Error during RL examples

I have made a pick-up task in OmniIsaacGymEnvs and am working on it. Previously, reinforcement learning was conducted in 36 environments, but it was increased to 128. In that case, this error occurs, and I wonder why this error occurs.
In order to manually pick up in the middle, the progress_buf does not work, but the simulation step and gripper are set to move. I wonder if it’s caused by this.

Hi @user117228

This error may occur because there are environments that cross each other as shown in this GitHub post. Possible solutions are also described in this post

“When environments come across each other, it’s likely they will generate additional contacts and collisions. We filter out collisions between environments by default so that these collisions will be ignored.”

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