Update app.py

app.py

@@ -16,12 +16,30 @@ import gradio as gr
 EGOVERSE_REPO = "angkul07/egoverse-pick-tasks"
 ABC_REPO      = "angkul07/abc-ego"
 ABC_TASKS     = ["place_the_bread", "put_the_screwdriver_in_the_bin"]
-ABC_CAMERAS   = {
+# ABC_CAMERAS   = {
+#     "/top-camera":         "Top",
+#     "/left-wrist-camera":  "Left Wrist",
+#     "/right-wrist-camera": "Right Wrist",
+# }
+FPS = 30
+
+# Remove the static ABC_CAMERAS dict entirely
+
+CAMERA_TOPIC_VARIANTS = [
+    "/top-camera",
+    "/top-left-camera", 
+    "/top-right-camera",
+    "/left-wrist-camera",
+    "/right-wrist-camera",
+]
+
+TOPIC_LABELS = {
     "/top-camera":         "Top",
+    "/top-left-camera":    "Top Left",
+    "/top-right-camera":   "Top Right",
     "/left-wrist-camera":  "Left Wrist",
     "/right-wrist-camera": "Right Wrist",
 }
-FPS = 30
 
 # ─────────────────────────────────────────────
 # UUID discovery helpers
@@ -63,6 +81,13 @@ def list_abc_uuids(task: str, n: int = 50) -> list[str]:
         print(f"[warn] Could not list abc uuids for {task}: {ex}")
         return []
 
+def get_mcap_camera_topics(mcap_path: str) -> list[str]:
+    """Return only the camera topics that actually exist in this mcap file."""
+    with open(mcap_path, "rb") as f:
+        reader = make_reader(f, decoder_factories=[DecoderFactory()])
+        topics = {ch.topic for _, ch, _, _ in reader.iter_decoded_messages()}
+    return [t for t in CAMERA_TOPIC_VARIANTS if t in topics]
+
 # ─────────────────────────────────────────────
 # Zarr helpers (egoverse)
 # ─────────────────────────────────────────────
@@ -310,25 +335,22 @@ def stream_videos(dataset: str, uuid_input: str, task: str):
 
         # ── ABC Teleop (mcap → 3 cameras, streamed one at a time) ───────
         elif dataset == "ABC Teleop":
-            if not MCAP_AVAILABLE:
-                yield "mcap package not installed in this environment.", None, None, None
-                return
-
-            # uuid from dropdown is already "episode_<uuid>", bare uuid also accepted
             episode_folder = uuid if uuid.startswith("episode_") else f"episode_{uuid}"
-
+        
             yield f"Downloading {episode_folder} / {task} ...", None, None, None
             try:
                 mcap_path = download_mcap(task, episode_folder, tmp_dir)
             except Exception as e:
                 yield f"Download failed: {e}", None, None, None
                 return
-
+        
+            # discover which cameras this episode actually has
+            topics = get_mcap_camera_topics(mcap_path)
+            print(f"[{episode_folder}] found cameras: {topics}")
+        
             videos = [None, None, None]
-            topics = list(ABC_CAMERAS.keys())
-            labels = list(ABC_CAMERAS.values())
-
-            for i, (topic, label) in enumerate(zip(topics, labels)):
+            for i, topic in enumerate(topics[:3]):   # max 3 panels
+                label = TOPIC_LABELS[topic]
                 yield f"Converting {label} camera ...", *videos
                 try:
                     mp4 = convert_mcap_camera(mcap_path, topic, tmp_dir, label.replace(" ", "_").lower())
@@ -337,7 +359,7 @@ def stream_videos(dataset: str, uuid_input: str, task: str):
                     yield f"Error on {label}: {e}", *videos
                     return
                 yield f"Done: {label}", *videos
-
+        
             yield f"All cameras ready: {episode_folder}", *videos
 
     finally: