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fix(sim): fix collision detection and improve gripper/robot reset by juelg · Pull Request #231 · RobotControlStack/robot-control-stack · GitHub

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fix(sim): fix collision detection and improve gripper/robot reset - #231

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juelg merged 4 commits into
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fix/sim-reset
Nov 21, 2025
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fix(sim): fix collision detection and improve gripper/robot reset#231
juelg merged 4 commits into
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fix/sim-reset

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juelg commented Nov 21, 2025

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  • Collision Fix: Prevented auto-reset of collision flags in C++ callbacks; added explicit clear_collision_flag() exposed to Python.
  • Python Wrappers: Updated RobotSimWrapper to merge collision info and GripperWrapperSim to clear flags correctly.
  • SimGripper: Added multi-joint support, fixed ignored geom checks, and improved reset logic.
  • SimRobot: Improved state initialization in reset.
  • Verification: Fixed failing collision tests (test_collision_trpy, etc.).

juelg added 3 commits November 20, 2025 18:48
fix(sim): reset function for robot and gripper
37b47c2 
- fixes missing initialization of state variables for gripper and robot
- fixes the order of gripper and hand wrapper for sim
- refactors joints ids in gripper to list to hard set both joints in reset
fix(envs): correct observation update to retain gripper
1184466
fix(sim): correctly manage collision flags in SimRobot/Gripper and wr…
5858f6f 
…appers

- Remove auto-reset of collision flag in C++ collision_callbacks to allow accumulation.
- Add clear_collision_flag() to SimRobot and SimGripper.
- Expose clear_collision_flag() in Python bindings.
- Update RobotSimWrapper to merge collision info instead of overwriting.
- Update GripperWrapperSim to explicitly clear collision flag in action method.
- Ensure GripperWrapperSim wraps RobotSimWrapper in SimEnvCreator.
- Update Python type stubs.
juelg merged commit bbc1237 into master Nov 21, 2025
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juelg deleted the fix/sim-reset branch November 21, 2025 12:20
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