diff --git a/hsr_env.py b/hsr_env.py
index 1975f4f..b6c28ee 100644
--- a/hsr_env.py
+++ b/hsr_env.py
@@ -140,6 +140,9 @@ def __init__(self, connect=p.GUI):
 
         # print(self.robot.get_joint_infos())
 
+    def close(self):
+        p.disconnect(self.c_direct)
+
     def reset(self):
         self.c_gui.resetSimulation()
         self.c_direct.resetSimulation()