From 1369cca15de8954937447c45c082589dd8ced7bd Mon Sep 17 00:00:00 2001
From: Pierre Krack <pierre.krack@utn.de>
Date: Wed, 8 Jan 2025 17:59:50 +0100
Subject: [PATCH 1/2] Fix double reset

correctly reset `last_ts` in camera frame buffers
---
 python/tests/test_sim_envs.py | 46 +++++++++++++++++++++++++++++++++++
 src/sim/camera.cpp            |  2 ++
 2 files changed, 48 insertions(+)

diff --git a/python/tests/test_sim_envs.py b/python/tests/test_sim_envs.py
index f2a9e253..11fedca2 100644
--- a/python/tests/test_sim_envs.py
+++ b/python/tests/test_sim_envs.py
@@ -57,6 +57,20 @@ def assert_collision(self, info: dict):
 class TestSimEnvsTRPY(TestSimEnvs):
     """This class is for testing TRPY sim env functionalities"""
 
+    def test_reset(self, cfg, gripper_cfg, cam_cfg):
+        """
+        Test reset functionality.
+        """
+        # TODO:
+        # - test initial pose after reset.
+        # - test initial gripper config.
+        env = fr3_sim_env(
+            ControlMode.CARTESIAN_TRPY, cfg, gripper_cfg=gripper_cfg, camera_set_cfg=cam_cfg, max_relative_movement=None
+        )
+        # Test double reset. Regression test. A lot can go wrong when resetting.
+        env.reset()
+        env.reset()
+
     def test_zero_action_trpy(self, cfg):
         """
         Test that a zero action does not change the state significantly
@@ -169,6 +183,24 @@ def test_collision_guard_trpy(self, cfg, gripper_cfg, cam_cfg):
 class TestSimEnvsTquart(TestSimEnvs):
     """This class is for testing Tquart sim env functionalities"""
 
+    def test_reset(self, cfg, gripper_cfg, cam_cfg):
+        """
+        Test reset functionality.
+        """
+        # TODO:
+        # - test initial pose after reset.
+        # - test initial gripper config.
+        env = fr3_sim_env(
+            ControlMode.CARTESIAN_TQuart,
+            cfg,
+            gripper_cfg=gripper_cfg,
+            camera_set_cfg=cam_cfg,
+            max_relative_movement=None,
+        )
+        # Test double reset. Regression test. A lot can go wrong when resetting.
+        env.reset()
+        env.reset()
+
     def test_non_zero_action_tquart(self, cfg):
         """
         Test that a zero action does not change the state significantly in the tquart configuration
@@ -271,6 +303,20 @@ def test_collision_guard_tquart(self, cfg, gripper_cfg, cam_cfg):
 class TestSimEnvsJoints(TestSimEnvs):
     """This class is for testing Joints sim env functionalities"""
 
+    def test_reset(self, cfg, gripper_cfg, cam_cfg):
+        """
+        Test reset functionality.
+        """
+        # TODO:
+        # - test initial pose after reset.
+        # - test initial gripper config.
+        env = fr3_sim_env(
+            ControlMode.JOINTS, cfg, gripper_cfg=gripper_cfg, camera_set_cfg=cam_cfg, max_relative_movement=None
+        )
+        # Test double reset. Regression test. A lot can go wrong when resetting.
+        env.reset()
+        env.reset()
+
     def test_zero_action_joints(self, cfg):
         """
         This is for testing that a certain action leads to the expected change in state
diff --git a/src/sim/camera.cpp b/src/sim/camera.cpp
index 429ff520..1d1dda92 100644
--- a/src/sim/camera.cpp
+++ b/src/sim/camera.cpp
@@ -51,6 +51,8 @@ int SimCameraSet::buffer_size() {
 }
 void SimCameraSet::clear_buffer() {
   std::lock_guard<std::mutex> lock(buffer_lock);
+  // when we clear the buffer, there is no last image timestep
+  this->last_ts = 0;
   buffer.clear();
 }
 

From 267d291233c470ed4c619f0ddf1df5fea3d7821b Mon Sep 17 00:00:00 2001
From: Pierre Krack <pierre.krack@utn.de>
Date: Thu, 9 Jan 2025 10:28:55 +0100
Subject: [PATCH 2/2] Bump clang version in pipeline

github's ubuntu-latest runner image updated to ubuntu 24.04
---
 .github/workflows/cpp.yaml | 2 +-
 .github/workflows/py.yaml  | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/cpp.yaml b/.github/workflows/cpp.yaml
index 8a3da66b..cb350062 100644
--- a/.github/workflows/cpp.yaml
+++ b/.github/workflows/cpp.yaml
@@ -26,7 +26,7 @@ jobs:
       - name: Clang build
         run: make clangcompile
       - name: Clang Tidy
-        run: clang-tidy-15 -p=build --warnings-as-errors='*' $(find src -name '*.cpp' -o -name '*.cc' -name '*.h')
+        run: clang-tidy -p=build --warnings-as-errors='*' $(find src -name '*.cpp' -o -name '*.cc' -name '*.h')
 
   build_gcc:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/py.yaml b/.github/workflows/py.yaml
index a52883c5..6eb9a51d 100644
--- a/.github/workflows/py.yaml
+++ b/.github/workflows/py.yaml
@@ -28,8 +28,8 @@ jobs:
   pythonpackage:
     runs-on: ubuntu-latest
     env:
-      CC: clang-15
-      CXX: clang++-15
+      CC: clang
+      CXX: clang++
       GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
     steps:
       - uses: actions/checkout@v4