[Bug Report] BinaryJointAction.process_actions: bool-action convention mismatch / confusing comment (True treated as open, False as close)

[purewater0901]

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Describe the bug

With torch.bool, False == 0 evaluates to True, so False is mapped to close_command and True is mapped to open_command (because torch.where(binary_mask, close, open) is used).

This behavior appears to contradict the inline comment (true: close, false: open) and can also be interpreted as inconsistent with a common expectation that True means “activate/close”. Even if the intended convention is “Open=1/True, Close=0/False”, the current comment is misleading and likely to cause user confusion / integration bugs.

Code reference Binary Joint Action

Steps to reproduce

import torch

# Dummy open/close commands for 2 joints
open_command  = torch.tensor([1.0, 1.0])
close_command = torch.tensor([0.0, 0.0])

def process_bool(actions_bool: torch.Tensor):
    # current repo logic
    binary_mask = actions_bool == 0   # False -> True, True -> False
    processed = torch.where(binary_mask, close_command, open_command)
    return binary_mask, processed

actions = torch.tensor([[True], [False]], dtype=torch.bool)
mask, out = process_bool(actions)

print("actions:\n", actions.squeeze(-1))
print("binary_mask (True => close):\n", mask.squeeze(-1))
print("processed:\n", out)

Observed output:

actions=True -> binary_mask=False -> selects open_command

actions=False -> binary_mask=True -> selects close_command

So for torch.bool inputs: True => open, False => close.

System Info

Describe the characteristic of your environment:

• Commit: [e.g. 8f3b9ca]
• Isaac Sim Version: [e.g. 5.0, this can be obtained by cat ${ISAACSIM_PATH}/VERSION]
• OS: [e.g. Ubuntu 22.04]
• GPU: [e.g. RTX 5090]
• CUDA: [e.g. 12.8]
• GPU Driver: [e.g. 553.05, this can be seen by using nvidia-smi command.]

Additional context

Potential fix options:

If intended behavior is Open=True, Close=False:

Keep logic but fix the comment to match reality, e.g.:

binary_mask: True -> close, False -> open

or # actions: True -> open, False -> close

If intended behavior is Close=True, Open=False:

Change the bool branch to something like:

binary_mask = actions (if True means close)

or binary_mask = actions != 0

and ensure comments + docs match.

Right now the mismatch between code and comment makes it easy for downstream code to pass boolean actions with the wrong meaning.

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo

Acceptance Criteria

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