diff --git a/mani_skill2/envs/sapien_env.py b/mani_skill2/envs/sapien_env.py
index 35c2b3c7b..04895748c 100644
--- a/mani_skill2/envs/sapien_env.py
+++ b/mani_skill2/envs/sapien_env.py
@@ -736,7 +736,7 @@ def step(self, action: Union[None, np.ndarray, torch.Tensor, Dict]):
                 terminated = info["success"].clone()
         else:
             if "fail" in info:
-                terminated = info["success"].clone()
+                terminated = info["fail"].clone()
             else:
                 terminated = torch.zeros(self.num_envs, dtype=bool, device=self.device)