From 44af02a334f8b95d101e60d9cf803efb39c8ffa2 Mon Sep 17 00:00:00 2001
From: CarolinePascal <caroline8.pascal@gmail.com>
Date: Fri, 4 Apr 2025 18:24:04 +0200
Subject: [PATCH] Remove variable audio recordings data types (will be
 converted to float32 anyway)

---
 lerobot/common/robot_devices/microphones/configs.py    | 1 -
 lerobot/common/robot_devices/microphones/microphone.py | 6 +++---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/lerobot/common/robot_devices/microphones/configs.py b/lerobot/common/robot_devices/microphones/configs.py
index eb59be49..e90da519 100644
--- a/lerobot/common/robot_devices/microphones/configs.py
+++ b/lerobot/common/robot_devices/microphones/configs.py
@@ -33,5 +33,4 @@ class MicrophoneConfig(MicrophoneConfigBase):
     microphone_index: int
     sampling_rate: int | None = None
     channels: list[int] | None = None
-    data_type: str | None = None
     mock: bool = False
\ No newline at end of file
diff --git a/lerobot/common/robot_devices/microphones/microphone.py b/lerobot/common/robot_devices/microphones/microphone.py
index b751f2b6..923d9b5e 100644
--- a/lerobot/common/robot_devices/microphones/microphone.py
+++ b/lerobot/common/robot_devices/microphones/microphone.py
@@ -116,7 +116,7 @@ class Microphone:
     ```python
     from lerobot.common.robot_devices.microphones.configs import MicrophoneConfig
 
-    config = MicrophoneConfig(microphone_index=0, sampling_rate=16000, channels=[1], data_type="int16")
+    config = MicrophoneConfig(microphone_index=0, sampling_rate=16000, channels=[1])
     microphone = Microphone(config)
 
     microphone.connect()
@@ -136,7 +136,6 @@ class Microphone:
         #Store the recording sampling rate and channels
         self.sampling_rate = config.sampling_rate
         self.channels = config.channels
-        self.data_type = config.data_type
 
         self.mock = config.mock
 
@@ -203,7 +202,7 @@ class Microphone:
             device=self.microphone_index,
             samplerate=self.sampling_rate,
             channels=max(self.channels)+1,
-            dtype=self.data_type,
+            dtype="float32",
             callback=self._audio_callback,
         )
         #Remark : the blocksize parameter could be passed to the stream to ensure that audio_callback always recieve same length buffers.
@@ -220,6 +219,7 @@ class Microphone:
         self.read_queue.put(indata[:,self.channels])
 
     def _record_loop(self, output_file: Path) -> None:
+        #Can only be run on a single process/thread for file writing safety 
         with sf.SoundFile(output_file, mode='x', samplerate=self.sampling_rate,
                       channels=max(self.channels)+1, subtype=sf.default_subtype(output_file.suffix[1:])) as file:
             while not self.record_stop_event.is_set():