Remove display cameras and control sounds options. This will be contr…

…olled from the browser ui

lerobot/common/robot_devices/control_context.py

@@ -9,7 +9,6 @@
 from lerobot.common.robot_devices.robots.utils import Robot
 from lerobot.common.robot_devices.utils import busy_wait
 from lerobot.common.robot_devices.control_utils import log_control_info
-from lerobot.common.utils.utils import log_say
 
 
 class ControlPhase:
@@ -25,8 +24,6 @@ class ControlPhase:
 
 @dataclass
 class ControlContextConfig:
-    display_cameras: bool = False
-    play_sounds: bool = True
     assign_rewards: bool = False
     control_phase: str = ControlPhase.TELEOPERATE
     num_episodes: int = 0
@@ -115,16 +112,8 @@ def _handle_browser_events(self):
 
     def update_config(self, config: ControlContextConfig):
         """Update configuration and reinitialize UI components as needed"""
-        old_display_setting = self.config.display_cameras
         self.config = config
 
-        # If display setting changed, reinitialize display
-        if old_display_setting != self.config.display_cameras:
-            self._initialize_display()
-
-        # Force screen recreation on next render
-        self.screen = None
-
         # Update ZMQ message with new config
         self._publish_config_update()
 
@@ -133,11 +122,9 @@ def update_config(self, config: ControlContextConfig):
     def _publish_config_update(self):
         """Publish configuration update to ZMQ subscribers"""
         config_data = {
-            "display_cameras": self.config.display_cameras,
-            "play_sounds": self.config.play_sounds,
             "assign_rewards": self.config.assign_rewards,
             "control_phase": self.config.control_phase,
-            "num_episodes": self.config.num_episodes - 1,
+            "num_episodes": self.config.num_episodes,
             "current_episode": self.current_episode_index,
         }
 
@@ -189,11 +176,9 @@ def _publish_observations(self, observation: Dict[str, np.ndarray], log_items: l
 
         # Include current configuration in observation update
         config_data = {
-            "display_cameras": self.config.display_cameras,
-            "play_sounds": self.config.play_sounds,
             "assign_rewards": self.config.assign_rewards,
             "control_phase": self.config.control_phase,
-            "num_episodes": self.config.num_episodes - 1,
+            "num_episodes": self.config.num_episodes,
             "current_episode": self.current_episode_index,
         }
 
@@ -228,10 +213,8 @@ def log_control_info(self, start_loop_t):
 
         return log_items
 
-    def log_say(self, message, blocking=False):
-        if self.config.play_sounds:
-            self._publish_log_say(message)
-            log_say(message, blocking)
+    def log_say(self, message):
+        self._publish_log_say(message)
 
     def _publish_log_say(self, message):
         message = {

lerobot/scripts/control_robot.py

@@ -177,11 +177,10 @@ def calibrate(robot: Robot, arms: list[str] | None):
 
 @safe_disconnect
 def teleoperate(
-    robot: Robot, fps: int | None = None, teleop_time_s: float | None = None, display_cameras: bool = False
+    robot: Robot, fps: int | None = None, teleop_time_s: float | None = None
 ):
     control_context = ControlContext(
         config=ControlContextConfig(
-            display_cameras=display_cameras,
             control_phase=ControlPhase.TELEOPERATE,
             robot=robot,
             fps=fps,
@@ -222,8 +221,6 @@ def record(
     local_files_only: bool = False,
 ) -> LeRobotDataset:
     # TODO(rcadene): Add option to record logs
-    listener = None
-    events = None
     policy = None
     device = None
     use_amp = None
@@ -282,8 +279,6 @@ def record(
         config=ControlContextConfig(
             robot=robot,
             control_phase=ControlPhase.WARMUP,
-            display_cameras=display_cameras,
-            play_sounds=play_sounds,
             assign_rewards=False,
             fps=fps,
         )
@@ -309,15 +304,13 @@ def record(
             ControlContextConfig(
                 robot=robot,
                 control_phase=ControlPhase.RECORD,
-                play_sounds=play_sounds,
                 assign_rewards=False,
                 num_episodes=num_episodes,
-                display_cameras=display_cameras,
                 fps=fps,
             )
         )
 
-        control_context.log_say(f"Recording episode {dataset.num_episodes}")
+        control_context.log_say(f"Recording episode {dataset.num_episodes + 1}")
         record_episode(
             dataset=dataset,
             robot=robot,
@@ -343,10 +336,8 @@ def record(
                 ControlContextConfig(
                     robot=robot,
                     control_phase=ControlPhase.RESET,
-                    play_sounds=play_sounds,
                     assign_rewards=False,
                     num_episodes=num_episodes,
-                    display_cameras=display_cameras,
                     fps=fps,
                 )
             )
@@ -364,10 +355,8 @@ def record(
             ControlContextConfig(
                 robot=robot,
                 control_phase=ControlPhase.SAVING,
-                play_sounds=play_sounds,
                 assign_rewards=False,
                 num_episodes=num_episodes,
-                display_cameras=display_cameras,
                 fps=fps,
             )
         )
@@ -385,10 +374,8 @@ def record(
         ControlContextConfig(
             robot=robot,
             control_phase=ControlPhase.PROCESSING_DATASET,
-            play_sounds=play_sounds,
             assign_rewards=False,
             num_episodes=num_episodes,
-            display_cameras=display_cameras,
             fps=fps,
         )
     )
@@ -403,10 +390,8 @@ def record(
             ControlContextConfig(
                 robot=robot,
                 control_phase=ControlPhase.UPLOADING_DATASET_TO_HUB,
-                play_sounds=play_sounds,
                 assign_rewards=False,
                 num_episodes=num_episodes,
-                display_cameras=display_cameras,
                 fps=fps,
             )
         )
@@ -417,10 +402,8 @@ def record(
         ControlContextConfig(
             robot=robot,
             control_phase=ControlPhase.RECORDING_COMPLETE,
-            play_sounds=play_sounds,
             assign_rewards=False,
             num_episodes=num_episodes,
-            display_cameras=display_cameras,
             fps=fps,
         )
     )
@@ -491,12 +474,6 @@ def replay(
     parser_teleop.add_argument(
         "--fps", type=none_or_int, default=None, help="Frames per second (set to None to disable)"
     )
-    parser_teleop.add_argument(
-        "--display-cameras",
-        type=int,
-        default=1,
-        help="Display all cameras on screen (set to 1 to display or 0).",
-    )
 
     parser_record = subparsers.add_parser("record", parents=[base_parser])
     task_args = parser_record.add_mutually_exclusive_group(required=True)