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Fix suction cup status tensor shape in terminations.py #4507

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Fix suction cup status tensor shape in terminations.py #4507

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a08023b
Fix suction cup status tensor shape in terminations.py
808brick Feb 1, 2026
933aaf9
808brick/fix-ur10-suction-termination-shape
808brick Feb 1, 2026
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2 changes: 1 addition & 1 deletion source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/mdp/terminations.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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Same shape issue exists in place/mdp/terminations.py lines 53 & 101 - check if those need the same fix

suction_cup_is_open = (suction_cup_status == -1).to(torch.float32)
stacked = torch.logical_and(suction_cup_is_open, stacked)

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