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cmr-surgical/peg_transfer_extra/labeling_tool.py

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+#!/usr/bin/env python3
+"""LeRobot Dataset Labeling Tool - PySide6 GUI for labeling surgical robot video episodes."""
+
+import json
+import sys
+from pathlib import Path
+
+import cv2
+import numpy as np
+
+from PySide6.QtCore import Qt, Signal, QRect, QPoint, QTimer
+from PySide6.QtGui import (
+    QPainter, QColor, QPen, QBrush, QFont, QPalette, QImage, QPixmap,
+    QMouseEvent, QPaintEvent,
+)
+from PySide6.QtWidgets import (
+    QApplication, QMainWindow, QWidget, QVBoxLayout, QHBoxLayout,
+    QPushButton, QSlider, QLabel, QListWidget, QListWidgetItem,
+    QSplitter, QMenu, QSizePolicy,
+)
+
+# ── Constants ────────────────────────────────────────────────────────────────
+
+DATASET_ROOT = Path(__file__).parent
+VIDEOS_DIR = DATASET_ROOT / "videos" / "chunk-000" / "observation.images.endoscope"
+META_DIR = DATASET_ROOT / "meta"
+LABELS_FILE = META_DIR / "labels.json"
+EPISODES_FILE = META_DIR / "episodes.jsonl"
+FPS = 60
+
+CASE_COLORS = {
+    1: QColor("#4FC3F7"),
+    2: QColor("#81C784"),
+    3: QColor("#FFB74D"),
+    4: QColor("#CE93D8"),
+    5: QColor("#EF5350"),
+}
+
+CASE_NAMES = {
+    1: "L2R",
+    2: "R2L",
+    3: "L",
+    4: "R",
+    5: "ERR",
+}
+
+HANDLE_WIDTH = 6
+TIMELINE_HEIGHT = 60
+SPLIT_ZONE = 20
+
+
+# ── Data helpers ─────────────────────────────────────────────────────────────
+
+def load_episodes():
+    episodes = []
+    with open(EPISODES_FILE) as f:
+        for line in f:
+            episodes.append(json.loads(line.strip()))
+    episodes.sort(key=lambda e: e["episode_index"])
+    return episodes
+
+
+def load_labels():
+    if LABELS_FILE.exists():
+        with open(LABELS_FILE) as f:
+            return json.load(f)
+    return {}
+
+
+def save_labels(labels):
+    with open(LABELS_FILE, "w") as f:
+        json.dump(labels, f, indent=2)
+
+
+def episode_key(idx):
+    return f"episode_{idx:06d}"
+
+
+def video_path(idx):
+    return VIDEOS_DIR / f"episode_{idx:06d}.mp4"
+
+
+# ── Video Reader ─────────────────────────────────────────────────────────────
+
+class VideoReader:
+    """OpenCV-based video reader for fast frame access."""
+
+    def __init__(self):
+        self._cap = None
+        self._path = None
+        self._total_frames = 0
+        self._current_frame = -1
+
+    def open(self, path, total_frames):
+        self.close()
+        self._path = str(path)
+        self._cap = cv2.VideoCapture(self._path)
+        self._total_frames = total_frames
+        self._current_frame = -1
+
+    def close(self):
+        if self._cap is not None:
+            self._cap.release()
+            self._cap = None
+
+    def read_frame(self, frame_num):
+        """Read a specific frame. Returns QPixmap or None."""
+        if self._cap is None or frame_num < 0 or frame_num >= self._total_frames:
+            return None
+
+        # If we're already at the next frame, just read sequentially (fast path)
+        if frame_num == self._current_frame + 1:
+            ret, bgr = self._cap.read()
+            if ret:
+                self._current_frame = frame_num
+                return self._bgr_to_pixmap(bgr)
+            return None
+
+        # Otherwise seek then read
+        self._cap.set(cv2.CAP_PROP_POS_FRAMES, frame_num)
+        ret, bgr = self._cap.read()
+        if ret:
+            self._current_frame = frame_num
+            return self._bgr_to_pixmap(bgr)
+        return None
+
+    @staticmethod
+    def _bgr_to_pixmap(bgr):
+        rgb = cv2.cvtColor(bgr, cv2.COLOR_BGR2RGB)
+        h, w, ch = rgb.shape
+        img = QImage(rgb.data, w, h, w * ch, QImage.Format_RGB888)
+        return QPixmap.fromImage(img.copy())  # copy so data outlives numpy array
+
+    def __del__(self):
+        self.close()
+
+
+# ── Segment Timeline Widget ─────────────────────────────────────────────────
+
+class SegmentTimeline(QWidget):
+    segments_changed = Signal()
+    seek_requested = Signal(int)
+
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.total_frames = 1
+        self.segments = []
+        self.splits = []
+        self.playhead = 0
+
+        self._drag_mode = None
+        self._drag_seg_idx = -1
+        self._drag_split_idx = -1
+        self._drag_start_x = 0
+        self._drag_start_frame = 0
+        self._drag_orig_start = 0
+        self._drag_orig_end = 0
+
+        self.setMinimumHeight(TIMELINE_HEIGHT + SPLIT_ZONE + 10)
+        self.setMaximumHeight(TIMELINE_HEIGHT + SPLIT_ZONE + 10)
+        self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)
+        self.setMouseTracking(True)
+        self.setFocusPolicy(Qt.StrongFocus)
+
+    def set_data(self, total_frames, segments, splits, playhead=0):
+        self.total_frames = max(total_frames, 1)
+        self.segments = segments
+        self.splits = splits
+        self.playhead = playhead
+        self.update()
+
+    def set_playhead(self, frame):
+        self.playhead = frame
+        self.update()
+
+    def _timeline_rect(self):
+        m = 10
+        return QRect(m, SPLIT_ZONE, self.width() - 2 * m, TIMELINE_HEIGHT)
+
+    def _frame_to_x(self, frame):
+        r = self._timeline_rect()
+        return r.x() + int(frame / self.total_frames * r.width())
+
+    def _x_to_frame(self, x):
+        r = self._timeline_rect()
+        frac = max(0.0, min(1.0, (x - r.x()) / r.width()))
+        return int(frac * self.total_frames)
+
+    def paintEvent(self, event: QPaintEvent):
+        p = QPainter(self)
+        p.setRenderHint(QPainter.Antialiasing)
+        r = self._timeline_rect()
+
+        p.fillRect(self.rect(), QColor("#1a1a1a"))
+        p.fillRect(r, QColor("#2a2a2a"))
+        p.setPen(QPen(QColor("#555"), 1))
+        p.drawRect(r)
+
+        p.setPen(QPen(QColor("#444"), 1))
+        for i in range(1, 10):
+            x = r.x() + int(i / 10 * r.width())
+            p.drawLine(x, r.bottom() - 4, x, r.bottom())
+
+        for seg in self.segments:
+            x1 = self._frame_to_x(seg["start_frame"])
+            x2 = self._frame_to_x(seg["end_frame"])
+            color = CASE_COLORS.get(seg.get("case", 0), QColor("#666"))
+            seg_rect = QRect(x1, r.y() + 2, max(x2 - x1, 2), r.height() - 4)
+
+            fill_color = QColor(color)
+            fill_color.setAlpha(160)
+            p.fillRect(seg_rect, fill_color)
+
+            p.setPen(QPen(color, 2))
+            p.drawRect(seg_rect)
+
+            handle_color = QColor(color)
+            handle_color.setAlpha(220)
+            p.fillRect(QRect(x1, r.y() + 2, HANDLE_WIDTH, r.height() - 4), handle_color)
+            p.fillRect(QRect(x2 - HANDLE_WIDTH, r.y() + 2, HANDLE_WIDTH, r.height() - 4), handle_color)
+
+            label = CASE_NAMES.get(seg.get("case", 0), "?")
+            if x2 - x1 > 40:
+                p.setPen(QPen(QColor("#fff"), 1))
+                p.setFont(QFont("Arial", 9, QFont.Bold))
+                p.drawText(seg_rect, Qt.AlignCenter, label)
+
+        pen = QPen(QColor("#FF5252"), 2, Qt.DashLine)
+        p.setPen(pen)
+        for split_frame in self.splits:
+            x = self._frame_to_x(split_frame)
+            p.drawLine(x, r.y() - SPLIT_ZONE + 5, x, r.bottom())
+            p.setBrush(QBrush(QColor("#FF5252")))
+            p.setPen(Qt.NoPen)
+            p.drawPolygon([QPoint(x - 5, r.y() - SPLIT_ZONE + 5),
+                           QPoint(x + 5, r.y() - SPLIT_ZONE + 5),
+                           QPoint(x, r.y() - SPLIT_ZONE + 14)])
+            p.setPen(pen)
+
+        px = self._frame_to_x(self.playhead)
+        p.setPen(QPen(QColor("#FFFFFF"), 2))
+        p.drawLine(px, r.y() - 3, px, r.bottom() + 3)
+        p.setBrush(QBrush(QColor("#FFFFFF")))
+        p.setPen(Qt.NoPen)
+        p.drawPolygon([QPoint(px - 5, r.y() - 3),
+                        QPoint(px + 5, r.y() - 3),
+                        QPoint(px, r.y() + 5)])
+        p.end()
+
+    def _neighbor_bounds(self, seg_idx):
+        left_bound = 0
+        right_bound = self.total_frames
+        seg = self.segments[seg_idx]
+        for i, other in enumerate(self.segments):
+            if i == seg_idx:
+                continue
+            if other["end_frame"] <= seg["start_frame"] or (
+                self._drag_mode in ("left", "move") and other["end_frame"] <= self._drag_orig_start
+            ):
+                left_bound = max(left_bound, other["end_frame"])
+            if other["start_frame"] >= seg["end_frame"] or (
+                self._drag_mode in ("right", "move") and other["start_frame"] >= self._drag_orig_end
+            ):
+                right_bound = min(right_bound, other["start_frame"])
+        return left_bound, right_bound
+
+    def _gap_at(self, frame):
+        for seg in self.segments:
+            if seg["start_frame"] <= frame < seg["end_frame"]:
+                return None
+        gap_start = 0
+        gap_end = self.total_frames
+        for seg in self.segments:
+            if seg["end_frame"] <= frame:
+                gap_start = max(gap_start, seg["end_frame"])
+            if seg["start_frame"] > frame:
+                gap_end = min(gap_end, seg["start_frame"])
+        return gap_start, gap_end
+
+    def _hit_test(self, pos):
+        r = self._timeline_rect()
+        x, y = pos.x(), pos.y()
+        if y < r.y():
+            for i, split_frame in enumerate(self.splits):
+                sx = self._frame_to_x(split_frame)
+                if abs(x - sx) < 8:
+                    return ("split", i)
+        for i, seg in enumerate(self.segments):
+            x1 = self._frame_to_x(seg["start_frame"])
+            x2 = self._frame_to_x(seg["end_frame"])
+            if r.y() <= y <= r.bottom():
+                if abs(x - x1) <= HANDLE_WIDTH + 2:
+                    return ("left", i)
+                if abs(x - x2) <= HANDLE_WIDTH + 2:
+                    return ("right", i)
+                if x1 < x < x2:
+                    return ("segment", i)
+        return (None, -1)
+
+    def mousePressEvent(self, event: QMouseEvent):
+        if event.button() == Qt.LeftButton:
+            hit_type, idx = self._hit_test(event.pos())
+            if hit_type == "left":
+                self._drag_mode = "left"
+                self._drag_seg_idx = idx
+                self._drag_start_x = event.pos().x()
+                self._drag_orig_start = self.segments[idx]["start_frame"]
+            elif hit_type == "right":
+                self._drag_mode = "right"
+                self._drag_seg_idx = idx
+                self._drag_start_x = event.pos().x()
+                self._drag_orig_end = self.segments[idx]["end_frame"]
+            elif hit_type == "segment":
+                self._drag_mode = "move"
+                self._drag_seg_idx = idx
+                self._drag_start_x = event.pos().x()
+                self._drag_orig_start = self.segments[idx]["start_frame"]
+                self._drag_orig_end = self.segments[idx]["end_frame"]
+            elif hit_type == "split":
+                self._drag_mode = "split"
+                self._drag_split_idx = idx
+                self._drag_start_x = event.pos().x()
+                self._drag_start_frame = self.splits[idx]
+            else:
+                r = self._timeline_rect()
+                if r.contains(event.pos()):
+                    frame = self._x_to_frame(event.pos().x())
+                    self.seek_requested.emit(frame)
+        elif event.button() == Qt.RightButton:
+            hit_type, idx = self._hit_test(event.pos())
+            if hit_type in ("left", "right", "segment") and idx >= 0:
+                self._show_segment_menu(event.globalPos(), idx)
+            elif hit_type == "split" and idx >= 0:
+                self._show_split_menu(event.globalPos(), idx)
+
+    def mouseMoveEvent(self, event: QMouseEvent):
+        if self._drag_mode == "left":
+            frame = self._x_to_frame(event.pos().x())
+            seg = self.segments[self._drag_seg_idx]
+            left_bound, _ = self._neighbor_bounds(self._drag_seg_idx)
+            seg["start_frame"] = max(left_bound, min(frame, seg["end_frame"] - 1))
+            self.seek_requested.emit(seg["start_frame"])
+            self.update()
+        elif self._drag_mode == "right":
+            frame = self._x_to_frame(event.pos().x())
+            seg = self.segments[self._drag_seg_idx]
+            _, right_bound = self._neighbor_bounds(self._drag_seg_idx)
+            seg["end_frame"] = min(right_bound, max(frame, seg["start_frame"] + 1))
+            self.seek_requested.emit(seg["end_frame"])
+            self.update()
+        elif self._drag_mode == "move":
+            dx = event.pos().x() - self._drag_start_x
+            r = self._timeline_rect()
+            d_frames = int(dx / r.width() * self.total_frames)
+            seg = self.segments[self._drag_seg_idx]
+            left_bound, right_bound = self._neighbor_bounds(self._drag_seg_idx)
+            duration = self._drag_orig_end - self._drag_orig_start
+            new_start = self._drag_orig_start + d_frames
+            new_start = max(left_bound, min(new_start, right_bound - duration))
+            seg["start_frame"] = new_start
+            seg["end_frame"] = new_start + duration
+            self.update()
+        elif self._drag_mode == "split":
+            frame = self._x_to_frame(event.pos().x())
+            self.splits[self._drag_split_idx] = max(1, min(frame, self.total_frames - 1))
+            self.update()
+        else:
+            hit_type, _ = self._hit_test(event.pos())
+            if hit_type in ("left", "right"):
+                self.setCursor(Qt.SizeHorCursor)
+            elif hit_type in ("segment", "split"):
+                self.setCursor(Qt.OpenHandCursor)
+            else:
+                self.setCursor(Qt.ArrowCursor)
+
+    def mouseReleaseEvent(self, event: QMouseEvent):
+        if self._drag_mode:
+            self._drag_mode = None
+            self._drag_seg_idx = -1
+            self._drag_split_idx = -1
+            self.segments_changed.emit()
+
+    def _show_segment_menu(self, pos, seg_idx):
+        menu = QMenu(self)
+        menu.setStyleSheet("""
+            QMenu { background-color: #2d2d2d; color: #eee; border: 1px solid #555; }
+            QMenu::item:selected { background-color: #444; }
+        """)
+        for case_num, case_name in CASE_NAMES.items():
+            action = menu.addAction(f"  {case_name}")
+            action.setData(("case", seg_idx, case_num))
+        menu.addSeparator()
+        delete_action = menu.addAction("  Delete Segment")
+        delete_action.setData(("delete", seg_idx, None))
+
+        chosen = menu.exec(pos)
+        if chosen and chosen.data():
+            action_type, idx, val = chosen.data()
+            if action_type == "case":
+                self.segments[idx]["case"] = val
+                self.segments_changed.emit()
+                self.update()
+            elif action_type == "delete":
+                self.segments.pop(idx)
+                self.segments_changed.emit()
+                self.update()
+
+    def _show_split_menu(self, pos, split_idx):
+        menu = QMenu(self)
+        menu.setStyleSheet("""
+            QMenu { background-color: #2d2d2d; color: #eee; border: 1px solid #555; }
+            QMenu::item:selected { background-color: #444; }
+        """)
+        frame = self.splits[split_idx]
+        info = menu.addAction(f"  Split at frame {frame}")
+        info.setEnabled(False)
+        menu.addSeparator()
+        delete_action = menu.addAction("  Delete Split")
+
+        chosen = menu.exec(pos)
+        if chosen == delete_action:
+            self.splits.pop(split_idx)
+            self.segments_changed.emit()
+            self.update()
+
+    def add_segment_after_last(self):
+        """Add a new segment immediately to the right of the rightmost existing segment."""
+        if self.segments:
+            rightmost_end = max(s["end_frame"] for s in self.segments)
+        else:
+            rightmost_end = 0
+
+        start = rightmost_end
+        end = min(start + 200, self.total_frames)
+        if end - start < 1:
+            return  # no room
+
+        # Check that this space is actually free
+        for seg in self.segments:
+            if seg["start_frame"] < end and seg["end_frame"] > start:
+                return  # overlap, shouldn't happen but guard against it
+
+        self.segments.append({"start_frame": start, "end_frame": end, "case": 1})
+        self.segments_changed.emit()
+        self.seek_requested.emit(start)
+        self.update()
+
+    def add_split_at(self, frame):
+        if frame > 0 and frame < self.total_frames and frame not in self.splits:
+            self.splits.append(frame)
+            self.splits.sort()
+            self.segments_changed.emit()
+            self.update()
+
+
+# ── Main Window ──────────────────────────────────────────────────────────────
+
+class LabelingWindow(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.setWindowTitle("LeRobot Dataset Labeling Tool")
+        self.resize(1280, 800)
+
+        self.episodes = load_episodes()
+        self.labels = load_labels()
+        self.current_episode_idx = -1
+        self.current_total_frames = 1
+        self._current_frame = 0
+        self._playing = False
+        self._playback_speed = 1.0
+
+        self._video = VideoReader()
+
+        self._setup_ui()
+
+        # Playback timer — fires to advance frames during play
+        self._play_timer = QTimer()
+        self._play_timer.setTimerType(Qt.PreciseTimer)
+        self._play_timer.timeout.connect(self._on_play_tick)
+
+        self._populate_episode_list()
+
+        if self.episodes:
+            self.episode_list.setCurrentRow(0)
+            self._load_episode(0)
+
+    def _setup_ui(self):
+        central = QWidget()
+        self.setCentralWidget(central)
+        main_layout = QHBoxLayout(central)
+        main_layout.setContentsMargins(8, 8, 8, 8)
+        main_layout.setSpacing(8)
+
+        # ── Left side: video + controls ──
+        left = QWidget()
+        left_layout = QVBoxLayout(left)
+        left_layout.setContentsMargins(0, 0, 0, 0)
+        left_layout.setSpacing(6)
+
+        # Video display label
+        self.video_label = QLabel()
+        self.video_label.setMinimumSize(640, 360)
+        self.video_label.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
+        self.video_label.setAlignment(Qt.AlignCenter)
+        self.video_label.setStyleSheet("background: #000;")
+        left_layout.addWidget(self.video_label, stretch=1)
+
+        # ── Playback controls row ──
+        controls = QWidget()
+        controls_layout = QHBoxLayout(controls)
+        controls_layout.setContentsMargins(0, 0, 0, 0)
+        controls_layout.setSpacing(8)
+
+        self.prev_btn = QPushButton("<<  Prev")
+        self.prev_btn.setFixedWidth(80)
+        self.prev_btn.clicked.connect(self._prev_episode)
+
+        self.play_btn = QPushButton("Play")
+        self.play_btn.setFixedWidth(70)
+        self.play_btn.clicked.connect(self._toggle_play)
+
+        self.next_btn = QPushButton("Next  >>")
+        self.next_btn.setFixedWidth(80)
+        self.next_btn.clicked.connect(self._next_episode)
+
+        self.frame_label = QLabel("Frame: 0 / 0")
+        self.frame_label.setMinimumWidth(160)
+
+        speed_lbl = QLabel("Speed:")
+        self.speed_slider = QSlider(Qt.Horizontal)
+        self.speed_slider.setMinimum(1)
+        self.speed_slider.setMaximum(16)  # 0.25x to 4x in 0.25 steps
+        self.speed_slider.setValue(4)     # 1.0x
+        self.speed_slider.setFixedWidth(120)
+        self.speed_slider.valueChanged.connect(self._speed_changed)
+        self.speed_label = QLabel("1.0x")
+        self.speed_label.setFixedWidth(40)
+
+        controls_layout.addWidget(self.prev_btn)
+        controls_layout.addWidget(self.play_btn)
+        controls_layout.addWidget(self.next_btn)
+        controls_layout.addSpacing(10)
+        controls_layout.addWidget(self.frame_label)
+        controls_layout.addStretch()
+        controls_layout.addWidget(speed_lbl)
+        controls_layout.addWidget(self.speed_slider)
+        controls_layout.addWidget(self.speed_label)
+
+        left_layout.addWidget(controls)
+
+        # ── Scrub bar ──
+        self.scrub_bar = QSlider(Qt.Horizontal)
+        self.scrub_bar.setMinimum(0)
+        self.scrub_bar.setMaximum(1)
+        self.scrub_bar.setStyleSheet("""
+            QSlider::groove:horizontal {
+                background: #333; height: 8px; border-radius: 4px;
+            }
+            QSlider::handle:horizontal {
+                background: #bbb; width: 14px; margin: -4px 0;
+                border-radius: 7px;
+            }
+            QSlider::sub-page:horizontal {
+                background: #4FC3F7; border-radius: 4px;
+            }
+        """)
+        self.scrub_bar.sliderMoved.connect(self._scrub_moved)
+        self.scrub_bar.sliderPressed.connect(self._scrub_pressed)
+        self.scrub_bar.sliderReleased.connect(self._scrub_released)
+        left_layout.addWidget(self.scrub_bar)
+
+        # ── Segment timeline ──
+        timeline_header = QWidget()
+        th_layout = QHBoxLayout(timeline_header)
+        th_layout.setContentsMargins(0, 4, 0, 0)
+        th_layout.setSpacing(8)
+
+        segments_title = QLabel("Segments")
+        segments_title.setStyleSheet("font-weight: bold; font-size: 13px; color: #ccc;")
+        th_layout.addWidget(segments_title)
+        th_layout.addStretch()
+
+        self.add_seg_btn = QPushButton("+ Add Segment")
+        self.add_seg_btn.setFixedWidth(120)
+        self.add_seg_btn.clicked.connect(self._add_segment)
+        self.add_seg_btn.setStyleSheet("""
+            QPushButton {
+                background: #2a5d8f; color: #fff; border: none;
+                padding: 4px 12px; border-radius: 3px;
+            }
+            QPushButton:hover { background: #3a7dbf; }
+        """)
+        th_layout.addWidget(self.add_seg_btn)
+
+        self.add_split_btn = QPushButton("+ Insert Split")
+        self.add_split_btn.setFixedWidth(120)
+        self.add_split_btn.clicked.connect(self._add_split)
+        self.add_split_btn.setStyleSheet("""
+            QPushButton {
+                background: #8f2a2a; color: #fff; border: none;
+                padding: 4px 12px; border-radius: 3px;
+            }
+            QPushButton:hover { background: #bf3a3a; }
+        """)
+        th_layout.addWidget(self.add_split_btn)
+
+        left_layout.addWidget(timeline_header)
+
+        self.timeline = SegmentTimeline()
+        self.timeline.segments_changed.connect(self._on_segments_changed)
+        self.timeline.seek_requested.connect(self._seek_to_frame)
+        left_layout.addWidget(self.timeline)
+
+        # Legend
+        legend = QWidget()
+        legend_layout = QHBoxLayout(legend)
+        legend_layout.setContentsMargins(10, 2, 10, 2)
+        legend_layout.setSpacing(16)
+        for case_num, case_name in CASE_NAMES.items():
+            color = CASE_COLORS[case_num]
+            dot = QLabel(f"\u25cf {case_name}")
+            dot.setStyleSheet(f"color: {color.name()}; font-size: 11px;")
+            legend_layout.addWidget(dot)
+        legend_layout.addStretch()
+        split_legend = QLabel("\u25bc Split marker")
+        split_legend.setStyleSheet("color: #FF5252; font-size: 11px;")
+        legend_layout.addWidget(split_legend)
+        left_layout.addWidget(legend)
+
+        # ── Right side: episode list ──
+        right = QWidget()
+        right_layout = QVBoxLayout(right)
+        right_layout.setContentsMargins(0, 0, 0, 0)
+        right_layout.setSpacing(4)
+
+        ep_title = QLabel("Episodes")
+        ep_title.setStyleSheet("font-weight: bold; font-size: 14px; color: #ccc; padding: 4px;")
+        right_layout.addWidget(ep_title)
+
+        self.episode_list = QListWidget()
+        self.episode_list.setStyleSheet("""
+            QListWidget {
+                background: #1e1e1e; color: #ddd; border: 1px solid #444;
+                font-size: 12px;
+            }
+            QListWidget::item { padding: 4px 8px; }
+            QListWidget::item:selected { background: #2a5d8f; color: #fff; }
+            QListWidget::item:hover { background: #333; }
+        """)
+        self.episode_list.currentRowChanged.connect(self._on_episode_selected)
+        right_layout.addWidget(self.episode_list)
+
+        splitter = QSplitter(Qt.Horizontal)
+        splitter.addWidget(left)
+        splitter.addWidget(right)
+        splitter.setStretchFactor(0, 4)
+        splitter.setStretchFactor(1, 1)
+        splitter.setSizes([960, 280])
+
+        main_layout.addWidget(splitter)
+
+    # ── Episode list ──
+
+    def _populate_episode_list(self):
+        for ep in self.episodes:
+            idx = ep["episode_index"]
+            length = ep["length"]
+            key = episode_key(idx)
+            labeled = "\u2713" if key in self.labels and self.labels[key].get("segments") else " "
+            has_split = "S" if key in self.labels and self.labels[key].get("splits") else " "
+            item = QListWidgetItem(f"[{labeled}][{has_split}]  Episode {idx:03d}  ({length} frames)")
+            item.setData(Qt.UserRole, idx)
+            self.episode_list.addItem(item)
+
+    def _refresh_episode_list_item(self, ep_idx):
+        for i in range(self.episode_list.count()):
+            item = self.episode_list.item(i)
+            if item.data(Qt.UserRole) == ep_idx:
+                ep = self.episodes[ep_idx]
+                length = ep["length"]
+                key = episode_key(ep_idx)
+                labeled = "\u2713" if key in self.labels and self.labels[key].get("segments") else " "
+                has_split = "S" if key in self.labels and self.labels[key].get("splits") else " "
+                item.setText(f"[{labeled}][{has_split}]  Episode {ep_idx:03d}  ({length} frames)")
+                break
+
+    # ── Episode loading ──
+
+    def _load_episode(self, ep_idx):
+        if ep_idx == self.current_episode_idx:
+            return
+
+        self._stop_playback()
+        self.current_episode_idx = ep_idx
+        ep = self.episodes[ep_idx]
+        self.current_total_frames = ep["length"]
+        self._current_frame = 0
+
+        self._video.open(video_path(ep_idx), self.current_total_frames)
+
+        self.scrub_bar.setMaximum(self.current_total_frames - 1)
+        self.scrub_bar.setValue(0)
+
+        key = episode_key(ep_idx)
+        ep_labels = self.labels.get(key, {"segments": [], "splits": []})
+        segments = ep_labels.get("segments", [])
+        splits = ep_labels.get("splits", [])
+
+        self.timeline.set_data(self.current_total_frames, segments, splits, 0)
+        self._display_frame(0)
+
+    def _on_episode_selected(self, row):
+        if row < 0:
+            return
+        item = self.episode_list.item(row)
+        ep_idx = item.data(Qt.UserRole)
+        self._load_episode(ep_idx)
+
+    # ── Frame display ──
+
+    def _display_frame(self, frame):
+        frame = max(0, min(frame, self.current_total_frames - 1))
+        self._current_frame = frame
+        pixmap = self._video.read_frame(frame)
+        if pixmap:
+            scaled = pixmap.scaled(
+                self.video_label.size(), Qt.KeepAspectRatio, Qt.SmoothTransformation
+            )
+            self.video_label.setPixmap(scaled)
+        self.frame_label.setText(f"Frame: {frame} / {self.current_total_frames}")
+        self.timeline.set_playhead(frame)
+
+    # ── Playback ──
+
+    def _toggle_play(self):
+        if self._playing:
+            self._stop_playback()
+        else:
+            self._start_playback()
+
+    def _start_playback(self):
+        self._playing = True
+        self.play_btn.setText("Pause")
+        interval = max(1, int(1000.0 / (FPS * self._playback_speed)))
+        self._play_timer.start(interval)
+
+    def _stop_playback(self):
+        self._playing = False
+        self.play_btn.setText("Play")
+        self._play_timer.stop()
+
+    def _on_play_tick(self):
+        next_frame = self._current_frame + 1
+        if next_frame >= self.current_total_frames:
+            self._stop_playback()
+            return
+        self._display_frame(next_frame)
+        self.scrub_bar.blockSignals(True)
+        self.scrub_bar.setValue(next_frame)
+        self.scrub_bar.blockSignals(False)
+
+    def _speed_changed(self, value):
+        self._playback_speed = value * 0.25
+        self.speed_label.setText(f"{self._playback_speed:.2g}x")
+        if self._playing:
+            interval = max(1, int(1000.0 / (FPS * self._playback_speed)))
+            self._play_timer.setInterval(interval)
+
+    # ── Scrubbing ──
+
+    def _scrub_pressed(self):
+        self._stop_playback()
+        frame = self.scrub_bar.value()
+        self._display_frame(frame)
+
+    def _scrub_moved(self, value):
+        self._display_frame(value)
+
+    def _scrub_released(self):
+        pass  # frame already displayed in _scrub_moved
+
+    def _seek_to_frame(self, frame):
+        frame = max(0, min(frame, self.current_total_frames - 1))
+        self._display_frame(frame)
+        self.scrub_bar.setValue(frame)
+
+    # ── Navigation ──
+
+    def _prev_episode(self):
+        row = self.episode_list.currentRow()
+        if row > 0:
+            self.episode_list.setCurrentRow(row - 1)
+
+    def _next_episode(self):
+        row = self.episode_list.currentRow()
+        if row < self.episode_list.count() - 1:
+            self.episode_list.setCurrentRow(row + 1)
+
+    # ── Segments ──
+
+    def _add_segment(self):
+        self.timeline.add_segment_after_last()
+
+    def _add_split(self):
+        self.timeline.add_split_at(self._current_frame)
+
+    def _on_segments_changed(self):
+        if self.current_episode_idx < 0:
+            return
+        key = episode_key(self.current_episode_idx)
+        self.labels[key] = {
+            "segments": [
+                {"start_frame": s["start_frame"], "end_frame": s["end_frame"], "case": s["case"]}
+                for s in self.timeline.segments
+            ],
+            "splits": list(self.timeline.splits),
+        }
+        save_labels(self.labels)
+        self._refresh_episode_list_item(self.current_episode_idx)
+
+
+# ── Dark theme ───────────────────────────────────────────────────────────────
+
+def apply_dark_theme(app):
+    palette = QPalette()
+    dark = QColor("#1e1e1e")
+    mid = QColor("#2d2d2d")
+    light_text = QColor("#e0e0e0")
+    accent = QColor("#4FC3F7")
+    disabled = QColor("#666")
+
+    palette.setColor(QPalette.Window, dark)
+    palette.setColor(QPalette.WindowText, light_text)
+    palette.setColor(QPalette.Base, QColor("#252525"))
+    palette.setColor(QPalette.AlternateBase, mid)
+    palette.setColor(QPalette.ToolTipBase, mid)
+    palette.setColor(QPalette.ToolTipText, light_text)
+    palette.setColor(QPalette.Text, light_text)
+    palette.setColor(QPalette.Button, mid)
+    palette.setColor(QPalette.ButtonText, light_text)
+    palette.setColor(QPalette.BrightText, QColor("#ffffff"))
+    palette.setColor(QPalette.Link, accent)
+    palette.setColor(QPalette.Highlight, accent)
+    palette.setColor(QPalette.HighlightedText, QColor("#000000"))
+    palette.setColor(QPalette.Disabled, QPalette.Text, disabled)
+    palette.setColor(QPalette.Disabled, QPalette.ButtonText, disabled)
+
+    app.setPalette(palette)
+    app.setStyleSheet("""
+        QMainWindow { background: #1e1e1e; }
+        QPushButton {
+            background: #3a3a3a; color: #e0e0e0; border: 1px solid #555;
+            padding: 5px 14px; border-radius: 3px; font-size: 12px;
+        }
+        QPushButton:hover { background: #4a4a4a; }
+        QPushButton:pressed { background: #2a2a2a; }
+        QLabel { color: #e0e0e0; font-size: 12px; }
+        QSlider::groove:horizontal {
+            background: #333; height: 6px; border-radius: 3px;
+        }
+        QSlider::handle:horizontal {
+            background: #bbb; width: 12px; margin: -4px 0; border-radius: 6px;
+        }
+    """)
+
+
+# ── Main ─────────────────────────────────────────────────────────────────────
+
+def main():
+    app = QApplication(sys.argv)
+    apply_dark_theme(app)
+    window = LabelingWindow()
+    window.show()
+    sys.exit(app.exec())
+
+
+if __name__ == "__main__":
+    main()

cmr-surgical/peg_transfer_extra/meta/episodes.jsonl

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cmr-surgical/peg_transfer_extra/meta/info.json

@@ -0,0 +1,142 @@
+{
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+    "robot_type": "versius",
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+                "haptic_left_armengageable",
+                "haptic_right_armengageable",
+                "arm_0_color",
+                "arm_1_color",
+                "arm_2_color",
+                "arm_3_color",
+                "arm_4_color",
+                "arm_0_instrtype",
+                "arm_1_instrtype",
+                "arm_2_instrtype",
+                "arm_3_instrtype",
+                "arm_4_instrtype",
+                "translationscaling",
+                "rotationscaling",
+                "electroSurgeryMode_left",
+                "electroSurgeryMode_right",
+                "hapticengaged_left",
+                "hapticengaged_right",
+                "icgmode",
+                "icgenabled",
+                "armlinkedtohaptic_left",
+                "armlinkedtohaptic_right",
+                "instrtype_left",
+                "instrtype_right"
+            ]
+        },
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+            "names": [
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+                "quat_w_left",
+                "clutchBtn_left",
+                "energyBtn_left",
+                "thumbstickBtn_left",
+                "pince_left",
+                "thumbstick_x_left",
+                "thumbstick_y_left",
+                "x_right",
+                "y_right",
+                "z_right",
+                "quat_x_right",
+                "quat_y_right",
+                "quat_z_right",
+                "quat_w_right",
+                "clutchBtn_right",
+                "energyBtn_right",
+                "thumbstickBtn_right",
+                "pince_right",
+                "thumbstick_x_right",
+                "thumbstick_y_right"
+            ]
+        },
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+    }
+}

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