From a569331adacf8c5f8eeb36559baa3ace132e1739 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Sat, 13 Jun 2026 12:36:47 +0200
Subject: [PATCH] fix: sim reset

---
 python/rcs/envs/base.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/python/rcs/envs/base.py b/python/rcs/envs/base.py
index a13592d2..1cbfbb1f 100644
--- a/python/rcs/envs/base.py
+++ b/python/rcs/envs/base.py
@@ -280,7 +280,10 @@ def reset(
             if seed is not None:
                 # seed only once at the top of the stack
                 self.np_random, _ = seeding.np_random(seed)
-        return super().reset(seed=None, options=options)
+        re = super().reset(seed=None, options=options)
+        if self.env.get_wrapper_attr("PLATFORM") == RobotPlatform.SIMULATION:
+            self.sim.step(30)  # apply reset state
+        return re
 
 
 class RobotWrapper(ActObsInfoWrapper):