From 544878a05cd3b6ad3cc6613bed88eccc23371c6f Mon Sep 17 00:00:00 2001
From: snasiriany <snasiriany@gmail.com>
Date: Fri, 13 Dec 2024 21:51:41 -0600
Subject: [PATCH] terminate mjviewer on resets

---
 robosuite/environments/base.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/robosuite/environments/base.py b/robosuite/environments/base.py
index 168e4906a9..043f8f6ff1 100644
--- a/robosuite/environments/base.py
+++ b/robosuite/environments/base.py
@@ -263,6 +263,10 @@ def reset(self):
         # TODO(yukez): investigate black screen of death
         # Use hard reset if requested
 
+        # always terminate mjviewer
+        if self.renderer == "mjviewer":
+            self._destroy_viewer()
+
         if self.hard_reset and not self.deterministic_reset:
             if self.renderer == "mujoco":
                 self._destroy_viewer()