 2],
                mode="lines",
                line=dict(width=6, color="red"),
                name=name
            ))

    fig.update_layout(
        title=f"{title} | {choice} | progress={progress:.2f}",
        scene=dict(xaxis_title="X", yaxis_title="Y", zaxis_title="Z"),
        margin=dict(l=0, r=0, b=0, t=40)
    )

    return fig


# -----------------------------
# WRAPPERS
# -----------------------------
def update_1(choice, progress):
    return plot_traj(TRAJ_1, choice, progress, "Action primitive 000_hinge_0")

def update_2(choice, progress):
    return plot_traj(TRAJ_2, choice, progress, "Action primitive 000_slider_0")


# -----------------------------
# UI
# -----------------------------
with gr.Blocks() as demo:

    gr.Markdown("""
# Trajectory Explorer

This page is an interactive visualization of two example outcome archives.
This first outcome archive refers to the closing of a door on our experimental object (000_hinge_0), the second to the closing of a drawer (000_slider_0).
Chose the trajectory you want to explore among the diverse diplayed and use the slider to see the keyframe progression.

To download the full dataset, visit:  
https://huggingface.co/datasets/mathildekappel/trajectory_primitive (Copy and paste the link into another browser tab)

""")
    # DOCUMENT 1
    # -------------------------
    gr.Markdown("## 000_hinge_0 action primitive outcome archive ")

    with gr.Row():
        dd1 = gr.Dropdown(choices_1, label="Trajectory selected")
        sl1 = gr.Slider(0, 1, value=1, step=0.01, label="Keyframe Progress")

    plot1 = gr.Plot()

    dd1.change(update_1, [dd1, sl1], plot1)
    sl1.change(update_1, [dd1, sl1], plot1)

    demo.load(update_1, [dd1, sl1], plot1)


    # -------------------------
    # DOCUMENT 2
    # -------------------------
    gr.Markdown("## 000_slider_0 action primitive outcome archive ")

    with gr.Row():
        dd2 = gr.Dropdown(choices_2, label="Trajectory selected")
        sl2 = gr.Slider(0, 1, value=1, step=0.01, label="Keyframe Progress")

    plot2 = gr.Plot()

    dd2.change(update_2, [dd2, sl2], plot2)
    sl2.change(update_2, [dd2, sl2], plot2)

    demo.load(update_2, [dd2, sl2], plot2)


if __name__ == "__main__":
    demo.launch()