From e743f846a79c0789c3acfa33eb745dbbd542154c Mon Sep 17 00:00:00 2001
From: CarolinePascal <caroline8.pascal@gmail.com>
Date: Mon, 7 Apr 2025 19:08:53 +0200
Subject: [PATCH] Adding dtype="audio" by default in microphone features

---
 lerobot/common/datasets/utils.py                   | 8 +-------
 lerobot/common/robot_devices/robots/manipulator.py | 5 +++--
 2 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/lerobot/common/datasets/utils.py b/lerobot/common/datasets/utils.py
index a7bda7f2..80143939 100644
--- a/lerobot/common/datasets/utils.py
+++ b/lerobot/common/datasets/utils.py
@@ -403,13 +403,7 @@ def get_features_from_robot(robot: Robot, use_videos: bool = True) -> dict:
             key: {"dtype": "video" if use_videos else "image", **ft}
             for key, ft in robot.camera_features.items()
         }
-    microphones_ft = {}
-    if robot.microphones:
-        microphones_ft = {
-            key: {"dtype": "audio", **ft}
-            for key, ft in robot.microphones_features.items()
-        }
-    return {**robot.motor_features, **camera_ft, **microphones_ft, **DEFAULT_FEATURES}
+    return {**robot.motor_features, **camera_ft, **robot.microphone_features, **DEFAULT_FEATURES}
 
 
 def dataset_to_policy_features(features: dict[str, dict]) -> dict[str, PolicyFeature]:
diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py
index 7e849914..16edc4fb 100644
--- a/lerobot/common/robot_devices/robots/manipulator.py
+++ b/lerobot/common/robot_devices/robots/manipulator.py
@@ -203,11 +203,12 @@ class ManipulatorRobot:
         }
     
     @property
-    def microphones_features(self) -> dict:
+    def microphone_features(self) -> dict:
         mic_ft = {}
         for mic_key, mic in self.microphones.items():
             key = f"observation.audio.{mic_key}"
             mic_ft[key] = {
+                "dtype": "audio",
                 "shape": (len(mic.channels),),
                 "names": "channels",
                 "info" : None,
@@ -216,7 +217,7 @@ class ManipulatorRobot:
 
     @property
     def features(self):
-        return {**self.motor_features, **self.camera_features, **self.microphones_features}
+        return {**self.motor_features, **self.camera_features, **self.microphone_features}
 
     @property
     def has_camera(self):