From 0e7236bdc81ce855cbe3d70345a7899452bdeb1c Mon Sep 17 00:00:00 2001
From: Gabriel Margolis <gmargo@mit.edu>
Date: Sun, 16 Jun 2024 18:12:25 -0400
Subject: [PATCH] add entrypoint.sh and fix headless graphics_device_id

---
 go1_gym/envs/base/base_task.py      | 2 +-
 go1_gym_deploy/docker/entrypoint.sh | 6 ++++++
 2 files changed, 7 insertions(+), 1 deletion(-)
 create mode 100644 go1_gym_deploy/docker/entrypoint.sh

diff --git a/go1_gym/envs/base/base_task.py b/go1_gym/envs/base/base_task.py
index ba68575..4183773 100755
--- a/go1_gym/envs/base/base_task.py
+++ b/go1_gym/envs/base/base_task.py
@@ -34,7 +34,7 @@ class BaseTask(gym.Env):
         # graphics device for rendering, -1 for no rendering
         self.graphics_device_id = self.sim_device_id
         if self.headless == True:
-            self.graphics_device_id = self.sim_device_id
+            self.graphics_device_id = -1
 
         self.num_obs = cfg.env.num_observations
         self.num_privileged_obs = cfg.env.num_privileged_obs
diff --git a/go1_gym_deploy/docker/entrypoint.sh b/go1_gym_deploy/docker/entrypoint.sh
new file mode 100644
index 0000000..9e69fcf
--- /dev/null
+++ b/go1_gym_deploy/docker/entrypoint.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+eval "bash"
+
+exec "$@"