Add visualize_dataset_html with http.server (#188)
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360
lerobot/templates/visualize_dataset_template.html
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360
lerobot/templates/visualize_dataset_template.html
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<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<!-- # TODO(rcadene, mishig25): store the js files locally -->
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<script src="https://cdnjs.cloudflare.com/ajax/libs/alpinejs/3.13.5/cdn.min.js" defer></script>
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<script src="https://cdn.jsdelivr.net/npm/dygraphs@2.2.1/dist/dygraph.min.js" type="text/javascript"></script>
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<script src="https://cdn.tailwindcss.com"></script>
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<title>{{ dataset_info.repo_id }} episode {{ episode_id }}</title>
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</head>
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<!-- Use [Alpin.js](https://alpinejs.dev), a lightweight and easy to learn JS framework -->
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<!-- Use [tailwindcss](https://tailwindcss.com/), CSS classes for styling html -->
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<!-- Use [dygraphs](https://dygraphs.com/), a lightweight JS charting library -->
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<body class="flex h-screen max-h-screen bg-slate-950 text-gray-200" x-data="createAlpineData()" @keydown.window="(e) => {
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// Use the space bar to play and pause, instead of default action (e.g. scrolling)
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const { keyCode, key } = e;
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if (keyCode === 32 || key === ' ') {
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e.preventDefault();
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$refs.btnPause.classList.contains('hidden') ? $refs.btnPlay.click() : $refs.btnPause.click();
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}else if (key === 'ArrowDown' || key === 'ArrowUp'){
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const nextEpisodeId = key === 'ArrowDown' ? {{ episode_id }} + 1 : {{ episode_id }} - 1;
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const lowestEpisodeId = {{ episodes }}.at(0);
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const highestEpisodeId = {{ episodes }}.at(-1);
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if(nextEpisodeId >= lowestEpisodeId && nextEpisodeId <= highestEpisodeId){
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window.location.href = `./episode_${nextEpisodeId}`;
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}
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}
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}">
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<!-- Sidebar -->
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<div x-ref="sidebar" class="w-60 bg-slate-900 p-5 break-words max-h-screen overflow-y-auto">
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<h1 class="mb-4 text-xl font-semibold">{{ dataset_info.repo_id }}</h1>
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<ul>
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<li>
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Number of samples/frames: {{ dataset_info.num_samples }}
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</li>
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<li>
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Number of episodes: {{ dataset_info.num_episodes }}
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</li>
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<li>
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Frames per second: {{ dataset_info.fps }}
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</li>
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</ul>
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<p>Episodes:</p>
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<ul class="ml-2">
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{% for episode in episodes %}
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<li class="font-mono text-sm mt-0.5">
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<a href="episode_{{ episode }}" class="underline {% if episode_id == episode %}font-bold -ml-1{% endif %}">
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Episode {{ episode }}
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</a>
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</li>
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{% endfor %}
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</ul>
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</div>
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<!-- Toggle sidebar button -->
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<button class="flex items-center opacity-50 hover:opacity-100 mx-1"
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@click="() => ($refs.sidebar.classList.toggle('hidden'))" title="Toggle sidebar">
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<div class="bg-slate-500 w-2 h-10 rounded-full"></div>
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</button>
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<!-- Content -->
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<div class="flex-1 max-h-screen flex flex-col gap-4 overflow-y-auto">
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<h1 class="text-xl font-bold mt-4 font-mono">
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Episode {{ episode_id }}
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</h1>
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<!-- Videos -->
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<div class="flex flex-wrap gap-1">
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{% for video_info in videos_info %}
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<div class="max-w-96">
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<p class="text-sm text-gray-300 bg-gray-800 px-2 rounded-t-xl truncate">{{ video_info.filename }}</p>
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<video autoplay muted loop type="video/mp4" class="min-w-64" @timeupdate="() => {
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if (video.duration) {
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const time = video.currentTime;
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const pc = (100 / video.duration) * time;
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$refs.slider.value = pc;
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dygraphTime = time;
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dygraphIndex = Math.floor(pc * dygraph.numRows() / 100);
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dygraph.setSelection(dygraphIndex, undefined, true, true);
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$refs.timer.textContent = formatTime(time) + ' / ' + formatTime(video.duration);
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updateTimeQuery(time.toFixed(2));
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}
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}" @ended="() => {
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$refs.btnPlay.classList.remove('hidden');
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$refs.btnPause.classList.add('hidden');
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}"
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@loadedmetadata="() => ($refs.timer.textContent = formatTime(0) + ' / ' + formatTime(video.duration))">
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<source src="{{ video_info.url }}">
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Your browser does not support the video tag.
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</video>
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</div>
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{% endfor %}
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</div>
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<!-- Shortcuts info -->
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<div class="text-sm hidden md:block">
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Hotkeys: <span class="font-mono">Space</span> to pause/unpause, <span class="font-mono">Arrow Down</span> to go to next episode, <span class="font-mono">Arrow Up</span> to go to previous episode.
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</div>
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<!-- Controllers -->
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<div class="flex gap-1 text-3xl items-center">
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<button x-ref="btnPlay" class="-rotate-90 hidden" class="-rotate-90" title="Play. Toggle with Space" @click="() => {
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videos.forEach(video => video.play());
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$refs.btnPlay.classList.toggle('hidden');
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$refs.btnPause.classList.toggle('hidden');
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}">🔽</button>
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<button x-ref="btnPause" title="Pause. Toggle with Space" @click="() => {
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videos.forEach(video => video.pause());
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$refs.btnPlay.classList.toggle('hidden');
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$refs.btnPause.classList.toggle('hidden');
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}">⏸️</button>
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<button title="Jump backward 5 seconds"
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@click="() => (videos.forEach(video => (video.currentTime -= 5)))">⏪</button>
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<button title="Jump forward 5 seconds"
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@click="() => (videos.forEach(video => (video.currentTime += 5)))">⏩</button>
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<button title="Rewind from start"
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@click="() => (videos.forEach(video => (video.currentTime = 0.0)))">↩️</button>
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<input x-ref="slider" max="100" min="0" step="1" type="range" value="0" class="w-80 mx-2" @input="() => {
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const sliderValue = $refs.slider.value;
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$refs.btnPause.click();
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videos.forEach(video => {
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const time = (video.duration * sliderValue) / 100;
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video.currentTime = time;
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});
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}" />
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<div x-ref="timer" class="font-mono text-sm border border-slate-500 rounded-lg px-1 py-0.5 shrink-0">0:00 /
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0:00
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</div>
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</div>
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<!-- Graph -->
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<div class="flex gap-2 mb-4 flex-wrap">
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<div>
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<div id="graph" @mouseleave="() => {
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dygraph.setSelection(dygraphIndex, undefined, true, true);
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dygraphTime = video.currentTime;
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}">
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</div>
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<p x-ref="graphTimer" class="font-mono ml-14 mt-4"
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x-init="$watch('dygraphTime', value => ($refs.graphTimer.innerText = `Time: ${dygraphTime.toFixed(2)}s`))">
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Time: 0.00s
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</p>
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</div>
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<table class="text-sm border-collapse border border-slate-700" x-show="currentFrameData">
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<thead>
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<tr>
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<th></th>
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<template x-for="(_, colIndex) in Array.from({length: nColumns}, (_, index) => index)">
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<th class="border border-slate-700">
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<div class="flex gap-x-2 justify-between px-2">
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<input type="checkbox" :checked="isColumnChecked(colIndex)"
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@change="toggleColumn(colIndex)">
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<p x-text="`${columnNames[colIndex]}`"></p>
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</div>
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</th>
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</template>
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</tr>
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</thead>
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<tbody>
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<template x-for="(row, rowIndex) in rows">
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<tr class="odd:bg-gray-800 even:bg-gray-900">
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<td class="border border-slate-700">
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<div class="flex gap-x-2 w-24 font-semibold px-1">
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<input type="checkbox" :checked="isRowChecked(rowIndex)"
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@change="toggleRow(rowIndex)">
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<p x-text="`Motor ${rowIndex}`"></p>
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</div>
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</td>
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<template x-for="(cell, colIndex) in row">
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<td x-show="cell" class="border border-slate-700">
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<div class="flex gap-x-2 w-24 justify-between px-2">
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<input type="checkbox" x-model="cell.checked" @change="updateTableValues()">
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<span x-text="`${cell.value.toFixed(2)}`"
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:style="`color: ${cell.color}`"></span>
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</div>
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</td>
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</template>
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</tr>
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</template>
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</tbody>
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</table>
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<div id="labels" class="hidden">
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</div>
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</div>
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</div>
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<script>
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function createAlpineData() {
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return {
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// state
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dygraph: null,
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currentFrameData: null,
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columnNames: ["state", "action", "pred action"],
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nColumns: {% if has_policy %}3{% else %}2{% endif %},
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checked: [],
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dygraphTime: 0.0,
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dygraphIndex: 0,
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videos: null,
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video: null,
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colors: null,
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// alpine initialization
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init() {
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this.videos = document.querySelectorAll('video');
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this.video = this.videos[0];
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this.dygraph = new Dygraph(document.getElementById("graph"), '{{ ep_csv_url }}', {
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pixelsPerPoint: 0.01,
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legend: 'always',
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labelsDiv: document.getElementById('labels'),
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labelsKMB: true,
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strokeWidth: 1.5,
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pointClickCallback: (event, point) => {
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this.dygraphTime = point.xval;
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this.updateTableValues(this.dygraphTime);
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},
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highlightCallback: (event, x, points, row, seriesName) => {
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this.dygraphTime = x;
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this.updateTableValues(this.dygraphTime);
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},
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drawCallback: (dygraph, is_initial) => {
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if (is_initial) {
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// dygraph initialization
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this.dygraph.setSelection(this.dygraphIndex, undefined, true, true);
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this.colors = this.dygraph.getColors();
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this.checked = Array(this.colors.length).fill(true);
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const seriesNames = this.dygraph.getLabels().slice(1);
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const colors = [];
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const LIGHTNESS = [30, 65, 85]; // state_lightness, action_lightness, pred_action_lightness
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let lightnessIdx = 0;
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const chunkSize = Math.ceil(seriesNames.length / this.nColumns);
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for (let i = 0; i < seriesNames.length; i += chunkSize) {
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const lightness = LIGHTNESS[lightnessIdx];
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for (let hue = 0; hue < 360; hue += parseInt(360/chunkSize)) {
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const color = `hsl(${hue}, 100%, ${lightness}%)`;
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colors.push(color);
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}
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lightnessIdx += 1;
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}
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this.dygraph.updateOptions({ colors });
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this.colors = colors;
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this.updateTableValues();
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let url = new URL(window.location.href);
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let params = new URLSearchParams(url.search);
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let time = params.get("t");
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if(time){
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time = parseFloat(time);
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this.videos.forEach(video => (video.currentTime = time));
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}
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}
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},
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});
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},
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//#region Table Data
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// turn dygraph's 1D data (at a given time t) to 2D data that whose columns names are defined in this.columnNames.
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// 2d data view is used to create html table element.
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get rows() {
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if (!this.currentFrameData) {
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return [];
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}
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const columnSize = Math.ceil(this.currentFrameData.length / this.nColumns);
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return Array.from({
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length: columnSize
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}, (_, rowIndex) => {
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const row = [
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this.currentFrameData[rowIndex] || null,
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this.currentFrameData[rowIndex + columnSize] || null,
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];
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if (this.nColumns === 3) {
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row.push(this.currentFrameData[rowIndex + 2 * columnSize] || null)
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}
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return row;
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});
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},
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isRowChecked(rowIndex) {
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return this.rows[rowIndex].every(cell => cell && cell.checked);
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},
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isColumnChecked(colIndex) {
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return this.rows.every(row => row[colIndex] && row[colIndex].checked);
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},
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toggleRow(rowIndex) {
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const newState = !this.isRowChecked(rowIndex);
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this.rows[rowIndex].forEach(cell => {
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if (cell) cell.checked = newState;
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});
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this.updateTableValues();
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},
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toggleColumn(colIndex) {
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const newState = !this.isColumnChecked(colIndex);
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this.rows.forEach(row => {
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if (row[colIndex]) row[colIndex].checked = newState;
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});
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this.updateTableValues();
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},
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// given time t, update the values in the html table with "data[t]"
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updateTableValues(time) {
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if (!this.colors) {
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return;
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}
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let pc = (100 / this.video.duration) * (time === undefined ? this.video.currentTime : time);
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if (isNaN(pc)) pc = 0;
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const index = Math.floor(pc * this.dygraph.numRows() / 100);
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// slice(1) to remove the timestamp point that we do not need
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const labels = this.dygraph.getLabels().slice(1);
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const values = this.dygraph.rawData_[index].slice(1);
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const checkedNew = this.currentFrameData ? this.currentFrameData.map(cell => cell.checked) : Array(
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this.colors.length).fill(true);
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this.currentFrameData = labels.map((label, idx) => ({
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label,
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value: values[idx],
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color: this.colors[idx],
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checked: checkedNew[idx],
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}));
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const shouldUpdateVisibility = !this.checked.every((value, index) => value === checkedNew[index]);
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if (shouldUpdateVisibility) {
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this.checked = checkedNew;
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this.dygraph.setVisibility(this.checked);
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}
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},
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//#endregion
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updateTimeQuery(time) {
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let url = new URL(window.location.href);
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let params = new URLSearchParams(url.search);
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params.set("t", time);
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url.search = params.toString();
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window.history.replaceState({}, '', url.toString());
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},
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formatTime(time) {
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var hours = Math.floor(time / 3600);
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var minutes = Math.floor((time % 3600) / 60);
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var seconds = Math.floor(time % 60);
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return (hours > 0 ? hours + ':' : '') + (minutes < 10 ? '0' + minutes : minutes) + ':' + (seconds <
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10 ?
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'0' + seconds : seconds);
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}
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};
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}
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</script>
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</body>
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</html>
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Block a user