Update env.py

env.py

@@ -1,109 +1,56 @@
-# 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.
-    """
-    # Fix module path for multiprocessing subprocess
-    import sys
-    import os
-    from pathlib import Path
-
-    # Add Hub directory to PYTHONPATH so subprocess can find 'sim' module
-    hub_dir = str(Path(__file__).parent)
-    if hub_dir not in sys.path:
-        sys.path.insert(0, hub_dir)
+    # Use default values
+    publish_images = True
+    camera_port = 5555
+    cameras = None
     
-    # Also set PYTHONPATH environment variable for spawned subprocess
-    if 'PYTHONPATH' in os.environ:
-        if hub_dir not in os.environ['PYTHONPATH']:
-            os.environ['PYTHONPATH'] = f"{hub_dir}:{os.environ['PYTHONPATH']}"
-    else:
-        os.environ['PYTHONPATH'] = hub_dir
-    # Create the simulation environment
+    # Load config
     config_path = Path(__file__).parent / "config.yaml"
     with open(config_path) as f:
         config = yaml.safe_load(f)
-            # init DDS/communication
-    init_channel(config=config)
-    # Configure cameras if publishing is enabled
+    
+    # Override config with default values
+    enable_offscreen = publish_images or config.get("ENABLE_OFFSCREEN", False)
+    
+    print("="*60)
+    print("🤖 Starting Unitree G1 MuJoCo Simulator")
+    print("="*60)
+    print(f"📁 Scene: {config['ROBOT_SCENE']}")
+    print(f"⏱️  Timestep: {config['SIMULATE_DT']}s ({int(1/config['SIMULATE_DT'])} Hz)")
+    print(f"👁️  Visualization: {'ON' if config.get('ENABLE_ONSCREEN', True) else 'OFF'}")
+    
+    # Configure cameras if requested
     camera_configs = {}
-    enable_offscreen = False
-    if publish_images:
+    if enable_offscreen:
         camera_list = cameras or ["head_camera"]
         for cam_name in camera_list:
             camera_configs[cam_name] = {"height": 480, "width": 640}
-        enable_offscreen = True
+        print(f"📷 Cameras: {', '.join(camera_list)} → ZMQ port {camera_port}")
+    
+    print("="*60)
+    
+    # Initialize DDS channel
+    init_channel(config=config)
+    
+    # Create simulator
+    sim = SimulatorFactory.create_simulator(
+        config=config,
+        env_name="default",
+        onscreen=config.get("ENABLE_ONSCREEN", True),
+        offscreen=enable_offscreen,
+        camera_configs=camera_configs,
+    )
     
-    # Recreate simulator with camera configs if needed
-    if publish_images:
-        # Try to enable both onscreen and offscreen rendering
-        # Note: This may cause OpenGL conflicts on some systems
-        sim = SimulatorFactory.create_simulator(
-            config=config,
-            env_name="default",
-            onscreen=config.get("ENABLE_ONSCREEN", True),
-            offscreen=enable_offscreen,
-            camera_configs=camera_configs,
+    # Start simulator (blocking)
+    print("\nSimulator running. Press Ctrl+C to exit.")
+    if enable_offscreen and publish_images:
+        print(f"Camera images publishing on tcp://localhost:{camera_port}")
+    try:
+        SimulatorFactory.start_simulator(
+            sim,
+            as_thread=False,
+            enable_image_publish=publish_images,
+            camera_port=camera_port,
         )
- 
-        try:
-            SimulatorFactory.start_simulator(
-                sim,
-                as_thread=False,
-                enable_image_publish=publish_images,
-                camera_port=camera_port,
-            )
-        except KeyboardInterrupt:
-            print("\nShutting down simulator...")
-            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()
+    except KeyboardInterrupt:
+        print("\nShutting down simulator...")
+        sim.close()