test(existing): adapting existing tests

tests/datasets/test_dataset_tools.py

@@ -25,6 +25,7 @@ pytest.importorskip("datasets", reason="datasets is required (install lerobot[da
 
 from lerobot.datasets.dataset_tools import (
     add_features,
+    convert_image_to_video_dataset,
     delete_episodes,
     merge_datasets,
     modify_features,
@@ -32,7 +33,7 @@ from lerobot.datasets.dataset_tools import (
     remove_feature,
     split_dataset,
 )
-from lerobot.scripts.lerobot_edit_dataset import convert_image_to_video_dataset
+from lerobot.datasets.video_utils import VideoEncoderConfig
 
 
 @pytest.fixture
@@ -1246,10 +1247,12 @@ def test_convert_image_to_video_dataset(tmp_path):
             dataset=source_dataset,
             output_dir=output_dir,
             repo_id="lerobot/pusht_video",
-            vcodec="libsvtav1",
+            camera_encoder_config=VideoEncoderConfig(
-            pix_fmt="yuv420p",
+                vcodec="libsvtav1",
-            g=2,
+                pix_fmt="yuv420p",
-            crf=30,
+                g=2,
+                crf=30,
+            ),
             episode_indices=[0, 1],
             num_workers=2,
         )

tests/datasets/test_dataset_writer.py

@@ -28,6 +28,7 @@ pytest.importorskip("datasets", reason="datasets is required (install lerobot[da
 from lerobot.datasets.dataset_writer import _encode_video_worker
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.utils import DEFAULT_IMAGE_PATH
+from lerobot.datasets.video_utils import VideoEncoderConfig
 from tests.fixtures.constants import DEFAULT_FPS, DUMMY_REPO_ID
 
 SIMPLE_FEATURES = {
@@ -52,8 +53,8 @@ def _make_frame(features: dict, task: str = "Dummy task") -> dict:
 # ── Existing encode_video_worker tests ───────────────────────────────
 
 
-def test_encode_video_worker_forwards_vcodec(tmp_path):
+def test_encode_video_worker_forwards_camera_encoder_config(tmp_path):
-    """_encode_video_worker correctly forwards the vcodec parameter."""
+    """_encode_video_worker forwards camera_encoder_config to encode_video_frames."""
     video_key = "observation.images.laptop"
     fpath = DEFAULT_IMAGE_PATH.format(image_key=video_key, episode_index=0, frame_index=0)
     img_dir = tmp_path / Path(fpath).parent
@@ -68,13 +69,21 @@ def test_encode_video_worker_forwards_vcodec(tmp_path):
         Path(video_path).touch()
 
     with patch("lerobot.datasets.dataset_writer.encode_video_frames", side_effect=mock_encode):
-        _encode_video_worker(video_key, 0, tmp_path, fps=30, vcodec="h264")
+        _encode_video_worker(
+            video_key,
+            0,
+            tmp_path,
+            fps=30,
+            camera_encoder_config=VideoEncoderConfig(vcodec="h264", preset=None),
+            encoder_threads=4,
+        )
 
-    assert captured_kwargs["vcodec"] == "h264"
+    assert captured_kwargs["camera_encoder_config"].vcodec == "h264"
+    assert captured_kwargs["encoder_threads"] == 4
 
 
-def test_encode_video_worker_default_vcodec(tmp_path):
+def test_encode_video_worker_default_camera_encoder_config(tmp_path):
-    """_encode_video_worker uses libsvtav1 as the default codec."""
+    """_encode_video_worker passes None camera_encoder_config which encode_video_frames defaults."""
     video_key = "observation.images.laptop"
     fpath = DEFAULT_IMAGE_PATH.format(image_key=video_key, episode_index=0, frame_index=0)
     img_dir = tmp_path / Path(fpath).parent
@@ -91,7 +100,8 @@ def test_encode_video_worker_default_vcodec(tmp_path):
     with patch("lerobot.datasets.dataset_writer.encode_video_frames", side_effect=mock_encode):
         _encode_video_worker(video_key, 0, tmp_path, fps=30)
 
-    assert captured_kwargs["vcodec"] == "libsvtav1"
+    assert captured_kwargs["camera_encoder_config"] is None
+    assert captured_kwargs["encoder_threads"] is None
 
 
 # ── add_frame contracts ──────────────────────────────────────────────

tests/datasets/test_datasets.py

@@ -43,7 +43,7 @@ from lerobot.datasets.utils import (
     DEFAULT_VIDEO_FILE_SIZE_IN_MB,
     create_branch,
 )
-from lerobot.datasets.video_utils import VALID_VIDEO_CODECS
+from lerobot.datasets.video_utils import VALID_VIDEO_CODECS, VideoEncoderConfig
 from lerobot.envs.factory import make_env_config
 from lerobot.policies.factory import make_policy_config
 from lerobot.robots import make_robot_from_config
@@ -1470,17 +1470,9 @@ def test_frames_in_current_file_calculation(tmp_path, empty_lerobot_dataset_fact
 
 
 def test_lerobot_dataset_vcodec_validation():
-    """Test that LeRobotDataset validates the vcodec parameter."""
+    """Invalid vcodec in encoder config is rejected at construction time."""
-    # Test that invalid vcodec raises ValueError
     with pytest.raises(ValueError, match="Invalid vcodec"):
-        LeRobotDataset.__new__(LeRobotDataset)  # bypass __init__ to test validation directly
+        VideoEncoderConfig(vcodec="invalid_codec")
-        # Actually test via create since it's easier
-        LeRobotDataset.create(
-            repo_id="test/invalid_codec",
-            fps=30,
-            features={"observation.state": {"dtype": "float32", "shape": (2,), "names": ["x", "y"]}},
-            vcodec="invalid_codec",
-        )
 
 
 def test_valid_video_codecs_constant():