Update env.py

env.py

@@ -1,3 +1,40 @@
+# env.py
+
+
+from pathlib import Path
+import yaml
+from huggingface_hub import snapshot_download
+import os
+import gymnasium as gym
+from gymnasium import spaces
+import numpy as np
+snapshot_download(repo_id='lerobot/unitree-g1-mujoco', revision=None, cache_dir=None)
+
+from sim.simulator_factory import SimulatorFactory, init_channel
+
+
+class UnitreeG1SimulationEnvironment:
+    """
+    Unitree G1 Simulation Environment for EnvHub.
+    """
+    def __init__(self, config_path=None):
+        # Load config
+        config_path = Path(__file__).parent / "config.yaml"
+        with open(config_path) as f:
+            self.config = yaml.safe_load(f)
+
+
+
+    # optional cleanup
+    def close(self):
+        self.sim.close()
+        
+def make_env(n_envs=1, use_async_envs: bool = False, 
+             publish_images=True, camera_port=5555, cameras=None, **kwargs):
+    """
+    Required entrypoint for EnvHub.
+    Returns an environment instance with running simulator.
+    """
     # Use default values
     publish_images = True
     camera_port = 5555
@@ -53,4 +90,23 @@
         )
     except KeyboardInterrupt:
         print("\nShutting down simulator...")
-        sim.close()
+        sim.close()
+    import time
+    time.sleep(1000000)
+    class DummyEnv(gym.Env):
+        def __init__(self):
+            super().__init__()
+            self.action_space = spaces.Box(-1, 1, shape=(1,), dtype=np.float32)
+            self.observation_space = spaces.Box(-1, 1, shape=(1,), dtype=np.float32)
+
+        def reset(self, seed=None, options=None):
+            super().reset(seed=seed)
+            return np.zeros(1, dtype=np.float32), {}
+
+        def step(self, action):
+            return np.zeros(1, dtype=np.float32), 0.0, False, False, {}
+
+        def run(self):
+            pass
+        
+    return DummyEnv()