diff --git a/helperScripts/1manual.sh b/helperScripts/1manual.sh
index 62948fe9..b6940d9a 100755
--- a/helperScripts/1manual.sh
+++ b/helperScripts/1manual.sh
@@ -10,8 +10,13 @@ trap cleanup SIGINT SIGTERM
 
 cd ~/autonomous_f1tenth/
 
-export GZ_PARTITION=50
-export ROS_DOMAIN_ID=50
+if [ -n "$1" ]; then
+  export GZ_PARTITION=$1
+  export ROS_DOMAIN_ID=$1
+else
+  export GZ_PARTITION=50
+  export ROS_DOMAIN_ID=50
+fi
 
 . install/setup.bash
 
diff --git a/helperScripts/2train.sh b/helperScripts/2train.sh
index 4567c0de..382e530d 100755
--- a/helperScripts/2train.sh
+++ b/helperScripts/2train.sh
@@ -10,14 +10,21 @@ trap cleanup SIGINT SIGTERM
 
 cd ~/autonomous_f1tenth/
 
-export GZ_PARTITION=100
-export ROS_DOMAIN_ID=100
+if [ -n "$1" ]; then
+  export GZ_PARTITION=$1
+  export ROS_DOMAIN_ID=$1
+else
+  export GZ_PARTITION=100
+  export ROS_DOMAIN_ID=100
+fi
 
 . install/setup.bash
 
 colcon build
 ros2 launch reinforcement_learning train.launch.py &
 
-gz sim -g &
+if [ "$1" == "y" ] || [ "$1" == "Y" ]; then
+  gz sim -g &
+fi
 
 wait
diff --git a/helperScripts/3test.sh b/helperScripts/3test.sh
index 6ec86930..d675e273 100755
--- a/helperScripts/3test.sh
+++ b/helperScripts/3test.sh
@@ -10,8 +10,13 @@ trap cleanup SIGINT SIGTERM
 
 cd ~/autonomous_f1tenth/
 
-export GZ_PARTITION=150
-export ROS_DOMAIN_ID=150
+if [ -n "$1" ]; then
+  export GZ_PARTITION=$1
+  export ROS_DOMAIN_ID=$1
+else
+  export GZ_PARTITION=150
+  export ROS_DOMAIN_ID=150
+fi
 
 . install/setup.bash
 
diff --git a/src/environments/environments/CarBeatEnvironment.py b/src/environments/environments/CarBeatEnvironment.py
index f30f974b..dfc38272 100644
--- a/src/environments/environments/CarBeatEnvironment.py
+++ b/src/environments/environments/CarBeatEnvironment.py
@@ -27,7 +27,7 @@ def __init__(self,
                  collision_range=0.2,
                  step_length=0.5,
                  track='track_1',
-                 observation_mode='full',
+                 observation_mode='lidar_only',
                  max_goals=500):
         super().__init__('car_beat_environment')
 
diff --git a/src/reinforcement_learning/config/train.yaml b/src/reinforcement_learning/config/train.yaml
index fc015517..9687b2d8 100644
--- a/src/reinforcement_learning/config/train.yaml
+++ b/src/reinforcement_learning/config/train.yaml
@@ -10,7 +10,7 @@ train:
     observation_mode: 'lidar_only'
     evaluate_every_n_steps: 2000
     evaluate_for_m_episodes: 3
-    # actor_path & critic_path must exist, it can't be commented
+    # actor_path & critic_path must exist for retrain.sh, it can't be commented
     # actor_path: 'rl_logs/23_08_02_17:59:13/models/actor_checkpoint.pht'
     # critic_path: 'rl_logs/23_08_02_17:59:13/models/critic_checkpoint.pht'
     gamma: 0.95