diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py
index 2af18053912..97d6835652c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py
@@ -286,7 +286,7 @@ def __post_init__(self):
         # Set surface gripper: Ensure the SurfaceGripper prim has the required attributes
         self.scene.surface_gripper = SurfaceGripperCfg(
             prim_path="{ENV_REGEX_NS}/Robot/right_suction_cup_tcp_link/SurfaceGripper",
-            max_grip_distance=0.02,
+            max_grip_distance=0.0075,
             shear_force_limit=5000.0,
             coaxial_force_limit=5000.0,
             retry_interval=0.05,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py
index 467df1d4410..726d9079472 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py
@@ -152,7 +152,7 @@ def __post_init__(self):
         # Set surface gripper: Ensure the SurfaceGripper prim has the required attributes
         self.scene.surface_gripper = SurfaceGripperCfg(
             prim_path="{ENV_REGEX_NS}/Robot/ee_link/SurfaceGripper",
-            max_grip_distance=0.05,
+            max_grip_distance=0.0075,
             shear_force_limit=5000.0,
             coaxial_force_limit=5000.0,
             retry_interval=0.05,
@@ -190,7 +190,7 @@ def __post_init__(self):
         # Set surface gripper: Ensure the SurfaceGripper prim has the required attributes
         self.scene.surface_gripper = SurfaceGripperCfg(
             prim_path="{ENV_REGEX_NS}/Robot/ee_link/SurfaceGripper",
-            max_grip_distance=0.05,
+            max_grip_distance=0.0075,
             shear_force_limit=5000.0,
             coaxial_force_limit=5000.0,
             retry_interval=0.05,