diff --git a/.gitignore b/.gitignore
index 4f7687709..2a4cff0b5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,7 @@
 # TODOs 
 experiments/SVS_Code/3D_Models/
 experiments/SVS_Code/tenere/
+experiments/SVS_Code/environment_generator/generated_envs
 
 TODOs.md
 examples/debug.py
diff --git a/experiments/SVS_Code/environment_generator/generate_multiple.py b/experiments/SVS_Code/environment_generator/generate_multiple.py
new file mode 100644
index 000000000..cebee1e34
--- /dev/null
+++ b/experiments/SVS_Code/environment_generator/generate_multiple.py
@@ -0,0 +1,32 @@
+# 
+# python-edition of "generate_multiple.bash"
+# 
+# usage:
+# > python generate_multiple.py N DENSITY_MULTIPLIER
+#
+
+import sys
+import os
+import argparse
+import shutil
+import random
+
+parser = argparse.ArgumentParser(description='Generate multiple environments')
+parser.add_argument("N", help="Number of environments, e.g. 10",
+                    default=10, type=int)
+parser.add_argument("DENSITY_MULTIPLIER", help="DENSITY_MULTIPLIER, e.g. 0.5(easy), 1.0(medium), or 1.5(hard)",
+                    default=1.0, type=float)
+args = parser.parse_args()
+
+homepath = os.path.dirname(__file__)
+generated_envs_path = os.path.join(homepath, "generated_envs")
+
+if os.path.exists(generated_envs_path):
+    shutil.rmtree(generated_envs_path, ignore_errors=True)
+
+for i in range(args.N):
+    thispath = os.path.join(generated_envs_path, f"environment_{i}")
+    os.makedirs(thispath)
+    os.system(
+        f"python {homepath}/obstacle_generator.py {random.randint(0,32767)} {args.DENSITY_MULTIPLIER}")
+    shutil.move(os.path.join(homepath, "static_obstacles.csv"), thispath)
diff --git a/experiments/SVS_Code/environment_generator/obstacle_generator.py b/experiments/SVS_Code/environment_generator/obstacle_generator.py
index 858f5436a..75ce25642 100755
--- a/experiments/SVS_Code/environment_generator/obstacle_generator.py
+++ b/experiments/SVS_Code/environment_generator/obstacle_generator.py
@@ -239,12 +239,13 @@ def toCSV(self):
 
         d["N"] = len(d.keys())
 
-        with open("static_obstacles.csv", "w") as f:
+        with open(os.path.join(os.path.dirname(__file__), "static_obstacles.csv"), "w") as f:
             f.write("\n".join(static_obstacles))
 
 
 if __name__ == "__main__":
-    with open("obstacle_config.yaml") as f:
+
+    with open(os.path.join(os.path.dirname(__file__), "obstacle_config.yaml")) as f:
         config = yaml.safe_load(f)
     w = World(config)
     w.toCSV()
diff --git a/pyproject.toml b/pyproject.toml
index d2a032ae5..b5ed270ec 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -18,7 +18,7 @@ matplotlib = "^3.5"
 cycler = "^0.10"
 gym = "^0.21"
 pybullet = "^3.2"
-torch = "1.11.0"
+# torch = "1.11.0" # if you want to use GPU, please manually install it
 "ray[rllib]" = "1.9"
 stable-baselines3 = "1.5.0"
 scipy = "^1.8"