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language:
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# Overall presentation of QDTraj Object-Centric Trajectory Dataset 
This repository contains a dataset of object-centric cartesian trajectories generated with QDtraj. Each trajectory represents the motion of the FR3 end-effector expressed in the object coordinate frame. 
If you want to quickliy visualize outcome archive exemples, please go the following hugging face space :  [trajectory_primitive_visualisation_space](https://huggingface.co/spaces/mathildekappel/trajectory_primitive_visualisation_space ). See [QDtraj paper](https://arxiv.org/abs/2604.22551) and [QDtraj website](https://kappel.web.isir.upmc.fr/trajectory_primitive_website/) for more details about the evolutionary algoritm used for the generation.
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| <img src="trajectory_database/1401_hinge_0/1401_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_1401_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> | <img src="trajectory_database/7120_hinge_0/7120_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_7120_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> | <img src="trajectory_database/693_hinge_0/693_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_693_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> |
## Structure
The Hugging Face repository contains two folders:

- **`comparison_study`**: This folder contains the results of the comparison study lead in the paper. 
- **`trajectory_database`**: This folder contains trajectories generated using the best-performing combination (**Adaptive interaction policy** and **MAP-Elites Explore**) for many different objects from the PartNet-Mobility dataset, as well as for our experimental objects.

## Independant outcome archives  
This dataset provides **independ folders of expert trajectories**. Each outcome archive folder stores diverse trajectory allowing to activate a specific activation primitive. Here is the following folder convention for outcome archive storage: 
`IdObject_TypeJoint_IndexJoint` (ie. [independent_folder](comparision_study_QDTrajAct_VATMart_Where2Act_MAP_Elite/000_hinge_0/000_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0)  )

## Content of one outcome folder
All experts trajectories of one outcome archive are stored in a `Archive_space_Object_..._JointNature_..._Item..._Generation_..._...PopSize_..._baseline_..._initState... .jsonl` ie. [Archive_space_Object.. .jsonl](comparision_study_QDTrajAct_VATMart_Where2Act_MAP_Elite/000_hinge_0/000_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/Archive_space_Object_000_JointNature_hinge_Item0_Generation_175_PopSize_10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0.jsonl). 

The meta-data associated to an outcome archive is stored in `... _time.jsonl` file. (ie. [Archive_space_Object.. ._time.json](comparision_study_QDTrajAct_VATMart_Where2Act_MAP_Elite/000_hinge_0/000_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/Archive_space_Object_000_JointNature_hinge_Item0_Generation_175_PopSize_10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_time.json).)

**You can easily visualize best trajectories of the outcome archive folder using the `.mp4` (or .gif) videos located inside each folder.** (ie.  [video_results_archive... .mp4](comparision_study_QDTrajAct_VATMart_Where2Act_MAP_Elite/000_hinge_0/000_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_000_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.mp4) )
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| <img src="trajectory_database/000_slider_0/000_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_000_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> | <img src="trajectory_database/693_hinge_0/693_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_693_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> | <img src="trajectory_database/693_slider_0/693_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_693_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> |
| <img src="trajectory_database/1401_hinge_0/1401_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_1401_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> | <img src="trajectory_database/1401_slider_0/1401_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_1401_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> | <img src="trajectory_database/1925_hinge_0/1925_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_1925_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> |
| <img src="trajectory_database/7120_hinge_0/7120_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_7120_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> | <img src="trajectory_database/7120_slider_0/7120_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_7120_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> | <img src="trajectory_database/102234_hinge_0/102234_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_102234_hinge_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> |
| <img src="trajectory_database/103377_slider_0/103377_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_103377_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> | <img src="trajectory_database/103482_slider_0/103482_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_103482_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> | <img src="trajectory_database/103556_slider_0/103556_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0/video_results_archive_103556_slider_0_Gen175_Pop10000_baseline_MAP-Elite-Explore_QDTrajAct_initState_max_v0_active_robot_front.gif" width="250"> |

## Visualisation an replay 
You can easily replay trajectories of the outcome archive folder using the `replay...mp4` (or .gif) videos located inside each folder.
Trajectory archive folders can be visualized and replayed in **Genesis simulation** (see QDTraj source code readme for more details). You can also visualise and deploy the expert trajectories on your real FR3 robot (see Integration QDTraj source code readme) 

### Genesis Replay (QD-Trajectory Viewer)
Sotre the outcome archive in other_pkgs/resutls/ and run the replay mode.

### contact 
kappel@isir.upmc.fr