parse_env_cfg updates cfg.env_spacing instead of cfg.scene.env_spacing

[gabrielwong159]

In the GeneratedTaskEnvCfg class, the following variables are set:

self.num_envs: int = num_envs
self.env_spacing: float = env_spacing
...

# Set task-specific configs
self.scene = scene_env_cfg(num_envs=num_envs, env_spacing=env_spacing)

See:

RoboLab/robolab/core/environments/config.py

Line 210 in ad45d4f

self.scene = scene_env_cfg(num_envs=num_envs, env_spacing=env_spacing)

.

However, in parse_env_cfg, the cfg.scene.num_envs is updated, but not cfg.scene.env_spacing:

if env_spacing is not None:
    cfg.env_spacing = env_spacing

...
# number of environments
if num_envs is not None:
    cfg.scene.num_envs = num_envs
    cfg.num_envs = num_envs

See:

RoboLab/robolab/core/environments/config.py

Line 374 in ad45d4f

def parse_env_cfg(

.

This means that the env_spacing override is not correctly propagated to Isaac Lab.