diff --git a/scripts/tutorials/01_assets/add_new_robot.py b/scripts/tutorials/01_assets/add_new_robot.py
index 7afd19a77bc0..ca0c477ef587 100644
--- a/scripts/tutorials/01_assets/add_new_robot.py
+++ b/scripts/tutorials/01_assets/add_new_robot.py
@@ -105,8 +105,8 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 
     # wheel-velocity templates allocated once on the simulation device; the joint
     # target setters dispatch to GPU Warp kernels and reject CPU tensors.
-    straight_action = torch.tensor([[10.0, 10.0]], device=sim.device)
-    turn_action = torch.tensor([[5.0, -5.0]], device=sim.device)
+    straight_action = torch.tensor([[10.0, 10.0]], device=sim.device).repeat(scene.num_envs, 1)
+    turn_action = torch.tensor([[5.0, -5.0]], device=sim.device).repeat(scene.num_envs, 1)
 
     while simulation_app.is_running():
         # reset
@@ -173,7 +173,7 @@ def main():
     sim = sim_utils.SimulationContext(sim_cfg)
     sim.set_camera_view([3.5, 0.0, 3.2], [0.0, 0.0, 0.5])
     # Design scene
-    scene_cfg = NewRobotsSceneCfg(args_cli.num_envs, env_spacing=2.0)
+    scene_cfg = NewRobotsSceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0)
     scene = InteractiveScene(scene_cfg)
     # Play the simulator
     sim.reset()