fix(tests)

- Updated `lerobot_dataset.py:add_frame` to take task as key in frame
- Updated `lerobot_dataset.py` to remove robot argument from `create` function of lerobotdataset and lerobotdatasetmetadata and directly take the features
- Update `test_datasets.py` to features from Mock robot
- Update all the usage of `add_frame` in the library
- Update `dataset_factories.py`; had issues with new argument order
- Raise ValueError when no task is provided (in `datasets/utils.py` validate func)

tests/datasets/test_datasets.py

@@ -37,7 +37,9 @@ from lerobot.common.datasets.utils import (
 )
 from lerobot.common.envs.factory import make_env_config
 from lerobot.common.policies.factory import make_policy_config
-from lerobot.common.robot_devices.robots.utils import make_robot
+from lerobot.common.robots import make_robot_from_config
+from lerobot.common.datasets.utils import hw_to_dataset_features
+from tests.mocks.mock_robot import MockRobotConfig
 from lerobot.configs.default import DatasetConfig
 from lerobot.configs.train import TrainPipelineConfig
 from tests.fixtures.constants import DUMMY_CHW, DUMMY_HWC, DUMMY_REPO_ID
@@ -66,9 +68,12 @@ def test_same_attributes_defined(tmp_path, lerobot_dataset_factory):
     objects have the same sets of attributes defined.
     """
     # Instantiate both ways
-    robot = make_robot("koch", mock=True)
+    robot = make_robot_from_config(MockRobotConfig())
+    action_features = hw_to_dataset_features(robot.action_features, "action", True)
+    obs_features = hw_to_dataset_features(robot.observation_features, "observation", True)
+    dataset_features = {**action_features, **obs_features}
     root_create = tmp_path / "create"
-    dataset_create = LeRobotDataset.create(repo_id=DUMMY_REPO_ID, fps=30, robot=robot, root=root_create)
+    dataset_create = LeRobotDataset.create(repo_id=DUMMY_REPO_ID, fps=30, features=dataset_features, root=root_create)
 
     root_init = tmp_path / "init"
     dataset_init = lerobot_dataset_factory(root=root_init, total_episodes=1, total_frames=1)