testing

env.py

@@ -295,17 +295,44 @@ def make_env(
     if n_envs < 1:
         raise ValueError("`n_envs` must be at least 1")
 
-    # Start with empty config - will be populated from YAML defaults
-    config = {}
-
-    # Always load YAML defaults first (single source of truth)
-    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 {}
-
-    # Override with runtime kwargs (highest priority)
+    # 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: