Adding audio tests

lerobot/__init__.py

@@ -190,6 +190,11 @@ available_cameras = [
     "intelrealsense",
 ]
 
+# lists all available microphones from `lerobot/common/robot_devices/microphones`
+available_microphones = [
+    "microphone",
+]
+
 # lists all available motors from `lerobot/common/robot_devices/motors`
 available_motors = [
     "dynamixel",

lerobot/common/robot_devices/microphones/microphone.py

@@ -44,8 +44,7 @@ def find_microphones(raise_when_empty=False, mock=False) -> list[dict]:
     microphones = []
 
     if mock:
-        #TODO(CarolinePascal): Implement mock microphones
+        import tests.microphones.mock_sounddevice as sd
-        pass
     else:
         import sounddevice as sd
 
@@ -161,8 +160,7 @@ class Microphone:
             raise RobotDeviceAlreadyConnectedError(f"Microphone {self.microphone_index} is already connected.")
         
         if self.mock:
-            #TODO(CarolinePascal): Implement mock microphones
+            import tests.microphones.mock_sounddevice as sd
-            pass
         else:
             import sounddevice as sd
 

tests/conftest.py

@@ -19,9 +19,9 @@ import traceback
 import pytest
 from serial import SerialException
 
-from lerobot import available_cameras, available_motors, available_robots
+from lerobot import available_cameras, available_motors, available_robots, available_microphones
 from lerobot.common.robot_devices.robots.utils import make_robot
-from tests.utils import DEVICE, make_camera, make_motors_bus
+from tests.utils import DEVICE, make_camera, make_motors_bus, make_microphone
 
 # Import fixture modules as plugins
 pytest_plugins = [
@@ -73,6 +73,9 @@ def is_robot_available(robot_type):
 def is_camera_available(camera_type):
     return _check_component_availability(camera_type, available_cameras, make_camera)
 
+@pytest.fixture
+def is_microphone_available(microphone_type):
+    return _check_component_availability(microphone_type, available_microphones, make_microphone)
 
 @pytest.fixture
 def is_motor_available(motor_type):

tests/datasets/test_compute_stats.py

@@ -26,6 +26,7 @@ from lerobot.common.datasets.compute_stats import (
     estimate_num_samples,
     get_feature_stats,
     sample_images,
+    sample_audio,
     sample_indices,
 )
 
@@ -33,6 +34,8 @@ from lerobot.common.datasets.compute_stats import (
 def mock_load_image_as_numpy(path, dtype, channel_first):
     return np.ones((3, 32, 32), dtype=dtype) if channel_first else np.ones((32, 32, 3), dtype=dtype)
 
+def mock_load_audio(path):
+    return np.ones((16000,2), dtype=np.float32)
 
 @pytest.fixture
 def sample_array():
@@ -70,6 +73,14 @@ def test_sample_images(mock_load):
     assert images.dtype == np.uint8
     assert len(images) == estimate_num_samples(100)
 
+@patch("lerobot.common.datasets.compute_stats.load_audio", side_effect=mock_load_audio)
+def test_sample_audio(mock_load):
+    audio_path = "audio.wav"
+    audio_samples = sample_audio(audio_path)
+    assert isinstance(audio_samples, np.ndarray)
+    assert audio_samples.shape[1] == 2
+    assert audio_samples.dtype == np.float32
+    assert len(audio_samples) == estimate_num_samples(16000)
 
 def test_get_feature_stats_images():
     data = np.random.rand(100, 3, 32, 32)
@@ -78,6 +89,12 @@ def test_get_feature_stats_images():
     np.testing.assert_equal(stats["count"], np.array([100]))
     assert stats["min"].shape == stats["max"].shape == stats["mean"].shape == stats["std"].shape
 
+def test_get_feature_stats_audio():
+    data = np.random.uniform(-1, 1, (16000,2))
+    stats = get_feature_stats(data, axis=0, keepdims=True)
+    assert "min" in stats and "max" in stats and "mean" in stats and "std" in stats and "count" in stats
+    np.testing.assert_equal(stats["count"], np.array([16000]))
+    assert stats["min"].shape == stats["max"].shape == stats["mean"].shape == stats["std"].shape
 
 def test_get_feature_stats_axis_0_keepdims(sample_array):
     expected = {
@@ -137,22 +154,28 @@ def test_get_feature_stats_single_value():
 def test_compute_episode_stats():
     episode_data = {
         "observation.image": [f"image_{i}.jpg" for i in range(100)],
+        "observation.audio": "audio.wav",
         "observation.state": np.random.rand(100, 10),
     }
     features = {
         "observation.image": {"dtype": "image"},
+        "observation.audio": {"dtype": "audio"},
         "observation.state": {"dtype": "numeric"},
     }
 
     with patch(
         "lerobot.common.datasets.compute_stats.load_image_as_numpy", side_effect=mock_load_image_as_numpy
+    ), patch(
+        "lerobot.common.datasets.compute_stats.load_audio", side_effect=mock_load_audio
     ):
         stats = compute_episode_stats(episode_data, features)
 
-    assert "observation.image" in stats and "observation.state" in stats
+    assert "observation.image" in stats and "observation.state" in stats and "observation.audio" in stats
-    assert stats["observation.image"]["count"].item() == 100
+    assert stats["observation.image"]["count"].item() == estimate_num_samples(100)
-    assert stats["observation.state"]["count"].item() == 100
+    assert stats["observation.audio"]["count"].item() == estimate_num_samples(16000)
+    assert stats["observation.state"]["count"].item() == estimate_num_samples(100)
     assert stats["observation.image"]["mean"].shape == (3, 1, 1)
+    assert stats["observation.audio"]["mean"].shape == (1, 2)
 
 
 def test_assert_type_and_shape_valid():

tests/datasets/test_datasets.py

@@ -44,9 +44,12 @@ from lerobot.common.policies.factory import make_policy_config
 from lerobot.common.robot_devices.robots.utils import make_robot
 from lerobot.configs.default import DatasetConfig
 from lerobot.configs.train import TrainPipelineConfig
-from tests.fixtures.constants import DUMMY_CHW, DUMMY_HWC, DUMMY_REPO_ID
+from tests.fixtures.constants import DUMMY_CHW, DUMMY_HWC, DUMMY_REPO_ID, DUMMY_AUDIO_CHANNELS
 from tests.utils import require_x86_64_kernel
 
+from tests.utils import make_microphone
+import time
+from lerobot.common.datasets.utils import DEFAULT_AUDIO_CHUNK_DURATION
 
 @pytest.fixture
 def image_dataset(tmp_path, empty_lerobot_dataset_factory):
@@ -63,6 +66,18 @@ def image_dataset(tmp_path, empty_lerobot_dataset_factory):
     }
     return empty_lerobot_dataset_factory(root=tmp_path / "test", features=features)
 
+@pytest.fixture
+def audio_dataset(tmp_path, empty_lerobot_dataset_factory):
+    features = {
+        "observation.audio.microphone": {
+            "dtype": "audio",
+            "shape": (DUMMY_AUDIO_CHANNELS,),
+            "names": [
+                "channels",
+            ],
+        }
+    }
+    return empty_lerobot_dataset_factory(root=tmp_path / "test", features=features)
 
 def test_same_attributes_defined(tmp_path, lerobot_dataset_factory):
     """
@@ -321,6 +336,20 @@ def test_image_array_to_pil_image_wrong_range_float_0_255():
     with pytest.raises(ValueError):
         image_array_to_pil_image(image)
 
+def test_add_frame_audio(audio_dataset):
+    dataset = audio_dataset
+
+    microphone = make_microphone(microphone_type="microphone", mock=True)
+    microphone.connect()
+
+    dataset.add_microphone_recording(microphone, "microphone")
+    time.sleep(1.0)
+    dataset.add_frame({"observation.audio.microphone": microphone.read(), "task": "Dummy task"})
+    microphone.stop_recording()
+
+    dataset.save_episode()
+
+    assert dataset[0]["observation.audio.microphone"].shape == torch.Size((int(DEFAULT_AUDIO_CHUNK_DURATION*microphone.sampling_rate),DUMMY_AUDIO_CHANNELS))
 
 # TODO(aliberts):
 # - [ ] test various attributes & state from init and create
@@ -354,6 +383,7 @@ def test_factory(env_name, repo_id, policy_name):
     dataset = make_dataset(cfg)
     delta_timestamps = dataset.delta_timestamps
     camera_keys = dataset.meta.camera_keys
+    audio_keys = dataset.meta.audio_keys
 
     item = dataset[0]
 
@@ -396,6 +426,11 @@ def test_factory(env_name, repo_id, policy_name):
                 # test c,h,w
                 assert item[key].shape[0] == 3, f"{key}"
 
+        for key in audio_keys:
+            assert item[key].dtype == torch.float32, f"{key}"
+            assert item[key].max() <= 1.0, f"{key}"
+            assert item[key].min() >= -1.0, f"{key}"
+
     if delta_timestamps is not None:
         # test missing keys in delta_timestamps
         for key in delta_timestamps:

tests/fixtures/constants.py

@@ -29,7 +29,7 @@ DUMMY_MOTOR_FEATURES = {
     },
 }
 DUMMY_CAMERA_FEATURES = {
-    "laptop": {"shape": (480, 640, 3), "names": ["height", "width", "channels"], "info": None},
+    "laptop": {"shape": (480, 640, 3), "names": ["height", "width", "channels"], "info": None, "audio": "laptop"},
     "phone": {"shape": (480, 640, 3), "names": ["height", "width", "channels"], "info": None},
 }
 DEFAULT_FPS = 30
@@ -40,5 +40,18 @@ DUMMY_VIDEO_INFO = {
     "video.is_depth_map": False,
     "has_audio": False,
 }
+DUMMY_MICROPHONE_FEATURES = {
+    "laptop": {"dtype": "audio", "shape": (1,), "names": ["channels"], "info": None},
+    "phone": {"dtype": "audio", "shape": (1,), "names": ["channels"], "info": None},
+}
+DEFAULT_SAMPLE_RATE = 48000
+DUMMY_AUDIO_CHANNELS = 2
+DUMMY_AUDIO_INFO = {
+    "has_audio": True,
+    "audio.sample_rate": DEFAULT_SAMPLE_RATE,
+    "audio.codec": "aac",
+    "audio.channels": DUMMY_AUDIO_CHANNELS,
+    "audio.channel_layout": "stereo",
+}
 DUMMY_CHW = (3, 96, 128)
 DUMMY_HWC = (96, 128, 3)

tests/fixtures/dataset_factories.py

@@ -36,6 +36,7 @@ from lerobot.common.datasets.utils import (
 from tests.fixtures.constants import (
     DEFAULT_FPS,
     DUMMY_CAMERA_FEATURES,
+    DUMMY_MICROPHONE_FEATURES,
     DUMMY_MOTOR_FEATURES,
     DUMMY_REPO_ID,
     DUMMY_ROBOT_TYPE,
@@ -91,6 +92,7 @@ def features_factory():
     def _create_features(
         motor_features: dict = DUMMY_MOTOR_FEATURES,
         camera_features: dict = DUMMY_CAMERA_FEATURES,
+        audio_features: dict = DUMMY_MICROPHONE_FEATURES,
         use_videos: bool = True,
     ) -> dict:
         if use_videos:
@@ -102,6 +104,7 @@ def features_factory():
         return {
             **motor_features,
             **camera_ft,
+            **audio_features,
             **DEFAULT_FEATURES,
         }
 
@@ -125,9 +128,10 @@ def info_factory(features_factory):
         audio_path: str = DEFAULT_COMPRESSED_AUDIO_PATH,
         motor_features: dict = DUMMY_MOTOR_FEATURES,
         camera_features: dict = DUMMY_CAMERA_FEATURES,
+        audio_features: dict = DUMMY_MICROPHONE_FEATURES,
         use_videos: bool = True,
     ) -> dict:
-        features = features_factory(motor_features, camera_features, use_videos)
+        features = features_factory(motor_features, camera_features, audio_features, use_videos)
         return {
             "codebase_version": codebase_version,
             "robot_type": robot_type,
@@ -165,6 +169,14 @@ def stats_factory():
                     "std": np.full((3, 1, 1), 0.25, dtype=np.float32).tolist(),
                     "count": [10],
                 }
+            elif dtype == "audio":
+                stats[key] = {
+                    "mean": np.full((shape[0],), 0.0, dtype=np.float32).tolist(),
+                    "max": np.full((shape[0],), 1, dtype=np.float32).tolist(),
+                    "min": np.full((shape[0],), -1, dtype=np.float32).tolist(),
+                    "std": np.full((shape[0],), 0.5, dtype=np.float32).tolist(),
+                    "count": [10],
+                }
             else:
                 stats[key] = {
                     "max": np.full(shape, 1, dtype=dtype).tolist(),

tests/microphones/mock_sounddevice.py

@@ -0,0 +1,82 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+from functools import cache
+
+from tests.fixtures.constants import DUMMY_AUDIO_CHANNELS, DEFAULT_SAMPLE_RATE
+
+import numpy as np
+from lerobot.common.utils.utils import capture_timestamp_utc
+from threading import Thread, Event
+import time
+
+@cache
+def _generate_sound(duration: float, sample_rate: int, channels: int):
+    return np.random.uniform(-1, 1, size=(int(duration * sample_rate), channels)).astype(np.float32)
+
+def query_devices(query_index: int):
+    return {
+            "name": "Mock Sound Device",
+            "index": query_index,
+            "max_input_channels": DUMMY_AUDIO_CHANNELS,
+            "default_samplerate": DEFAULT_SAMPLE_RATE,
+    }
+
+class InputStream:
+    def __init__(self, *args, **kwargs):
+        self._mock_dict = {
+            "channels": DUMMY_AUDIO_CHANNELS,
+            "samplerate": DEFAULT_SAMPLE_RATE,
+        }
+        self._is_active = False
+        self._audio_callback = kwargs.get("callback")
+
+        self.callback_thread = None
+        self.callback_thread_stop_event = None
+
+    def _acquisition_loop(self):
+        if self._audio_callback is not None:
+            while not self.callback_thread_stop_event.is_set():
+                # Simulate audio data acquisition
+                time.sleep(0.01)
+                self._audio_callback(_generate_sound(0.01, DEFAULT_SAMPLE_RATE, DUMMY_AUDIO_CHANNELS), 0.01*DEFAULT_SAMPLE_RATE, capture_timestamp_utc(), None)
+
+    def start(self):
+        self.callback_thread_stop_event = Event()
+        self.callback_thread = Thread(target=self._acquisition_loop, args=())
+        self.callback_thread.daemon = True
+        self.callback_thread.start()
+
+        self._is_active = True
+
+    @property
+    def active(self):
+        return self._is_active
+    
+    def stop(self):
+        if self.callback_thread_stop_event is not None:
+            self.callback_thread_stop_event.set()
+            self.callback_thread.join()
+            self.callback_thread = None
+            self.callback_thread_stop_event = None
+        self._is_active = False
+
+    def close(self):
+        if self._is_active:
+            self.stop()
+
+    def __del__(self):
+        if self._is_active:
+            self.stop()
+
+

tests/microphones/test_microphones.py

@@ -0,0 +1,142 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""
+Tests for physical microphones and their mocked versions.
+If the physical microphone is not connected to the computer, or not working,
+the test will be skipped.
+
+Example of running a specific test:
+```bash
+pytest -sx tests/microphones/test_microphones.py::test_microphone
+```
+
+Example of running test on a real microphone connected to the computer:
+```bash
+pytest -sx 'tests/microphones/test_microphones.py::test_microphone[microphone-False]'
+```
+
+Example of running test on a mocked version of the microphone:
+```bash
+pytest -sx 'tests/microphones/test_microphones.py::test_microphone[microphone-True]'
+```
+"""
+
+import numpy as np
+import time
+import pytest
+from soundfile import read
+
+from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError, RobotDeviceNotRecordingError, RobotDeviceAlreadyRecordingError
+from tests.utils import TEST_MICROPHONE_TYPES, make_microphone, require_microphone
+
+#Maximum recording tie difference between two consecutive audio recordings of the same duration.
+#Set to 0.02 seconds as twice the default size of sounddvice callback buffer (i.e. we tolerate the loss of one buffer).
+MAX_RECORDING_TIME_DIFFERENCE = 0.02
+
+DUMMY_RECORDING = "test_recording.wav"
+
+@pytest.mark.parametrize("microphone_type, mock", TEST_MICROPHONE_TYPES)
+@require_microphone
+def test_microphone(tmp_path, request, microphone_type, mock):
+    """Test assumes that a recroding handled with microphone.start_recording(output_file) and stop_recording() or microphone.read()
+    leqds to a sample that does not differ from the requested duration by more than 0.1 seconds.
+    """
+
+    microphone_kwargs = {"microphone_type": microphone_type, "mock": mock}
+
+    # Test instantiating
+    microphone = make_microphone(**microphone_kwargs)
+
+    # Test start_recording, stop_recording, read and disconnecting before connecting raises an error
+    with pytest.raises(RobotDeviceNotConnectedError):
+        microphone.start_recording()
+    with pytest.raises(RobotDeviceNotConnectedError):
+        microphone.stop_recording()
+    with pytest.raises(RobotDeviceNotConnectedError):
+        microphone.read()
+    with pytest.raises(RobotDeviceNotConnectedError):
+        microphone.disconnect()
+
+    # Test deleting the object without connecting first
+    del microphone
+
+    # Test connecting
+    microphone = make_microphone(**microphone_kwargs)
+    microphone.connect()
+    assert microphone.is_connected
+    assert microphone.sampling_rate is not None
+    assert microphone.channels is not None
+
+    # Test connecting twice raises an error
+    with pytest.raises(RobotDeviceAlreadyConnectedError):
+        microphone.connect()
+
+    # Test reading or stop recording before starting recording raises an error
+    with pytest.raises(RobotDeviceNotRecordingError):
+        microphone.read()
+    with pytest.raises(RobotDeviceNotRecordingError):
+        microphone.stop_recording()
+
+    # Test start_recording
+    fpath = tmp_path / DUMMY_RECORDING
+    microphone.start_recording(fpath)
+    assert microphone.is_recording
+    
+    # Test start_recording twice raises an error
+    with pytest.raises(RobotDeviceAlreadyRecordingError):
+        microphone.start_recording()
+
+    # Test reading from the microphone
+    time.sleep(1.0)
+    audio_chunk = microphone.read()
+    assert isinstance(audio_chunk, np.ndarray)
+    assert audio_chunk.ndim == 2
+    _, c = audio_chunk.shape
+    assert c == len(microphone.channels)
+
+    # Test stop_recording
+    microphone.stop_recording()
+    assert fpath.exists()
+    assert not microphone.stream.active
+    assert microphone.record_thread is None
+
+    # Test stop_recording twice raises an error
+    with pytest.raises(RobotDeviceNotRecordingError):
+        microphone.stop_recording()
+
+    # Test reading and recording output similar length audio chunks
+    microphone.start_recording(tmp_path / DUMMY_RECORDING)
+    time.sleep(1.0)
+    audio_chunk = microphone.read()
+    microphone.stop_recording()
+
+    recorded_audio, recorded_sample_rate = read(fpath)
+    assert recorded_sample_rate == microphone.sampling_rate
+
+    error_msg = (
+        "Recording time difference between read() and stop_recording()",
+        (len(audio_chunk) - len(recorded_audio))/MAX_RECORDING_TIME_DIFFERENCE,
+    )
+    np.testing.assert_allclose(
+        len(audio_chunk), len(recorded_audio), atol=recorded_sample_rate*MAX_RECORDING_TIME_DIFFERENCE, err_msg=error_msg
+    )
+
+    # Test disconnecting
+    microphone.disconnect()
+    assert not microphone.is_connected
+
+    # Test disconnecting with `__del__`
+    microphone = make_microphone(**microphone_kwargs)
+    microphone.connect()
+    del microphone

tests/robots/test_robots.py

@@ -100,6 +100,9 @@ def test_robot(tmp_path, request, robot_type, mock):
     robot.teleop_step()
 
     # Test data recorded during teleop are well formatted
+    for _, microphone in robot.microphones.items():
+        microphone.start_recording()
+
     observation, action = robot.teleop_step(record_data=True)
     # State
     assert "observation.state" in observation
@@ -112,6 +115,11 @@ def test_robot(tmp_path, request, robot_type, mock):
         assert f"observation.images.{name}" in observation
         assert isinstance(observation[f"observation.images.{name}"], torch.Tensor)
         assert observation[f"observation.images.{name}"].ndim == 3
+    # Microphones
+    for name in robot.microphones:
+        assert f"observation.audio.{name}" in observation
+        assert isinstance(observation[f"observation.audio.{name}"], torch.Tensor)
+        assert observation[f"observation.audio.{name}"].ndim == 2
     # Action
     assert "action" in action
     assert isinstance(action["action"], torch.Tensor)
@@ -124,8 +132,9 @@ def test_robot(tmp_path, request, robot_type, mock):
     captured_observation = robot.capture_observation()
     assert set(captured_observation.keys()) == set(observation.keys())
     for name in captured_observation:
-        if "image" in name:
+        if "image" in name or "audio" in name:
             # TODO(rcadene): skipping image for now as it's challenging to assess equality between two consecutive frames
+            # Also skipping for audio as audio chunks may be of different length
             continue
         torch.testing.assert_close(captured_observation[name], observation[name], rtol=1e-4, atol=1)
         assert captured_observation[name].shape == observation[name].shape
@@ -134,7 +143,7 @@ def test_robot(tmp_path, request, robot_type, mock):
     robot.send_action(action["action"])
 
     # Test disconnecting
-    robot.disconnect()
+    robot.disconnect()  #Also handles microphone recording stop, life is beautiful
     assert not robot.is_connected
     for name in robot.follower_arms:
         assert not robot.follower_arms[name].is_connected
@@ -142,3 +151,5 @@ def test_robot(tmp_path, request, robot_type, mock):
         assert not robot.leader_arms[name].is_connected
     for name in robot.cameras:
         assert not robot.cameras[name].is_connected
+    for name in robot.microphones:
+        assert not robot.microphones[name].is_connected

tests/utils.py

@@ -22,11 +22,13 @@ from pathlib import Path
 import pytest
 import torch
 
-from lerobot import available_cameras, available_motors, available_robots
+from lerobot import available_cameras, available_motors, available_robots, available_microphones
 from lerobot.common.robot_devices.cameras.utils import Camera
 from lerobot.common.robot_devices.cameras.utils import make_camera as make_camera_device
 from lerobot.common.robot_devices.motors.utils import MotorsBus
 from lerobot.common.robot_devices.motors.utils import make_motors_bus as make_motors_bus_device
+from lerobot.common.robot_devices.microphones.utils import Microphone
+from lerobot.common.robot_devices.microphones.utils import make_microphone as make_microphone_device
 from lerobot.common.utils.import_utils import is_package_available
 
 DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", "cuda") if torch.cuda.is_available() else "cpu"
@@ -39,6 +41,10 @@ TEST_CAMERA_TYPES = []
 for camera_type in available_cameras:
     TEST_CAMERA_TYPES += [(camera_type, True), (camera_type, False)]
 
+TEST_MICROPHONE_TYPES = []
+for microphone_type in available_microphones:
+    TEST_MICROPHONE_TYPES += [(microphone_type, True), (microphone_type, False)]
+
 TEST_MOTOR_TYPES = []
 for motor_type in available_motors:
     TEST_MOTOR_TYPES += [(motor_type, True), (motor_type, False)]
@@ -47,6 +53,9 @@ for motor_type in available_motors:
 OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0))
 INTELREALSENSE_SERIAL_NUMBER = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_SERIAL_NUMBER", 128422271614))
 
+# Microphone indices used for connecting physical microphones
+MICROPHONE_INDEX = int(os.environ.get("LEROBOT_TEST_MICROPHONE_INDEX", 0))
+
 DYNAMIXEL_PORT = os.environ.get("LEROBOT_TEST_DYNAMIXEL_PORT", "/dev/tty.usbmodem575E0032081")
 DYNAMIXEL_MOTORS = {
     "shoulder_pan": [1, "xl430-w250"],
@@ -252,6 +261,27 @@ def require_camera(func):
 
     return wrapper
 
+def require_microphone(func):
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        # Access the pytest request context to get the is_microphone_available fixture
+        request = kwargs.get("request")
+        microphone_type = kwargs.get("microphone_type")
+        mock = kwargs.get("mock")
+
+        if request is None:
+            raise ValueError("The 'request' fixture must be an argument of the test function.")
+        if microphone_type is None:
+            raise ValueError("The 'microphone_type' must be an argument of the test function.")
+        if mock is None:
+            raise ValueError("The 'mock' variable must be an argument of the test function.")
+
+        if not mock and not request.getfixturevalue("is_microphone_available"):
+            pytest.skip(f"A {microphone_type} microphone is not available.")
+
+        return func(*args, **kwargs)
+
+    return wrapper
 
 def require_motor(func):
     @wraps(func)
@@ -314,6 +344,12 @@ def make_camera(camera_type: str, **kwargs) -> Camera:
     else:
         raise ValueError(f"The camera type '{camera_type}' is not valid.")
 
+def make_microphone(microphone_type: str, **kwargs) -> Microphone:
+    if microphone_type == "microphone":
+        microphone_index = kwargs.pop("microphone_index", MICROPHONE_INDEX)
+        return make_microphone_device(microphone_type, microphone_index=microphone_index, **kwargs)
+    else:
+        raise ValueError(f"The microphone type '{microphone_type}' is not valid.")
 
 # TODO(rcadene, aliberts): remove this dark pattern that overrides
 def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus: