From b4fcf9c9ab65cbf3ba0ba81199cacd7a716cc8f9 Mon Sep 17 00:00:00 2001
From: Jinyu Xie <jinyuxie@loopmind.ai>
Date: Tue, 12 Sep 2023 11:27:53 -0700
Subject: [PATCH 1/6] polish api and easy start

---
 README.md                          | 25 ++++++++-----
 docker-compose-dev.yml             |  5 ++-
 docker_release.sh                  |  0
 examples/quickstart.py             |  8 ++---
 examples/run_simglucose.py         |  7 ++--
 frontend/lib/gtag.tsx              | 44 -----------------------
 frontend/src/components/navbar.tsx |  4 ---
 frontend/src/pages/_app.tsx        | 15 --------
 frontend/src/pages/_document.tsx   | 29 +--------------
 loopquest/__init__.py              |  1 +
 loopquest/api.py                   | 55 ++++++++++++++++++++++------
 loopquest/crud.py                  |  2 ++
 loopquest/ui.py                    | 17 +++++++++
 loopquest/utils.py                 | 57 ++++++++++++++++++++++++++++++
 release.sh => pip_release.sh       |  0
 tests/test_datasets.py             |  4 +--
 tests/test_wrappers.py             |  5 +--
 17 files changed, 153 insertions(+), 125 deletions(-)
 create mode 100644 docker_release.sh
 delete mode 100644 frontend/lib/gtag.tsx
 create mode 100644 loopquest/__init__.py
 create mode 100644 loopquest/ui.py
 rename release.sh => pip_release.sh (100%)

diff --git a/README.md b/README.md
index 7e7d11c..e2112ee 100644
--- a/README.md
+++ b/README.md
@@ -1,12 +1,17 @@
 # :scroll:Loopquest
 
-A Production Tool for Embodied AI. 
+[![Downloads](https://static.pepy.tech/badge/loopquest)](https://pepy.tech/project/loopquest)
+[![Downloads](https://static.pepy.tech/badge/loopquest/month)](https://pepy.tech/project/loopquest)
+[![Downloads](https://static.pepy.tech/badge/loopquest/week)](https://pepy.tech/project/loopquest)
+
+A Production Tool for Embodied AI.
 ![loopquest frontend](screenshots/loopquest-screenshot.png)
 
 - :video_camera:[Tutorial Video - Updated 9/4/2023](https://capture.dropbox.com/UXKQxGkwel6VRZJQ), [Dataset Demo](https://capture.dropbox.com/AOF5rGxHWyRb9T58)
 - :house:[Discord](https://discord.gg/FTnFYeSy9r)
 
 # Major features
+
 - Imitation Learning / Offline Reinforcement Learning Oriented MLOps. Log all the observation, action, reward, rendered images into database with only ONE extra line of code.
 
 ```python
@@ -16,11 +21,12 @@ env = gymnasium.make("MountainCarContinuous-v0", render_mode="rgb_array")
 ->
 
 ```python
-from loopquest.gym_wrappers import LoopquestGymWrapper
-env = LoopquestGymWrapper(
-    gymnasium.make("MountainCarContinuous-v0", render_mode="rgb_array"), "my_experiment"
+import loopquest
+env = loopquest.make_env(
+    gymnasium.make("MountainCarContinuous-v0", render_mode="rgb_array")
 )
 ```
+
 - Directly trainable data for robotics foundation model. Select and download the (observation, action, reward) data with the dataloader interfaces of the most popular deep learning frameworks (e.g. tensorflow, pytorch, huggingface dataset apis). Check [Dataset Quickstart Example](examples/Dataset%20Quickstart.ipynb) for more details.
 
 ```python
@@ -55,7 +61,9 @@ The data schema will look like
     'images': [<PIL.JpegImagePlugin.JpegImageFile image mode=RGB size=600x400 at 0x7F8D33094450>]
 }
 ```
+
 - All the regular MLOps features are included, e.g. data visualization, simulation rendering, experiment management.
+
 # Installation
 
 For stable version, run
@@ -103,12 +111,10 @@ bash start_dev_server.sh
 
 ```python
 import gymnasium
-from loopquest.gym_wrappers import LoopquestGymWrapper
+import loopquest
 
-experiment_name = "test"
-env = LoopquestGymWrapper(
-    gymnasium.make("MountainCarContinuous-v0", render_mode="rgb_array"),
-    experiment_name,
+env = loopquest.make_env(
+    gymnasium.make("MountainCarContinuous-v0", render_mode="rgb_array")
 )
 obs, info = env.reset()
 for i in range(100):
@@ -118,4 +124,5 @@ for i in range(100):
     if terminated or truncated:
         break
 env.close()
+
 ```
diff --git a/docker-compose-dev.yml b/docker-compose-dev.yml
index 8ce6963..9f6e10c 100644
--- a/docker-compose-dev.yml
+++ b/docker-compose-dev.yml
@@ -12,7 +12,9 @@ services:
       - BACKEND_URL=http://backend:8000
     volumes:
       - ./frontend:/frontend
-      - /frontend/node_modules
+      - ./frontend/package.json:/frontend/package.json
+      - ./frontend/package-lock.json:/frontend/package-lock.json
+      - node_modules:/frontend/node_modules
     depends_on:
       - backend
 
@@ -51,3 +53,4 @@ services:
 volumes:
   db:
   media_store:
+  node_modules:
diff --git a/docker_release.sh b/docker_release.sh
new file mode 100644
index 0000000..e69de29
diff --git a/examples/quickstart.py b/examples/quickstart.py
index 1884017..04b58b6 100644
--- a/examples/quickstart.py
+++ b/examples/quickstart.py
@@ -1,10 +1,8 @@
 import gymnasium
-from loopquest.gym_wrappers import LoopquestGymWrapper
+import loopquest
 
-experiment_name = "test"
-env = LoopquestGymWrapper(
-    gymnasium.make("MountainCarContinuous-v0", render_mode="rgb_array"),
-    experiment_name,
+env = loopquest.make_env(
+    gymnasium.make("MountainCarContinuous-v0", render_mode="rgb_array")
 )
 obs, info = env.reset()
 for i in range(100):
diff --git a/examples/run_simglucose.py b/examples/run_simglucose.py
index 73f2559..8e01514 100644
--- a/examples/run_simglucose.py
+++ b/examples/run_simglucose.py
@@ -1,5 +1,5 @@
 import gymnasium
-from loopquest.gym_wrappers import LoopquestGymWrapper
+import loopquest
 from gymnasium.envs.registration import register
 
 register(
@@ -9,10 +9,7 @@
 )
 
 experiment_name = "a test"
-env = LoopquestGymWrapper(
-    gymnasium.make("simglucose/adolescent2-v0"),
-    experiment_name,
-)
+env = loopquest.make_env(gymnasium.make("simglucose/adolescent2-v0"))
 obs, info = env.reset()
 for i in range(100):
     action = env.action_space.sample()
diff --git a/frontend/lib/gtag.tsx b/frontend/lib/gtag.tsx
deleted file mode 100644
index 6bfd07d..0000000
--- a/frontend/lib/gtag.tsx
+++ /dev/null
@@ -1,44 +0,0 @@
-// export const GA_TRACKING_ID = "G-L92VJ893VL";  // vercel prod 环境数据流跟踪ID
-export const GA_TRACKING_ID = "G-S2237K9N4J"; // azure dev 环境数据流跟踪ID
-
-interface Window {
-  gtag(
-    type: "config",
-    googleAnalyticsId: string,
-    { page_path }: { page_path: string }
-  ): void;
-  gtag(
-    type: "event",
-    eventAction: string,
-    fieldObject: { event_label: string; event_category: string; value?: number }
-  ): void;
-}
-
-declare let window: Window;
-
-// https://developers.google.com/analytics/devguides/collection/gtagjs/pages
-export const pageview = (url: URL): void => {
-  if (typeof window !== "undefined") {
-    window.gtag("config", GA_TRACKING_ID, {
-      page_path: url.toString(),
-    });
-  }
-};
-
-type GTagEvent = {
-  action: string;
-  category: string;
-  label: string;
-  value: number;
-};
-
-// https://developers.google.com/analytics/devguides/collection/gtagjs/events
-export const event = ({ action, category, label, value }: GTagEvent): void => {
-  if (typeof window !== "undefined") {
-    window.gtag("event", action, {
-      event_category: category,
-      event_label: label,
-      value,
-    });
-  }
-};
diff --git a/frontend/src/components/navbar.tsx b/frontend/src/components/navbar.tsx
index 5aad15c..95d2d77 100644
--- a/frontend/src/components/navbar.tsx
+++ b/frontend/src/components/navbar.tsx
@@ -21,10 +21,6 @@ export default function Navbar() {
           <li>
             <Link href="/datasets">Datasets</Link>
           </li>
-        </ul>
-      </div>
-      <div className="navbar-end">
-        <ul className="menu menu-horizontal px-1 text-lg">
           <li>
             <Link href="/about">About</Link>
           </li>
diff --git a/frontend/src/pages/_app.tsx b/frontend/src/pages/_app.tsx
index ee38c80..2b75eb0 100644
--- a/frontend/src/pages/_app.tsx
+++ b/frontend/src/pages/_app.tsx
@@ -3,25 +3,10 @@ import Layout from "@/components/layout";
 import type { AppProps } from "next/app";
 import { config } from "@fortawesome/fontawesome-svg-core";
 import "@fortawesome/fontawesome-svg-core/styles.css";
-import { useRouter } from "next/router";
-import { useEffect } from "react";
-import * as gtag from "../../lib/gtag";
 
 config.autoAddCss = false;
-const isProduction = process.env.NODE_ENV === "production";
 
 const App = ({ Component, pageProps }: AppProps): JSX.Element => {
-  const router = useRouter();
-  useEffect(() => {
-    const handleRouteChange = (url: URL) => {
-      /* invoke analytics function only for production */
-      if (isProduction) gtag.pageview(url);
-    };
-    router.events.on("routeChangeComplete", handleRouteChange);
-    return () => {
-      router.events.off("routeChangeComplete", handleRouteChange);
-    };
-  }, [router.events]);
   return (
     <Layout>
       <Component {...pageProps} />
diff --git a/frontend/src/pages/_document.tsx b/frontend/src/pages/_document.tsx
index ba7460c..ff90303 100644
--- a/frontend/src/pages/_document.tsx
+++ b/frontend/src/pages/_document.tsx
@@ -1,36 +1,9 @@
 import { Html, Head, Main, NextScript } from "next/document";
 
-import { GA_TRACKING_ID } from "../../lib/gtag";
-const isProduction = process.env.NODE_ENV === "production";
-
 export default function Document() {
-
   return (
     <Html lang="en">
-          <Head>
-          {/* enable analytics script only for production */}
-          {isProduction && (
-            <>
-              <script
-                async
-                src={`https://www.googletagmanager.com/gtag/js?id=${GA_TRACKING_ID}`}
-              />
-              <script
-                // eslint-disable-next-line react/no-danger
-                dangerouslySetInnerHTML={{
-                  __html: `
-            window.dataLayer = window.dataLayer || [];
-            function gtag(){dataLayer.push(arguments);}
-            gtag('js', new Date());
-            gtag('config', '${GA_TRACKING_ID}', {
-              page_path: window.location.pathname,
-            });
-          `,
-                }}
-              />
-            </>
-          )}
-        </Head>
+      <Head></Head>
       <link rel="icon" href="/favicon.svg" />
       <title>Close Loop on Cloud | LoopQuest</title>
       <body>
diff --git a/loopquest/__init__.py b/loopquest/__init__.py
new file mode 100644
index 0000000..e8c80c2
--- /dev/null
+++ b/loopquest/__init__.py
@@ -0,0 +1 @@
+from loopquest.api import *
diff --git a/loopquest/api.py b/loopquest/api.py
index 2fe8870..c5f28f3 100644
--- a/loopquest/api.py
+++ b/loopquest/api.py
@@ -1,11 +1,30 @@
 import os
 import getpass
+from .ui import choose_instance
+from .utils import is_docker_installed
 
 
-def init():
-    os.environ["LOOPQUEST_FRONTEND"] = "http://localhost:5667"
-    os.environ["LOOPQUEST_BACKEND"] = "http://localhost:8000"
-    os.environ["LOOPQUEST_USER_ID"] = getpass.getuser()
+def init(local=None):
+    if local is None:
+        local = choose_instance() == "local"
+
+    if local:
+        # if is_docker_installed():
+        #     print("Docker is detected. Running 'docker compose up'...")
+        #     # In a real environment, you would uncomment the next line to run docker-compose up
+        #     os.system("docker compose up -d")
+        # else:
+        #     raise Exception(
+        #         "Docker is not installed. Visit the following URL to install Docker then try again: https://docs.docker.com/get-docker/"
+        #     )
+
+        os.environ["LOOPQUEST_FRONTEND"] = "http://localhost:5667"
+        os.environ["LOOPQUEST_BACKEND"] = "http://localhost:5667/api"
+        os.environ["LOOPQUEST_USER_ID"] = getpass.getuser()
+    else:
+        os.environ["LOOPQUEST_FRONTEND"] = "http://localhost:3000"
+        os.environ["LOOPQUEST_BACKEND"] = "http://localhost:3000/api"
+        os.environ["LOOPQUEST_USER_ID"] = ""
 
 
 def is_initialized():
@@ -16,19 +35,35 @@ def is_initialized():
     )
 
 
+def initailize(func):
+    def inner(*args, **kwargs):
+        if not is_initialized():
+            init()
+        return func(*args, **kwargs)
+
+    return inner
+
+
+@initailize
 def get_frontend_url():
-    if not is_initialized():
-        init()
     return os.environ["LOOPQUEST_FRONTEND"]
 
 
+@initailize
 def get_backend_url():
-    if not is_initialized():
-        init()
     return os.environ["LOOPQUEST_BACKEND"]
 
 
+@initailize
 def get_user_id():
-    if not is_initialized():
-        init()
     return os.environ["LOOPQUEST_USER_ID"]
+
+
+@initailize
+def make_env(env, experiment_name=None, experiment_description=""):
+    from .gym_wrappers import LoopquestGymWrapper
+    from .utils import generate_experiment_name
+
+    if experiment_name is None:
+        experiment_name = generate_experiment_name()
+    return LoopquestGymWrapper(env, experiment_name, experiment_description)
diff --git a/loopquest/crud.py b/loopquest/crud.py
index dfb75a6..91d8592 100644
--- a/loopquest/crud.py
+++ b/loopquest/crud.py
@@ -50,6 +50,7 @@ def get_size_of_gym_space(space):
 
 
 def create_environment(backend_url: str, env: gymnasium.Env, user_id: str) -> str:
+    print(backend_url)
     environment = construct_environment_info(env, user_id)
     response = requests.post(f"{backend_url}/env", json=environment.model_dump())
     response.raise_for_status()
@@ -69,6 +70,7 @@ def create_experiment(
     backend_url: str,
     experiment: ExperimentCreate,
 ) -> str:
+    print("create_experiment", backend_url)
     response = requests.post(f"{backend_url}/exp", json=experiment.model_dump())
     response.raise_for_status()
     created_experiment = response.json()
diff --git a/loopquest/ui.py b/loopquest/ui.py
new file mode 100644
index 0000000..103f7d6
--- /dev/null
+++ b/loopquest/ui.py
@@ -0,0 +1,17 @@
+import os
+import subprocess
+
+
+def choose_instance():
+    while True:
+        print("\nChoose an app instance:")
+        print("1. Cloud")
+        print("2. Local")
+        choice = input("Enter your choice (1/2): ").strip()
+
+        if choice == "1":
+            return "cloud"
+        elif choice == "2":
+            return "local"
+        else:
+            print("Invalid choice. Please choose 1 or 2.")
diff --git a/loopquest/utils.py b/loopquest/utils.py
index 8412cdf..20e2d3a 100644
--- a/loopquest/utils.py
+++ b/loopquest/utils.py
@@ -6,6 +6,8 @@
 import io
 from PIL import Image
 import re
+import random
+import subprocess
 
 
 def cast_to_list(
@@ -54,3 +56,58 @@ def rgb_array_to_image_bytes(rgb_array: np.ndarray):
 def replace_special_chars_with_dash(s):
     # Replace all non-alphanumeric characters with a dash
     return re.sub(r"[^a-zA-Z0-9]", "-", s)
+
+
+def generate_experiment_name():
+    adjectives = [
+        "fuzzy",
+        "giant",
+        "tiny",
+        "swift",
+        "clever",
+        "brave",
+        "shiny",
+        "mighty",
+        "quiet",
+        "loud",
+    ]
+    colors = [
+        "red",
+        "blue",
+        "green",
+        "yellow",
+        "purple",
+        "pink",
+        "orange",
+        "white",
+        "black",
+        "brown",
+    ]
+    animals = [
+        "kangaroo",
+        "lion",
+        "penguin",
+        "eagle",
+        "dolphin",
+        "elephant",
+        "owl",
+        "cheetah",
+        "giraffe",
+        "hippo",
+    ]
+
+    return (
+        random.choice(adjectives)
+        + "-"
+        + random.choice(colors)
+        + "-"
+        + random.choice(animals)
+    )
+
+
+def is_docker_installed():
+    try:
+        subprocess.check_output(["docker", "--version"])
+        return True
+    except:
+        return False
diff --git a/release.sh b/pip_release.sh
similarity index 100%
rename from release.sh
rename to pip_release.sh
diff --git a/tests/test_datasets.py b/tests/test_datasets.py
index 1d113a9..7204091 100644
--- a/tests/test_datasets.py
+++ b/tests/test_datasets.py
@@ -1,12 +1,12 @@
 from loopquest.datasets import load_dataset, load_datasets
 import gymnasium
-from loopquest.gym_wrappers import LoopquestGymWrapper
+import loopquest
 
 
 def run_sim():
     name = "MountainCarContinuous-v0"
     experiment_name = "test"
-    env = LoopquestGymWrapper(
+    env = loopquest.make_env(
         gymnasium.make(name, render_mode="rgb_array"),
         experiment_name,
     )
diff --git a/tests/test_wrappers.py b/tests/test_wrappers.py
index 4dd022e..3fd84b0 100644
--- a/tests/test_wrappers.py
+++ b/tests/test_wrappers.py
@@ -1,11 +1,12 @@
 import gymnasium
-from loopquest.gym_wrappers import LoopquestGymWrapper
+
+import loopquest
 
 
 def test_gymnasium_wrapper():
     name = "MountainCarContinuous-v0"
     experiment_name = "test"
-    env = LoopquestGymWrapper(
+    env = loopquest.make_env(
         gymnasium.make(name, render_mode="rgb_array"),
         experiment_name,
     )

From 0dc4178fae0239460ad4f0a67e53d886d75592f2 Mon Sep 17 00:00:00 2001
From: Jinyu Xie <jinyuxie@loopmind.ai>
Date: Wed, 13 Sep 2023 15:14:30 -0700
Subject: [PATCH 2/6] support local and cloud instance

---
 .gitignore                             |   5 +-
 backend/src/apps/experiment/routers.py |   2 +-
 docker-compose.yml                     |  10 +--
 docker_release.sh                      |  11 +++
 frontend/src/components/line_chart.tsx |   1 -
 loopquest/__init__.py                  |   2 +-
 loopquest/api.py                       |  81 +++++++++++++------
 loopquest/crud.py                      |  58 ++++++++-----
 loopquest/gym_wrappers.py              |   4 +-
 loopquest/private_api.py               | 108 +++++++++++++++++++++++++
 loopquest/ui.py                        |   4 -
 loopquest/utils.py                     |  44 ++++++++++
 requirements.txt                       |   3 +-
 setup.py                               |   2 +-
 tests/test_datasets.py                 |  10 +--
 tests/test_wrappers.py                 |   9 +--
 16 files changed, 279 insertions(+), 75 deletions(-)
 create mode 100644 loopquest/private_api.py

diff --git a/.gitignore b/.gitignore
index ca30b7f..374e9ad 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,4 +49,7 @@ coverage.xml
 # Sphinx documentation
 docs/_build/
 
-.ipynb_checkpoints/
\ No newline at end of file
+.ipynb_checkpoints/
+
+# Added by LoopQuest
+.env
diff --git a/backend/src/apps/experiment/routers.py b/backend/src/apps/experiment/routers.py
index cc6ebf6..d7697c9 100644
--- a/backend/src/apps/experiment/routers.py
+++ b/backend/src/apps/experiment/routers.py
@@ -14,7 +14,7 @@
 )
 
 
-@api_router.post("/", response_model=schema.Experiment)
+@api_router.post("", response_model=schema.Experiment)
 async def create_experiment(request: Request, experiment: schema.ExperimentCreate):
     while True:
         try:
diff --git a/docker-compose.yml b/docker-compose.yml
index ad69170..2da6df4 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -1,10 +1,7 @@
 services:
   frontend:
     container_name: loopquest-frontend
-    image: loopquest-frontend
-    build:
-      context: .
-      dockerfile: Dockerfile.frontend
+    image: jinyuloopmind/loopquest-frontend:prod
     ports:
       # FUN FACT: The port 5667 means "LOOP" on the dial pad.
       - "5667:3000"
@@ -15,10 +12,7 @@ services:
 
   backend:
     container_name: loopquest-backend
-    image: loopquest-backend
-    build:
-      context: .
-      dockerfile: Dockerfile.backend
+    image: jinyuloopmind/loopquest-backend:prod
     environment:
       # NOTE: This URL is the one exposed by the frontend container.
       - APP_URL=http://localhost:5667
diff --git a/docker_release.sh b/docker_release.sh
index e69de29..3d1f5c0 100644
--- a/docker_release.sh
+++ b/docker_release.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+TAG=prod
+# TAG=staging
+
+# docker build -t loopquest-frontend:$TAG -f Dockerfile.frontend .
+# docker tag loopquest-frontend:$TAG jinyuloopmind/loopquest-frontend:$TAG
+# docker push jinyuloopmind/loopquest-frontend:$TAG
+
+docker build -t loopquest-backend:$TAG -f Dockerfile.backend .
+docker tag loopquest-backend:$TAG jinyuloopmind/loopquest-backend:$TAG
+docker push jinyuloopmind/loopquest-backend:$TAG
\ No newline at end of file
diff --git a/frontend/src/components/line_chart.tsx b/frontend/src/components/line_chart.tsx
index f29a944..d1e55e6 100644
--- a/frontend/src/components/line_chart.tsx
+++ b/frontend/src/components/line_chart.tsx
@@ -65,7 +65,6 @@ export default function LineChart({ line_data }: { line_data: VariableData }) {
     return {
       label: data.name,
       data: data.value,
-      fill: true,
       tension: 0.1,
       pointRadius: 0,
     };
diff --git a/loopquest/__init__.py b/loopquest/__init__.py
index e8c80c2..122bada 100644
--- a/loopquest/__init__.py
+++ b/loopquest/__init__.py
@@ -1 +1 @@
-from loopquest.api import *
+from loopquest.api import init, is_initialized, make_env, close
diff --git a/loopquest/api.py b/loopquest/api.py
index c5f28f3..c88401b 100644
--- a/loopquest/api.py
+++ b/loopquest/api.py
@@ -1,38 +1,62 @@
 import os
 import getpass
+import webbrowser
 from .ui import choose_instance
+from .crud import get_cloud_user_id
 from .utils import is_docker_installed
+from .private_api import (
+    is_local_instance_initialized,
+    is_cloud_instance_initialized,
+    wait_for_local_instance_init,
+    wait_for_cloud_instance_init,
+    save_token_to_env,
+    add_env_to_gitignore,
+    LOCAL_BACKEND_URL,
+    LOCAL_FRONTEND_URL,
+    CLOUD_BACKEND_URL,
+    CLOUD_FRONTEND_URL,
+)
 
 
 def init(local=None):
     if local is None:
         local = choose_instance() == "local"
 
+    # TODO: add an api to record the choice of the instance.
     if local:
-        # if is_docker_installed():
-        #     print("Docker is detected. Running 'docker compose up'...")
-        #     # In a real environment, you would uncomment the next line to run docker-compose up
-        #     os.system("docker compose up -d")
-        # else:
-        #     raise Exception(
-        #         "Docker is not installed. Visit the following URL to install Docker then try again: https://docs.docker.com/get-docker/"
-        #     )
-
-        os.environ["LOOPQUEST_FRONTEND"] = "http://localhost:5667"
-        os.environ["LOOPQUEST_BACKEND"] = "http://localhost:5667/api"
-        os.environ["LOOPQUEST_USER_ID"] = getpass.getuser()
+        if is_docker_installed():
+            print("Docker is detected. Running 'docker compose up'...")
+            # In a real environment, you would uncomment the next line to run docker-compose up
+            os.system("docker compose up -d")
+        else:
+            raise Exception(
+                "Docker is not installed. Visit the following URL to install Docker then try again: https://docs.docker.com/get-docker/"
+            )
+        wait_for_local_instance_init()
+
     else:
-        os.environ["LOOPQUEST_FRONTEND"] = "http://localhost:3000"
-        os.environ["LOOPQUEST_BACKEND"] = "http://localhost:3000/api"
-        os.environ["LOOPQUEST_USER_ID"] = ""
+        sign_in_url = f"{CLOUD_FRONTEND_URL}/sign-in"
+        print(
+            f"Opening LoopQuest Sign-In page ... \nIf the browser does not open automatically, visit {sign_in_url} manually."
+        )
+        webbrowser.open_new(sign_in_url)
+        token = getpass.getpass(
+            "Enter your LoopQuest user token (the token expires in 1 hour): "
+        ).strip()
+        print(
+            "Saving the token to .env file... Please keep your token safe. DO NOT share this token with others!"
+        )
+        save_token_to_env(token)
+        print("In case .env file is tracked by git, Adding .env to .gitignore...")
+        add_env_to_gitignore()
+
+        # wait_for_cloud_instance_init()
+
+    print("LoopQuest is initialized.")
 
 
 def is_initialized():
-    return (
-        "LOOPQUEST_FRONTEND" in os.environ
-        and "LOOPQUEST_BACKEND" in os.environ
-        and "LOOPQUEST_USER_ID" in os.environ
-    )
+    return is_local_instance_initialized() or is_cloud_instance_initialized()
 
 
 def initailize(func):
@@ -46,17 +70,23 @@ def inner(*args, **kwargs):
 
 @initailize
 def get_frontend_url():
-    return os.environ["LOOPQUEST_FRONTEND"]
+    if is_local_instance_initialized():
+        return LOCAL_FRONTEND_URL
+    return CLOUD_FRONTEND_URL
 
 
 @initailize
 def get_backend_url():
-    return os.environ["LOOPQUEST_BACKEND"]
+    if is_local_instance_initialized():
+        return LOCAL_BACKEND_URL
+    return CLOUD_BACKEND_URL
 
 
 @initailize
 def get_user_id():
-    return os.environ["LOOPQUEST_USER_ID"]
+    if is_local_instance_initialized():
+        return getpass.getuser()
+    return get_cloud_user_id(get_backend_url())
 
 
 @initailize
@@ -67,3 +97,8 @@ def make_env(env, experiment_name=None, experiment_description=""):
     if experiment_name is None:
         experiment_name = generate_experiment_name()
     return LoopquestGymWrapper(env, experiment_name, experiment_description)
+
+
+def close():
+    if is_local_instance_initialized():
+        os.system("docker compose down")
diff --git a/loopquest/crud.py b/loopquest/crud.py
index 91d8592..bdccec0 100644
--- a/loopquest/crud.py
+++ b/loopquest/crud.py
@@ -14,6 +14,27 @@
 import gymnasium
 from PIL import Image
 from io import BytesIO
+from .private_api import is_local_instance_initialized, TOKEN_ENV_VAR_NAME
+from dotenv import load_dotenv
+import os
+
+load_dotenv()
+
+
+def make_request(method: str, url: str, **kwargs):
+    if not is_local_instance_initialized():
+        if TOKEN_ENV_VAR_NAME not in os.environ:
+            raise Exception(
+                f"Please set {TOKEN_ENV_VAR_NAME} environment variable to use LoopQuest cloud service."
+            )
+        headers = kwargs.get("headers", {})
+        headers["Authorization"] = f"Bearer {os.getenv(TOKEN_ENV_VAR_NAME)}"
+        kwargs["headers"] = headers
+
+    # print(headers)
+    response = requests.request(method, url, **kwargs)
+    response.raise_for_status()
+    return response
 
 
 def construct_environment_info(env: gymnasium.Env, user_id: str):
@@ -50,18 +71,15 @@ def get_size_of_gym_space(space):
 
 
 def create_environment(backend_url: str, env: gymnasium.Env, user_id: str) -> str:
-    print(backend_url)
     environment = construct_environment_info(env, user_id)
-    response = requests.post(f"{backend_url}/env", json=environment.model_dump())
-    response.raise_for_status()
+    response = make_request("POST", f"{backend_url}/env", json=environment.model_dump())
     created_environment = response.json()
     return created_environment["id"]
 
 
 def get_environment(backend_url: str, id: str):
     id = replace_special_chars_with_dash(id)
-    response = requests.get(f"{backend_url}/env/{id}")
-    response.raise_for_status()
+    response = make_request("GET", f"{backend_url}/env/{id}")
     environment = response.json()
     return environment["id"]
 
@@ -70,9 +88,8 @@ def create_experiment(
     backend_url: str,
     experiment: ExperimentCreate,
 ) -> str:
-    print("create_experiment", backend_url)
-    response = requests.post(f"{backend_url}/exp", json=experiment.model_dump())
-    response.raise_for_status()
+    # TODO: get rid of the tailing slash.
+    response = make_request("POST", f"{backend_url}/exp/", json=experiment.model_dump())
     created_experiment = response.json()
     return created_experiment["id"]
 
@@ -81,18 +98,17 @@ def update_experiment(
     backend_url: str, experiment_id: str, experiment: ExperimentUpdate
 ):
     # experiment could include field with None values, which should be excluded.
-    response = requests.put(
+    response = make_request(
+        "PUT",
         f"{backend_url}/exp/{experiment_id}",
         json=experiment.model_dump(exclude_none=True),
     )
-    response.raise_for_status()
     updated_experiment = response.json()
     return updated_experiment
 
 
 def create_step(backend_url: str, step: Step):
-    response = requests.post(f"{backend_url}/step", json=step.model_dump())
-    response.raise_for_status()
+    response = make_request("POST", f"{backend_url}/step", json=step.model_dump())
     created_step = response.json()
     return created_step
 
@@ -102,24 +118,26 @@ def upload_rgb_as_image(
 ):
     image_bytes = rgb_array_to_image_bytes(rgb_array)
     files = {"image": (f"{step_id}-{image_id}.jpg", image_bytes, "image/jpeg")}
-    response = requests.post(
-        f"{backend_url}/step/{step_id}/image/{image_id}", files=files
+    response = make_request(
+        "POST", f"{backend_url}/step/{step_id}/image/{image_id}", files=files
     )
-
-    response.raise_for_status()
     step = response.json()
     return step
 
 
 def get_steps_by_experiment(backend_url: str, experiment_id: str):
-    response = requests.get(f"{backend_url}/step/exp/{experiment_id}")
-    response.raise_for_status()
+    response = make_request("GET", f"{backend_url}/step/exp/{experiment_id}")
     steps = response.json()
     return steps
 
 
 def get_image_by_url(image_url: str):
-    response = requests.get(image_url)
-    response.raise_for_status()
+    response = make_request("GET", image_url)
     image = Image.open(BytesIO(response.content))
     return image
+
+
+def get_cloud_user_id(backend_url: str):
+    response = make_request("GET", f"{backend_url}/user_id")
+    user_id = response.json()
+    return user_id["userId"]
diff --git a/loopquest/gym_wrappers.py b/loopquest/gym_wrappers.py
index 5e51229..070e1f3 100644
--- a/loopquest/gym_wrappers.py
+++ b/loopquest/gym_wrappers.py
@@ -14,7 +14,7 @@
     ExperimentStatus,
 )
 from .utils import jsonize_dict, cast_to_list, flatten_and_cast_to_list
-from .api import init, is_initialized, get_frontend_url, get_backend_url, get_user_id
+from .api import get_frontend_url, get_backend_url, get_user_id
 
 
 class LoopquestGymWrapper(gymnasium.Wrapper):
@@ -25,8 +25,6 @@ def __init__(
         experiment_description: str = "",
     ):
         super().__init__(env)
-        if not is_initialized():
-            init()
         self.current_step = 0
         self.current_episode = None
         self.prev_observation = None
diff --git a/loopquest/private_api.py b/loopquest/private_api.py
new file mode 100644
index 0000000..e831220
--- /dev/null
+++ b/loopquest/private_api.py
@@ -0,0 +1,108 @@
+import time
+import requests
+import os
+from dotenv import load_dotenv
+from .utils import update_or_append_env_var
+
+LOCAL_FRONTEND_URL = "http://localhost:5667"
+LOCAL_BACKEND_URL = "http://localhost:8000"
+# CLOUD_FRONTEND_URL = "https://open.loopquest.ai"
+CLOUD_FRONTEND_URL = "http://localhost:3000"
+CLOUD_BACKEND_URL = "http://localhost:3000/api"
+TOKEN_ENV_VAR_NAME = "LOOPQUEST_USER_TOKEN"
+
+
+def is_local_instance_initialized():
+    try:
+        backend_response = requests.get(LOCAL_BACKEND_URL)
+        frontend_response = requests.get(LOCAL_FRONTEND_URL)
+        return (
+            backend_response.status_code == 200 and frontend_response.status_code == 200
+        )
+    except:
+        return False
+
+
+def is_cloud_instance_initialized():
+    from .crud import get_cloud_user_id
+
+    try:
+        get_cloud_user_id(CLOUD_BACKEND_URL)
+        return True
+    except Exception as e:
+        return False
+
+
+def wait_for_local_instance_init():
+    start_time = time.time()
+    timeout = 60  # seconds
+    try:
+        while True:
+            if is_local_instance_initialized():
+                break
+
+            elapsed_time = time.time() - start_time
+            if elapsed_time > timeout:
+                raise Exception(
+                    f"Timeout ({timeout} sec) exceeded while waiting for local instance to initialize."
+                )
+    except KeyboardInterrupt as e:
+        print(
+            "KeyboardInterrupt received. Stop waiting for the local instance to initialize."
+        )
+        return
+
+
+def wait_for_cloud_instance_init():
+    start_time = time.time()
+    timeout = 360  # seconds
+    try:
+        while True:
+            if is_cloud_instance_initialized():
+                break
+
+            elapsed_time = time.time() - start_time
+            if elapsed_time > timeout:
+                raise Exception(
+                    f"Timeout ({timeout} sec) exceeded while waiting for local instance to initialize."
+                )
+    except KeyboardInterrupt:
+        print(
+            "KeyboardInterrupt received. Stop waiting for the cloud instance to initialize."
+        )
+        return
+
+
+def save_token_to_env(token):
+    update_or_append_env_var(
+        TOKEN_ENV_VAR_NAME,
+        token,
+        comment="WARNING: This token is very sensitive. Do not publish it anywhere!",
+    )
+    os.environ[TOKEN_ENV_VAR_NAME] = token
+
+
+def add_env_to_gitignore():
+    gitignore_path = os.path.join(os.getcwd(), ".gitignore")
+    if os.path.exists(gitignore_path) and not is_dotenv_in_gitignore(gitignore_path):
+        with open(gitignore_path, "a") as f:
+            f.write("\n# Added by LoopQuest\n")
+            f.write(".env\n")
+    else:
+        with open(gitignore_path, "w") as f:
+            f.write("# Added by LoopQuest\n")
+            f.write(".env\n")
+
+
+def is_dotenv_in_gitignore(gitignore_path):
+    try:
+        with open(gitignore_path, "r") as file:
+            for line in file:
+                # Strip whitespace and check if line starts with '#'
+                stripped_line = line.strip()
+                if not stripped_line.startswith("#") and stripped_line == ".env":
+                    return True
+        return False
+    except FileNotFoundError:
+        # Handle the case where .gitignore might not exist
+        return False
diff --git a/loopquest/ui.py b/loopquest/ui.py
index 103f7d6..2732fda 100644
--- a/loopquest/ui.py
+++ b/loopquest/ui.py
@@ -1,7 +1,3 @@
-import os
-import subprocess
-
-
 def choose_instance():
     while True:
         print("\nChoose an app instance:")
diff --git a/loopquest/utils.py b/loopquest/utils.py
index 20e2d3a..96ea58c 100644
--- a/loopquest/utils.py
+++ b/loopquest/utils.py
@@ -8,6 +8,7 @@
 import re
 import random
 import subprocess
+import os
 
 
 def cast_to_list(
@@ -111,3 +112,46 @@ def is_docker_installed():
         return True
     except:
         return False
+
+
+def update_or_append_env_var(var_name, new_value, env_file_path=".env", comment=None):
+    """
+    Updates or appends an environment variable in the specified .env file.
+
+    Args:
+    - var_name (str): The name of the environment variable.
+    - new_value (str): The new value for the environment variable.
+    - env_file_path (str): Path to the .env file. Default is ".env".
+
+    Returns:
+    - bool: True if operation was successful, False otherwise.
+    """
+    try:
+        lines = []
+        var_found = False
+
+        # Read the existing .env file
+        if os.path.exists(env_file_path):
+            with open(env_file_path, "r") as file:
+                for line in file:
+                    if line.startswith(f"{var_name}="):
+                        lines.append(f"{var_name}={new_value}\n")
+                        var_found = True
+                    else:
+                        lines.append(line)
+
+        # If the variable was not found, append it
+        if not var_found:
+            if comment:
+                lines.append(f"# {comment}\n")
+            lines.append(f"{var_name}={new_value}\n")
+
+        # Write the updated lines back to the .env file
+        with open(env_file_path, "w") as file:
+            file.writelines(lines)
+
+        return True
+
+    except FileNotFoundError:
+        # Handle the case where .env might not exist
+        return False
diff --git a/requirements.txt b/requirements.txt
index 1b3070b..3344886 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -29,7 +29,7 @@ mdurl==0.1.2
 more-itertools==10.1.0
 multidict==6.0.4
 multiprocess==0.70.15
-numpy~=1.25.1
+numpy==1.25.1
 packaging==23.1
 pandas==2.0.3
 Pillow==10.0.0
@@ -43,6 +43,7 @@ pygame==2.5.0
 Pygments==2.16.1
 pytest==7.4.0
 python-dateutil==2.8.2
+python-dotenv==1.0.0
 pytz==2023.3
 PyYAML==6.0.1
 readme-renderer==41.0
diff --git a/setup.py b/setup.py
index 650e209..7d23dd1 100644
--- a/setup.py
+++ b/setup.py
@@ -15,7 +15,7 @@ def parse_requirements(filename):
 
 setup(
     name="loopquest",
-    version="0.1.7",
+    version="0.1.8",
     description="A Production Tool for Embodied AI.",
     long_description=long_description,
     long_description_content_type="text/markdown",
diff --git a/tests/test_datasets.py b/tests/test_datasets.py
index 7204091..8bd1a54 100644
--- a/tests/test_datasets.py
+++ b/tests/test_datasets.py
@@ -1,15 +1,15 @@
 from loopquest.datasets import load_dataset, load_datasets
 import gymnasium
 import loopquest
+from unittest.mock import patch
 
 
 def run_sim():
     name = "MountainCarContinuous-v0"
-    experiment_name = "test"
-    env = loopquest.make_env(
-        gymnasium.make(name, render_mode="rgb_array"),
-        experiment_name,
-    )
+    with patch("builtins.input", return_value="2"):
+        env = loopquest.make_env(
+            gymnasium.make(name, render_mode="rgb_array"),
+        )
     obs, info = env.reset()
     for i in range(10):
         action = env.action_space.sample()
diff --git a/tests/test_wrappers.py b/tests/test_wrappers.py
index 3fd84b0..ad55050 100644
--- a/tests/test_wrappers.py
+++ b/tests/test_wrappers.py
@@ -1,15 +1,12 @@
 import gymnasium
-
 import loopquest
+from unittest.mock import patch
 
 
 def test_gymnasium_wrapper():
     name = "MountainCarContinuous-v0"
-    experiment_name = "test"
-    env = loopquest.make_env(
-        gymnasium.make(name, render_mode="rgb_array"),
-        experiment_name,
-    )
+    with patch("builtins.input", return_value="2"):
+        env = loopquest.make_env(gymnasium.make(name, render_mode="rgb_array"))
     obs, info = env.reset()
     print(f"Reset: obs: {obs}, info: {info}")
     for i in range(10):

From 217eed4098f9ae0b655a8f36875c4338f827d6c4 Mon Sep 17 00:00:00 2001
From: Jinyu Xie <jinyuxie@loopmind.ai>
Date: Wed, 13 Sep 2023 15:35:53 -0700
Subject: [PATCH 3/6] modify cloud urls

---
 loopquest/private_api.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/loopquest/private_api.py b/loopquest/private_api.py
index e831220..9f3883d 100644
--- a/loopquest/private_api.py
+++ b/loopquest/private_api.py
@@ -6,9 +6,8 @@
 
 LOCAL_FRONTEND_URL = "http://localhost:5667"
 LOCAL_BACKEND_URL = "http://localhost:8000"
-# CLOUD_FRONTEND_URL = "https://open.loopquest.ai"
-CLOUD_FRONTEND_URL = "http://localhost:3000"
-CLOUD_BACKEND_URL = "http://localhost:3000/api"
+CLOUD_FRONTEND_URL = "https://open.loopquest.ai"
+CLOUD_BACKEND_URL = "https://open.loopquest.ai/api"
 TOKEN_ENV_VAR_NAME = "LOOPQUEST_USER_TOKEN"
 
 

From c6f76151ae58bdadd767a85437475538f9929130 Mon Sep 17 00:00:00 2001
From: Jinyu Xie <jinyuxie@loopmind.ai>
Date: Wed, 13 Sep 2023 15:49:10 -0700
Subject: [PATCH 4/6] Polish Readme

---
 README.md         | 12 +++---------
 docker_release.sh |  6 +++---
 2 files changed, 6 insertions(+), 12 deletions(-)

diff --git a/README.md b/README.md
index e2112ee..15644da 100644
--- a/README.md
+++ b/README.md
@@ -85,21 +85,15 @@ cd loopquest
 pip install -e .
 ```
 
-# How to run
+# Usage
 
-At `loopquest` folder, bring up web-app,
-
-```sh
-docker compose up --build
-```
-
-Then run quickstart script,
+Run [quickstart script](examples/quickstart.py),
 
 ```sh
 python examples/quickstart.py
 ```
 
-The command prompt should mention "Check your experiment progress on `http://localhost:5667/experiment/<exp_id>`".
+The command prompt will ask you to select local or cloud instance. Pick the instance you want and once the script is up and running. You should see "Check your experiment progress on `http://localhost:5667/experiment/<exp_id>` or `https://open.loopquest.ai/experiment/<exp_id`" (depending on the instance you selected).
 
 **Loopquest Developer Only**: to bring up a development server that reflects your local changes in real time, run
 
diff --git a/docker_release.sh b/docker_release.sh
index 3d1f5c0..112e633 100644
--- a/docker_release.sh
+++ b/docker_release.sh
@@ -2,9 +2,9 @@
 TAG=prod
 # TAG=staging
 
-# docker build -t loopquest-frontend:$TAG -f Dockerfile.frontend .
-# docker tag loopquest-frontend:$TAG jinyuloopmind/loopquest-frontend:$TAG
-# docker push jinyuloopmind/loopquest-frontend:$TAG
+docker build -t loopquest-frontend:$TAG -f Dockerfile.frontend .
+docker tag loopquest-frontend:$TAG jinyuloopmind/loopquest-frontend:$TAG
+docker push jinyuloopmind/loopquest-frontend:$TAG
 
 docker build -t loopquest-backend:$TAG -f Dockerfile.backend .
 docker tag loopquest-backend:$TAG jinyuloopmind/loopquest-backend:$TAG

From c644833f623a3cd0b45e8346af27ff11ee58e2d8 Mon Sep 17 00:00:00 2001
From: Jinyu Xie <jinyuxie@loopmind.ai>
Date: Fri, 15 Sep 2023 11:35:40 -0700
Subject: [PATCH 5/6] Add threadpool and user stats

---
 loopquest/api.py          |   6 +-
 loopquest/crud.py         |   8 ++-
 loopquest/gym_wrappers.py |  44 +++++++++++--
 loopquest/private_api.py  |   7 +-
 loopquest/schema.py       |   1 -
 tests/test_performance.py | 133 ++++++++++++++++++++++++++++++++++++++
 6 files changed, 189 insertions(+), 10 deletions(-)
 create mode 100644 tests/test_performance.py

diff --git a/loopquest/api.py b/loopquest/api.py
index c88401b..ab9d693 100644
--- a/loopquest/api.py
+++ b/loopquest/api.py
@@ -2,7 +2,7 @@
 import getpass
 import webbrowser
 from .ui import choose_instance
-from .crud import get_cloud_user_id
+from .crud import get_cloud_user_id, send_instance_choice_stats
 from .utils import is_docker_installed
 from .private_api import (
     is_local_instance_initialized,
@@ -18,10 +18,12 @@
 )
 
 
-def init(local=None):
+def init(local: bool | None = None):
     if local is None:
         local = choose_instance() == "local"
 
+    send_instance_choice_stats(CLOUD_BACKEND_URL, local)
+
     # TODO: add an api to record the choice of the instance.
     if local:
         if is_docker_installed():
diff --git a/loopquest/crud.py b/loopquest/crud.py
index bdccec0..eb3904a 100644
--- a/loopquest/crud.py
+++ b/loopquest/crud.py
@@ -31,12 +31,18 @@ def make_request(method: str, url: str, **kwargs):
         headers["Authorization"] = f"Bearer {os.getenv(TOKEN_ENV_VAR_NAME)}"
         kwargs["headers"] = headers
 
-    # print(headers)
     response = requests.request(method, url, **kwargs)
     response.raise_for_status()
     return response
 
 
+def send_instance_choice_stats(backend_url: str, is_local: bool):
+    res = requests.post(
+        f"{backend_url}/user_stats/instance_choice", params={"is_local": is_local}
+    )
+    res.raise_for_status()
+
+
 def construct_environment_info(env: gymnasium.Env, user_id: str):
     def get_size_of_gym_space(space):
         return max(sum(space.shape), 1)
diff --git a/loopquest/gym_wrappers.py b/loopquest/gym_wrappers.py
index 070e1f3..c469e39 100644
--- a/loopquest/gym_wrappers.py
+++ b/loopquest/gym_wrappers.py
@@ -15,6 +15,7 @@
 )
 from .utils import jsonize_dict, cast_to_list, flatten_and_cast_to_list
 from .api import get_frontend_url, get_backend_url, get_user_id
+from concurrent.futures import ThreadPoolExecutor
 
 
 class LoopquestGymWrapper(gymnasium.Wrapper):
@@ -23,6 +24,7 @@ def __init__(
         env: gymnasium.Env,
         experiment_name: str = "default",
         experiment_description: str = "",
+        max_workers: int = 10,
     ):
         super().__init__(env)
         self.current_step = 0
@@ -49,6 +51,8 @@ def __init__(
         print(
             f"Check the experiment progress at: {self.frontend_url}/experiment/{self.exp_id}"
         )
+        # TODO: evaluate if message queue is better than thread pool.
+        self.executor = ThreadPoolExecutor(max_workers=max_workers)
 
     @property
     def exp_id(self):
@@ -66,7 +70,9 @@ def step(self, action):
         self.current_step += 1
         observation, reward, terminated, truncated, info = self.env.step(action)
         info_json_str = jsonize_dict(info)
-        create_step(
+        # TODO: we can do batch upload here instead of uploading one by one.
+        self.executor.submit(
+            create_step,
             self.backend_url,
             StepCreate(
                 id=self.step_id,
@@ -86,6 +92,26 @@ def step(self, action):
                 info=info_json_str,
             ),
         )
+        # create_step(
+        #     self.backend_url,
+        #     StepCreate(
+        #         id=self.step_id,
+        #         experiment_id=self.exp_id,
+        #         episode=self.current_episode,
+        #         step=self.current_step,
+        #         observation=flatten_and_cast_to_list(
+        #             self.observation_space, observation
+        #         ),
+        #         action=cast_to_list(action),
+        #         reward=reward,
+        #         prev_observation=flatten_and_cast_to_list(
+        #             self.observation_space, self.prev_observation
+        #         ),
+        #         termnated=terminated,
+        #         truncated=truncated,
+        #         info=info_json_str,
+        #     ),
+        # )
         self.prev_observation = observation
         return observation, reward, terminated, truncated, info
 
@@ -104,7 +130,8 @@ def reset(self):
         #     self.current_episode += 1
 
         info_json_str = jsonize_dict(info)
-        create_step(
+        self.executor.submit(
+            create_step,
             self.backend_url,
             StepCreate(
                 id=self.step_id,
@@ -127,6 +154,7 @@ def close(self):
             ExperimentUpdate(status=ExperimentStatus.FINISHED),
         )
         self.env.close()
+        self.executor.shutdown()
 
     def render(self):
         # TODO: implement this.
@@ -140,13 +168,19 @@ def render(self):
             )
         elif self.render_mode == "rgb_array":
             rgb_array = self.env.render()
-            step = upload_rgb_as_image(self.backend_url, self.step_id, rgb_array)
+            self.executor.submit(
+                upload_rgb_as_image, self.backend_url, self.step_id, rgb_array
+            )
             return rgb_array
         elif self.render_mode == "rgb_array_list":
             rgb_array_list = self.env.render()
             for i, rgb_array in enumerate(rgb_array_list):
-                upload_rgb_as_image(
-                    self.backend_url, self.step_id, rgb_array, image_id=i
+                self.executor.submit(
+                    upload_rgb_as_image,
+                    self.backend_url,
+                    self.step_id,
+                    rgb_array,
+                    image_id=i,
                 )
             return rgb_array_list
 
diff --git a/loopquest/private_api.py b/loopquest/private_api.py
index 9f3883d..45e8052 100644
--- a/loopquest/private_api.py
+++ b/loopquest/private_api.py
@@ -8,6 +8,9 @@
 LOCAL_BACKEND_URL = "http://localhost:8000"
 CLOUD_FRONTEND_URL = "https://open.loopquest.ai"
 CLOUD_BACKEND_URL = "https://open.loopquest.ai/api"
+# For local development
+# CLOUD_FRONTEND_URL = "http://localhost:3000"
+# CLOUD_BACKEND_URL = "http://localhost:3000/api"
 TOKEN_ENV_VAR_NAME = "LOOPQUEST_USER_TOKEN"
 
 
@@ -83,7 +86,9 @@ def save_token_to_env(token):
 
 def add_env_to_gitignore():
     gitignore_path = os.path.join(os.getcwd(), ".gitignore")
-    if os.path.exists(gitignore_path) and not is_dotenv_in_gitignore(gitignore_path):
+    if os.path.exists(gitignore_path):
+        if is_dotenv_in_gitignore(gitignore_path):
+            return
         with open(gitignore_path, "a") as f:
             f.write("\n# Added by LoopQuest\n")
             f.write(".env\n")
diff --git a/loopquest/schema.py b/loopquest/schema.py
index a2fd533..6f29439 100644
--- a/loopquest/schema.py
+++ b/loopquest/schema.py
@@ -1,4 +1,3 @@
-from pydantic import BaseModel
 from typing import List, Optional, Union
 import datetime
 from pydantic import BaseModel
diff --git a/tests/test_performance.py b/tests/test_performance.py
new file mode 100644
index 0000000..f1c6a37
--- /dev/null
+++ b/tests/test_performance.py
@@ -0,0 +1,133 @@
+import gymnasium
+import loopquest
+from unittest.mock import patch
+import time
+
+STEP = 100
+
+
+def test_step_local():
+    name = "MountainCarContinuous-v0"
+    with patch("builtins.input", return_value="2"):
+        env = loopquest.make_env(gymnasium.make(name, render_mode="rgb_array"))
+    obs, info = env.reset()
+    step_times = []
+    render_times = []
+    for i in range(STEP):
+        action = env.action_space.sample()
+        start_time = time.time()
+        obs, reward, terminated, truncated, info = env.step(action)
+        elapsed_time = time.time() - start_time
+        step_times.append(elapsed_time)
+
+        start_time = time.time()
+        env.render()
+        elapsed_time = time.time() - start_time
+        render_times.append(elapsed_time)
+
+        if terminated or truncated:
+            break
+    env.close()
+    loopquest.close()
+    with_loopquest_step_time = sum(step_times) / len(step_times)
+    with_loopquest_render_time = sum(render_times) / len(render_times)
+    print(f"With Loopquest Average step time: {with_loopquest_step_time}")
+    print(f"Without Loopquest Average render time: {with_loopquest_render_time}")
+
+    env = gymnasium.make(name, render_mode="rgb_array")
+    obs, info = env.reset()
+    step_times = []
+    render_times = []
+    for i in range(STEP):
+        action = env.action_space.sample()
+        start_time = time.time()
+        obs, reward, terminated, truncated, info = env.step(action)
+        elapsed_time = time.time() - start_time
+        step_times.append(elapsed_time)
+
+        start_time = time.time()
+        env.render()
+        elapsed_time = time.time() - start_time
+        render_times.append(elapsed_time)
+
+        if terminated or truncated:
+            break
+    env.close()
+    without_loopquest_step_time = sum(step_times) / len(step_times)
+    without_loopquest_render_time = sum(render_times) / len(render_times)
+    print(f"With Loopquest Average step time: {without_loopquest_step_time}")
+    print(f"Without Loopquest Average render time: {without_loopquest_render_time}")
+
+    print(
+        f"LoopQuest step overhead: {with_loopquest_step_time - without_loopquest_step_time}"
+    )
+    print(
+        f"LoopQuest render overhead: {with_loopquest_render_time - without_loopquest_render_time}"
+    )
+    assert True
+
+
+# def test_step_cloud():
+#     name = "MountainCarContinuous-v0"
+#     with patch("builtins.input", return_value="1"):
+#         env = loopquest.make_env(gymnasium.make(name, render_mode="rgb_array"))
+#     obs, info = env.reset()
+#     step_times = []
+#     render_times = []
+#     for i in range(STEP):
+#         action = env.action_space.sample()
+#         start_time = time.time()
+#         obs, reward, terminated, truncated, info = env.step(action)
+#         elapsed_time = time.time() - start_time
+#         step_times.append(elapsed_time)
+
+#         start_time = time.time()
+#         env.render()
+#         elapsed_time = time.time() - start_time
+#         render_times.append(elapsed_time)
+
+#         if terminated or truncated:
+#             break
+#     env.close()
+#     loopquest.close()
+#     with_loopquest_step_time = sum(step_times) / len(step_times)
+#     with_loopquest_render_time = sum(render_times) / len(render_times)
+#     print(f"With Loopquest Average step time: {with_loopquest_step_time}")
+#     print(f"Without Loopquest Average render time: {with_loopquest_render_time}")
+
+#     env = gymnasium.make(name, render_mode="rgb_array")
+#     obs, info = env.reset()
+#     step_times = []
+#     render_times = []
+#     for i in range(STEP):
+#         action = env.action_space.sample()
+#         start_time = time.time()
+#         obs, reward, terminated, truncated, info = env.step(action)
+#         elapsed_time = time.time() - start_time
+#         step_times.append(elapsed_time)
+
+#         start_time = time.time()
+#         env.render()
+#         elapsed_time = time.time() - start_time
+#         render_times.append(elapsed_time)
+
+#         if terminated or truncated:
+#             break
+#     env.close()
+#     without_loopquest_step_time = sum(step_times) / len(step_times)
+#     without_loopquest_render_time = sum(render_times) / len(render_times)
+#     print(f"With Loopquest Average step time: {without_loopquest_step_time}")
+#     print(f"Without Loopquest Average render time: {without_loopquest_render_time}")
+
+#     print(
+#         f"LoopQuest step overhead: {with_loopquest_step_time - without_loopquest_step_time}"
+#     )
+#     print(
+#         f"LoopQuest render overhead: {with_loopquest_render_time - without_loopquest_render_time}"
+#     )
+#     assert True
+
+
+if __name__ == "__main__":
+    test_step_local()
+    # test_step_cloud()

From 9a47cb08f2710f9d0547e3554beb8902d0ca35d9 Mon Sep 17 00:00:00 2001
From: Jinyu Xie <jinyuxie@loopmind.ai>
Date: Fri, 15 Sep 2023 11:57:12 -0700
Subject: [PATCH 6/6] add token verification step

---
 loopquest/api.py         | 17 +++++++++++------
 loopquest/private_api.py | 24 +++++++-----------------
 2 files changed, 18 insertions(+), 23 deletions(-)

diff --git a/loopquest/api.py b/loopquest/api.py
index ab9d693..35e263f 100644
--- a/loopquest/api.py
+++ b/loopquest/api.py
@@ -8,7 +8,7 @@
     is_local_instance_initialized,
     is_cloud_instance_initialized,
     wait_for_local_instance_init,
-    wait_for_cloud_instance_init,
+    verify_token,
     save_token_to_env,
     add_env_to_gitignore,
     LOCAL_BACKEND_URL,
@@ -42,9 +42,16 @@ def init(local: bool | None = None):
             f"Opening LoopQuest Sign-In page ... \nIf the browser does not open automatically, visit {sign_in_url} manually."
         )
         webbrowser.open_new(sign_in_url)
-        token = getpass.getpass(
-            "Enter your LoopQuest user token (the token expires in 1 hour): "
-        ).strip()
+        while True:
+            token = getpass.getpass(
+                "Enter your LoopQuest user token (the token expires in 1 hour): "
+            ).strip()
+            if verify_token(token):
+                print("Token is verified.")
+                break
+            else:
+                print("Token is invalid. Please try again.")
+
         print(
             "Saving the token to .env file... Please keep your token safe. DO NOT share this token with others!"
         )
@@ -52,8 +59,6 @@ def init(local: bool | None = None):
         print("In case .env file is tracked by git, Adding .env to .gitignore...")
         add_env_to_gitignore()
 
-        # wait_for_cloud_instance_init()
-
     print("LoopQuest is initialized.")
 
 
diff --git a/loopquest/private_api.py b/loopquest/private_api.py
index 45e8052..188dc13 100644
--- a/loopquest/private_api.py
+++ b/loopquest/private_api.py
@@ -1,7 +1,6 @@
 import time
 import requests
 import os
-from dotenv import load_dotenv
 from .utils import update_or_append_env_var
 
 LOCAL_FRONTEND_URL = "http://localhost:5667"
@@ -55,24 +54,15 @@ def wait_for_local_instance_init():
         return
 
 
-def wait_for_cloud_instance_init():
-    start_time = time.time()
-    timeout = 360  # seconds
+def verify_token(token):
     try:
-        while True:
-            if is_cloud_instance_initialized():
-                break
-
-            elapsed_time = time.time() - start_time
-            if elapsed_time > timeout:
-                raise Exception(
-                    f"Timeout ({timeout} sec) exceeded while waiting for local instance to initialize."
-                )
-    except KeyboardInterrupt:
-        print(
-            "KeyboardInterrupt received. Stop waiting for the cloud instance to initialize."
+        response = requests.get(
+            f"{CLOUD_BACKEND_URL}/user_id", headers={"Authorization": f"Bearer {token}"}
         )
-        return
+        response.raise_for_status()
+        return True
+    except:
+        return False
 
 
 def save_token_to_env(token):