Tub improvements:
* Fixed manifest iterator to avoid too deep recursive function calls which segfaults when deleting many records * Automatic addition of '_session_id' field in the Tub. This mimics the naming convention we used to have for old-style tubs before: YY-MM-DD_N, where N is a running integer. All session ids of a tub are stored in the manifest.json file. The tub needs to receive records and needs to get closed for this entry to be updated. * Added test for the new tub and tub writer logic Tub GUI development: * Support starting from 'donkey ui' command * All relevant settings are stored in ~/.donkeyrc file which is editable Training improvements: * You can now put a predicate for tub records into the myconfig.py to filter records for training. The config variable TRAIN_FILTER has to be set to that function. * Improve training performance by using tf prefetch * Default AI framework to 'tensorflow' in training Others: * Update docs * Update patch version number to 4.2.0 * Reduced run time of test_train using only 5 epochs and adjusting thresholds accordingly * Reduced run time of torch tests using 3 epochs - these were very slow (like 25+ m on MacBook) * Minor updates in docstrings and switching to f-strings * Fixed duplicated function in keras.py
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