fix(sim): fix collision detection and improve gripper/robot reset #231
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Contributor
juelg
commented
Nov 21, 2025
juelg
commented
- 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.).
- 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
…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.
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