diff --git a/examples/boxer_push_client.py b/examples/boxer_push_client.py
index 6973f26..1cff22f 100644
--- a/examples/boxer_push_client.py
+++ b/examples/boxer_push_client.py
@@ -69,7 +69,7 @@ def compute_cost(self, sim):
         
         # Collision avoidance
         xy_contatcs = torch.sum(torch.abs(torch.cat((sim.net_cf[:, 0].unsqueeze(1), sim.net_cf[:, 1].unsqueeze(1)), 1)),1)
-        coll = torch.sum(xy_contatcs.reshape([sim.num_envs, int(xy_contatcs.size(dim=0)/sim.num_envs)])[:, (sim.num_bodies - self.obst_number):sim.num_bodies], 1)
+        coll = torch.sum(xy_contatcs.reshape([sim.num_envs, int(xy_contatcs.size(dim=0)/sim.num_envs)])[:, (sim.num_bodies - 1 - self.obst_number):sim.num_bodies], 1)
 
         total_cost = (
             self.w_robot_to_block_pos * robot_to_block_dist
diff --git a/examples/heijn_push_client.py b/examples/heijn_push_client.py
index e4608f7..dfe7d80 100644
--- a/examples/heijn_push_client.py
+++ b/examples/heijn_push_client.py
@@ -81,7 +81,7 @@ def compute_cost(self, sim):
 
         # Collision avoidance
         xy_contatcs = torch.sum(torch.abs(torch.cat((sim.net_cf[:, 0].unsqueeze(1), sim.net_cf[:, 1].unsqueeze(1)), 1)),1)
-        coll = torch.sum(xy_contatcs.reshape([sim.num_envs, int(xy_contatcs.size(dim=0)/sim.num_envs)])[:, (sim.num_bodies - self.obst_number):sim.num_bodies], 1)
+        coll = torch.sum(xy_contatcs.reshape([sim.num_envs, int(xy_contatcs.size(dim=0)/sim.num_envs)])[:, (sim.num_bodies - 1 - self.obst_number):sim.num_bodies], 1)
 
         total_cost = (
             self.w_robot_to_block_pos * robot_to_block_dist
diff --git a/examples/omnipanda_isaacgym_client.py b/examples/omnipanda_isaacgym_client.py
index 5f85a62..d5c76e8 100644
--- a/examples/omnipanda_isaacgym_client.py
+++ b/examples/omnipanda_isaacgym_client.py
@@ -58,7 +58,7 @@ def compute_cost(self, sim):
        
          # Collision avoidance
         contact_f = torch.sum(torch.abs(torch.cat((sim.net_cf[:, 0].unsqueeze(1), sim.net_cf[:, 1].unsqueeze(1), sim.net_cf[:, 2].unsqueeze(1)), 1)),1)
-        coll = torch.sum(contact_f.reshape([sim.num_envs, int(contact_f.size(dim=0)/sim.num_envs)])[:, (sim.num_bodies - self.obst_number):sim.num_bodies], 1)
+        coll = torch.sum(contact_f.reshape([sim.num_envs, int(contact_f.size(dim=0)/sim.num_envs)])[:, (sim.num_bodies - 1 - self.obst_number):sim.num_bodies], 1) # Consider obstacles
 
         total_cost = (
             self.w_robot_to_block_pos * robot_to_block_dist
diff --git a/mppiisaac/planner/isaacgym_wrapper.py b/mppiisaac/planner/isaacgym_wrapper.py
index 574abd0..309b90d 100644
--- a/mppiisaac/planner/isaacgym_wrapper.py
+++ b/mppiisaac/planner/isaacgym_wrapper.py
@@ -103,7 +103,7 @@ def __init__(
         if viewer:
             self.cfg.viewer = viewer
         self.num_envs = num_envs
-
+        self.restarted = 1
         self.start_sim()
 
     def start_sim(self):
@@ -122,20 +122,23 @@ def start_sim(self):
         self.add_ground_plane()
 
         # Always add dummy obst at the end
-        self.env_cfg.append(
-           ActorWrapper(
-               **{
-                   "type": "sphere",
-                   "name": "dummy",
-                   "handle": None,
-                   "size": [0.1],
-                   "fixed": True,
-                   "init_pos": [0, 0, -10],
-                   "collision": False
-               }
-           )
-        )
-
+        if self.restarted == 2:
+            self.env_cfg.append(
+            ActorWrapper(
+                **{
+                    "type": "sphere",
+                    "name": "dummy",
+                    "handle": None,
+                    "size": [0.1],
+                    "fixed": True,
+                    "init_pos": [0, 0, -10],
+                    "collision": False
+                }
+            )
+            )
+            self.restarted += 1
+        else:
+            self.restarted += 1
 
         # Load / create assets for all actors in the envs
         self.env_actor_assets = []
@@ -220,6 +223,8 @@ def robot_velocities(self):
     def stop_sim(self):
         if self.viewer:
             self.gym.destroy_viewer(self.viewer)
+        for env_idx in range(self.num_envs):
+            self.gym.destroy_env(self.envs[env_idx])
         self.gym.destroy_sim(self.sim)
 
     def add_to_envs(self, additions):
diff --git a/poetry.lock b/poetry.lock
index f55cf6c..4bad81f 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -157,6 +157,83 @@ files = [
     {file = "certifi-2022.12.7.tar.gz", hash = "sha256:35824b4c3a97115964b408844d64aa14db1cc518f6562e8d7261699d1350a9e3"},
 ]
 
+[[package]]
+name = "cffi"
+version = "1.15.1"
+description = "Foreign Function Interface for Python calling C code."
+category = "main"
+optional = false
+python-versions = "*"
+files = [
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+    {file = "cffi-1.15.1.tar.gz", hash = "sha256:d400bfb9a37b1351253cb402671cea7e89bdecc294e8016a707f6d1d8ac934f9"},
+]
+
+[package.dependencies]
+pycparser = "*"
+
 [[package]]
 name = "chardet"
 version = "5.1.0"
@@ -441,6 +518,17 @@ casadi = ">=3.5.4,<3.5.5.post1 || >3.5.5.post1,<3.5.5.post2 || >3.5.5.post2,<4.0
 numpy = ">=1.15.3,<2.0.0"
 urdf_parser_py = ">=0.0.3"
 
+[[package]]
+name = "future"
+version = "0.18.3"
+description = "Clean single-source support for Python 3 and 2"
+category = "main"
+optional = false
+python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
+files = [
+    {file = "future-0.18.3.tar.gz", hash = "sha256:34a17436ed1e96697a86f9de3d15a3b0be01d8bc8de9c1dffd59fb8234ed5307"},
+]
+
 [[package]]
 name = "fvcore"
 version = "0.1.5.post20221221"
@@ -477,6 +565,82 @@ files = [
     {file = "geomdl-5.3.1.tar.gz", hash = "sha256:e81a31b4d5f111267b16045ba1d9539235a98b2cff5e4bad18f7ddcd4cb804c8"},
 ]
 
+[[package]]
+name = "gevent"
+version = "22.10.2"
+description = "Coroutine-based network library"
+category = "main"
+optional = false
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 [[package]]
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 version = "0.22.0"
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 [package.extras]
 bullet = ["pybullet (>=3.2.3,<4.0.0)"]
 
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 [[package]]
 name = "mypy-extensions"
 version = "1.0.0"
@@ -1712,6 +2023,18 @@ python-dateutil = ">=2.2"
 prettyprint = ["lxml"]
 validation = ["lxml"]
 
+[[package]]
+name = "pycparser"
+version = "2.21"
+description = "C parser in Python"
+category = "main"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
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+]
+
 [[package]]
 name = "pylint"
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+
 [[package]]
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 version = "1.0.6"
@@ -2761,6 +3174,24 @@ trimesh = {version = ">=3.11.2", extras = ["easy"]}
 [package.extras]
 testing = ["pytest", "pytest-cov", "setuptools"]
 
+[[package]]
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+version = "0.6.3"
+description = "zerorpc is a flexible RPC based on zeromq."
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+pyzmq = ">=13.1.0"
+
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 version = "3.15.0"
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+
+[package.extras]
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+test = ["zope.testrunner"]
+
+[[package]]
+name = "zope-interface"
+version = "6.0"
+description = "Interfaces for Python"
+category = "main"
+optional = false
+python-versions = ">=3.7"
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+]
+
+[package.dependencies]
+setuptools = "*"
+
+[package.extras]
+docs = ["Sphinx", "repoze.sphinx.autointerface"]
+test = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
+testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
+
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.8,<3.9"
-content-hash = "77c80e9337bd40c06c18b6d1c07db15dcffdd70ee7b240eeb0a289d853fadabe"
+content-hash = "54de6215d6aca45aab86f2f2af92aa8e29fb629c5eb4a9962f920b61b82aba6b"
diff --git a/pyproject.toml b/pyproject.toml
index 82f6854..f5ac4aa 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -22,6 +22,7 @@ yourdfpy = "^0.0.52"
 pytorch3d = "^0.3.0"
 urdfenvs = "^0.7.1"
 casadi = "3.5.5"
+zerorpc = "^0.6.3"
 
 [tool.poetry.group.dev]
 optional = true