Dataset tools (#2100)

* feat(dataset-tools): add dataset utilities and example script

- Introduced dataset tools for LeRobotDataset, including functions for deleting episodes, splitting datasets, adding/removing features, and merging datasets.
- Added an example script demonstrating the usage of these utilities.
- Implemented comprehensive tests for all new functionalities to ensure reliability and correctness.

* style fixes

* move example to dataset dir

* missing lisence

* fixes mostly path

* clean comments

* move tests to functions instead of class based

* - fix video editting, decode, delete frames and rencode video
- copy unchanged video and parquet files to avoid recreating the entire dataset

* Fortify tooling tests

* Fix type issue resulting from saving numpy arrays with shape 3,1,1

* added lerobot_edit_dataset

* - revert changes in examples
- remove hardcoded split names

* update comment

* fix comment
add lerobot-edit-dataset shortcut

* Apply suggestion from @Copilot

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Signed-off-by: Michel Aractingi <michel.aractingi@huggingface.co>

* style nit after copilot review

* fix: bug in dataset root when editing the dataset in place (without setting new_repo_id

* Fix bug in aggregate.py when accumelating video timestamps; add tests to fortify aggregate videos

* Added missing output repo id

* migrate delete episode to using pyav instead of decoding, writing frames to disk and encoding again.
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>

* added modified suffix in case repo_id is not set in delete_episode

* adding docs for dataset tools

* bump av version and add back time_base assignment

* linter

* modified push_to_hub logic in lerobot_edit_dataset

* fix(progress bar): fixing the progress bar issue in dataset tools

* chore(concatenate): removing no longer needed concatenate_datasets usage

* fix(file sizes forwarding): forwarding files and chunk sizes in metadata info when splitting and aggregating datasets

* style fix

* refactor(aggregate): Fix video indexing and timestamp bugs in dataset merging

There were three critical bugs in aggregate.py that prevented correct dataset merging:

1. Video file indices: Changed from += to = assignment to correctly reference
   merged video files

2. Video timestamps: Implemented per-source-file offset tracking to maintain
   continuous timestamps when merging split datasets (was causing non-monotonic
   timestamp warnings)

3. File rotation offsets: Store timestamp offsets after rotation decision to
   prevent out-of-bounds frame access (was causing "Invalid frame index" errors
   with small file size limits)

Changes:
- Updated update_meta_data() to apply per-source-file timestamp offsets
- Updated aggregate_videos() to track offsets correctly during file rotation
- Added get_video_duration_in_s import for duration calculation

* Improved docs for split dataset and added a check for the possible case that the split size results in zero episodes

* chore(docs): update merge documentation details

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

---------

Co-authored-by: CarolinePascal <caroline8.pascal@gmail.com>
Co-authored-by: Jack Vial <vialjack@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

pyproject.toml

@@ -67,7 +67,7 @@ dependencies = [
     "cmake>=3.29.0.1,<4.2.0",
     "einops>=0.8.0,<0.9.0",
     "opencv-python-headless>=4.9.0,<4.13.0",
-    "av>=14.2.0,<16.0.0",
+    "av>=15.0.0,<16.0.0",
     "jsonlines>=4.0.0,<5.0.0",
     "packaging>=24.2,<26.0",
     "pynput>=1.7.7,<1.9.0",
@@ -175,6 +175,7 @@ lerobot-dataset-viz="lerobot.scripts.lerobot_dataset_viz:main"
 lerobot-info="lerobot.scripts.lerobot_info:main"
 lerobot-find-joint-limits="lerobot.scripts.lerobot_find_joint_limits:main"
 lerobot-imgtransform-viz="lerobot.scripts.lerobot_imgtransform_viz:main"
+lerobot-edit-dataset="lerobot.scripts.lerobot_edit_dataset:main"
 
 # ---------------- Tool Configurations ----------------
 [tool.setuptools.packages.find]