diff --git a/sim/play.py b/sim/play.py
index 32052bec..744425ad 100755
--- a/sim/play.py
+++ b/sim/play.py
@@ -144,11 +144,7 @@ def play(args: argparse.Namespace) -> None:
         video = cv2.VideoWriter(dir, fourcc, 50.0, (1920, 1080))
 
     cmd_manager = CommandManager(
-        num_envs=env_cfg.env.num_envs,
-        mode=CMD_MODE,
-        default_cmd=DEFAULT_COMMAND,
-        device=env.device,
-        env_cfg=env_cfg
+        num_envs=env_cfg.env.num_envs, mode=CMD_MODE, default_cmd=DEFAULT_COMMAND, device=env.device, env_cfg=env_cfg
     )
 
     for t in tqdm(range(stop_state_log)):
diff --git a/sim/utils/cmd_manager.py b/sim/utils/cmd_manager.py
index d223539d..88dd4f08 100644
--- a/sim/utils/cmd_manager.py
+++ b/sim/utils/cmd_manager.py
@@ -41,22 +41,27 @@ def __init__(
             self.osc_amplitude = (self.max_x_vel - self.min_x_vel) / 2
             self.osc_offset = (self.max_x_vel + self.min_x_vel) / 2
         elif self.mode == CommandMode.RANDOM:
-            self.cmd_ranges = {
-                'lin_vel_x': env_cfg.commands.ranges.lin_vel_x,
-                'lin_vel_y': env_cfg.commands.ranges.lin_vel_y,
-                'ang_vel_yaw': env_cfg.commands.ranges.ang_vel_yaw,
-                'heading': env_cfg.commands.ranges.heading
-            } if env_cfg else {
-                'lin_vel_x': [-0.05, 0.23],
-                'lin_vel_y': [-0.05, 0.05],
-                'ang_vel_yaw': [-0.5, 0.5],
-                'heading': [-np.pi, np.pi]
-            }
+            self.cmd_ranges = (
+                {
+                    "lin_vel_x": env_cfg.commands.ranges.lin_vel_x,
+                    "lin_vel_y": env_cfg.commands.ranges.lin_vel_y,
+                    "ang_vel_yaw": env_cfg.commands.ranges.ang_vel_yaw,
+                    "heading": env_cfg.commands.ranges.heading,
+                }
+                if env_cfg
+                else {
+                    "lin_vel_x": [-0.05, 0.23],
+                    "lin_vel_y": [-0.05, 0.05],
+                    "ang_vel_yaw": [-0.5, 0.5],
+                    "heading": [-np.pi, np.pi],
+                }
+            )
             self.resampling_time = env_cfg.commands.resampling_time if env_cfg else 8.0
             self.last_sample_time = 0.0
         elif self.mode == CommandMode.KEYBOARD:
             try:
                 import pygame
+
                 pygame.init()
                 pygame.display.set_mode((100, 100))
                 self.x_vel_cmd = 0.0
@@ -82,17 +87,27 @@ def update(self, dt: float) -> torch.Tensor:
             if self.time - self.last_sample_time >= self.resampling_time:
                 self.last_sample_time = self.time
                 # Generate random commands within training ranges
-                new_commands = torch.tensor([
-                    np.random.uniform(*self.cmd_ranges['lin_vel_x']),
-                    np.random.uniform(*self.cmd_ranges['lin_vel_y']),
-                    0.0,
-                    np.random.uniform(*self.cmd_ranges['heading'])
-                ], device=self.device) if self.env_cfg and self.env_cfg.commands.heading_command else torch.tensor([
-                    np.random.uniform(*self.cmd_ranges['lin_vel_x']),
-                    np.random.uniform(*self.cmd_ranges['lin_vel_y']),
-                    np.random.uniform(*self.cmd_ranges['ang_vel_yaw']),
-                    0.0
-                ], device=self.device)
+                new_commands = (
+                    torch.tensor(
+                        [
+                            np.random.uniform(*self.cmd_ranges["lin_vel_x"]),
+                            np.random.uniform(*self.cmd_ranges["lin_vel_y"]),
+                            0.0,
+                            np.random.uniform(*self.cmd_ranges["heading"]),
+                        ],
+                        device=self.device,
+                    )
+                    if self.env_cfg and self.env_cfg.commands.heading_command
+                    else torch.tensor(
+                        [
+                            np.random.uniform(*self.cmd_ranges["lin_vel_x"]),
+                            np.random.uniform(*self.cmd_ranges["lin_vel_y"]),
+                            np.random.uniform(*self.cmd_ranges["ang_vel_yaw"]),
+                            0.0,
+                        ],
+                        device=self.device,
+                    )
+                )
                 self.commands = new_commands.repeat(self.num_envs, 1)
         elif self.mode == CommandMode.KEYBOARD:
             self._handle_keyboard_input()
diff --git a/sim/utils/helpers.py b/sim/utils/helpers.py
index f1530163..991390d1 100755
--- a/sim/utils/helpers.py
+++ b/sim/utils/helpers.py
@@ -34,6 +34,7 @@
 import copy
 import os
 import random
+from datetime import datetime
 from typing import Any, Tuple, Union
 
 import numpy as np
@@ -108,18 +109,39 @@ def parse_sim_params(args, cfg):
     return sim_params
 
 
-def get_load_path(root, load_run=-1, checkpoint=-1):
+def get_load_path(root, load_run: Union[int, str] = -1, checkpoint: Union[int, str] = -1):
     try:
         runs = os.listdir(root)
-        # TODO sort by date to handle change of month
-        runs.sort()
+
+        def parse_run_time(run_name):
+            try:
+                return datetime.strptime(run_name[:14], "%b%d_%H-%M-%S")
+            except:
+                return datetime.min
+
+        runs.sort(key=parse_run_time)
+
         if "exported" in runs:
             runs.remove("exported")
-        last_run = os.path.join(root, runs[-1])
-    except:
-        raise ValueError("No runs in this directory: " + root)
-    if load_run == -1:
-        load_run = last_run
+
+        # Keep only runs with model files
+        runs = [run for run in runs if any("model" in file for file in os.listdir(os.path.join(root, run)))]
+        if not runs:
+            raise ValueError("No runs with model files in this directory: " + root)
+
+    except Exception as e:
+        raise ValueError("Error accessing directory: " + root) from e
+
+    # Handle load_run selection
+    if isinstance(load_run, str) and load_run.lstrip("-").isdigit():
+        load_run = int(load_run)
+
+    if isinstance(load_run, int):
+        try:
+            run_name = runs[load_run]
+            load_run = os.path.join(root, run_name)
+        except IndexError:
+            raise ValueError(f"Run index {load_run} out of range. Available runs: {len(runs)}")
     else:
         load_run = os.path.join(root, load_run)