Update env.py

env.py

@@ -1,6 +1,5 @@
 # env.py
 
-
 from pathlib import Path
 import yaml
 from huggingface_hub import snapshot_download
@@ -8,67 +7,53 @@ 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
 
+# global state to ensure we only start the simulator once per process
+_SIM_STARTED = False
+_SIM_INSTANCE = None
+
 
-class UnitreeG1SimulationEnvironment:
+def _launch_simulator_once(publish_images=True, camera_port=5555, cameras=None):
     """
-    Unitree G1 Simulation Environment for EnvHub.
+    create and start the simulator only once per python process.
+    subsequent calls are no-ops and just return the same sim.
     """
-    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)
+    global _SIM_STARTED, _SIM_INSTANCE
 
+    if _SIM_STARTED:
+        return _SIM_INSTANCE
 
-
-    # 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
-    cameras = None
-    
-    # Load config
+    # load config
     config_path = Path(__file__).parent / "config.yaml"
     with open(config_path) as f:
         config = yaml.safe_load(f)
-    
-    # Override config with default values
+
+    # override with defaults from make_env
     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
+
+    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 = {}
     if enable_offscreen:
         camera_list = cameras or ["head_camera"]
         for cam_name in camera_list:
             camera_configs[cam_name] = {"height": 480, "width": 640}
-        print(f"📷 Cameras: {', '.join(camera_list)} → ZMQ port {camera_port}")
-    
-    print("="*60)
-    
-    # Initialize DDS channel
+        print(f"📷 cameras: {', '.join(camera_list)} → zmq port {camera_port}")
+
+    print("=" * 60)
+
+    # init dds channel
     init_channel(config=config)
-    
-    # Create simulator
+
+    # create simulator
     sim = SimulatorFactory.create_simulator(
         config=config,
         env_name="default",
@@ -76,18 +61,52 @@ def make_env(n_envs=1, use_async_envs: bool = False,
         offscreen=enable_offscreen,
         camera_configs=camera_configs,
     )
-    
-    # Start simulator (blocking)
-    print("\nSimulator running. Press Ctrl+C to exit.")
+
+    # start simulator in a background thread so make_env can return
+    # (if you really want blocking, set as_thread=False and don't return DummyEnv)
+    print("\nsimulator running (background thread). press ctrl+c in main script to exit.")
     if enable_offscreen and publish_images:
-        print(f"Camera images publishing on tcp://localhost:{camera_port}")
+        print(f"camera images publishing on tcp://localhost:{camera_port}")
+
     SimulatorFactory.start_simulator(
         sim,
-        as_thread=False,
+        as_thread=True,
         enable_image_publish=publish_images,
         camera_port=camera_port,
     )
 
+    _SIM_STARTED = True
+    _SIM_INSTANCE = sim
+    return sim
+
+
+def make_env(
+    n_envs=1,
+    use_async_envs: bool = False,
+    publish_images=True,
+    camera_port=5555,
+    cameras=None,
+    **kwargs,
+):
+    """
+    factory used by your runner:
+        from env import make_env
+        env = make_env()
+    calling this multiple times in the same process will NOT start multiple sims.
+    """
+
+    # force defaults if you want
+    publish_images = True
+    camera_port = 5555
+    cameras = None
+
+    # ensure simulator is running (only once)
+    _launch_simulator_once(
+        publish_images=publish_images,
+        camera_port=camera_port,
+        cameras=cameras,
+    )
+
     class DummyEnv(gym.Env):
         def __init__(self):
             super().__init__()
@@ -102,6 +121,7 @@ def make_env(n_envs=1, use_async_envs: bool = False,
             return np.zeros(1, dtype=np.float32), 0.0, False, False, {}
 
         def run(self):
+            # optional: expose sim control here later if you want
             pass
-        
-    return DummyEnv()
+
+    return DummyEnv()