Update app.py

app.py

@@ -15,7 +15,8 @@ import trimesh
 from trimesh.exchange.gltf import export_glb
 import tempfile
 import copy
-import plotly.graph_objs as go
+#import plotly.graph_objs as go
+import plotly.graph_objects as go
 from PIL import Image
 import plotly.express as px
 import random
@@ -283,12 +284,66 @@ def reset_state(task_history):
     task_history.clear()
     return []
 
-def make_pointcloud_figure(verts,rotate=False):
+def make_pointcloud_figure(verts, rotate=False):
+    """
+    Simple 3D scatter of point cloud that always shows points.
+
+    Parameters:
+    -------------
+    verts : (N, 3) numpy array or torch tensor
+        Point cloud coordinates.
+    rotate : bool
+        If True, reflect X axis.
+
+    Returns:
+    --------
+    fig : plotly.graph_objects.Figure
+    """
+    # Convert to numpy if torch tensor
+    try:
+        import torch
+        if isinstance(verts, torch.Tensor):
+            verts = verts.cpu().numpy()
+    except ImportError:
+        pass
+
+    if rotate:
+        verts = verts.copy()
+        verts[:, 0] *= -1.0
+
+    # Build scatter trace with a fixed color and larger size
+    scatter = go.Scatter3d(
+        x=verts[:, 0],
+        y=verts[:, 1],
+        z=verts[:, 2],
+        mode='markers',
+        marker=dict(
+            size=5,
+            color='blue',
+            opacity=0.8
+        )
+    )
+
+    # Default layout: auto ranging, hidden axes, minimal margins
+    layout = go.Layout(
+        scene=dict(
+            xaxis=dict(visible=False),
+            yaxis=dict(visible=False),
+            zaxis=dict(visible=False),
+            aspectmode='auto'
+        ),
+        margin=dict(l=0, r=0, b=0, t=0)
+    )
+
+    fig = go.Figure(data=[scatter], layout=layout)
+    return fig
+
+
+def make_pointcloud_figure_old(verts,rotate=False):
     if rotate:
         verts = verts.copy()
         verts[:, 0] *= -1.0
-    print(verts.shape,verts.min(),verts.max())
-    print(verts)
+
     N      = len(verts)
     soft_palette = ["#FFEBEE", "#FFF3E0", "#FFFDE7", "#E8F5E9",]
     palette = px.colors.qualitative.Set3
@@ -314,7 +369,7 @@ def make_pointcloud_figure(verts,rotate=False):
             line=dict(width=1)  
         )
     )
-    print(scatter)
+
     layout = go.Layout(
         width =800,    
         height=300,