diff --git a/lerobot/scripts/control_sim_robot.py b/lerobot/scripts/control_sim_robot.py
index 42a08ac6..85d44c54 100644
--- a/lerobot/scripts/control_sim_robot.py
+++ b/lerobot/scripts/control_sim_robot.py
@@ -289,7 +289,7 @@ def record(
     tags=None,
     num_image_writers_per_camera=4,
     force_override=False,
-    visualization_mode='viewer',
+    visualize_images=0,
     **kwargs
 ):
 
@@ -323,7 +323,6 @@ def record(
     exit_early = False
     rerecord_episode = False
     stop_recording = False
-
     # Only import pynput if not in a headless environment
     if not is_headless():
         from pynput import keyboard
@@ -363,7 +362,7 @@ def record(
     command_queue = multiprocessing.Queue(1000)
     stop_reading_leader = multiprocessing.Value('i', 0)
     read_leader = multiprocessing.Process(target=read_commands_from_leader, args=(robot, command_queue, fps, axis_directions, offsets, stop_reading_leader))
-    if not is_headless() and visualization_mode=='observations':
+    if not is_headless() and visualize_images:
         observations_queue = multiprocessing.Queue(1000)
         show_images = multiprocessing.Process(target=show_image_observations, args=(observations_queue, ))
         show_images.start()
@@ -393,7 +392,7 @@ def record(
                             save_image, observation[key].squeeze(0), str_key, frame_index, episode_index, videos_dir)
                     ]
 
-                if not is_headless() and visualization_mode=='observations':
+                if not is_headless() and visualize_images:
                     observations_queue.put(observation)
           
                 state_obs = []
@@ -494,7 +493,7 @@ def record(
                     concurrent.futures.as_completed(futures), total=len(futures), desc="Writting images"
                 ):
                     pass
-                if not is_headless() and visualization_mode=='rgb_array':
+                if not is_headless() and visualize_images:
                     show_images.terminate()
                     observations_queue.close()
                 break
@@ -692,11 +691,10 @@ if __name__ == "__main__":
         help="By default, data recording is resumed. When set to 1, delete the local directory and start data recording from scratch.",
     )
     parser_record.add_argument(
-        "--visualization-mode",
-        type=str,
-        default='viewer',
-        choices=['viewer', 'observations'],
-        help="By default, data recording is resumed. When set to 1, delete the local directory and start data recording from scratch.",
+        "--visualize-images",
+        type=int,
+        default=0,
+        help="Visualize image observations with opencv.",
     )
 
     parser_replay = subparsers.add_parser("replay", parents=[base_parser])
@@ -731,7 +729,6 @@ if __name__ == "__main__":
 
     # make gym env
     env_cfg = init_hydra_config(env_config_path)
-    env_cfg.env.gym.render_mode = 'human' if args.visualization_mode=='viewer' else 'rgb_array'    
     env_fn = lambda: make_env(env_cfg, n_envs=1)
     
     # make robot