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fix(robotwin): close scene between episodes

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This commit is contained in:
Pepijn
2026-07-28 15:48:14 +02:00
parent d613c0cd74
commit 8fc6aa0acf
2 changed files with 21 additions and 2 deletions
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tests/envs/test_robotwin.py
+11
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@@ -143,6 +143,16 @@ class TestRoboTwinEnv:
assert call_kwargs["seed"] == 42
assert call_kwargs["is_test"] is True
def test_repeated_reset_closes_previous_scene(self):
mock_task = _make_mock_task_env()
env = RoboTwinEnv(task_name="beat_block_hammer")
with _patch_runtime(mock_task):
env.reset(seed=1)
env.reset(seed=2)
mock_task.close_env.assert_called_once()
assert mock_task.setup_demo.call_count == 2
def test_step_returns_correct_types(self):
mock_task = _make_mock_task_env()
env = RoboTwinEnv(task_name="beat_block_hammer")
@@ -176,6 +186,7 @@ class TestRoboTwinEnv:
_, _, terminated, _, info = env.step(action)
assert terminated is True
assert info["is_success"] is True
assert mock_task.setup_demo.call_count == 1
def test_truncation_after_episode_length(self):
mock_task = _make_mock_task_env()