From a08023bf92fb6aedc7d8755c0c0dc410c68f173c Mon Sep 17 00:00:00 2001 From: Raymond Andrade Date: Sat, 31 Jan 2026 19:17:22 -0800 Subject: [PATCH] Fix suction cup status tensor shape in terminations.py The termination_manager expects a tensor of [1] but the previous view setup was creating a tensor of [1,1] causing the IsaacLab sim/task to crash Signed-off-by: Raymond Andrade --- .../manager_based/manipulation/stack/mdp/terminations.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/mdp/terminations.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/mdp/terminations.py index 2e4c14afcea..d4868032999 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/mdp/terminations.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/mdp/terminations.py @@ -60,7 +60,7 @@ def cubes_stacked( # Check gripper positions if hasattr(env.scene, "surface_grippers") and len(env.scene.surface_grippers) > 0: surface_gripper = env.scene.surface_grippers["surface_gripper"] - suction_cup_status = surface_gripper.state.view(-1, 1) # 1: closed, 0: closing, -1: open + suction_cup_status = surface_gripper.state.view(-1) # 1: closed, 0: closing, -1: open suction_cup_is_open = (suction_cup_status == -1).to(torch.float32) stacked = torch.logical_and(suction_cup_is_open, stacked)