From 0e8bc182cd32e6d5ad33a37344a7b958677bc9dd Mon Sep 17 00:00:00 2001
From: Hz_Zhang <47402297+HaozheZhang6@users.noreply.github.com>
Date: Thu, 9 Jul 2026 10:40:34 -0700
Subject: [PATCH 1/2] Fix Wipe table height drifting across resets

---
 robosuite/environments/manipulation/wipe.py   |  6 +--
 .../test_wipe_table_height.py                 | 39 +++++++++++++++++++
 2 files changed, 42 insertions(+), 3 deletions(-)
 create mode 100644 tests/test_environments/test_wipe_table_height.py

diff --git a/robosuite/environments/manipulation/wipe.py b/robosuite/environments/manipulation/wipe.py
index a4f87c2904..7daa853692 100644
--- a/robosuite/environments/manipulation/wipe.py
+++ b/robosuite/environments/manipulation/wipe.py
@@ -237,6 +237,7 @@ def __init__(
         self.table_height_std = self.task_config["table_height_std"]
         self.delta_height = None  # sample variation in height done in load_model
         self.table_offset = np.array(self.task_config["table_offset"])
+        self.base_table_offset = np.array(self.task_config["table_offset"])
         self.table_friction = self.task_config["table_friction"]
         self.table_friction_std = self.task_config["table_friction_std"]
         self.line_width = self.task_config["line_width"]
@@ -534,9 +535,8 @@ def _load_model(self):
 
         # Get robot's contact geoms
         self.robot_contact_geoms = self.robots[0].robot_model.contact_geoms
-        if self.delta_height is None:
-            self.delta_height = self.rng.normal(self.table_height, self.table_height_std)
-        self.table_offset[2] += self.delta_height
+        self.delta_height = self.rng.normal(self.table_height, self.table_height_std)
+        self.table_offset[2] = self.base_table_offset[2] + self.delta_height
         mujoco_arena = WipeArena(
             table_full_size=self.table_full_size,
             table_friction=self.table_friction,
diff --git a/tests/test_environments/test_wipe_table_height.py b/tests/test_environments/test_wipe_table_height.py
new file mode 100644
index 0000000000..71bb55b794
--- /dev/null
+++ b/tests/test_environments/test_wipe_table_height.py
@@ -0,0 +1,39 @@
+"""
+Test that the Wipe environment's randomized table height does not drift across
+resets (issue #815). The table z-offset should stay centered on the base height
+with per-episode variation, instead of accumulating a fixed delta every reset.
+"""
+import robosuite as suite
+from robosuite.environments.manipulation.wipe import DEFAULT_WIPE_CONFIG
+
+
+def test_wipe_table_height_no_drift():
+    config = {k: v for k, v in DEFAULT_WIPE_CONFIG.items()}
+    config["table_height_std"] = 0.02
+    base_z = config["table_offset"][2]
+
+    env = suite.make(
+        "Wipe",
+        robots="Panda",
+        has_renderer=False,
+        has_offscreen_renderer=False,
+        use_camera_obs=False,
+        task_config=config,
+    )
+    try:
+        heights = []
+        for _ in range(6):
+            env.reset()
+            heights.append(float(env.table_offset[2]))
+    finally:
+        env.close()
+
+    # the height must not accumulate (ramp) across resets
+    is_monotonic = all(heights[i] < heights[i + 1] for i in range(len(heights) - 1))
+    assert not is_monotonic, f"table height drifts across resets: {heights}"
+
+    # it should stay centered on the base height
+    assert all(abs(h - base_z) < 0.1 for h in heights), heights
+
+    # and vary per episode when a std is set
+    assert len(set(heights)) > 1, heights

From 4abac2864470b1d4a9a10df23572a49c8486e4fd Mon Sep 17 00:00:00 2001
From: Hz_Zhang <47402297+HaozheZhang6@users.noreply.github.com>
Date: Sat, 11 Jul 2026 15:15:44 -0700
Subject: [PATCH 2/2] Remove standalone test file per review

---
 .../test_wipe_table_height.py                 | 39 -------------------
 1 file changed, 39 deletions(-)
 delete mode 100644 tests/test_environments/test_wipe_table_height.py

diff --git a/tests/test_environments/test_wipe_table_height.py b/tests/test_environments/test_wipe_table_height.py
deleted file mode 100644
index 71bb55b794..0000000000
--- a/tests/test_environments/test_wipe_table_height.py
+++ /dev/null
@@ -1,39 +0,0 @@
-"""
-Test that the Wipe environment's randomized table height does not drift across
-resets (issue #815). The table z-offset should stay centered on the base height
-with per-episode variation, instead of accumulating a fixed delta every reset.
-"""
-import robosuite as suite
-from robosuite.environments.manipulation.wipe import DEFAULT_WIPE_CONFIG
-
-
-def test_wipe_table_height_no_drift():
-    config = {k: v for k, v in DEFAULT_WIPE_CONFIG.items()}
-    config["table_height_std"] = 0.02
-    base_z = config["table_offset"][2]
-
-    env = suite.make(
-        "Wipe",
-        robots="Panda",
-        has_renderer=False,
-        has_offscreen_renderer=False,
-        use_camera_obs=False,
-        task_config=config,
-    )
-    try:
-        heights = []
-        for _ in range(6):
-            env.reset()
-            heights.append(float(env.table_offset[2]))
-    finally:
-        env.close()
-
-    # the height must not accumulate (ramp) across resets
-    is_monotonic = all(heights[i] < heights[i + 1] for i in range(len(heights) - 1))
-    assert not is_monotonic, f"table height drifts across resets: {heights}"
-
-    # it should stay centered on the base height
-    assert all(abs(h - base_z) < 0.1 for h in heights), heights
-
-    # and vary per episode when a std is set
-    assert len(set(heights)) > 1, heights