Error in ArticulationView when having more than 10 robots Isaac Sim

[mamoforce55]

I want to create a python standalone application for reinforcement learning, in which I use ArticulationView to send actions and get state of the robot.

My python script are able to spawn 10 robots, but for some reason, more than 10 robots is not possible. The error is File "/media/data/ros_user/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 1590, in get_gains kps[self._backend_utils.expand_dims(indices, 1), joint_indices], device=self._device IndexError: index 2 is out of bounds for axis 0 with size 2

I upload the whole python code for anyone to look at.
multi_a1_training_online.py (6.2 KB)

Looking forward for anyone who can solve this error. Thanks!

[kellyg]

Hi there, could you try modifying your regex path to be something simpler, such as /World/A1_.*? Unfortunately the USD regex matching does not seem to support the full set of regex expressions, so it’s possible that the expression you have currently is only picking up the paths for the first 10 environments.

[mamoforce55]

Hey there,
Thank you very much for your reply. I have tried it and it works perfectly!
cheers!