|
| 1 | +"""Demo store — write, load, and list decomposed demonstrations. |
| 2 | +
|
| 3 | +The store lives at ``demos/`` at the project root, parallel to ``datasets/``. |
| 4 | +Each demo is one JSON file named by a deterministic id: |
| 5 | +
|
| 6 | + <dataset>_ep<episode:03d>[_<density>].json |
| 7 | +
|
| 8 | +Determinism matters: re-segmenting the same episode at the same density should |
| 9 | +land on the same file so segmenter tweaks overwrite the prior version instead |
| 10 | +of piling up near-duplicates (use ``overwrite=True`` to opt in). |
| 11 | +
|
| 12 | +Provenance fields (``created_at``, ``source_sequence_path``, |
| 13 | +``segmenter_git_sha``) are added at ingest time by :func:`ingest_sequence`. |
| 14 | +
|
| 15 | +Typical flow:: |
| 16 | +
|
| 17 | + # segmenter already ran and produced datasets/sticks_v2/sequences/episode_000.json |
| 18 | + ingest_sequence(Path("datasets/sticks_v2/sequences/episode_000.json"), |
| 19 | + task="pick stick and place at target") |
| 20 | + # → writes demos/sticks_v2_ep000_medium.json |
| 21 | +
|
| 22 | + demos = list_demos() # [Demo, ...] |
| 23 | +""" |
| 24 | + |
| 25 | +from __future__ import annotations |
| 26 | + |
| 27 | +import json |
| 28 | +import subprocess |
| 29 | +from datetime import datetime, timezone |
| 30 | +from pathlib import Path |
| 31 | + |
| 32 | +from .retrieval import Demo, DemoMetadata, Primitive |
| 33 | + |
| 34 | +PROJECT_ROOT = Path(__file__).resolve().parents[2] |
| 35 | +DEFAULT_STORE_ROOT = PROJECT_ROOT / "demos" |
| 36 | + |
| 37 | + |
| 38 | +def demo_id(metadata: DemoMetadata) -> str: |
| 39 | + """Stable filename stem for a demo — deterministic from (dataset, episode, density).""" |
| 40 | + parts = [metadata.dataset, f"ep{int(metadata.episode):03d}"] |
| 41 | + if metadata.density: |
| 42 | + parts.append(metadata.density) |
| 43 | + return "_".join(parts) |
| 44 | + |
| 45 | + |
| 46 | +def demo_path(demo: Demo, root: Path = DEFAULT_STORE_ROOT) -> Path: |
| 47 | + return Path(root) / f"{demo_id(demo.metadata)}.json" |
| 48 | + |
| 49 | + |
| 50 | +def save_demo(demo: Demo, root: Path = DEFAULT_STORE_ROOT, *, overwrite: bool = False) -> Path: |
| 51 | + """Write ``demo`` to the store. Raises :class:`FileExistsError` unless ``overwrite``.""" |
| 52 | + root = Path(root) |
| 53 | + root.mkdir(parents=True, exist_ok=True) |
| 54 | + path = demo_path(demo, root) |
| 55 | + if path.exists() and not overwrite: |
| 56 | + raise FileExistsError( |
| 57 | + f"Demo already exists at {path}. Pass overwrite=True to replace." |
| 58 | + ) |
| 59 | + path.write_text(json.dumps(demo.to_dict(), indent=2)) |
| 60 | + return path |
| 61 | + |
| 62 | + |
| 63 | +def load_demo(path: Path) -> Demo: |
| 64 | + return Demo.from_dict(json.loads(Path(path).read_text())) |
| 65 | + |
| 66 | + |
| 67 | +def list_demos(root: Path = DEFAULT_STORE_ROOT) -> list[Demo]: |
| 68 | + root = Path(root) |
| 69 | + if not root.exists(): |
| 70 | + return [] |
| 71 | + return [load_demo(p) for p in sorted(root.glob("*.json"))] |
| 72 | + |
| 73 | + |
| 74 | +def _current_git_sha() -> str | None: |
| 75 | + """Best-effort short HEAD sha of the project repo; None if unavailable.""" |
| 76 | + try: |
| 77 | + out = subprocess.run( |
| 78 | + ["git", "rev-parse", "--short", "HEAD"], |
| 79 | + capture_output=True, |
| 80 | + text=True, |
| 81 | + check=True, |
| 82 | + cwd=PROJECT_ROOT, |
| 83 | + timeout=2, |
| 84 | + ) |
| 85 | + return out.stdout.strip() or None |
| 86 | + except (subprocess.CalledProcessError, FileNotFoundError, subprocess.TimeoutExpired): |
| 87 | + return None |
| 88 | + |
| 89 | + |
| 90 | +def ingest_sequence( |
| 91 | + sequence_path: Path, |
| 92 | + task: str | None = None, |
| 93 | + root: Path = DEFAULT_STORE_ROOT, |
| 94 | + *, |
| 95 | + overwrite: bool = False, |
| 96 | +) -> Path: |
| 97 | + """Wrap a segmenter-produced sequence JSON as a Demo and write it to the store. |
| 98 | +
|
| 99 | + The source JSON is expected to match the segmenter v2 output shape:: |
| 100 | +
|
| 101 | + {"task": ..., "primitives": [...], "metadata": {"dataset", "episode", ...}} |
| 102 | +
|
| 103 | + ``task`` overrides any task present in the source file. If neither is set, |
| 104 | + :class:`ValueError` is raised. |
| 105 | + """ |
| 106 | + sequence_path = Path(sequence_path) |
| 107 | + raw = json.loads(sequence_path.read_text()) |
| 108 | + |
| 109 | + effective_task = task if task is not None else raw.get("task") |
| 110 | + if not effective_task: |
| 111 | + raise ValueError( |
| 112 | + f"No task provided and none found in {sequence_path}. " |
| 113 | + f"Pass task=... to ingest_sequence()." |
| 114 | + ) |
| 115 | + |
| 116 | + src_meta = raw.get("metadata") or {} |
| 117 | + if "dataset" not in src_meta or "episode" not in src_meta: |
| 118 | + raise ValueError( |
| 119 | + f"Source sequence {sequence_path} is missing metadata.dataset or metadata.episode" |
| 120 | + ) |
| 121 | + |
| 122 | + try: |
| 123 | + src_rel = str(sequence_path.resolve().relative_to(PROJECT_ROOT)) |
| 124 | + except ValueError: |
| 125 | + src_rel = str(sequence_path.resolve()) |
| 126 | + |
| 127 | + demo_meta = DemoMetadata( |
| 128 | + dataset=src_meta["dataset"], |
| 129 | + episode=int(src_meta["episode"]), |
| 130 | + density=src_meta.get("density"), |
| 131 | + start_ee_position=src_meta.get("start_ee_position"), |
| 132 | + created_at=datetime.now(timezone.utc).isoformat(timespec="seconds"), |
| 133 | + source_sequence_path=src_rel, |
| 134 | + segmenter_git_sha=_current_git_sha(), |
| 135 | + ) |
| 136 | + primitives = [Primitive.from_dict(p) for p in raw.get("primitives", [])] |
| 137 | + demo = Demo(task=effective_task, primitives=primitives, metadata=demo_meta) |
| 138 | + return save_demo(demo, root, overwrite=overwrite) |
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