diff --git a/docs/docs/resources/available_policy.md b/docs/docs/resources/available_policy.md
index 9ecc2e74..e90904be 100644
--- a/docs/docs/resources/available_policy.md
+++ b/docs/docs/resources/available_policy.md
@@ -32,7 +32,7 @@ python scripts/evaluation/policy_inference.py \
 ```
 
 :::tip
-target commit: https://github.com/NVIDIA/Isaac-GR00T/commit/b211007ed6698e6642d2fd7679dabab1d97e9e6c
+target commit: https://github.com/NVIDIA/Isaac-GR00T/commit/4af2b622892f7dcb5aae5a3fb70bcb02dc217b96
 :::
 
 ## Lerobot official policy
diff --git a/source/leisaac/leisaac/policy/service_policy_clients.py b/source/leisaac/leisaac/policy/service_policy_clients.py
index 8705661c..bc745cb2 100644
--- a/source/leisaac/leisaac/policy/service_policy_clients.py
+++ b/source/leisaac/leisaac/policy/service_policy_clients.py
@@ -17,7 +17,7 @@
 class Gr00tServicePolicyClient(ZMQServicePolicy):
     """
     Service policy client for GR00T N1.5: https://github.com/NVIDIA/Isaac-GR00T
-    Target Commit: https://github.com/NVIDIA/Isaac-GR00T/commit/b211007ed6698e6642d2fd7679dabab1d97e9e6c
+    Target Commit: https://github.com/NVIDIA/Isaac-GR00T/commit/4af2b622892f7dcb5aae5a3fb70bcb02dc217b96
     """
 
     def __init__(
@@ -73,7 +73,7 @@ def get_action(self, observation_dict: dict) -> torch.Tensor:
             }
         """
         concat_action = np.concatenate(
-            [action_chunk["action.single_arm"], action_chunk["action.gripper"][:, None]],
+            [action_chunk["action.single_arm"], action_chunk["action.gripper"]],
             axis=1,
         )
         concat_action = convert_lerobot_action_to_leisaac(concat_action)