A Coding Implementation of MolmoAct for Depth-Conscious Spatial Reasoning, Visible Trajectory Tracing, and Robotic Motion Prediction

class MolmoActVisualizer:
   """Visualization utilities for MolmoAct outputs"""
  
   def __init__(self, figsize: Tuple[int, int] = (12, 8)):
       self.figsize = figsize
       self.colours = plt.cm.viridis(np.linspace(0, 1, 10))
  
   def plot_trace(
       self,
       picture: Picture.Picture,
       hint: Listing[List[int]],
       title: str = "Visible Reasoning Hint",
       save_path: Non-obligatory[str] = None
   ) -> None:
       """Plot visible hint overlaid on picture"""
       fig, ax = plt.subplots(figsize=self.figsize)
      
       img_array = np.array(picture)
       ax.imshow(img_array)
      
       if hint and len(hint) > 0:
           h, w = img_array.form[:2]
           trace_array = np.array(hint)
          
           x_coords = trace_array[:, 0] * w / 256
           y_coords = trace_array[:, 1] * h / 256
          
           ax.plot(x_coords, y_coords, 'w-', linewidth=2, alpha=0.7)
           ax.plot(x_coords, y_coords, 'c-', linewidth=1, alpha=0.9)
          
           for i, (x, y) in enumerate(zip(x_coords, y_coords)):
               color_idx = int(i * 9 / max(len(x_coords) - 1, 1))
               ax.scatter(x, y, c=[self.colors[color_idx]], s=100,
                         edgecolors="white", linewidths=2, zorder=5)
               ax.annotate(f'{i+1}', (x, y), textcoords="offset factors",
                          xytext=(5, 5), fontsize=10, shade="white",
                          fontweight="daring")
          
           ax.scatter(x_coords[0], y_coords[0], c="lime", s=200,
                     marker="o", edgecolors="white", linewidths=3,
                     zorder=6, label="Begin")
           ax.scatter(x_coords[-1], y_coords[-1], c="pink", s=200,
                     marker="X", edgecolors="white", linewidths=3,
                     zorder=6, label="Finish")
      
       ax.set_title(title, fontsize=14, fontweight="daring")
       ax.axis('off')
       ax.legend(loc="higher proper")
      
       plt.tight_layout()
      
       if save_path:
           plt.savefig(save_path, dpi=150, bbox_inches="tight")
           print(f"💾 Saved visualization to {save_path}")
      
       plt.present()
  
   def plot_action(
       self,
       motion: Listing[float],
       action_labels: Non-obligatory[List[str]] = None,
       title: str = "Predicted Robotic Motion",
       save_path: Non-obligatory[str] = None
   ) -> None:
       """Plot motion values as a bar chart"""
       if action_labels is None:
           action_labels = [
               'Δx (forward)', 'Δy (left)', 'Δz (up)',
               'Rx (roll)', 'Ry (pitch)', 'Rz (yaw)',
               'Gripper'
           ]
      
       fig, ax = plt.subplots(figsize=(10, 5))
      
       colours = ['#3498db', '#3498db', '#3498db',
                 '#e74c3c', '#e74c3c', '#e74c3c',
                 '#2ecc71']
      
       x = np.arange(len(motion))
       bars = ax.bar(x, motion, shade=colours, edgecolor="white", linewidth=1.5)
      
       for bar, val in zip(bars, motion):
           top = bar.get_height()
           ax.annotate(f'{val:.3f}',
                      xy=(bar.get_x() + bar.get_width() / 2, top),
                      xytext=(0, 3 if top >= 0 else -12),
                      textcoords="offset factors",
                      ha="middle", va="backside" if top >= 0 else 'high',
                      fontsize=9, fontweight="daring")
      
       ax.set_xticks(x)
       ax.set_xticklabels(action_labels, rotation=45, ha="proper")
       ax.set_ylabel('Worth', fontsize=12)
       ax.set_title(title, fontsize=14, fontweight="daring")
       ax.axhline(y=0, shade="grey", linestyle="--", alpha=0.5)
       ax.grid(axis="y", alpha=0.3)
      
       from matplotlib.patches import Patch
       legend_elements = [
           Patch(facecolor="#3498db", label="Position"),
           Patch(facecolor="#e74c3c", label="Rotation"),
           Patch(facecolor="#2ecc71", label="Gripper")
       ]
       ax.legend(handles=legend_elements, loc="higher proper")
      
       plt.tight_layout()
      
       if save_path:
           plt.savefig(save_path, dpi=150, bbox_inches="tight")
      
       plt.present()