CurrentCollisionPairs Not Working As Intended

[jasoon-chen]

I'm trying to retrieve the total collision pairs within the simulator. Based on the documentation provided here it mentions that "After calling this method and stepping once, the result will be saved in env.data[‘CurrentCollisionPairs’]." After running:
print(env.data) this is what is printed:

{'time_scale': 1.0, 'fixed_delta_time': 0.019999999552965164, 'current_collisio_pairs': []}

Despite running print(env.data) whenever there is a collision or not, the current_collisio_pairs key would always have an empty list []. (I am assuming that the CurrentCollisionPairskey is basically current_collisio_pairs). Is this how we're supposed to grab the collision pairs or is there another function that we can use?

This is the code that I was using:

self.env.GetCurrentCollisionPairs()
self.env.step()
print(self.env.data["current_collisio_pairs"])```

[YoruCathy]

Hi @jasoon-chen , we didn't enable this API in the dressing/bathing environment. To understand how the collision pair works, you can add your code to example_deug.py after this line

RCareWorld/pyrcareworld/pyrcareworld/demo/examples/example_debug.py

Line 57 in 0eb1ad6

env.SendLog("DebugCollisionPair")

We can enable this function if this is a bottleneck for your algorithm

[DanielTakeshi]

@YoruCathy just wondering if it's possible to check this, thanks!

[YoruCathy]

Hi @DanielTakeshi we'll look into this issue soon.

[thisjustin123]

Hello! To clarify, this is a bug--not intentionally disabled--so I just made an issue for this. I'll look into this tonight and see if I can find out why this is happening.

EDIT: Found a fix, but have to run some things by Ruolin first before I can push:

EDIT 2: #131

[YoruCathy]

Fixed in #131