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"use client";
import React, { memo, useMemo } from "react";
import { NonIndexedLeRobotDatasetRow } from "@lerobot/web";
import { TeleoperatorJointGraph } from "./teleoperator-joint-graph";
interface TeleoperatorFramesViewProps {
frames: NonIndexedLeRobotDatasetRow[];
isRecording?: boolean;
refreshTick?: number;
}
export const TeleoperatorFramesView = memo(function TeleoperatorFramesView({
frames,
isRecording,
refreshTick,
}: TeleoperatorFramesViewProps) {
// Joint names in the order they appear in the arrays
const jointNames = [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
"gripper",
];
// Helper function to format an object as a column of key-value pairs with joint names
const formatArrayAsColumn = (obj: Record<number, number>): string => {
return Object.entries(obj)
.map(([key, value]) => {
// Convert numeric key to joint name if possible
const index = parseInt(key);
const jointName =
!isNaN(index) && index < jointNames.length ? jointNames[index] : key;
const formatted = Number.isFinite(value)
? value.toFixed(2)
: String(value);
return `${jointName}: ${formatted}`;
})
.join("\n");
};
const visibleFrames = useMemo(
() => frames || ([] as NonIndexedLeRobotDatasetRow[]),
[frames, refreshTick]
);
return (
<div className="ml-8 mr-4 mb-2">
{/* Joint visualization graph */}
<TeleoperatorJointGraph
frames={visibleFrames}
refreshTick={refreshTick}
isRecording={isRecording}
/>
{/* Frames container with horizontal scroll */}
<div className="bg-gray-800/50 rounded-md overflow-hidden">
<div className="overflow-x-auto">
{/* Frames header */}
<table className="w-full min-w-max table-fixed">
<thead>
<tr className="text-xs font-medium bg-gray-800/80 text-gray-300">
<th className="w-16 px-2 py-1 text-left">Frame</th>
<th className="w-64 px-2 py-1 text-left">Timestamp</th>
<th className="w-[300px] px-2 py-1 text-left">Action</th>
<th className="w-[500px] px-2 py-1 text-left">State</th>
</tr>
</thead>
{/* Frame rows */}
<tbody className="max-h-60 overflow-y-auto">
{visibleFrames.map(
(frame: NonIndexedLeRobotDatasetRow, frameIndex: number) => (
<tr
key={frameIndex}
className="text-xs border-t border-gray-700/50"
>
<td className="w-16 px-2 py-1 font-mono whitespace-nowrap">
{frameIndex}
</td>
<td className="w-64 px-2 py-1 font-mono whitespace-nowrap">
{Number.isFinite(frame.timestamp)
? frame.timestamp.toFixed(3)
: String(frame.timestamp)}
</td>
<td className="w-[200px] px-2 py-1 font-mono whitespace-pre-wrap align-top">
{Object.keys(frame.action).length > 0
? formatArrayAsColumn(frame.action)
: "-"}
</td>
<td className="w-[300px] px-2 py-1 font-mono whitespace-pre-wrap align-top">
{Object.keys(frame["observation.state"]).length > 0
? formatArrayAsColumn(frame["observation.state"])
: "-"}
</td>
</tr>
)
)}
</tbody>
</table>
</div>
</div>
</div>
);
});
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