Cleaning up exits - #176
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…ng hardware connections - env_base.py: close() now also closes robot (hardware) and sim_obsd (when it differs from sim), instead of only closing sim. Added close_hardware=True arg so callers can leave a hardware connection open across close()/make() cycles intentionally (env.close(close_hardware=False)). Added a warn-only __del__, mirroring Robot's, so a hardware-backed env that's GC'd without close() ever being called surfaces a RuntimeWarning instead of silently dangling. - robot.py: Robot.__init__ was assigning the persistent session via self.robot_config, which only ever shadowed the class attribute on that one instance and silently defeated reuse across separate Robot()/env.make() calls. Now assigns via type(self).robot_config so the session is genuinely shared. Robot.close() gained the matching close_hardware arg, and tracks _explicitly_closed so __del__ doesn't false-positive when hardware was left
…uld get silently swallowed
- renderer.py/mj_renderer.py: replaced the private MJRenderer._user_exit flag with
a base-class Renderer.exit_requested property so any backend can surface it.
Also set it when the viewer window's native close ('X') button is used, not just
Escape, which previously did nothing.
- env_base.py: added MujocoEnv.viewer_exit_requested. examine_policy()/
examine_policy_new() now check it in their rollout while-loop (and again to break
the outer episode loop), instead of continuing to step invisibly after the window
closes. For offscreen/none rendering, which has no window at all, both loops now
catch KeyboardInterrupt and stop the same way, returning whatever was completed.
Offscreen video writes are trimmed to the frames actually rendered before an
early stop instead of writing out the pre-allocated zero-filled tail.
- mj_sim_scene.py: SimScene.advance() had a bare , which also swallows
KeyboardInterrupt/SystemExit, not just real errors. That meant a Ctrl+C landing
inside sim.step() got eaten and turned into a silent physics reset instead of
reaching the new rollout-loop handler. Narrowed to dm_control's PhysicsError and
included the underlying exception in the warning message
andreh1111
approved these changes
Aug 6, 2026
…efault Robot class Yesterday's change to persist robot_config on the class (so a hardware session survives an env.close()/make() cycle) also applied to sim-only robots, which all default to the same Robot class. Creating one sim env after another in the same process left the second one silently reusing the first's sensor/actuator config -- e.g. test_arms.py would crash with an IndexError once a larger model's config leaked into a smaller model's sim.data.sensordata. - robot.py: scope the class-level persistence to is_hardware sessions only; sim sessions get a per-instance robot_config that can't leak. close() now also clears whichever level actually holds the config (class attr for hardware, instance attr for sim) instead of only ever touching the class attr. - test_envs.py: check_env/check_old_envs now call env.close() instead of relying on GC via del(), exercising the real teardown path.
andreh1111
approved these changes
Aug 6, 2026
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Can you check it once on hardware as well before approving.