From cf6cbabacc729067d68e73d2f62af54b6eb61f51 Mon Sep 17 00:00:00 2001 From: Andrew White Date: Mon, 27 Jul 2026 07:48:55 -0500 Subject: [PATCH] fix(train-teacher-policy): --num_envs default None (+1 more) --- scripts/rsl_rl/train_teacher_policy.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/scripts/rsl_rl/train_teacher_policy.py b/scripts/rsl_rl/train_teacher_policy.py index 641320f..2637666 100644 --- a/scripts/rsl_rl/train_teacher_policy.py +++ b/scripts/rsl_rl/train_teacher_policy.py @@ -76,7 +76,8 @@ def main(): elif args_cli.robot == "gr1": raise ValueError("GR1 is not yet implemented") - env_cfg.scene.num_envs = args_cli.num_envs + if args_cli.num_envs is not None: + env_cfg.scene.num_envs = args_cli.num_envs env_cfg.scene.env_spacing = 20 env_cfg.terrain.env_spacing = 20 if args_cli.reference_motion_path: @@ -109,7 +110,7 @@ def main(): env_cfg.save(os.path.join(log_dir, "env_config.json")) # set seed of the environment - env.seed(teacher_policy_cfg.seed) + env.seed(args_cli.seed if args_cli.seed is not None else teacher_policy_cfg.seed) # run training ppo_runner.learn(num_learning_iterations=teacher_policy_cfg.runner.max_iterations, init_at_random_ep_len=True)