From 49918efbc1946da822f743902ba36da8e1e398b4 Mon Sep 17 00:00:00 2001
From: Steven Palma <imstevenpmwork@ieee.org>
Date: Fri, 26 Sep 2025 14:30:17 +0200
Subject: [PATCH] chore(utils): remove unused code (#2059)

---
 src/lerobot/utils/control_utils.py | 59 ------------------------------
 src/lerobot/utils/import_utils.py  |  4 --
 2 files changed, 63 deletions(-)

diff --git a/src/lerobot/utils/control_utils.py b/src/lerobot/utils/control_utils.py
index 47beb574..17371921 100644
--- a/src/lerobot/utils/control_utils.py
+++ b/src/lerobot/utils/control_utils.py
@@ -27,7 +27,6 @@ from typing import Any
 import numpy as np
 import torch
 from deepdiff import DeepDiff
-from termcolor import colored
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.utils import DEFAULT_FEATURES
@@ -36,64 +35,6 @@ from lerobot.processor import PolicyAction, PolicyProcessorPipeline
 from lerobot.robots import Robot
 
 
-def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, fps=None):
-    """
-    Logs performance metrics for a single step of the robot control loop.
-
-    This function formats and prints a single line of log information, including episode/frame counters,
-    total loop time (dt), and detailed timings for various robot and camera operations. It can also
-    highlight performance drops in yellow if the actual FPS is lower than the target FPS.
-
-    Args:
-        robot: The `Robot` instance, used to access its internal logs for detailed timings.
-        dt_s: The total duration of the control loop step in seconds.
-        episode_index: The index of the current episode.
-        frame_index: The index of the current frame within the episode.
-        fps: The target frames per second, used to check for performance degradation.
-    """
-    log_items = []
-    if episode_index is not None:
-        log_items.append(f"ep:{episode_index}")
-    if frame_index is not None:
-        log_items.append(f"frame:{frame_index}")
-
-    def log_dt(shortname, dt_val_s):
-        nonlocal log_items, fps
-        info_str = f"{shortname}:{dt_val_s * 1000:5.2f} ({1 / dt_val_s:3.1f}hz)"
-        if fps is not None:
-            actual_fps = 1 / dt_val_s
-            if actual_fps < fps - 1:
-                info_str = colored(info_str, "yellow")
-        log_items.append(info_str)
-
-    # total step time displayed in milliseconds and its frequency
-    log_dt("dt", dt_s)
-
-    # TODO(aliberts): move robot-specific logs logic in robot.print_logs()
-    if not robot.robot_type.startswith("stretch"):
-        for name in robot.leader_arms:
-            key = f"read_leader_{name}_pos_dt_s"
-            if key in robot.logs:
-                log_dt("dtRlead", robot.logs[key])
-
-        for name in robot.follower_arms:
-            key = f"write_follower_{name}_goal_pos_dt_s"
-            if key in robot.logs:
-                log_dt("dtWfoll", robot.logs[key])
-
-            key = f"read_follower_{name}_pos_dt_s"
-            if key in robot.logs:
-                log_dt("dtRfoll", robot.logs[key])
-
-        for name in robot.cameras:
-            key = f"read_camera_{name}_dt_s"
-            if key in robot.logs:
-                log_dt(f"dtR{name}", robot.logs[key])
-
-    info_str = " ".join(log_items)
-    logging.info(info_str)
-
-
 @cache
 def is_headless():
     """
diff --git a/src/lerobot/utils/import_utils.py b/src/lerobot/utils/import_utils.py
index 09e64937..5f41ea3a 100644
--- a/src/lerobot/utils/import_utils.py
+++ b/src/lerobot/utils/import_utils.py
@@ -57,8 +57,4 @@ def is_package_available(pkg_name: str, return_version: bool = False) -> tuple[b
         return package_exists
 
 
-_torch_available, _torch_version = is_package_available("torch", return_version=True)
 _transformers_available = is_package_available("transformers")
-_gym_xarm_available = is_package_available("gym_xarm")
-_gym_aloha_available = is_package_available("gym_aloha")
-_gym_pusht_available = is_package_available("gym_pusht")