Robot still thinks it is in collision even after resetting its articulation back to the origin of the simulation

[brandon-lawrence96]

Question

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Hi. Currently, when a termination event occurs for my robot due to illegal contact with a wall for example, I make the robot "teleport" back to the origin position of the simulation but even after I do that, the robot still thinks that it is in collision as I can see this from the collision visualizations of the different contact sensors of the robot. Why is this so? This is my code snippet for teleporting the robot back in the event of a collision:

obs, _, terminated, _ = env.step(actions_reordered)

if terminated.item() == 1:
                print("Restart Simulation!")
                # obs, _ = env.get_observations()  # Reset the environment
                root_state = env.env.scene.articulations["robot"].data.default_root_state.clone()

                env.env.scene.articulations["robot"].write_root_pose_to_sim(root_state[:, :7])

                env.env.scene.articulations["robot"].write_root_velocity_to_sim(root_state[:, 7:])
                
                joint_pos, joint_vel = env.env.scene.articulations["robot"].data.default_joint_pos.clone(), 
               env.env.scene.articulations["robot"].data.default_joint_vel.clone()
                env.env.scene.articulations["robot"].write_joint_state_to_sim(joint_pos, joint_vel)

                env.env.scene.articulations["robot"].reset()

Thank you for the assistance.

[RandomOakForest]

Thanks for posting this. Can you clarify how you are observing the "robot still thinks that it is in collision"? Thanks.

[brandon-lawrence96]

Hi. Thank you for the reply. I can see that the robot still thinks it is in collision from the red spheres in the isasc sim gui at the robot prims. I have attached a video as well.

WhatsApp.Video.2025-01-09.at.12.18.46.mp4