Adds try-catch in all the scripts for safe app closing (#185)

# Description

Propogates the try-except-finally paradigm from the unit tests to all
the scripts. This ensures a cleaner exit of the script and allows a
better traceback print.

```python
import traceback

import carb

if __name__ == "__main__":
    try:
        # Run the main function
        main()
    except Exception as err:
        carb.log_error(err)
        carb.log_error(traceback.format_exc())
        raise
    finally:
        # close sim app
        simulation_app.close()
```

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

source/extensions/omni.isaac.orbit/test/devices/check_keyboard.py

@@ -23,7 +23,9 @@ simulation_app = SimulationApp({"headless": False})
 """Rest everything follows."""
 
 import ctypes
+import traceback
 
+import carb
 from omni.isaac.core.simulation_context import SimulationContext
 
 from omni.isaac.orbit.devices import Se3Keyboard
@@ -85,7 +87,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Runs the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # Run the main function
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/extensions/omni.isaac.orbit/test/scene/check_interactive_scene.py

@@ -29,6 +29,10 @@ simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
+import traceback
+
+import carb
+
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import AssetBaseCfg
 from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
@@ -154,7 +158,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # Run the main function
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/extensions/omni.isaac.orbit/test/sensors/check_contact_sensor.py

@@ -35,7 +35,9 @@ simulation_app = SimulationApp(config)
 
 
 import torch
+import traceback
 
+import carb
 import omni.isaac.core.utils.prims as prim_utils
 from omni.isaac.cloner import GridCloner
 from omni.isaac.core.simulation_context import SimulationContext
@@ -175,7 +177,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # Run the main function
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/extensions/omni.isaac.orbit/test/sensors/check_ray_caster.py

@@ -42,7 +42,9 @@ simulation_app = SimulationApp(config)
 
 import numpy as np
 import torch
+import traceback
 
+import carb
 import omni.isaac.core.utils.prims as prim_utils
 from omni.isaac.cloner import GridCloner
 from omni.isaac.core.objects import DynamicSphere
@@ -182,7 +184,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Runs the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # Run the main function
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py

@@ -63,7 +63,9 @@ simulation_app = SimulationApp(config)
 
 
 import numpy as np
+import traceback
 
+import carb
 import omni.isaac.core.utils.prims as prim_utils
 import omni.kit.commands
 from omni.isaac.cloner import GridCloner
@@ -200,7 +202,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Runs the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # Run the main function
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/demo/play_arms.py

@@ -41,6 +41,9 @@ simulation_app = app_launcher.app
 
 
 import torch
+import traceback
+
+import carb
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
@@ -140,7 +143,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/demo/play_camera.py

@@ -36,7 +36,9 @@ import numpy as np
 import os
 import random
 import torch
+import traceback
 
+import carb
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.debug_draw._debug_draw as omni_debug_draw
 import omni.replicator.core as rep
@@ -226,7 +228,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Runs the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/demo/play_cloner.py

@@ -33,7 +33,9 @@ simulation_app = app_launcher.app
 
 
 import torch
+import traceback
 
+import carb
 import omni.isaac.core.utils.prims as prim_utils
 from omni.isaac.cloner import GridCloner
 
@@ -147,7 +149,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/demo/play_empty.py

@@ -25,6 +25,9 @@ simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
+import traceback
+
+import carb
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.sim import SimulationContext
@@ -61,7 +64,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run empty stage
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/demo/play_ik_control.py

@@ -32,7 +32,9 @@ simulation_app = app_launcher.app
 """Rest everything follows."""
 
 import torch
+import traceback
 
+import carb
 import omni.isaac.core.utils.prims as prim_utils
 from omni.isaac.cloner import GridCloner
 from omni.isaac.core.simulation_context import SimulationContext
@@ -224,7 +226,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run IK example with Manipulator
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/demo/play_markers.py

@@ -28,6 +28,9 @@ simulation_app = app_launcher.app
 """Rest everything follows."""
 
 import torch
+import traceback
+
+import carb
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.markers import VisualizationMarkers, VisualizationMarkersCfg
@@ -136,7 +139,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run empty stage
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/demo/play_quadrupeds.py

@@ -33,6 +33,9 @@ simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
+import traceback
+
+import carb
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
@@ -118,7 +121,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/demo/play_ridgeback_franka.py

@@ -38,6 +38,9 @@ simulation_app = app_launcher.app
 
 
 import torch
+import traceback
+
+import carb
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
@@ -156,7 +159,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/demo/play_rmpflow.py

@@ -35,7 +35,9 @@ simulation_app = app_launcher.app
 
 
 import torch
+import traceback
 
+import carb
 import omni.isaac.core.utils.prims as prim_utils
 from omni.isaac.cloner import GridCloner
 from omni.isaac.core.simulation_context import SimulationContext
@@ -245,7 +247,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run IK example with Manipulator
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/demo/play_scene.py

@@ -28,6 +28,9 @@ app_launcher = AppLauncher(headless=args_cli.headless)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
+import traceback
+
+import carb
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import AssetBaseCfg
@@ -147,7 +150,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/demo/play_ycb_objects.py

@@ -28,6 +28,9 @@ simulation_app = app_launcher.app
 """Rest everything follows."""
 
 import torch
+import traceback
+
+import carb
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import RigidObject, RigidObjectCfg
@@ -116,7 +119,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run the main function
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/environments/random_agent.py

@@ -31,6 +31,9 @@ simulation_app = app_launcher.app
 
 import gym
 import torch
+import traceback
+
+import carb
 
 import omni.isaac.contrib_envs  # noqa: F401
 import omni.isaac.orbit_envs  # noqa: F401
@@ -58,8 +61,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/environments/state_machine/play_lift.py

@@ -31,9 +31,11 @@ simulation_app = app_launcher.app
 
 import gym
 import torch
+import traceback
 from enum import Enum
 from typing import Sequence
 
+import carb
 import warp as wp
 
 from omni.isaac.orbit.utils.timer import Timer
@@ -278,7 +280,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # run main function
-    main()
-    # close simulation
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/environments/teleoperation/teleop_se3_agent.py

@@ -33,6 +33,7 @@ simulation_app = app_launcher.app
 
 import gym
 import torch
+import traceback
 
 import carb
 
@@ -114,8 +115,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/environments/zero_agent.py

@@ -30,6 +30,9 @@ simulation_app = app_launcher.app
 
 import gym
 import torch
+import traceback
+
+import carb
 
 import omni.isaac.contrib_envs  # noqa: F401
 import omni.isaac.orbit_envs  # noqa: F401
@@ -57,8 +60,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/workflows/rl_games/play.py

@@ -38,7 +38,9 @@ simulation_app = app_launcher.app
 import gym
 import math
 import os
+import traceback
 
+import carb
 from rl_games.common import env_configurations, vecenv
 from rl_games.common.player import BasePlayer
 from rl_games.torch_runner import Runner
@@ -138,8 +140,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/workflows/rl_games/train.py

@@ -43,8 +43,10 @@ simulation_app = app_launcher.app
 import gym
 import math
 import os
+import traceback
 from datetime import datetime
 
+import carb
 from rl_games.common import env_configurations, vecenv
 from rl_games.common.algo_observer import IsaacAlgoObserver
 from rl_games.torch_runner import Runner
@@ -131,8 +133,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/workflows/robomimic/collect_demonstrations.py

@@ -36,6 +36,9 @@ import contextlib
 import gym
 import os
 import torch
+import traceback
+
+import carb
 
 from omni.isaac.orbit.devices import Se3Keyboard, Se3SpaceMouse
 from omni.isaac.orbit.utils.io import dump_pickle, dump_yaml
@@ -158,8 +161,16 @@ def main():
     # close the simulator
     collector_interface.close()
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/workflows/robomimic/play.py

@@ -31,7 +31,9 @@ simulation_app = app_launcher.app
 
 import gym
 import torch
+import traceback
 
+import carb
 import robomimic  # noqa: F401
 import robomimic.utils.file_utils as FileUtils
 import robomimic.utils.torch_utils as TorchUtils
@@ -79,8 +81,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/workflows/rsl_rl/play.py

@@ -32,7 +32,9 @@ simulation_app = app_launcher.app
 
 import gym
 import os
+import traceback
 
+import carb
 from rsl_rl.runners import OnPolicyRunner
 
 import omni.isaac.contrib_envs  # noqa: F401
@@ -101,8 +103,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/workflows/rsl_rl/train.py

@@ -44,8 +44,10 @@ simulation_app = app_launcher.app
 import gym
 import os
 import torch
+import traceback
 from datetime import datetime
 
+import carb
 from rsl_rl.runners import OnPolicyRunner
 
 from omni.isaac.orbit.utils.dict import print_dict
@@ -129,8 +131,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/workflows/sb3/play.py

@@ -32,7 +32,9 @@ simulation_app = app_launcher.app
 
 
 import gym
+import traceback
 
+import carb
 from stable_baselines3 import PPO
 from stable_baselines3.common.vec_env import VecNormalize
 
@@ -88,8 +90,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/workflows/sb3/train.py

@@ -43,8 +43,10 @@ simulation_app = app_launcher.app
 
 import gym
 import os
+import traceback
 from datetime import datetime
 
+import carb
 from stable_baselines3 import PPO
 from stable_baselines3.common.callbacks import CheckpointCallback
 from stable_baselines3.common.logger import configure
@@ -125,8 +127,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/workflows/skrl/play.py

@@ -37,7 +37,9 @@ simulation_app = app_launcher.app
 
 
 import gym
+import traceback
 
+import carb
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
 from skrl.utils.model_instantiators import deterministic_model, gaussian_model, shared_model
 
@@ -143,8 +145,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/workflows/skrl/train.py

@@ -48,8 +48,10 @@ simulation_app = app_launcher.app
 
 
 import gym
+import traceback
 from datetime import datetime
 
+import carb
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
 from skrl.memories.torch import RandomMemory
 from skrl.utils import set_seed
@@ -178,8 +180,16 @@ def main():
 
     # close the simulator
     env.close()
-    simulation_app.close()
 
 
 if __name__ == "__main__":
-    main()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/tools/check_instanceable.py

@@ -65,7 +65,9 @@ simulation_app = SimulationApp(config)
 
 """Rest everything follows."""
 
+import traceback
 
+import carb
 import omni.isaac.core.utils.prims as prim_utils
 from omni.isaac.cloner import GridCloner
 from omni.isaac.core.simulation_context import SimulationContext
@@ -125,7 +127,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run cloning example
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/tools/convert_urdf.py

@@ -71,7 +71,9 @@ simulation_app = SimulationApp(config)
 """Rest everything follows."""
 
 import os
+import traceback
 
+import carb
 import omni.isaac.core.utils.stage as stage_utils
 import omni.kit.app
 
@@ -134,7 +136,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Run cloning example
-    main()
-    # Close the simulator
-    simulation_app.close()
+    try:
+        # run the main execution
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()