From 4933c9dcc7f811e365dcaaeabcf34d54fea8cb21 Mon Sep 17 00:00:00 2001
From: CarolinePascal <caroline8.pascal@gmail.com>
Date: Mon, 27 Oct 2025 14:18:57 +0100
Subject: [PATCH] chore(touchlab imports): adding imports for touchlab sensors

---
 src/lerobot/__init__.py                     | 1 +
 src/lerobot/async_inference/robot_client.py | 1 +
 src/lerobot/microphones/utils.py            | 4 ++++
 src/lerobot/scripts/lerobot_calibrate.py    | 1 +
 src/lerobot/scripts/lerobot_record.py       | 1 +
 src/lerobot/scripts/lerobot_teleoperate.py  | 1 +
 6 files changed, 9 insertions(+)

diff --git a/src/lerobot/__init__.py b/src/lerobot/__init__.py
index 1e5f5bb6e..4be49f57c 100644
--- a/src/lerobot/__init__.py
+++ b/src/lerobot/__init__.py
@@ -178,6 +178,7 @@ available_cameras = [
 # lists all available microphones from `lerobot/microphones`
 available_microphones = [
     "portaudio",
+    "touchlab",
 ]
 
 # lists all available motors from `lerobot/motors`
diff --git a/src/lerobot/async_inference/robot_client.py b/src/lerobot/async_inference/robot_client.py
index 46bd64b25..a21e23983 100644
--- a/src/lerobot/async_inference/robot_client.py
+++ b/src/lerobot/async_inference/robot_client.py
@@ -48,6 +48,7 @@ import torch
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
 from lerobot.microphones.portaudio.configuration_portaudio import PortAudioMicrophoneConfig  # noqa: F401
+from lerobot.microphones.touchlab.configuration_touchlab import TouchLabSensorConfig  # noqa: F401
 from lerobot.processor import RobotAction
 from lerobot.robots import (  # noqa: F401
     Robot,
diff --git a/src/lerobot/microphones/utils.py b/src/lerobot/microphones/utils.py
index 98238f40d..cf19a970f 100644
--- a/src/lerobot/microphones/utils.py
+++ b/src/lerobot/microphones/utils.py
@@ -27,6 +27,10 @@ def make_microphones_from_configs(microphone_configs: dict[str, MicrophoneConfig
             from .portaudio import PortAudioMicrophone
 
             microphones[key] = PortAudioMicrophone(cfg)
+        elif cfg.type == "touchlab":
+            from .touchlab import TouchLabSensor
+
+            microphones[key] = TouchLabSensor(cfg)
         else:
             raise ValueError(f"The microphone type '{cfg.type}' is not valid.")
 
diff --git a/src/lerobot/scripts/lerobot_calibrate.py b/src/lerobot/scripts/lerobot_calibrate.py
index c66fcf3c2..2522486d8 100644
--- a/src/lerobot/scripts/lerobot_calibrate.py
+++ b/src/lerobot/scripts/lerobot_calibrate.py
@@ -34,6 +34,7 @@ import draccus
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
 from lerobot.microphones.portaudio.configuration_portaudio import PortAudioMicrophoneConfig  # noqa: F401
+from lerobot.microphones.touchlab.configuration_touchlab import TouchLabSensorConfig  # noqa: F401
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
diff --git a/src/lerobot/scripts/lerobot_record.py b/src/lerobot/scripts/lerobot_record.py
index 75cb2b64e..6d94f7c72 100644
--- a/src/lerobot/scripts/lerobot_record.py
+++ b/src/lerobot/scripts/lerobot_record.py
@@ -95,6 +95,7 @@ from lerobot.microphones import (
     MicrophoneConfig,  # noqa: F401
 )
 from lerobot.microphones.portaudio.configuration_portaudio import PortAudioMicrophoneConfig  # noqa: F401
+from lerobot.microphones.touchlab.configuration_touchlab import TouchLabSensorConfig  # noqa: F401
 from lerobot.microphones.utils import (
     async_microphones_start_recording,
     async_microphones_stop_recording,
diff --git a/src/lerobot/scripts/lerobot_teleoperate.py b/src/lerobot/scripts/lerobot_teleoperate.py
index ae8a7c3ab..367accce8 100644
--- a/src/lerobot/scripts/lerobot_teleoperate.py
+++ b/src/lerobot/scripts/lerobot_teleoperate.py
@@ -62,6 +62,7 @@ from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # no
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
 from lerobot.configs import parser
 from lerobot.microphones.portaudio.configuration_portaudio import PortAudioMicrophoneConfig  # noqa: F401
+from lerobot.microphones.touchlab.configuration_touchlab import TouchLabSensorConfig  # noqa: F401
 from lerobot.processor import (
     RobotAction,
     RobotObservation,