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Fixes unreal surface_gripper behavior #3679

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Merged
merged 2 commits into from
Oct 15, 2025
Merged

Fixes unreal surface_gripper behavior #3679

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19c2bed
decreases the max_grip_distance for surface_gripper, to avoid unreal …
rebeccazhang0707 Oct 13, 2025
23342d0
Merge branch 'release/2.3.0' into reb/fix_surface_gripper
kellyguo11 Oct 15, 2025
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2 changes: 1 addition & 1 deletion .../isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
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4 changes: 2 additions & 2 deletions ...lab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand Down Expand Up @@ -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,
Expand Down
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