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fix(train-teacher-policy): --num_envs default None (+1 more) #46

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fix(train-teacher-policy): --num_envs default None (+1 more) #46

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5 changes: 3 additions & 2 deletions scripts/rsl_rl/train_teacher_policy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand Down Expand Up @@ -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)
Expand Down