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LeRobot.js
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import React from "react";
import {
  LineChart,
  Line,
  XAxis,
  YAxis,
  CartesianGrid,
  Tooltip,
  Legend,
  ResponsiveContainer
} from "recharts";
import { NonIndexedLeRobotDatasetRow } from "@lerobot/web";

interface TeleoperatorJointGraphProps {
  frames: NonIndexedLeRobotDatasetRow[];
}

export function TeleoperatorJointGraph({ frames }: TeleoperatorJointGraphProps) {
  // Skip rendering if no frames
  if (!frames || frames.length === 0) {
    return null;
  }

  // Use hardcoded joint names that match the LeRobot dataset format
  const jointNames = [
    "shoulder_pan", 
    "shoulder_lift",
    "elbow_flex",
    "wrist_flex",
    "wrist_roll",
    "gripper"
  ];
  
  // Generate a color palette for the joints
  const colors = [
    "#8884d8", "#82ca9d", "#ffc658", "#ff8042", "#0088fe", "#00C49F", 
    "#FFBB28", "#FF8042", "#a4de6c", "#d0ed57"
  ];
  
  // Prepare data for the chart - handling arrays
  const chartData = frames.map((frame, index) => {
    // Create base data point with index
    const dataPoint: any = {
      name: index,
      timestamp: frame.timestamp
    };
    
    // Add action values (assuming action is an array)
    if (Array.isArray(frame.action)) {
      // Map each array index to the corresponding joint name
      jointNames.forEach((jointName, i) => {
        if (i < frame.action.length) {
          dataPoint[`action_${jointName}`] = frame.action[i];
        }
      });
    }
    
    // Add observation state values (assuming observation.state is an array)
    if (Array.isArray(frame["observation.state"])) {
      // Map each array index to the corresponding joint name
      jointNames.forEach((jointName, i) => {
        if (i < frame["observation.state"].length) {
          dataPoint[`state_${jointName}`] = frame["observation.state"][i];
        }
      });
    }
    
    return dataPoint;
  });
  
  // Create lines for each joint
  const linesToRender = jointNames.flatMap(jointName => [
    {
      key: `action_${jointName}`,
      dataKey: `action_${jointName}`,
      name: `Action: ${jointName}`,
      isDotted: true
    },
    {
      key: `state_${jointName}`,
      dataKey: `state_${jointName}`,
      name: `State: ${jointName}`,
      isDotted: false
    }
  ]);

  return (
    <div className="w-full bg-gray-800/50 rounded-md p-4 mb-4">
      <h3 className="text-sm font-medium text-gray-300 mb-2">Joint Positions Over Time</h3>
      <ResponsiveContainer width="100%" height={300}>
        <LineChart
          data={chartData}
          margin={{
            top: 5,
            right: 30,
            left: 20,
            bottom: 5
          }}
        >
          <CartesianGrid strokeDasharray="3 3" stroke="#444" />
          <XAxis 
            dataKey="name" 
            label={{ value: 'Frame Index', position: 'insideBottomRight', offset: -10 }}
            stroke="#aaa" 
          />
          <YAxis stroke="#aaa" />
          <Tooltip 
            contentStyle={{ backgroundColor: '#333', borderColor: '#555' }}
            labelStyle={{ color: '#eee' }}
            itemStyle={{ color: '#eee' }}
          />
          <Legend />
          
          {/* Render all lines */}
          {linesToRender.map((lineConfig, index) => {
            const jointName = lineConfig.dataKey.replace(/^(action|state)_/, '');
            const jointIndex = jointNames.indexOf(jointName);
            const colorIndex = jointIndex >= 0 ? jointIndex : index % colors.length;
            
            return (
              <Line
                key={lineConfig.key}
                type="monotone"
                dataKey={lineConfig.dataKey}
                name={lineConfig.name}
                stroke={colors[colorIndex]}
                strokeDasharray={lineConfig.isDotted ? "5 5" : undefined}
                dot={false}
                activeDot={{ r: 4 }}
              />
            );
          })}
        </LineChart>
      </ResponsiveContainer>
    </div>
  );
}