From bb066435bf0956c4fa90fea638a88346093efd57 Mon Sep 17 00:00:00 2001
From: CarolinePascal <caroline8.pascal@gmail.com>
Date: Wed, 1 Jul 2026 19:38:30 +0200
Subject: [PATCH] chore(infer_depth_unit): moving the depth unit inference
 utility in a more accessible location

---
 src/lerobot/configs/__init__.py        |  2 ++
 src/lerobot/configs/video.py           | 11 +++++++++++
 src/lerobot/datasets/dataset_writer.py |  2 +-
 src/lerobot/datasets/depth_utils.py    |  9 +--------
 tests/fixtures/dataset_factories.py    |  2 +-
 5 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/src/lerobot/configs/__init__.py b/src/lerobot/configs/__init__.py
index 20f81fb18..c32e3368b 100644
--- a/src/lerobot/configs/__init__.py
+++ b/src/lerobot/configs/__init__.py
@@ -43,6 +43,7 @@ from .video import (
     VideoEncoderConfig,
     depth_encoder_defaults,
     encoder_config_from_video_info,
+    infer_depth_unit,
     rgb_encoder_defaults,
 )
 
@@ -72,6 +73,7 @@ __all__ = [
     "depth_encoder_defaults",
     # Factories
     "encoder_config_from_video_info",
+    "infer_depth_unit",
     # Constants
     "DEFAULT_DEPTH_UNIT",
     "DEPTH_METER_UNIT",
diff --git a/src/lerobot/configs/video.py b/src/lerobot/configs/video.py
index 3ea834508..7b76e0449 100644
--- a/src/lerobot/configs/video.py
+++ b/src/lerobot/configs/video.py
@@ -22,6 +22,8 @@ import logging
 from dataclasses import dataclass, field
 from typing import Any, ClassVar, Self
 
+import numpy as np
+
 from lerobot.utils.import_utils import require_package
 
 logger = logging.getLogger(__name__)
@@ -65,6 +67,15 @@ DEPTH_METER_UNIT: str = "m"
 DEPTH_MILLIMETER_UNIT: str = "mm"
 DEFAULT_DEPTH_UNIT: str = DEPTH_MILLIMETER_UNIT
 
+
+def infer_depth_unit(dtype: np.dtype | type) -> str:
+    """Infer the physical unit of raw depth frames from their dtype.
+
+    Floating-point frames are assumed to be in metres, integer frames in millimetres.
+    """
+    return DEPTH_METER_UNIT if np.issubdtype(np.dtype(dtype), np.floating) else DEPTH_MILLIMETER_UNIT
+
+
 # Depth-specific tuning fields persisted under ``features[*]["info"]`` as ``video.<name>``.
 DEPTH_ENCODER_INFO_FIELD_NAMES: frozenset[str] = frozenset({"depth_min", "depth_max", "shift", "use_log"})
 
diff --git a/src/lerobot/datasets/dataset_writer.py b/src/lerobot/datasets/dataset_writer.py
index f8bf0eddb..a6049312f 100644
--- a/src/lerobot/datasets/dataset_writer.py
+++ b/src/lerobot/datasets/dataset_writer.py
@@ -36,12 +36,12 @@ from lerobot.configs import (
     RGBEncoderConfig,
     VideoEncoderConfig,
     depth_encoder_defaults,
+    infer_depth_unit,
     rgb_encoder_defaults,
 )
 
 from .compute_stats import compute_episode_stats
 from .dataset_metadata import LeRobotDatasetMetadata
-from .depth_utils import infer_depth_unit
 from .feature_utils import (
     get_hf_features_from_features,
     validate_episode_buffer,
diff --git a/src/lerobot/datasets/depth_utils.py b/src/lerobot/datasets/depth_utils.py
index 04aa9a54b..a4e187eb4 100644
--- a/src/lerobot/datasets/depth_utils.py
+++ b/src/lerobot/datasets/depth_utils.py
@@ -34,6 +34,7 @@ from lerobot.configs.video import (
     DEPTH_METER_UNIT,
     DEPTH_MILLIMETER_UNIT,
     DEPTH_QMAX,
+    infer_depth_unit,
 )
 
 from .image_writer import squeeze_single_channel
@@ -43,14 +44,6 @@ MM_PER_METRE = 1000.0
 _UINT16_MAX = 65535
 
 
-def infer_depth_unit(dtype: np.dtype | type) -> str:
-    """Infer the physical unit of raw depth frames from their dtype.
-
-    Floating-point frames are assumed to be in metres, integer frames in millimetres.
-    """
-    return DEPTH_METER_UNIT if np.issubdtype(np.dtype(dtype), np.floating) else DEPTH_MILLIMETER_UNIT
-
-
 def _validate_log_quant_params(depth_min: float, shift: float) -> None:
     """Ensure ``log(depth_min + shift)`` is finite."""
     if depth_min + shift <= 0:
diff --git a/tests/fixtures/dataset_factories.py b/tests/fixtures/dataset_factories.py
index 4a55a362a..5c0b0f524 100644
--- a/tests/fixtures/dataset_factories.py
+++ b/tests/fixtures/dataset_factories.py
@@ -26,8 +26,8 @@ import pytest
 import torch
 from datasets import Dataset
 
+from lerobot.configs.video import infer_depth_unit
 from lerobot.datasets.dataset_metadata import CODEBASE_VERSION, LeRobotDatasetMetadata
-from lerobot.datasets.depth_utils import infer_depth_unit
 from lerobot.datasets.feature_utils import get_hf_features_from_features
 from lerobot.datasets.io_utils import flatten_dict, hf_transform_to_torch
 from lerobot.datasets.lerobot_dataset import LeRobotDataset