Merge branch 'main' into feat/audio_dataset

tests/fixtures/dataset_factories.py

@@ -26,7 +26,10 @@ import pytest
 import torch
 from datasets import Dataset
 
-from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset, LeRobotDatasetMetadata
+from lerobot.datasets.dataset_metadata import CODEBASE_VERSION, LeRobotDatasetMetadata
+from lerobot.datasets.feature_utils import get_hf_features_from_features
+from lerobot.datasets.io_utils import hf_transform_to_torch
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.utils import (
     DEFAULT_AUDIO_PATH,
     DEFAULT_CHUNK_SIZE,
@@ -36,8 +39,6 @@ from lerobot.datasets.utils import (
     DEFAULT_VIDEO_FILE_SIZE_IN_MB,
     DEFAULT_VIDEO_PATH,
     flatten_dict,
-    get_hf_features_from_features,
-    hf_transform_to_torch,
 )
 from lerobot.datasets.video_utils import encode_video_frames
 from tests.fixtures.constants import (
@@ -239,7 +240,7 @@ def tasks_factory():
     def _create_tasks(total_tasks: int = 3) -> pd.DataFrame:
         ids = list(range(total_tasks))
         tasks = [f"Perform action {i}." for i in ids]
-        df = pd.DataFrame({"task_index": ids}, index=tasks)
+        df = pd.DataFrame({"task_index": ids}, index=pd.Index(tasks, name="task"))
         return df
 
     return _create_tasks
@@ -470,8 +471,8 @@ def lerobot_dataset_metadata_factory(
             episodes=episodes,
         )
         with (
-            patch("lerobot.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version_patch,
-            patch("lerobot.datasets.lerobot_dataset.snapshot_download") as mock_snapshot_download_patch,
+            patch("lerobot.datasets.dataset_metadata.get_safe_version") as mock_get_safe_version_patch,
+            patch("lerobot.datasets.dataset_metadata.snapshot_download") as mock_snapshot_download_patch,
         ):
             mock_get_safe_version_patch.side_effect = lambda repo_id, version: version
             mock_snapshot_download_patch.side_effect = mock_snapshot_download

tests/fixtures/files.py

@@ -20,17 +20,19 @@ import pandas as pd
 import pytest
 from datasets import Dataset
 
-from lerobot.datasets.utils import (
-    DEFAULT_CHUNK_SIZE,
-    DEFAULT_DATA_FILE_SIZE_IN_MB,
-    DEFAULT_DATA_PATH,
+from lerobot.datasets.io_utils import (
     get_hf_dataset_size_in_mb,
-    update_chunk_file_indices,
     write_episodes,
     write_info,
     write_stats,
     write_tasks,
 )
+from lerobot.datasets.utils import (
+    DEFAULT_CHUNK_SIZE,
+    DEFAULT_DATA_FILE_SIZE_IN_MB,
+    DEFAULT_DATA_PATH,
+    update_chunk_file_indices,
+)
 
 
 def write_hf_dataset(