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Minor changes for 4.1 in tub conversion script and developer doc #708

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Dec 23, 2020
Merged

Minor changes for 4.1 in tub conversion script and developer doc #708

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b69de2d
Minor changes for 4.1
DocGarbanzo Dec 22, 2020
5465d41
* Update doc with donkey train command.
DocGarbanzo Dec 22, 2020
35d6ac8
Incorporate PR feedback
DocGarbanzo Dec 23, 2020
3b4e42a
Incorporate PR feedback
DocGarbanzo Dec 23, 2020
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9 changes: 7 additions & 2 deletions docs/dev_guide/model.md
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@@ -1,9 +1,14 @@
# How to build your own model

---
**Note:** _This requires version >= 4.1.X_

---

* [Overview](model.md#overview)
* [Constructor](model.md#constructor)
* [Training Interface](model.md#training interface)
* [Parts Interface](model.md#parts interface)
* [Training Interface](model.md#training-interface)
* [Parts Interface](model.md#parts-interface)
* [Example](model.md#example)

## Overview
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25 changes: 20 additions & 5 deletions scripts/convert_to_tub_v2.py
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Expand Up @@ -22,29 +22,44 @@


def convert_to_tub_v2(paths, output_path):
if type(paths) is str:
paths = [paths]
legacy_tubs = [LegacyTub(path) for path in paths]
output_tub = None
print('Total number of tubs: %s' % (len(legacy_tubs)))
print(f'Total number of tubs: {len(legacy_tubs)}')

for legacy_tub in legacy_tubs:
if not output_tub:
output_tub = Tub(output_path, legacy_tub.inputs, legacy_tub.types, list(legacy_tub.meta.items()))
output_tub = Tub(output_path, legacy_tub.inputs,
legacy_tub.types, list(legacy_tub.meta.items()))

record_paths = legacy_tub.gather_records()
bar = IncrementalBar('Converting', max=len(record_paths))

prev_rec_num = None
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Nit: Call this previous_index.

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Ok.

for record_path in record_paths:
try:
contents = Path(record_path).read_text()
record = json.loads(contents)
image_path = record['cam/image_array']
rec_num = int(image_path.split('_')[0])
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image_path = os.path.join(legacy_tub.path, image_path)
image_data = Image.open(image_path)
record['cam/image_array'] = image_data
output_tub.write_record(record)
# first record or they are continuous, just append
if not prev_rec_num or rec_num == prev_rec_num + 1:
output_tub.write_record(record)
prev_rec_num = rec_num
# otherwise fill the gap with dummy records
else:
prev_rec_num += 1
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while prev_rec_num < rec_num:
idx = output_tub.manifest.current_index
output_tub.write_record({})
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Define a dict EMPTY which looks something like:

{'__empty__': true}

Write that for every deleted record. That way the intention here is very clear when reading though the file.

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@DocGarbanzo DocGarbanzo Dec 23, 2020 •
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Good point. I first thought we might want to support such field in the tub itself, but not sure... I 've updated the script to handle this.

output_tub.delete_record(idx)
prev_rec_num += 1
bar.next()
except Exception as exception:
print('Ignoring record path %s\n' % (record_path), exception)
print(f'Ignoring record path {record_path}\n', exception)
traceback.print_exc()


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