From 89eaab140b4ae74d6367e4ee3b8d964bc2df19f6 Mon Sep 17 00:00:00 2001
From: Simon Alibert <alibert.sim@gmail.com>
Date: Fri, 8 Mar 2024 15:54:30 +0100
Subject: [PATCH 01/10] Add pusht test artifact

---
 .gitattributes                           |   1 +
 .github/workflows/test.yml               |   1 +
 .gitignore                               |   1 +
 lerobot/common/datasets/pusht.py         |   5 +++++
 tests/data/action.memmap                 |   3 +++
 tests/data/episode.memmap                |   3 +++
 tests/data/frame_id.memmap               |   3 +++
 tests/data/meta.json                     |   1 +
 tests/data/next/done.memmap              |   3 +++
 tests/data/next/meta.json                |   1 +
 tests/data/next/observation/image.memmap |   3 +++
 tests/data/next/observation/meta.json    |   1 +
 tests/data/next/observation/state.memmap |   3 +++
 tests/data/next/reward.memmap            |   3 +++
 tests/data/next/success.memmap           |   3 +++
 tests/data/observation/image.memmap      |   3 +++
 tests/data/observation/meta.json         |   1 +
 tests/data/observation/state.memmap      |   3 +++
 tests/data/stats.pth                     | Bin 0 -> 4498 bytes
 19 files changed, 42 insertions(+)
 create mode 100644 .gitattributes
 create mode 100644 tests/data/action.memmap
 create mode 100644 tests/data/episode.memmap
 create mode 100644 tests/data/frame_id.memmap
 create mode 100644 tests/data/meta.json
 create mode 100644 tests/data/next/done.memmap
 create mode 100644 tests/data/next/meta.json
 create mode 100644 tests/data/next/observation/image.memmap
 create mode 100644 tests/data/next/observation/meta.json
 create mode 100644 tests/data/next/observation/state.memmap
 create mode 100644 tests/data/next/reward.memmap
 create mode 100644 tests/data/next/success.memmap
 create mode 100644 tests/data/observation/image.memmap
 create mode 100644 tests/data/observation/meta.json
 create mode 100644 tests/data/observation/state.memmap
 create mode 100644 tests/data/stats.pth

diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 00000000..df7d2d5b
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1 @@
+*.memmap filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index e5e73f1f..f99c964b 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -17,6 +17,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       POETRY_VERSION: 1.8.1
+      DATA_DIR: tests/data
     steps:
       #----------------------------------------------
       #       check-out repo and set-up python
diff --git a/.gitignore b/.gitignore
index ff3ad574..e2d4c0ec 100644
--- a/.gitignore
+++ b/.gitignore
@@ -54,6 +54,7 @@ pip-log.txt
 pip-delete-this-directory.txt
 
 # Unit test / coverage reports
+!tests/data
 htmlcov/
 .tox/
 .nox/
diff --git a/lerobot/common/datasets/pusht.py b/lerobot/common/datasets/pusht.py
index 5d2f5e38..33355c70 100644
--- a/lerobot/common/datasets/pusht.py
+++ b/lerobot/common/datasets/pusht.py
@@ -125,6 +125,9 @@ class PushtExperienceReplay(AbstractExperienceReplay):
         episode_ids = torch.from_numpy(dataset_dict.get_episode_idxs())
         num_episodes = dataset_dict.meta["episode_ends"].shape[0]
         total_frames = dataset_dict["action"].shape[0]
+        # to create test artifact
+        # num_episodes = 1
+        # total_frames = 50
         assert len(
             {dataset_dict[key].shape[0] for key in dataset_dict.keys()}  # noqa: SIM118
         ), "Some data type dont have the same number of total frames."
@@ -142,6 +145,8 @@ class PushtExperienceReplay(AbstractExperienceReplay):
         idxtd = 0
         for episode_id in tqdm.tqdm(range(num_episodes)):
             idx1 = dataset_dict.meta["episode_ends"][episode_id]
+            # to create test artifact
+            # idx1 = 51
 
             num_frames = idx1 - idx0
 
diff --git a/tests/data/action.memmap b/tests/data/action.memmap
new file mode 100644
index 00000000..f4127fb1
--- /dev/null
+++ b/tests/data/action.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba17d8e5c30151ea5f7f6fc31f19e12a68ce2113774b74c8aca0c7ef962a75f4
+size 400
diff --git a/tests/data/episode.memmap b/tests/data/episode.memmap
new file mode 100644
index 00000000..af9fb07f
--- /dev/null
+++ b/tests/data/episode.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a12e561363385e9dfeeab326368731c030ed4b374e7f5897ac819159d2884c5
+size 400
diff --git a/tests/data/frame_id.memmap b/tests/data/frame_id.memmap
new file mode 100644
index 00000000..dc2f585c
--- /dev/null
+++ b/tests/data/frame_id.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c202d9cfc7858fd49d522047e16948359bbbb2eda2d3825d552e45a78d5f8585
+size 400
diff --git a/tests/data/meta.json b/tests/data/meta.json
new file mode 100644
index 00000000..6f7c4218
--- /dev/null
+++ b/tests/data/meta.json
@@ -0,0 +1 @@
+{"action": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "episode": {"device": "cpu", "shape": [50], "dtype": "torch.int64"}, "frame_id": {"device": "cpu", "shape": [50], "dtype": "torch.int64"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/next/done.memmap b/tests/data/next/done.memmap
new file mode 100644
index 00000000..3c77d33b
--- /dev/null
+++ b/tests/data/next/done.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1a8f20ab8c1dead0f61b7b38de300b0ebd0df1d870babfbbe03ce9d2b81e36a
+size 50
diff --git a/tests/data/next/meta.json b/tests/data/next/meta.json
new file mode 100644
index 00000000..b29a9ff7
--- /dev/null
+++ b/tests/data/next/meta.json
@@ -0,0 +1 @@
+{"reward": {"device": "cpu", "shape": [50, 1], "dtype": "torch.float32"}, "done": {"device": "cpu", "shape": [50, 1], "dtype": "torch.bool"}, "success": {"device": "cpu", "shape": [50, 1], "dtype": "torch.bool"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/next/observation/image.memmap b/tests/data/next/observation/image.memmap
new file mode 100644
index 00000000..68634378
--- /dev/null
+++ b/tests/data/next/observation/image.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6a3748c8223a82e54c61442df7b8baf478a20497ee2353645a1e9ccd765162
+size 5529600
diff --git a/tests/data/next/observation/meta.json b/tests/data/next/observation/meta.json
new file mode 100644
index 00000000..57e0edea
--- /dev/null
+++ b/tests/data/next/observation/meta.json
@@ -0,0 +1 @@
+{"image": {"device": "cpu", "shape": [50, 3, 96, 96], "dtype": "torch.float32"}, "state": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/next/observation/state.memmap b/tests/data/next/observation/state.memmap
new file mode 100644
index 00000000..8dd28f2a
--- /dev/null
+++ b/tests/data/next/observation/state.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad4ece6d5fd66bbafa34f6ff383c483410082b8d7d4f4616808c3c458ce1d43
+size 400
diff --git a/tests/data/next/reward.memmap b/tests/data/next/reward.memmap
new file mode 100644
index 00000000..109ed5ad
--- /dev/null
+++ b/tests/data/next/reward.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d9c54dee5660c46886f32d80e57e9dd0ffa57ee0cd2a762b036d9c8e0c3a33a
+size 200
diff --git a/tests/data/next/success.memmap b/tests/data/next/success.memmap
new file mode 100644
index 00000000..44fd709f
--- /dev/null
+++ b/tests/data/next/success.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc2786e1f9910a9d811400edcddaf7075195f7a16b216dcbefba3bc7c4f2ae51
+size 50
diff --git a/tests/data/observation/image.memmap b/tests/data/observation/image.memmap
new file mode 100644
index 00000000..42c86ef0
--- /dev/null
+++ b/tests/data/observation/image.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bbde5cfd8cff9fd9fc6c9a57177f6fd31c8a03cf853b7d2234312f38380b0ba
+size 5529600
diff --git a/tests/data/observation/meta.json b/tests/data/observation/meta.json
new file mode 100644
index 00000000..57e0edea
--- /dev/null
+++ b/tests/data/observation/meta.json
@@ -0,0 +1 @@
+{"image": {"device": "cpu", "shape": [50, 3, 96, 96], "dtype": "torch.float32"}, "state": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/observation/state.memmap b/tests/data/observation/state.memmap
new file mode 100644
index 00000000..3ac8e4ab
--- /dev/null
+++ b/tests/data/observation/state.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67c7e39090a16546fb1eade833d704f26464d574d7e431415f828159a154d2bf
+size 400
diff --git a/tests/data/stats.pth b/tests/data/stats.pth
new file mode 100644
index 0000000000000000000000000000000000000000..329cb35f799f828ca8d9dff52ad54fb2538166f8
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From 74ad9d5154ac2d050d48cead211f561b7b0e4b76 Mon Sep 17 00:00:00 2001
From: Simon Alibert <alibert.sim@gmail.com>
Date: Fri, 8 Mar 2024 16:48:07 +0100
Subject: [PATCH 02/10] Change pusht artifacts path

---
 tests/data/{ => pusht}/action.memmap                |   0
 tests/data/{ => pusht}/episode.memmap               |   0
 tests/data/{ => pusht}/frame_id.memmap              |   0
 tests/data/{ => pusht}/meta.json                    |   0
 tests/data/{ => pusht}/next/done.memmap             |   0
 tests/data/{ => pusht}/next/meta.json               |   0
 .../data/{ => pusht}/next/observation/image.memmap  |   0
 tests/data/{ => pusht}/next/observation/meta.json   |   0
 .../data/{ => pusht}/next/observation/state.memmap  |   0
 tests/data/{ => pusht}/next/reward.memmap           |   0
 tests/data/{ => pusht}/next/success.memmap          |   0
 tests/data/{ => pusht}/observation/image.memmap     |   0
 tests/data/{ => pusht}/observation/meta.json        |   0
 tests/data/{ => pusht}/observation/state.memmap     |   0
 tests/data/{ => pusht}/stats.pth                    | Bin
 15 files changed, 0 insertions(+), 0 deletions(-)
 rename tests/data/{ => pusht}/action.memmap (100%)
 rename tests/data/{ => pusht}/episode.memmap (100%)
 rename tests/data/{ => pusht}/frame_id.memmap (100%)
 rename tests/data/{ => pusht}/meta.json (100%)
 rename tests/data/{ => pusht}/next/done.memmap (100%)
 rename tests/data/{ => pusht}/next/meta.json (100%)
 rename tests/data/{ => pusht}/next/observation/image.memmap (100%)
 rename tests/data/{ => pusht}/next/observation/meta.json (100%)
 rename tests/data/{ => pusht}/next/observation/state.memmap (100%)
 rename tests/data/{ => pusht}/next/reward.memmap (100%)
 rename tests/data/{ => pusht}/next/success.memmap (100%)
 rename tests/data/{ => pusht}/observation/image.memmap (100%)
 rename tests/data/{ => pusht}/observation/meta.json (100%)
 rename tests/data/{ => pusht}/observation/state.memmap (100%)
 rename tests/data/{ => pusht}/stats.pth (100%)

diff --git a/tests/data/action.memmap b/tests/data/pusht/action.memmap
similarity index 100%
rename from tests/data/action.memmap
rename to tests/data/pusht/action.memmap
diff --git a/tests/data/episode.memmap b/tests/data/pusht/episode.memmap
similarity index 100%
rename from tests/data/episode.memmap
rename to tests/data/pusht/episode.memmap
diff --git a/tests/data/frame_id.memmap b/tests/data/pusht/frame_id.memmap
similarity index 100%
rename from tests/data/frame_id.memmap
rename to tests/data/pusht/frame_id.memmap
diff --git a/tests/data/meta.json b/tests/data/pusht/meta.json
similarity index 100%
rename from tests/data/meta.json
rename to tests/data/pusht/meta.json
diff --git a/tests/data/next/done.memmap b/tests/data/pusht/next/done.memmap
similarity index 100%
rename from tests/data/next/done.memmap
rename to tests/data/pusht/next/done.memmap
diff --git a/tests/data/next/meta.json b/tests/data/pusht/next/meta.json
similarity index 100%
rename from tests/data/next/meta.json
rename to tests/data/pusht/next/meta.json
diff --git a/tests/data/next/observation/image.memmap b/tests/data/pusht/next/observation/image.memmap
similarity index 100%
rename from tests/data/next/observation/image.memmap
rename to tests/data/pusht/next/observation/image.memmap
diff --git a/tests/data/next/observation/meta.json b/tests/data/pusht/next/observation/meta.json
similarity index 100%
rename from tests/data/next/observation/meta.json
rename to tests/data/pusht/next/observation/meta.json
diff --git a/tests/data/next/observation/state.memmap b/tests/data/pusht/next/observation/state.memmap
similarity index 100%
rename from tests/data/next/observation/state.memmap
rename to tests/data/pusht/next/observation/state.memmap
diff --git a/tests/data/next/reward.memmap b/tests/data/pusht/next/reward.memmap
similarity index 100%
rename from tests/data/next/reward.memmap
rename to tests/data/pusht/next/reward.memmap
diff --git a/tests/data/next/success.memmap b/tests/data/pusht/next/success.memmap
similarity index 100%
rename from tests/data/next/success.memmap
rename to tests/data/pusht/next/success.memmap
diff --git a/tests/data/observation/image.memmap b/tests/data/pusht/observation/image.memmap
similarity index 100%
rename from tests/data/observation/image.memmap
rename to tests/data/pusht/observation/image.memmap
diff --git a/tests/data/observation/meta.json b/tests/data/pusht/observation/meta.json
similarity index 100%
rename from tests/data/observation/meta.json
rename to tests/data/pusht/observation/meta.json
diff --git a/tests/data/observation/state.memmap b/tests/data/pusht/observation/state.memmap
similarity index 100%
rename from tests/data/observation/state.memmap
rename to tests/data/pusht/observation/state.memmap
diff --git a/tests/data/stats.pth b/tests/data/pusht/stats.pth
similarity index 100%
rename from tests/data/stats.pth
rename to tests/data/pusht/stats.pth

From 327f60e4be570a4684096a84f99ec5691b5b56cc Mon Sep 17 00:00:00 2001
From: Simon Alibert <alibert.sim@gmail.com>
Date: Fri, 8 Mar 2024 16:48:33 +0100
Subject: [PATCH 03/10] Update readme

---
 README.md | 21 ++++++++++++++++++++-
 1 file changed, 20 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index e680d729..453d4d54 100644
--- a/README.md
+++ b/README.md
@@ -115,6 +115,25 @@ pre-commit run -a
 ```
 
 **Tests**
+
+Install [git lfs](https://git-lfs.com/) to retrieve test artifacts (if you don't have it already).
+On Mac:
 ```
-pytest -sx tests
+brew install git-lfs
+git lfs install
+```
+
+On Ubuntu:
+```
+sudo apt-get install git-lfs
+git lfs install
+```
+
+Pull artifacts if they're not in [tests/data](tests/data)
+```
+git lfs pull
+```
+
+```
+DATA_DIR="tests/data" pytest -sx tests
 ```

From 35bd577deba0309aec7015374a0807e669fde634 Mon Sep 17 00:00:00 2001
From: Cadene <re.cadene@gmail.com>
Date: Sat, 9 Mar 2024 14:13:14 +0000
Subject: [PATCH 04/10] Add mock_dataset.py

---
 tests/data/pusht/next/done.memmap |   2 +-
 tests/data/pusht/stats.pth        | Bin 4498 -> 4498 bytes
 tests/scripts/create_dataset.py   |  41 ++++++++++++++++++++++++++++++
 tests/scripts/mock_dataset.py     |  41 ++++++++++++++++++++++++++++++
 4 files changed, 83 insertions(+), 1 deletion(-)
 create mode 100644 tests/scripts/create_dataset.py
 create mode 100644 tests/scripts/mock_dataset.py

diff --git a/tests/data/pusht/next/done.memmap b/tests/data/pusht/next/done.memmap
index 3c77d33b..44fd709f 100644
--- a/tests/data/pusht/next/done.memmap
+++ b/tests/data/pusht/next/done.memmap
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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+oid sha256:cc2786e1f9910a9d811400edcddaf7075195f7a16b216dcbefba3bc7c4f2ae51
 size 50
diff --git a/tests/data/pusht/stats.pth b/tests/data/pusht/stats.pth
index 329cb35f799f828ca8d9dff52ad54fb2538166f8..334a01bef4da3170d970dc0eb6255301f90a9d78 100644
GIT binary patch
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diff --git a/tests/scripts/create_dataset.py b/tests/scripts/create_dataset.py
new file mode 100644
index 00000000..c58280d7
--- /dev/null
+++ b/tests/scripts/create_dataset.py
@@ -0,0 +1,41 @@
+"""
+    usage: `python tests/scripts/mock_dataset.py --in-data-dir data/pusht --out-data-dir tests/data/pusht`
+"""
+
+import argparse
+import shutil
+
+from tensordict import TensorDict
+from pathlib import Path
+
+
+def mock_dataset(in_data_dir, out_data_dir, num_frames=50):
+    # load full dataset as a tensor dict
+    in_td_data = TensorDict.load_memmap(in_data_dir)
+
+    # use 1 frame to know the specification of the dataset
+    # and copy it over `n` frames in the test artifact directory
+    out_td_data = in_td_data[0].expand(num_frames).memmap_like(out_data_dir)
+
+    # copy the first `n` frames so that we have real data
+    out_td_data[:num_frames] = in_td_data[:num_frames].clone()
+
+    # make sure everything has been properly written
+    out_td_data.lock_()
+
+    # copy the full statistics of dataset since it's pretty small
+    in_stats_path = Path(in_data_dir) / "stats.pth"
+    out_stats_path = Path(out_data_dir) / "stats.pth"
+    shutil.copy(in_stats_path, out_stats_path)
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser(description="Create dataset")
+
+    parser.add_argument("--in-data-dir", type=str, help="Path to input data")
+    parser.add_argument("--out-data-dir", type=str, help="Path to save the output data")
+
+    args = parser.parse_args()
+
+    mock_dataset(args.in_data_dir, args.out_data_dir)
\ No newline at end of file
diff --git a/tests/scripts/mock_dataset.py b/tests/scripts/mock_dataset.py
new file mode 100644
index 00000000..c58280d7
--- /dev/null
+++ b/tests/scripts/mock_dataset.py
@@ -0,0 +1,41 @@
+"""
+    usage: `python tests/scripts/mock_dataset.py --in-data-dir data/pusht --out-data-dir tests/data/pusht`
+"""
+
+import argparse
+import shutil
+
+from tensordict import TensorDict
+from pathlib import Path
+
+
+def mock_dataset(in_data_dir, out_data_dir, num_frames=50):
+    # load full dataset as a tensor dict
+    in_td_data = TensorDict.load_memmap(in_data_dir)
+
+    # use 1 frame to know the specification of the dataset
+    # and copy it over `n` frames in the test artifact directory
+    out_td_data = in_td_data[0].expand(num_frames).memmap_like(out_data_dir)
+
+    # copy the first `n` frames so that we have real data
+    out_td_data[:num_frames] = in_td_data[:num_frames].clone()
+
+    # make sure everything has been properly written
+    out_td_data.lock_()
+
+    # copy the full statistics of dataset since it's pretty small
+    in_stats_path = Path(in_data_dir) / "stats.pth"
+    out_stats_path = Path(out_data_dir) / "stats.pth"
+    shutil.copy(in_stats_path, out_stats_path)
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser(description="Create dataset")
+
+    parser.add_argument("--in-data-dir", type=str, help="Path to input data")
+    parser.add_argument("--out-data-dir", type=str, help="Path to save the output data")
+
+    args = parser.parse_args()
+
+    mock_dataset(args.in_data_dir, args.out_data_dir)
\ No newline at end of file

From f440a681ada50a2e91480b4c3567da1df462f660 Mon Sep 17 00:00:00 2001
From: Cadene <re.cadene@gmail.com>
Date: Sat, 9 Mar 2024 14:13:31 +0000
Subject: [PATCH 05/10] Add mock_dataset.py

---
 tests/scripts/create_dataset.py | 41 ---------------------------------
 1 file changed, 41 deletions(-)
 delete mode 100644 tests/scripts/create_dataset.py

diff --git a/tests/scripts/create_dataset.py b/tests/scripts/create_dataset.py
deleted file mode 100644
index c58280d7..00000000
--- a/tests/scripts/create_dataset.py
+++ /dev/null
@@ -1,41 +0,0 @@
-"""
-    usage: `python tests/scripts/mock_dataset.py --in-data-dir data/pusht --out-data-dir tests/data/pusht`
-"""
-
-import argparse
-import shutil
-
-from tensordict import TensorDict
-from pathlib import Path
-
-
-def mock_dataset(in_data_dir, out_data_dir, num_frames=50):
-    # load full dataset as a tensor dict
-    in_td_data = TensorDict.load_memmap(in_data_dir)
-
-    # use 1 frame to know the specification of the dataset
-    # and copy it over `n` frames in the test artifact directory
-    out_td_data = in_td_data[0].expand(num_frames).memmap_like(out_data_dir)
-
-    # copy the first `n` frames so that we have real data
-    out_td_data[:num_frames] = in_td_data[:num_frames].clone()
-
-    # make sure everything has been properly written
-    out_td_data.lock_()
-
-    # copy the full statistics of dataset since it's pretty small
-    in_stats_path = Path(in_data_dir) / "stats.pth"
-    out_stats_path = Path(out_data_dir) / "stats.pth"
-    shutil.copy(in_stats_path, out_stats_path)
-
-
-if __name__ == "__main__":
-
-    parser = argparse.ArgumentParser(description="Create dataset")
-
-    parser.add_argument("--in-data-dir", type=str, help="Path to input data")
-    parser.add_argument("--out-data-dir", type=str, help="Path to save the output data")
-
-    args = parser.parse_args()
-
-    mock_dataset(args.in_data_dir, args.out_data_dir)
\ No newline at end of file

From a54a0feb63c8d023a1d10bee338f17a15aa19e60 Mon Sep 17 00:00:00 2001
From: Cadene <re.cadene@gmail.com>
Date: Sat, 9 Mar 2024 14:18:25 +0000
Subject: [PATCH 06/10] remove mock

---
 tests/data/pusht/action.memmap                 |   3 ---
 tests/data/pusht/episode.memmap                |   3 ---
 tests/data/pusht/frame_id.memmap               |   3 ---
 tests/data/pusht/meta.json                     |   1 -
 tests/data/pusht/next/done.memmap              |   3 ---
 tests/data/pusht/next/meta.json                |   1 -
 tests/data/pusht/next/observation/image.memmap |   3 ---
 tests/data/pusht/next/observation/meta.json    |   1 -
 tests/data/pusht/next/observation/state.memmap |   3 ---
 tests/data/pusht/next/reward.memmap            |   3 ---
 tests/data/pusht/next/success.memmap           |   3 ---
 tests/data/pusht/observation/image.memmap      |   3 ---
 tests/data/pusht/observation/meta.json         |   1 -
 tests/data/pusht/observation/state.memmap      |   3 ---
 tests/data/pusht/stats.pth                     | Bin 4498 -> 0 bytes
 15 files changed, 34 deletions(-)
 delete mode 100644 tests/data/pusht/action.memmap
 delete mode 100644 tests/data/pusht/episode.memmap
 delete mode 100644 tests/data/pusht/frame_id.memmap
 delete mode 100644 tests/data/pusht/meta.json
 delete mode 100644 tests/data/pusht/next/done.memmap
 delete mode 100644 tests/data/pusht/next/meta.json
 delete mode 100644 tests/data/pusht/next/observation/image.memmap
 delete mode 100644 tests/data/pusht/next/observation/meta.json
 delete mode 100644 tests/data/pusht/next/observation/state.memmap
 delete mode 100644 tests/data/pusht/next/reward.memmap
 delete mode 100644 tests/data/pusht/next/success.memmap
 delete mode 100644 tests/data/pusht/observation/image.memmap
 delete mode 100644 tests/data/pusht/observation/meta.json
 delete mode 100644 tests/data/pusht/observation/state.memmap
 delete mode 100644 tests/data/pusht/stats.pth

diff --git a/tests/data/pusht/action.memmap b/tests/data/pusht/action.memmap
deleted file mode 100644
index f4127fb1..00000000
--- a/tests/data/pusht/action.memmap
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ba17d8e5c30151ea5f7f6fc31f19e12a68ce2113774b74c8aca0c7ef962a75f4
-size 400
diff --git a/tests/data/pusht/episode.memmap b/tests/data/pusht/episode.memmap
deleted file mode 100644
index af9fb07f..00000000
--- a/tests/data/pusht/episode.memmap
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7a12e561363385e9dfeeab326368731c030ed4b374e7f5897ac819159d2884c5
-size 400
diff --git a/tests/data/pusht/frame_id.memmap b/tests/data/pusht/frame_id.memmap
deleted file mode 100644
index dc2f585c..00000000
--- a/tests/data/pusht/frame_id.memmap
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c202d9cfc7858fd49d522047e16948359bbbb2eda2d3825d552e45a78d5f8585
-size 400
diff --git a/tests/data/pusht/meta.json b/tests/data/pusht/meta.json
deleted file mode 100644
index 6f7c4218..00000000
--- a/tests/data/pusht/meta.json
+++ /dev/null
@@ -1 +0,0 @@
-{"action": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "episode": {"device": "cpu", "shape": [50], "dtype": "torch.int64"}, "frame_id": {"device": "cpu", "shape": [50], "dtype": "torch.int64"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/pusht/next/done.memmap b/tests/data/pusht/next/done.memmap
deleted file mode 100644
index 44fd709f..00000000
--- a/tests/data/pusht/next/done.memmap
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cc2786e1f9910a9d811400edcddaf7075195f7a16b216dcbefba3bc7c4f2ae51
-size 50
diff --git a/tests/data/pusht/next/meta.json b/tests/data/pusht/next/meta.json
deleted file mode 100644
index b29a9ff7..00000000
--- a/tests/data/pusht/next/meta.json
+++ /dev/null
@@ -1 +0,0 @@
-{"reward": {"device": "cpu", "shape": [50, 1], "dtype": "torch.float32"}, "done": {"device": "cpu", "shape": [50, 1], "dtype": "torch.bool"}, "success": {"device": "cpu", "shape": [50, 1], "dtype": "torch.bool"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/pusht/next/observation/image.memmap b/tests/data/pusht/next/observation/image.memmap
deleted file mode 100644
index 68634378..00000000
--- a/tests/data/pusht/next/observation/image.memmap
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ff6a3748c8223a82e54c61442df7b8baf478a20497ee2353645a1e9ccd765162
-size 5529600
diff --git a/tests/data/pusht/next/observation/meta.json b/tests/data/pusht/next/observation/meta.json
deleted file mode 100644
index 57e0edea..00000000
--- a/tests/data/pusht/next/observation/meta.json
+++ /dev/null
@@ -1 +0,0 @@
-{"image": {"device": "cpu", "shape": [50, 3, 96, 96], "dtype": "torch.float32"}, "state": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/pusht/next/observation/state.memmap b/tests/data/pusht/next/observation/state.memmap
deleted file mode 100644
index 8dd28f2a..00000000
--- a/tests/data/pusht/next/observation/state.memmap
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fad4ece6d5fd66bbafa34f6ff383c483410082b8d7d4f4616808c3c458ce1d43
-size 400
diff --git a/tests/data/pusht/next/reward.memmap b/tests/data/pusht/next/reward.memmap
deleted file mode 100644
index 109ed5ad..00000000
--- a/tests/data/pusht/next/reward.memmap
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6d9c54dee5660c46886f32d80e57e9dd0ffa57ee0cd2a762b036d9c8e0c3a33a
-size 200
diff --git a/tests/data/pusht/next/success.memmap b/tests/data/pusht/next/success.memmap
deleted file mode 100644
index 44fd709f..00000000
--- a/tests/data/pusht/next/success.memmap
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cc2786e1f9910a9d811400edcddaf7075195f7a16b216dcbefba3bc7c4f2ae51
-size 50
diff --git a/tests/data/pusht/observation/image.memmap b/tests/data/pusht/observation/image.memmap
deleted file mode 100644
index 42c86ef0..00000000
--- a/tests/data/pusht/observation/image.memmap
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4bbde5cfd8cff9fd9fc6c9a57177f6fd31c8a03cf853b7d2234312f38380b0ba
-size 5529600
diff --git a/tests/data/pusht/observation/meta.json b/tests/data/pusht/observation/meta.json
deleted file mode 100644
index 57e0edea..00000000
--- a/tests/data/pusht/observation/meta.json
+++ /dev/null
@@ -1 +0,0 @@
-{"image": {"device": "cpu", "shape": [50, 3, 96, 96], "dtype": "torch.float32"}, "state": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/pusht/observation/state.memmap b/tests/data/pusht/observation/state.memmap
deleted file mode 100644
index 3ac8e4ab..00000000
--- a/tests/data/pusht/observation/state.memmap
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:67c7e39090a16546fb1eade833d704f26464d574d7e431415f828159a154d2bf
-size 400
diff --git a/tests/data/pusht/stats.pth b/tests/data/pusht/stats.pth
deleted file mode 100644
index 334a01bef4da3170d970dc0eb6255301f90a9d78..0000000000000000000000000000000000000000
GIT binary patch
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From cde866dac052ccfb0501f7985de249fed70d15d0 Mon Sep 17 00:00:00 2001
From: Cadene <re.cadene@gmail.com>
Date: Sat, 9 Mar 2024 14:18:47 +0000
Subject: [PATCH 07/10] reupload

---
 tests/data/pusht/action.memmap                 |   3 +++
 tests/data/pusht/episode.memmap                |   3 +++
 tests/data/pusht/frame_id.memmap               |   3 +++
 tests/data/pusht/meta.json                     |   1 +
 tests/data/pusht/next/done.memmap              |   3 +++
 tests/data/pusht/next/meta.json                |   1 +
 tests/data/pusht/next/observation/image.memmap |   3 +++
 tests/data/pusht/next/observation/meta.json    |   1 +
 tests/data/pusht/next/observation/state.memmap |   3 +++
 tests/data/pusht/next/reward.memmap            |   3 +++
 tests/data/pusht/next/success.memmap           |   3 +++
 tests/data/pusht/observation/image.memmap      |   3 +++
 tests/data/pusht/observation/meta.json         |   1 +
 tests/data/pusht/observation/state.memmap      |   3 +++
 tests/data/pusht/stats.pth                     | Bin 0 -> 4498 bytes
 15 files changed, 34 insertions(+)
 create mode 100644 tests/data/pusht/action.memmap
 create mode 100644 tests/data/pusht/episode.memmap
 create mode 100644 tests/data/pusht/frame_id.memmap
 create mode 100644 tests/data/pusht/meta.json
 create mode 100644 tests/data/pusht/next/done.memmap
 create mode 100644 tests/data/pusht/next/meta.json
 create mode 100644 tests/data/pusht/next/observation/image.memmap
 create mode 100644 tests/data/pusht/next/observation/meta.json
 create mode 100644 tests/data/pusht/next/observation/state.memmap
 create mode 100644 tests/data/pusht/next/reward.memmap
 create mode 100644 tests/data/pusht/next/success.memmap
 create mode 100644 tests/data/pusht/observation/image.memmap
 create mode 100644 tests/data/pusht/observation/meta.json
 create mode 100644 tests/data/pusht/observation/state.memmap
 create mode 100644 tests/data/pusht/stats.pth

diff --git a/tests/data/pusht/action.memmap b/tests/data/pusht/action.memmap
new file mode 100644
index 00000000..f4127fb1
--- /dev/null
+++ b/tests/data/pusht/action.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba17d8e5c30151ea5f7f6fc31f19e12a68ce2113774b74c8aca0c7ef962a75f4
+size 400
diff --git a/tests/data/pusht/episode.memmap b/tests/data/pusht/episode.memmap
new file mode 100644
index 00000000..af9fb07f
--- /dev/null
+++ b/tests/data/pusht/episode.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a12e561363385e9dfeeab326368731c030ed4b374e7f5897ac819159d2884c5
+size 400
diff --git a/tests/data/pusht/frame_id.memmap b/tests/data/pusht/frame_id.memmap
new file mode 100644
index 00000000..dc2f585c
--- /dev/null
+++ b/tests/data/pusht/frame_id.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c202d9cfc7858fd49d522047e16948359bbbb2eda2d3825d552e45a78d5f8585
+size 400
diff --git a/tests/data/pusht/meta.json b/tests/data/pusht/meta.json
new file mode 100644
index 00000000..6f7c4218
--- /dev/null
+++ b/tests/data/pusht/meta.json
@@ -0,0 +1 @@
+{"action": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "episode": {"device": "cpu", "shape": [50], "dtype": "torch.int64"}, "frame_id": {"device": "cpu", "shape": [50], "dtype": "torch.int64"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/pusht/next/done.memmap b/tests/data/pusht/next/done.memmap
new file mode 100644
index 00000000..44fd709f
--- /dev/null
+++ b/tests/data/pusht/next/done.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc2786e1f9910a9d811400edcddaf7075195f7a16b216dcbefba3bc7c4f2ae51
+size 50
diff --git a/tests/data/pusht/next/meta.json b/tests/data/pusht/next/meta.json
new file mode 100644
index 00000000..b29a9ff7
--- /dev/null
+++ b/tests/data/pusht/next/meta.json
@@ -0,0 +1 @@
+{"reward": {"device": "cpu", "shape": [50, 1], "dtype": "torch.float32"}, "done": {"device": "cpu", "shape": [50, 1], "dtype": "torch.bool"}, "success": {"device": "cpu", "shape": [50, 1], "dtype": "torch.bool"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/pusht/next/observation/image.memmap b/tests/data/pusht/next/observation/image.memmap
new file mode 100644
index 00000000..68634378
--- /dev/null
+++ b/tests/data/pusht/next/observation/image.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6a3748c8223a82e54c61442df7b8baf478a20497ee2353645a1e9ccd765162
+size 5529600
diff --git a/tests/data/pusht/next/observation/meta.json b/tests/data/pusht/next/observation/meta.json
new file mode 100644
index 00000000..57e0edea
--- /dev/null
+++ b/tests/data/pusht/next/observation/meta.json
@@ -0,0 +1 @@
+{"image": {"device": "cpu", "shape": [50, 3, 96, 96], "dtype": "torch.float32"}, "state": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/pusht/next/observation/state.memmap b/tests/data/pusht/next/observation/state.memmap
new file mode 100644
index 00000000..8dd28f2a
--- /dev/null
+++ b/tests/data/pusht/next/observation/state.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad4ece6d5fd66bbafa34f6ff383c483410082b8d7d4f4616808c3c458ce1d43
+size 400
diff --git a/tests/data/pusht/next/reward.memmap b/tests/data/pusht/next/reward.memmap
new file mode 100644
index 00000000..109ed5ad
--- /dev/null
+++ b/tests/data/pusht/next/reward.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d9c54dee5660c46886f32d80e57e9dd0ffa57ee0cd2a762b036d9c8e0c3a33a
+size 200
diff --git a/tests/data/pusht/next/success.memmap b/tests/data/pusht/next/success.memmap
new file mode 100644
index 00000000..44fd709f
--- /dev/null
+++ b/tests/data/pusht/next/success.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc2786e1f9910a9d811400edcddaf7075195f7a16b216dcbefba3bc7c4f2ae51
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diff --git a/tests/data/pusht/observation/image.memmap b/tests/data/pusht/observation/image.memmap
new file mode 100644
index 00000000..42c86ef0
--- /dev/null
+++ b/tests/data/pusht/observation/image.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bbde5cfd8cff9fd9fc6c9a57177f6fd31c8a03cf853b7d2234312f38380b0ba
+size 5529600
diff --git a/tests/data/pusht/observation/meta.json b/tests/data/pusht/observation/meta.json
new file mode 100644
index 00000000..57e0edea
--- /dev/null
+++ b/tests/data/pusht/observation/meta.json
@@ -0,0 +1 @@
+{"image": {"device": "cpu", "shape": [50, 3, 96, 96], "dtype": "torch.float32"}, "state": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/pusht/observation/state.memmap b/tests/data/pusht/observation/state.memmap
new file mode 100644
index 00000000..3ac8e4ab
--- /dev/null
+++ b/tests/data/pusht/observation/state.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..334a01bef4da3170d970dc0eb6255301f90a9d78
GIT binary patch
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From f2c7ab5b3b697ebfa5a625846ff2bb76dad17520 Mon Sep 17 00:00:00 2001
From: Simon Alibert <alibert.sim@gmail.com>
Date: Sat, 9 Mar 2024 15:41:23 +0100
Subject: [PATCH 08/10] test ci

---
 .github/workflows/test.yml |   3 +++
 tests/data/pusht/stats.pth | Bin 4498 -> 4498 bytes
 2 files changed, 3 insertions(+)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index f99c964b..7e916a4d 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -97,6 +97,9 @@ jobs:
       - name: Test train pusht end-to-end
         run: |
           source .venv/bin/activate
+          ls -lash tests/data/pusht
+          ls -lash tests/data/pusht/next
+          ls -lash tests/data/pusht/observation
           python lerobot/scripts/train.py \
             hydra.job.name=pusht \
             env=pusht \
diff --git a/tests/data/pusht/stats.pth b/tests/data/pusht/stats.pth
index 334a01bef4da3170d970dc0eb6255301f90a9d78..c34e6a9423b18ee837d11b40fb05da04539f95ed 100644
GIT binary patch
delta 332
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From 0da85b2cef0d8f659483d56930c84692303114d7 Mon Sep 17 00:00:00 2001
From: Simon Alibert <alibert.sim@gmail.com>
Date: Sat, 9 Mar 2024 15:51:42 +0100
Subject: [PATCH 09/10] Removed debugging lines

---
 .github/workflows/test.yml | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 7e916a4d..f99c964b 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -97,9 +97,6 @@ jobs:
       - name: Test train pusht end-to-end
         run: |
           source .venv/bin/activate
-          ls -lash tests/data/pusht
-          ls -lash tests/data/pusht/next
-          ls -lash tests/data/pusht/observation
           python lerobot/scripts/train.py \
             hydra.job.name=pusht \
             env=pusht \

From 450e32e4b5b27b4f084e230c6e7ac31d969e0f80 Mon Sep 17 00:00:00 2001
From: Simon Alibert <alibert.sim@gmail.com>
Date: Sat, 9 Mar 2024 15:57:29 +0100
Subject: [PATCH 10/10] update readme

---
 README.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/README.md b/README.md
index 453d4d54..795bacaf 100644
--- a/README.md
+++ b/README.md
@@ -134,6 +134,12 @@ Pull artifacts if they're not in [tests/data](tests/data)
 git lfs pull
 ```
 
+When adding a new dataset, mock it with
+```
+python tests/scripts/mock_dataset.py --in-data-dir data/<dataset_id> --out-data-dir tests/data/<dataset_id>
+```
+
+Run tests
 ```
 DATA_DIR="tests/data" pytest -sx tests
 ```