Fix unit tests

lerobot/common/datasets/aggregate.py

@@ -187,6 +187,7 @@ def aggregate_datasets(repo_ids: list[str], aggr_repo_id: str, roots: list[Path]
         for chunk_idx, file_idx in data_chunk_file_ids:
             path = meta.root / DEFAULT_DATA_PATH.format(chunk_index=chunk_idx, file_index=file_idx)
             df = pd.read_parquet(path)
+            # TODO(rcadene): update frame index
             update_data_func = get_update_episode_and_task_func(num_episodes, meta.tasks, aggr_meta.tasks)
             df = df.apply(update_data_func, axis=1)
 

lerobot/common/datasets/v30/convert_dataset_v21_to_v30.py

@@ -197,16 +197,15 @@ def convert_data(root, new_root):
 def get_video_keys(root):
     info = load_info(root)
     features = info["features"]
-    image_keys = [key for key, ft in features.items() if ft["dtype"] == "image"]
-    if len(image_keys) != 0:
-        raise NotImplementedError()
-
     video_keys = [key for key, ft in features.items() if ft["dtype"] == "video"]
     return video_keys
 
 
 def convert_videos(root: Path, new_root: Path):
     video_keys = get_video_keys(root)
+    if len(video_keys) == 0:
+        return None
+
     video_keys = sorted(video_keys)
 
     eps_metadata_per_cam = []
@@ -284,24 +283,32 @@ def convert_videos_of_camera(root: Path, new_root: Path, video_key):
 
 
 def generate_episode_metadata_dict(
-    episodes_legacy_metadata, episodes_metadata, episodes_videos, episodes_stats
+    episodes_legacy_metadata, episodes_metadata, episodes_stats, episodes_videos=None
 ):
-    for ep_legacy_metadata, ep_metadata, ep_video, ep_stats, ep_idx_stats in zip(
+    num_episodes = len(episodes_metadata)
-        episodes_legacy_metadata.values(),
+    episodes_legacy_metadata_vals = list(episodes_legacy_metadata.values())
-        episodes_metadata,
+    episodes_stats_vals = list(episodes_stats.values())
-        episodes_videos,
+    episodes_stats_keys = list(episodes_stats.keys())
-        episodes_stats.values(),
-        episodes_stats.keys(),
-        strict=False,
-    ):
-        ep_idx = ep_legacy_metadata["episode_index"]
-        ep_idx_data = ep_metadata["episode_index"]
-        ep_idx_video = ep_video["episode_index"]
 
-        if len({ep_idx, ep_idx_data, ep_idx_video, ep_idx_stats}) != 1:
+    for i in range(num_episodes):
-            raise ValueError(
+        ep_legacy_metadata = episodes_legacy_metadata_vals[i]
-                f"Number of episodes is not the same ({ep_idx=},{ep_idx_data=},{ep_idx_video=},{ep_idx_stats=})."
+        ep_metadata = episodes_metadata[i]
-            )
+        ep_stats = episodes_stats_vals[i]
+
+        ep_ids_set = {
+            ep_legacy_metadata["episode_index"],
+            ep_metadata["episode_index"],
+            episodes_stats_keys[i],
+        }
+
+        if episodes_videos is None:
+            ep_video = {}
+        else:
+            ep_video = episodes_videos[i]
+            ep_ids_set.add(ep_video["episode_index"])
+
+        if len(ep_ids_set) != 1:
+            raise ValueError(f"Number of episodes is not the same ({ep_ids_set}).")
 
         ep_dict = {**ep_metadata, **ep_video, **ep_legacy_metadata, **flatten_dict({"stats": ep_stats})}
         ep_dict["meta/episodes/chunk_index"] = 0
@@ -309,21 +316,20 @@ def generate_episode_metadata_dict(
         yield ep_dict
 
 
-def convert_episodes_metadata(root, new_root, episodes_metadata, episodes_video_metadata):
+def convert_episodes_metadata(root, new_root, episodes_metadata, episodes_video_metadata=None):
     episodes_legacy_metadata = legacy_load_episodes(root)
     episodes_stats = legacy_load_episodes_stats(root)
 
-    num_eps = len(episodes_legacy_metadata)
+    num_eps_set = {len(episodes_legacy_metadata), len(episodes_metadata)}
-    num_eps_metadata = len(episodes_metadata)
+    if episodes_video_metadata is not None:
-    num_eps_video_metadata = len(episodes_video_metadata)
+        num_eps_set.add(len(episodes_video_metadata))
-    if len({num_eps, num_eps_metadata, num_eps_video_metadata}) != 1:
+
-        raise ValueError(
+    if len(num_eps_set) != 1:
-            f"Number of episodes is not the same ({num_eps=},{num_eps_metadata=},{num_eps_video_metadata=})."
+        raise ValueError(f"Number of episodes is not the same ({num_eps_set}).")
-        )
 
     ds_episodes = Dataset.from_generator(
         lambda: generate_episode_metadata_dict(
-            episodes_legacy_metadata, episodes_metadata, episodes_video_metadata, episodes_stats
+            episodes_legacy_metadata, episodes_metadata, episodes_stats, episodes_video_metadata
         )
     )
     write_episodes(ds_episodes, new_root)

tests/datasets/test_datasets.py

@@ -13,10 +13,8 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-import json
 import logging
 import re
-from copy import deepcopy
 from itertools import chain
 from pathlib import Path
 
@@ -36,8 +34,6 @@ from lerobot.common.datasets.lerobot_dataset import (
 )
 from lerobot.common.datasets.utils import (
     create_branch,
-    flatten_dict,
-    unflatten_dict,
 )
 from lerobot.common.envs.factory import make_env_config
 from lerobot.common.policies.factory import make_policy_config
@@ -100,6 +96,25 @@ def test_dataset_initialization(tmp_path, lerobot_dataset_factory):
     assert dataset.num_frames == len(dataset)
 
 
+# TODO(rcadene, aliberts): do not run LeRobotDataset.create, instead refactor LeRobotDatasetMetadata.create
+# and test the small resulting function that validates the features
+def test_dataset_feature_with_forward_slash_raises_error():
+    # make sure dir does not exist
+    from lerobot.common.constants import HF_LEROBOT_HOME
+
+    dataset_dir = HF_LEROBOT_HOME / "lerobot/test/with/slash"
+    # make sure does not exist
+    if dataset_dir.exists():
+        dataset_dir.rmdir()
+
+    with pytest.raises(ValueError):
+        LeRobotDataset.create(
+            repo_id="lerobot/test/with/slash",
+            fps=30,
+            features={"a/b": {"dtype": "float32", "shape": 2, "names": None}},
+        )
+
+
 def test_add_frame_missing_task(tmp_path, empty_lerobot_dataset_factory):
     features = {"state": {"dtype": "float32", "shape": (1,), "names": None}}
     dataset = empty_lerobot_dataset_factory(root=tmp_path / "test", features=features)
@@ -329,6 +344,13 @@ def test_image_array_to_pil_image_wrong_range_float_0_255():
 # - [ ] test push_to_hub
 # - [ ] test smaller methods
 
+# TODO(rcadene):
+# - [ ] fix code so that old test_factory + backward pass
+# - [ ] write new unit tests to test save_episode + getitem
+#   - [ ] save_episode : case where new dataset, concatenate same file, write new file (meta/episodes, data, videos)
+#   - [ ]
+# - [ ] remove old tests
+
 
 @pytest.mark.parametrize(
     "env_name, repo_id, policy_name",
@@ -436,30 +458,6 @@ def test_multidataset_frames():
             assert torch.equal(sub_dataset_item[k], dataset_item[k])
 
 
-# TODO(aliberts): Move to more appropriate location
-def test_flatten_unflatten_dict():
-    d = {
-        "obs": {
-            "min": 0,
-            "max": 1,
-            "mean": 2,
-            "std": 3,
-        },
-        "action": {
-            "min": 4,
-            "max": 5,
-            "mean": 6,
-            "std": 7,
-        },
-    }
-
-    original_d = deepcopy(d)
-    d = unflatten_dict(flatten_dict(d))
-
-    # test equality between nested dicts
-    assert json.dumps(original_d, sort_keys=True) == json.dumps(d, sort_keys=True), f"{original_d} != {d}"
-
-
 @pytest.mark.parametrize(
     "repo_id",
     [
@@ -569,20 +567,3 @@ def test_create_branch():
 
     # Clean
     api.delete_repo(repo_id, repo_type=repo_type)
-
-
-def test_dataset_feature_with_forward_slash_raises_error():
-    # make sure dir does not exist
-    from lerobot.common.constants import HF_LEROBOT_HOME
-
-    dataset_dir = HF_LEROBOT_HOME / "lerobot/test/with/slash"
-    # make sure does not exist
-    if dataset_dir.exists():
-        dataset_dir.rmdir()
-
-    with pytest.raises(ValueError):
-        LeRobotDataset.create(
-            repo_id="lerobot/test/with/slash",
-            fps=30,
-            features={"a/b": {"dtype": "float32", "shape": 2, "names": None}},
-        )

tests/datasets/test_utils.py

@@ -14,12 +14,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import json
+from copy import deepcopy
+
 import torch
 from datasets import Dataset
 from huggingface_hub import DatasetCard
 
 from lerobot.common.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
-from lerobot.common.datasets.utils import create_lerobot_dataset_card, hf_transform_to_torch
+from lerobot.common.datasets.utils import (
+    create_lerobot_dataset_card,
+    flatten_dict,
+    hf_transform_to_torch,
+    unflatten_dict,
+)
 
 
 def test_default_parameters():
@@ -53,3 +61,26 @@ def test_calculate_episode_data_index():
     episode_data_index = calculate_episode_data_index(dataset)
     assert torch.equal(episode_data_index["from"], torch.tensor([0, 2, 3]))
     assert torch.equal(episode_data_index["to"], torch.tensor([2, 3, 6]))
+
+
+def test_flatten_unflatten_dict():
+    d = {
+        "obs": {
+            "min": 0,
+            "max": 1,
+            "mean": 2,
+            "std": 3,
+        },
+        "action": {
+            "min": 4,
+            "max": 5,
+            "mean": 6,
+            "std": 7,
+        },
+    }
+
+    original_d = deepcopy(d)
+    d = unflatten_dict(flatten_dict(d))
+
+    # test equality between nested dicts
+    assert json.dumps(original_d, sort_keys=True) == json.dumps(d, sort_keys=True), f"{original_d} != {d}"

tests/policies/test_policies.py

@@ -141,6 +141,7 @@ def test_policy(ds_repo_id, env_name, env_kwargs, policy_name, policy_kwargs):
     Note: We test various combinations of policy and dataset. The combinations are by no means exhaustive,
           and for now we add tests as we see fit.
     """
+    policy_kwargs["device"] = DEVICE
 
     train_cfg = TrainPipelineConfig(
         # TODO(rcadene, aliberts): remove dataset download