feat(record): plumb DepthEncoderConfig through lerobot-record

Surface DepthEncoderConfig and depth_encoder_defaults from
lerobot.datasets, and wire dataset.depth_encoder_config through
LeRobotDataset.create() and LeRobotDataset.resume() so depth-capable
recordings (e.g. RealSense use_depth=True) can be tuned from the CLI:

    --dataset.depth_encoder_config.depth_min=0.1
    --dataset.depth_encoder_config.depth_max=4.0
    --dataset.depth_encoder_config.vcodec=ffv1

The default factory keeps depth-stream defaults (12-bit HEVC, log
quantization), so non-depth recordings are unaffected.

Made-with: Cursor

src/lerobot/datasets/__init__.py

@@ -49,9 +49,11 @@ from .sampler import EpisodeAwareSampler
 from .streaming_dataset import StreamingLeRobotDataset
 from .utils import DEFAULT_EPISODES_PATH, create_lerobot_dataset_card
 from .video_utils import (
+    DepthEncoderConfig,
     VideoEncoderConfig,
     VideoEncodingManager,
     camera_encoder_defaults,
+    depth_encoder_defaults,
 )
 
 # NOTE: Low-level I/O functions (cast_stats_to_numpy, get_parquet_file_size_in_mb, etc.)
@@ -67,9 +69,11 @@ __all__ = [
     "LeRobotDatasetMetadata",
     "MultiLeRobotDataset",
     "StreamingLeRobotDataset",
+    "DepthEncoderConfig",
     "VideoEncoderConfig",
     "VideoEncodingManager",
     "camera_encoder_defaults",
+    "depth_encoder_defaults",
     "add_features",
     "aggregate_datasets",
     "aggregate_pipeline_dataset_features",

src/lerobot/scripts/lerobot_record.py

@@ -104,10 +104,12 @@ from lerobot.common.control_utils import (
 from lerobot.configs import parser
 from lerobot.configs.dataset import DatasetRecordConfig
 from lerobot.datasets import (
+    DepthEncoderConfig,
     LeRobotDataset,
     VideoEncodingManager,
     aggregate_pipeline_dataset_features,
     create_initial_features,
+    depth_encoder_defaults,
     safe_stop_image_writer,
 )
 from lerobot.processor import (
@@ -399,6 +401,7 @@ def record(
                 root=cfg.dataset.root,
                 batch_encoding_size=cfg.dataset.video_encoding_batch_size,
                 camera_encoder_config=cfg.dataset.camera_encoder_config,
+                depth_encoder_config=cfg.dataset.depth_encoder_config,
                 encoder_threads=cfg.dataset.encoder_threads,
                 streaming_encoding=cfg.dataset.streaming_encoding,
                 encoder_queue_maxsize=cfg.dataset.encoder_queue_maxsize,
@@ -428,6 +431,7 @@ def record(
                 image_writer_threads=cfg.dataset.num_image_writer_threads_per_camera * len(robot.cameras),
                 batch_encoding_size=cfg.dataset.video_encoding_batch_size,
                 camera_encoder_config=cfg.dataset.camera_encoder_config,
+                depth_encoder_config=cfg.dataset.depth_encoder_config,
                 encoder_threads=cfg.dataset.encoder_threads,
                 streaming_encoding=cfg.dataset.streaming_encoding,
                 encoder_queue_maxsize=cfg.dataset.encoder_queue_maxsize,