tlabel 0.1.0a1__tar.gz

tlabel-0.1.0a1/PKG-INFO

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+Metadata-Version: 2.4
+Name: tlabel
+Version: 0.1.0a1
+Summary: TouchLabel AI - Tactile Data Annotation Toolkit
+Author-email: Niuzu Tech <luoxi@touchlabelai.cn>
+License: MIT
+Project-URL: Homepage, https://github.com/liesliy/tlabel
+Keywords: tactile,annotation,robotics,GelSight,PaXini,touch
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Science/Research
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+Requires-Dist: numpy>=1.20
+Provides-Extra: gelsight
+Requires-Dist: opencv-python>=4.0; extra == "gelsight"
+Provides-Extra: paxini
+Requires-Dist: h5py>=3.0; extra == "paxini"
+Provides-Extra: daimon
+Requires-Dist: pyarrow>=10.0; extra == "daimon"
+Provides-Extra: all
+Requires-Dist: opencv-python>=4.0; extra == "all"
+Requires-Dist: h5py>=3.0; extra == "all"
+Requires-Dist: pyarrow>=10.0; extra == "all"
+Provides-Extra: dev
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: jupyter; extra == "dev"
+
+# TouchLabel AI — Tactile Data Annotation Toolkit
+
+> 触觉数据标注工具包 · pip install 一行搞定
+
+## 安装
+
+```bash
+# 基础安装
+pip install tlabel
+
+# 带GelSight/DIGIT支持
+pip install tlabel[gelsight]
+
+# 带帕西尼支持
+pip install tlabel[paxini]
+
+# 带戴盟支持
+pip install tlabel[daimon]
+
+# 全部传感器
+pip install tlabel[all]
+```
+
+## 5分钟上手
+
+```python
+import tlabel
+
+# 加载数据 — 自动识别格式
+data = tlabel.load("gelsight_force.pkl")     # GelSight/DIGIT
+data = tlabel.load("paxini_episode.h5")      # 帕西尼
+data = tlabel.load("daimon_data/")           # 戴盟（目录或.parquet）
+
+# 弹出彩色标注面板（Jupyter）
+data.review()
+
+# 英文界面
+data.review(lang="en")
+
+# 导出
+data.export("output.json")    # TLabel Format v2 JSON
+data.export("output.csv")     # CSV平面表
+```
+
+## 支持的传感器
+
+| 传感器 | 格式 | 状态 |
+|--------|------|------|
+| GelSight Mini | .pkl | ✅ 第一期 |
+| DIGIT | .pkl | ✅ 第一期 |
+| PaXini PXCap | .h5/.hdf5 | ✅ 第一期 |
+| Daimon DM-TacClaw | .parquet / 目录 | ✅ 支持 |
+
+## 交互面板功能
+
+- 🎨 **彩色时间轴**：绿=接触、红=滑移、灰=无接触
+- 🕸 **18维雷达图**：TLabel Format v2全部维度可视化
+- ✏️ **批量修正**：选中帧区间，一键修改接触/滑移/力度
+- 🔗 **联动规则**：接触=0时自动清除力度和滑移
+- 🌐 **中英文切换**：右上角一键切换
+- 📤 **导出**：JSON / CSV
+
+## TLabel Format v2 (18维)
+
+```
+# v1 (11维)
+contact · deformation_magnitude · force_magnitude · force_peak
+force_direction · slip_entropy · slip_event · texture_energy
+edge_density · contact_area · centroid_x
+
+# v2新增 (7维)
+normal_field_magnitude · normal_field_variance
+shear_field_magnitude · shear_field_direction
+delta_force_normal · delta_force_shear · friction_cone_ratio
+```
+
+## License
+
+MIT © 牛宿科技

tlabel-0.1.0a1/README.md

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+# TouchLabel AI — Tactile Data Annotation Toolkit
+
+> 触觉数据标注工具包 · pip install 一行搞定
+
+## 安装
+
+```bash
+# 基础安装
+pip install tlabel
+
+# 带GelSight/DIGIT支持
+pip install tlabel[gelsight]
+
+# 带帕西尼支持
+pip install tlabel[paxini]
+
+# 带戴盟支持
+pip install tlabel[daimon]
+
+# 全部传感器
+pip install tlabel[all]
+```
+
+## 5分钟上手
+
+```python
+import tlabel
+
+# 加载数据 — 自动识别格式
+data = tlabel.load("gelsight_force.pkl")     # GelSight/DIGIT
+data = tlabel.load("paxini_episode.h5")      # 帕西尼
+data = tlabel.load("daimon_data/")           # 戴盟（目录或.parquet）
+
+# 弹出彩色标注面板（Jupyter）
+data.review()
+
+# 英文界面
+data.review(lang="en")
+
+# 导出
+data.export("output.json")    # TLabel Format v2 JSON
+data.export("output.csv")     # CSV平面表
+```
+
+## 支持的传感器
+
+| 传感器 | 格式 | 状态 |
+|--------|------|------|
+| GelSight Mini | .pkl | ✅ 第一期 |
+| DIGIT | .pkl | ✅ 第一期 |
+| PaXini PXCap | .h5/.hdf5 | ✅ 第一期 |
+| Daimon DM-TacClaw | .parquet / 目录 | ✅ 支持 |
+
+## 交互面板功能
+
+- 🎨 **彩色时间轴**：绿=接触、红=滑移、灰=无接触
+- 🕸 **18维雷达图**：TLabel Format v2全部维度可视化
+- ✏️ **批量修正**：选中帧区间，一键修改接触/滑移/力度
+- 🔗 **联动规则**：接触=0时自动清除力度和滑移
+- 🌐 **中英文切换**：右上角一键切换
+- 📤 **导出**：JSON / CSV
+
+## TLabel Format v2 (18维)
+
+```
+# v1 (11维)
+contact · deformation_magnitude · force_magnitude · force_peak
+force_direction · slip_entropy · slip_event · texture_energy
+edge_density · contact_area · centroid_x
+
+# v2新增 (7维)
+normal_field_magnitude · normal_field_variance
+shear_field_magnitude · shear_field_direction
+delta_force_normal · delta_force_shear · friction_cone_ratio
+```
+
+## License
+
+MIT © 牛宿科技

tlabel-0.1.0a1/pyproject.toml

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+[build-system]
+requires = ["setuptools>=64", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "tlabel"
+version = "0.1.0a1"
+description = "TouchLabel AI - Tactile Data Annotation Toolkit"
+readme = "README.md"
+requires-python = ">=3.8"
+license = {text = "MIT"}
+authors = [
+    {name = "Niuzu Tech", email = "luoxi@touchlabelai.cn"},
+]
+keywords = ["tactile", "annotation", "robotics", "GelSight", "PaXini", "touch"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Science/Research",
+    "Topic :: Scientific/Engineering :: Artificial Intelligence",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.8",
+    "Programming Language :: Python :: 3.9",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+]
+
+dependencies = [
+    "numpy>=1.20",
+]
+
+[project.optional-dependencies]
+gelsight = ["opencv-python>=4.0"]
+paxini = ["h5py>=3.0"]
+daimon = ["pyarrow>=10.0"]
+all = ["opencv-python>=4.0", "h5py>=3.0", "pyarrow>=10.0"]
+dev = ["pytest", "jupyter"]
+
+[project.urls]
+Homepage = "https://github.com/liesliy/tlabel"
+
+[tool.setuptools.packages.find]
+include = ["tlabel*"]

tlabel-0.1.0a1/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

tlabel-0.1.0a1/tests/test_tlabel.py

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+"""TouchLabel pip包单元测试"""
+import json
+import tempfile
+import os
+import pytest
+
+
+class TestImport:
+    def test_import_tlabel(self):
+        import tlabel
+        assert hasattr(tlabel, "load")
+        assert hasattr(tlabel, "__version__")
+
+    def test_import_adapters(self):
+        from tlabel.adapters.gelsight import GelSightAdapter
+        from tlabel.adapters.paxini import PaxiniAdapter
+        from tlabel.adapters.daimon import DaimonAdapter
+
+    def test_import_types(self):
+        from tlabel.core.types import TLabelData, TLabelFrame
+
+
+class TestRegistry:
+    def test_pkl_detection(self):
+        from tlabel.core.registry import auto_detect_format
+        with tempfile.NamedTemporaryFile(suffix=".pkl", delete=False) as f:
+            f.write(b"test")
+            path = f.name
+        try:
+            assert auto_detect_format(path) == "gelsight"
+        finally:
+            os.unlink(path)
+
+    def test_h5_detection(self):
+        from tlabel.core.registry import auto_detect_format
+        with tempfile.NamedTemporaryFile(suffix=".h5", delete=False) as f:
+            f.write(b"test")
+            path = f.name
+        try:
+            assert auto_detect_format(path) == "paxini"
+        finally:
+            os.unlink(path)
+
+    def test_hdf5_detection(self):
+        from tlabel.core.registry import auto_detect_format
+        with tempfile.NamedTemporaryFile(suffix=".hdf5", delete=False) as f:
+            f.write(b"test")
+            path = f.name
+        try:
+            assert auto_detect_format(path) == "paxini"
+        finally:
+            os.unlink(path)
+
+    def test_parquet_detection(self):
+        from tlabel.core.registry import auto_detect_format
+        with tempfile.NamedTemporaryFile(suffix=".parquet", delete=False) as f:
+            f.write(b"test")
+            path = f.name
+        try:
+            assert auto_detect_format(path) == "daimon"
+        finally:
+            os.unlink(path)
+
+    def test_daimon_dir_detection(self):
+        from tlabel.core.registry import auto_detect_format
+        info = {"robot_type": "ugripper_right", "fps": 30, "total_episodes": 1}
+        with tempfile.TemporaryDirectory() as td:
+            meta_dir = os.path.join(td, "meta")
+            os.makedirs(meta_dir)
+            with open(os.path.join(meta_dir, "info.json"), "w") as f:
+                json.dump(info, f)
+            assert auto_detect_format(td) == "daimon"
+
+    def test_unknown_format(self):
+        from tlabel.core.registry import auto_detect_format
+        with tempfile.NamedTemporaryFile(suffix=".xyz", delete=False) as f:
+            f.write(b"test")
+            path = f.name
+        try:
+            assert auto_detect_format(path) is None
+        finally:
+            os.unlink(path)
+
+
+class TestTLabelFrame:
+    def _make_frame(self, **overrides):
+        from tlabel.core.types import TLabelFrame
+        defaults = {
+            "frame_idx": 0,
+            "timestamp_s": 0.0,
+            "tlabel_v2": {
+                "contact": 1.0,
+                "force_magnitude": 0.8,
+                "force_peak": 0.6,
+                "slip_event": 0.3,
+                "contact_area": 0.5,
+                "deformation_magnitude": 0.4,
+                "force_direction": 0.2,
+                "slip_entropy": 0.1,
+                "texture_energy": 0.0,
+                "edge_density": 0.0,
+                "centroid_x": 0.5,
+                "normal_field_magnitude": 0.3,
+                "normal_field_variance": 0.2,
+                "shear_field_magnitude": 0.0,
+                "shear_field_direction": 0.0,
+                "delta_force_normal": 0.1,
+                "delta_force_shear": 0.05,
+                "friction_cone_ratio": 0.7,
+            },
+            "manipulation_phase": "stable_contact",
+            "confidence": 0.9,
+        }
+        defaults.update(overrides)
+        return TLabelFrame(**defaults)
+
+    def test_properties(self):
+        f = self._make_frame()
+        assert f.contact == 1.0
+        assert f.slip_event == 0.3
+        assert f.force_magnitude == 0.8
+
+    def test_patch_basic(self):
+        f = self._make_frame()
+        rec = f.patch("contact", 0.0, cascade=False)
+        assert f.tlabel_v2["contact"] == 0.0
+        assert rec["old_value"] == 1.0
+        assert rec["new_value"] == 0.0
+
+    def test_patch_cascade_contact_to_zero(self):
+        f = self._make_frame()
+        f.patch("contact", 0.0, cascade=True)
+        assert f.tlabel_v2["force_magnitude"] == 0.0
+        assert f.tlabel_v2["slip_event"] == 0.0
+        assert f.tlabel_v2["contact_area"] == 0.0
+        assert f.manipulation_phase == "idle"
+
+    def test_patch_no_cascade_when_not_zero(self):
+        f = self._make_frame()
+        f.patch("contact", 0.5, cascade=True)
+        # force should NOT be zeroed when contact != 0
+        assert f.tlabel_v2["force_magnitude"] == 0.8
+
+    def test_is_modified(self):
+        f = self._make_frame()
+        assert not f.is_modified
+        f.patch("contact", 0.0)
+        assert f.is_modified
+
+    def test_to_dict(self):
+        f = self._make_frame()
+        d = f.to_dict()
+        assert "frame_idx" in d
+        assert "tlabel_v2" in d
+        assert "manipulation_phase" in d
+
+
+class TestTLabelData:
+    def _make_data(self, n_frames=10):
+        from tlabel.core.types import TLabelData, TLabelFrame
+        frames = []
+        for i in range(n_frames):
+            f = TLabelFrame(
+                frame_idx=i,
+                timestamp_s=i / 30.0,
+                tlabel_v2={"contact": 1.0 if i % 3 == 0 else 0.0,
+                           "force_magnitude": 0.5 if i % 3 == 0 else 0.0,
+                           "slip_event": 0.0, "force_peak": 0.0,
+                           "deformation_magnitude": 0.0, "force_direction": 0.0,
+                           "slip_entropy": 0.0, "texture_energy": 0.0,
+                           "edge_density": 0.0, "contact_area": 0.0,
+                           "centroid_x": 0.5, "normal_field_magnitude": 0.0,
+                           "normal_field_variance": 0.0,
+                           "shear_field_magnitude": 0.0,
+                           "shear_field_direction": 0.0,
+                           "delta_force_normal": 0.0, "delta_force_shear": 0.0,
+                           "friction_cone_ratio": 0.0},
+                manipulation_phase="idle",
+                confidence=0.9,
+            )
+            frames.append(f)
+        return TLabelData(
+            frames=frames,
+            sensor_info={"type": "test"},
+            episode_info={"source": "test"},
+            capabilities={"contact": True},
+        )
+
+    def test_num_frames(self):
+        data = self._make_data(10)
+        assert data.num_frames == 10
+
+    def test_duration(self):
+        data = self._make_data(10)
+        assert data.duration_s > 0
+
+    def test_batch_patch(self):
+        data = self._make_data(10)
+        n = data.batch_patch(0, 9, "contact", 0.0)
+        assert n > 0
+
+    def test_to_dict(self):
+        data = self._make_data(5)
+        d = data.to_dict()
+        assert d["schema_version"] == "0.3.0"
+        assert "frames" in d
+        assert len(d["frames"]) == 5
+
+    def test_empty_data(self):
+        from tlabel.core.types import TLabelData
+        data = TLabelData(
+            frames=[], sensor_info={}, episode_info={}, capabilities={}
+        )
+        assert data.num_frames == 0
+        assert data.duration_s == 0.0
+        assert data.modified_count == 0
+
+    def test_len(self):
+        data = self._make_data(10)
+        assert len(data) == 10
+
+
+class TestLoaderErrors:
+    def test_file_not_found(self):
+        import tlabel
+        with pytest.raises(FileNotFoundError):
+            tlabel.load("/nonexistent/path/data.pkl")
+
+    def test_unknown_format(self):
+        import tlabel
+        with tempfile.NamedTemporaryFile(suffix=".xyz", delete=False) as f:
+            f.write(b"test")
+            path = f.name
+        try:
+            with pytest.raises(ValueError, match="无法识别"):
+                tlabel.load(path)
+        finally:
+            os.unlink(path)
+
+
+class TestExport:
+    def test_json_export(self):
+        from tlabel.core.types import TLabelData, TLabelFrame
+        from tlabel.export.writer import export_data
+        frames = [TLabelFrame(
+            frame_idx=0, timestamp_s=0.0,
+            tlabel_v2={"contact": 1.0, "force_magnitude": 0.5,
+                       "slip_event": 0.0, "force_peak": 0.0,
+                       "deformation_magnitude": 0.0, "force_direction": 0.0,
+                       "slip_entropy": 0.0, "texture_energy": 0.0,
+                       "edge_density": 0.0, "contact_area": 0.0,
+                       "centroid_x": 0.5, "normal_field_magnitude": 0.0,
+                       "normal_field_variance": 0.0,
+                       "shear_field_magnitude": 0.0,
+                       "shear_field_direction": 0.0,
+                       "delta_force_normal": 0.0, "delta_force_shear": 0.0,
+                       "friction_cone_ratio": 0.0},
+            manipulation_phase="idle", confidence=0.9,
+        )]
+        data = TLabelData(
+            frames=frames, sensor_info={"type": "test"},
+            episode_info={"source": "test"}, capabilities={"contact": True},
+        )
+        with tempfile.TemporaryDirectory() as td:
+            path = export_data(data, os.path.join(td, "out"), format="json")
+            assert os.path.exists(path)
+            with open(path) as f:
+                d = json.load(f)
+            assert d["frames"][0]["tlabel_v2"]["contact"] == 1.0
+
+    def test_csv_export(self):
+        from tlabel.core.types import TLabelData, TLabelFrame
+        from tlabel.export.writer import export_data
+        frames = [TLabelFrame(
+            frame_idx=0, timestamp_s=0.0,
+            tlabel_v2={"contact": 1.0, "force_magnitude": 0.5,
+                       "slip_event": 0.0, "force_peak": 0.0,
+                       "deformation_magnitude": 0.0, "force_direction": 0.0,
+                       "slip_entropy": 0.0, "texture_energy": 0.0,
+                       "edge_density": 0.0, "contact_area": 0.0,
+                       "centroid_x": 0.5, "normal_field_magnitude": 0.0,
+                       "normal_field_variance": 0.0,
+                       "shear_field_magnitude": 0.0,
+                       "shear_field_direction": 0.0,
+                       "delta_force_normal": 0.0, "delta_force_shear": 0.0,
+                       "friction_cone_ratio": 0.0},
+            manipulation_phase="idle", confidence=0.9,
+        )]
+        data = TLabelData(
+            frames=frames, sensor_info={"type": "test"},
+            episode_info={"source": "test"}, capabilities={"contact": True},
+        )
+        with tempfile.TemporaryDirectory() as td:
+            path = export_data(data, os.path.join(td, "out"), format="csv")
+            assert os.path.exists(path)
+            with open(path) as f:
+                lines = f.readlines()
+            assert len(lines) == 2  # header + 1 data row
+            assert "contact" in lines[0]

tlabel-0.1.0a1/tlabel/__init__.py

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+"""TouchLabel AI - Tactile Data Annotation Toolkit"""
+
+__version__ = "0.1.0a1"
+
+from tlabel.core.loader import load
+from tlabel.core.types import TLabelData
+
+__all__ = ["load", "TLabelData"]

tlabel-0.1.0a1/tlabel/_version.py

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+__version__ = "0.1.0a1"

tlabel-0.1.0a1/tlabel/adapters/__init__.py

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+"""适配器包"""
+
+from tlabel.adapters.base import BaseAdapter
+
+__all__ = ["BaseAdapter"]

tlabel-0.1.0a1/tlabel/adapters/base.py

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+"""
+适配器抽象基类 — 所有传感器适配器的统一接口
+
+适配器的职责：在load阶段消化格式差异，输出统一的TLabelData。
+review阶段全是TLabel格式，交互完全统一。
+"""
+
+from abc import ABC, abstractmethod
+from typing import Optional, Dict, Any
+
+from tlabel.core.types import TLabelData, TLabelFrame
+
+
+class BaseAdapter(ABC):
+    """传感器适配器基类"""
+
+    @property
+    @abstractmethod
+    def name(self) -> str:
+        """适配器名称"""
+        pass
+
+    @property
+    @abstractmethod
+    def supported_extensions(self) -> list:
+        """支持的文件扩展名"""
+        pass
+
+    @abstractmethod
+    def load(self, file_path: str,
+             trajectory_id: Optional[int] = None,
+             **kwargs) -> TLabelData:
+        """
+        加载数据文件，转换为TLabelData
+        
+        参数:
+            file_path: 数据文件路径
+            trajectory_id: 轨迹ID（可选）
+            **kwargs: 适配器特有参数
+        
+        返回:
+            TLabelData — 统一标注容器
+        """
+        pass
+
+    @abstractmethod
+    def get_capabilities(self) -> Dict[str, bool]:
+        """返回该传感器的18维能力声明"""
+        pass
+
+    @abstractmethod
+    def get_sensor_info(self) -> Dict[str, Any]:
+        """返回传感器元信息"""
+        pass