clean-up

env.py

@@ -338,51 +338,50 @@ def make_env(
     if n_envs < 1:
         raise ValueError("`n_envs` must be at least 1")
 
-    # Build config from cfg attributes directly (hub path) or YAML (local dev)
-    if cfg is not None and hasattr(cfg, 'environment'):
-        # Extract config directly from EnvConfig attributes
-        config = {
-            "environment": cfg.environment,
-            "embodiment": cfg.embodiment,
-            "object": cfg.object,
-            "mimic": cfg.mimic,
-            "teleop_device": cfg.teleop_device,
-            "seed": cfg.seed,
-            "device": cfg.device,
-            "disable_fabric": cfg.disable_fabric,
-            "enable_cameras": cfg.enable_cameras,
-            "headless": cfg.headless,
-            "enable_pinocchio": cfg.enable_pinocchio,
-            "episode_length": cfg.episode_length,
-            "state_dim": cfg.state_dim,
-            "action_dim": cfg.action_dim,
-            "camera_height": cfg.camera_height,
-            "camera_width": cfg.camera_width,
-            "video": cfg.video,
-            "video_length": cfg.video_length,
-            "video_interval": cfg.video_interval,
-            "state_keys": cfg.state_keys,
-            "camera_keys": cfg.camera_keys or "",  # Pass empty string for no cameras
-            "task": cfg.task,
-        }
-    else:
-        # Fallback to YAML for local development
-        yaml_path = _find_config_file(kwargs.get("config_path"))
-        if yaml_path is not None:
-            logging.info(f"Loading config from: {yaml_path}")
-            with open(yaml_path) as f:
-                config = yaml.safe_load(f) or {}
-        else:
-            config = {}
-
-    # Apply any runtime overrides (highest priority)
-    config.update(kwargs)
-
-    if "environment" not in config:
+    if not hasattr(cfg, 'environment') or cfg.environment is None:
         raise ValueError(
             "No 'environment' specified. Pass it via kwargs or create "
             "configs/config.yaml with environment settings."
         )
+    # Build config from cfg attributes directly (hub path) or YAML (local dev)
+    # if cfg is not None and hasattr(cfg, 'environment'):
+    # # Extract config directly from EnvConfig attributes
+    config = {
+        "environment": cfg.environment,
+        "embodiment": cfg.embodiment,
+        "object": cfg.object,
+        "mimic": cfg.mimic,
+        "teleop_device": cfg.teleop_device,
+        "seed": cfg.seed,
+        "device": cfg.device,
+        "disable_fabric": cfg.disable_fabric,
+        "enable_cameras": cfg.enable_cameras,
+        "headless": cfg.headless,
+        "enable_pinocchio": cfg.enable_pinocchio,
+        "episode_length": cfg.episode_length,
+        "state_dim": cfg.state_dim,
+        "action_dim": cfg.action_dim,
+        "camera_height": cfg.camera_height,
+        "camera_width": cfg.camera_width,
+        "video": cfg.video,
+        "video_length": cfg.video_length,
+        "video_interval": cfg.video_interval,
+        "state_keys": cfg.state_keys,
+        "camera_keys": cfg.camera_keys or "",  # Pass empty string for no cameras
+        "task": cfg.task,
+    }
+    # else:
+    # # Fallback to YAML for local development
+    # yaml_path = _find_config_file(kwargs.get("config_path"))
+    # if yaml_path is not None:
+    #     logging.info(f"Loading config from: {yaml_path}")
+    #     with open(yaml_path) as f:
+    #         config = yaml.safe_load(f) or {}
+    # else:
+    #     config = {}
+
+    # Apply any runtime overrides (highest priority)
+    # config.update(kwargs)
 
     logging.info(
         f"EnvHub make_env: environment={config.get('environment')}, n_envs={n_envs}"