Remove --sim argument

README.md

@@ -58,7 +58,6 @@ reachy-mini-conversation-demo
 
 | Option | Values | Default | Description |
 |--------|--------|---------|-------------|
-| `--sim` | *(flag)* | off | Run in **simulation mode** (no physical robot required). |
 | `--head-tracker` | `yolo`, `mediapipe` | `None` | Enable **head tracking** using the specified tracker:<br>• **yolo** → YOLO-based head tracker.<br>• **mediapipe** → MediaPipe-based head tracker.<br>*(Automatically disabled when `--sim` is active)* |
 | `--no-camera` | *(flag)* | off | Disable **camera usage** entirely. |
 | `--gradio` | *(flag)* | off | **⚠️ Under construction** - Open Gradio interface (currently not implemented). |

src/reachy_mini_conversation_demo/camera_worker.py

@@ -25,11 +25,10 @@ logger = logging.getLogger(__name__)
 class CameraWorker:
     """Thread-safe camera worker with frame buffering and face tracking."""
 
-    def __init__(self, reachy_mini: ReachyMini, head_tracker=None, use_sim: bool = False):
+    def __init__(self, reachy_mini: ReachyMini, head_tracker=None):
         """Initialize."""
         self.reachy_mini = reachy_mini
         self.head_tracker = head_tracker
-        self.use_sim = use_sim
 
         # Thread-safe frame storage
         self.latest_frame: Optional[np.ndarray] = None
@@ -37,16 +36,6 @@ class CameraWorker:
         self._stop_event = threading.Event()
         self._thread: Optional[threading.Thread] = None
 
-        # Local camera for simulation mode
-        self.local_camera: Optional[cv2.VideoCapture] = None
-        if self.use_sim:
-            self.local_camera = cv2.VideoCapture(0)
-            if not self.local_camera.isOpened():
-                logger.error("Failed to open local camera in simulation mode")
-                self.local_camera = None
-            else:
-                logger.info("Local camera opened for simulation mode")
-
         # Face tracking state
         self.is_head_tracking_enabled = True
         self.face_tracking_offsets = [
@@ -104,11 +93,6 @@ class CameraWorker:
         if self._thread is not None:
             self._thread.join()
 
-        # Release local camera if it was opened
-        if self.local_camera is not None:
-            self.local_camera.release()
-            logger.debug("Local camera released")
-
         logger.debug("Camera worker stopped")
 
     def working_loop(self) -> None:
@@ -126,14 +110,8 @@ class CameraWorker:
             try:
                 current_time = time.time()
 
-                # Get frame from local camera if in simulation mode, otherwise from robot
-                if self.use_sim and self.local_camera is not None:
-                    ret, frame = self.local_camera.read()
-                    if not ret:
-                        frame = None
-                        logger.warning("Failed to read frame from local camera")
-                else:
-                    frame = self.reachy_mini.media.get_frame()
+                # Get frame from robot
+                frame = self.reachy_mini.media.get_frame()
 
                 if frame is not None:
                     # Thread-safe frame storage

src/reachy_mini_conversation_demo/main.py

@@ -32,11 +32,7 @@ def main():
     logger = setup_logger(args.debug)
     logger.info("Starting Reachy Mini Conversation Demo")
 
-    # In simulation mode, disable robot's media system since we use local camera/mic
-    if args.sim:
-        robot = ReachyMini(use_sim=True, media_backend="no_media")
-    else:
-        robot = ReachyMini(use_sim=False)
+    robot = ReachyMini()
 
     camera_worker, _, vision_manager = handle_vision_stuff(args, robot)
 

src/reachy_mini_conversation_demo/utils.py

@@ -8,7 +8,6 @@ from reachy_mini_conversation_demo.camera_worker import CameraWorker
 def parse_args():
     """Parse command line arguments."""
     parser = argparse.ArgumentParser("Reachy Mini Conversation Demo")
-    parser.add_argument("--sim", action="store_true", help="Run in simulation mode")
     parser.add_argument(
         "--head-tracker",
         choices=["yolo", "mediapipe", None],
@@ -28,8 +27,7 @@ def handle_vision_stuff(args, current_robot):
     head_tracker = None
     vision_manager = None
     if not args.no_camera:
-        # Head tracking is disabled in simulation mode
-        if args.head_tracker is not None and not args.sim:
+        if args.head_tracker is not None:
             if args.head_tracker == "yolo":
                 from reachy_mini_conversation_demo.vision.yolo_head_tracker import (
                     HeadTracker,
@@ -41,12 +39,8 @@ def handle_vision_stuff(args, current_robot):
                 from reachy_mini_toolbox.vision import HeadTracker
 
                 head_tracker = HeadTracker()
-        elif args.head_tracker is not None and args.sim:
-            logger.warning(
-                f"Head tracking (--head-tracker {args.head_tracker}) is disabled in simulation mode (--sim)"
-            )
 
-        camera_worker = CameraWorker(current_robot, head_tracker, use_sim=args.sim)
+        camera_worker = CameraWorker(current_robot, head_tracker)
 
     return camera_worker, head_tracker, vision_manager