From 9c667d347ce960ed383b4b60963feb5fc01acabf Mon Sep 17 00:00:00 2001
From: CarolinePascal <caroline8.pascal@gmail.com>
Date: Thu, 10 Apr 2025 11:04:03 +0200
Subject: [PATCH] Adding sample SO100 configuration for testing

---
 lerobot/common/robot_devices/robots/configs.py | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/lerobot/common/robot_devices/robots/configs.py b/lerobot/common/robot_devices/robots/configs.py
index 6bb3b93b..66edc4f6 100644
--- a/lerobot/common/robot_devices/robots/configs.py
+++ b/lerobot/common/robot_devices/robots/configs.py
@@ -486,6 +486,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
                 fps=30,
                 width=640,
                 height=480,
+                microphone="laptop",
             ),
             "phone": OpenCVCameraConfig(
                 camera_index=1,
@@ -496,6 +497,21 @@ class So100RobotConfig(ManipulatorRobotConfig):
         }
     )
 
+    microphones: dict[str, MicrophoneConfig] = field(
+        default_factory=lambda: {
+            "laptop": MicrophoneConfig(
+                microphone_index=0,
+                sample_rate=48000,
+                channels=[1],
+            ),
+            "headset": MicrophoneConfig(
+                microphone_index=1,
+                sample_rate=44100,
+                channels=[1],
+            ),
+        }
+    )
+
     mock: bool = False