diff --git a/python/rcsss/_core/sim.pyi b/python/rcsss/_core/sim.pyi
index b4230dbe..7dfdf176 100644
--- a/python/rcsss/_core/sim.pyi
+++ b/python/rcsss/_core/sim.pyi
@@ -74,8 +74,14 @@ class FHConfig(rcsss._core.common.GConfig):
 class FHState(rcsss._core.common.GState):
     def __init__(self) -> None: ...
     @property
+    def collision(self) -> bool: ...
+    @property
+    def is_moving(self) -> bool: ...
+    @property
     def last_commanded_width(self) -> float: ...
     @property
+    def last_width(self) -> float: ...
+    @property
     def max_unnormalized_width(self) -> float: ...
 
 class FR3(rcsss._core.common.Robot):
diff --git a/python/rcsss/envs/base.py b/python/rcsss/envs/base.py
index 280836d9..86493d98 100644
--- a/python/rcsss/envs/base.py
+++ b/python/rcsss/envs/base.py
@@ -17,6 +17,8 @@
     get_space_keys,
 )
 
+from python.rcsss import sim
+
 
 class TRPYDictType(RCSpaceType):
     """Pose format is in transpose[3],r,p,y"""
@@ -413,6 +415,12 @@ def reset(self, **kwargs) -> tuple[dict[str, Any], dict[str, Any]]:
     def observation(self, observation: dict[str, Any], info: dict[str, Any]) -> tuple[dict[str, Any], dict[str, Any]]:
         observation = copy.deepcopy(observation)
         observation[self.gripper_key] = self._gripper.get_normalized_width()
+
+        # TODO: a cleaner solution would be to put this code into env/sim.py
+        # similar to sim fr3 has also a sim specific wrapper
+        if isinstance(self._gripper, sim.FrankaHand):
+            state = self._gripper.get_state()
+            info["collision"] = state.collision
         if self.binary:
             observation[self.gripper_key] = round(observation[self.gripper_key])
         return observation, info
diff --git a/src/pybind/rcsss.cpp b/src/pybind/rcsss.cpp
index a23d8f48..af9a308f 100644
--- a/src/pybind/rcsss.cpp
+++ b/src/pybind/rcsss.cpp
@@ -424,7 +424,10 @@ PYBIND11_MODULE(_core, m) {
       .def_readonly("last_commanded_width",
                     &rcs::sim::FHState::last_commanded_width)
       .def_readonly("max_unnormalized_width",
-                    &rcs::sim::FHState::max_unnormalized_width);
+                    &rcs::sim::FHState::max_unnormalized_width)
+      .def_readonly("is_moving", &rcs::sim::FHState::is_moving)
+      .def_readonly("last_width", &rcs::sim::FHState::last_width)
+      .def_readonly("collision", &rcs::sim::FHState::collision);
 
   py::class_<rcs::sim::Sim, std::shared_ptr<rcs::sim::Sim>>(sim, "Sim")
       .def(py::init([](long m, long d) {