Adds entity clearing in scene for proper environment closing (#380)

# Description

The articulations, objects, and sensors were not cleared properly when
closing the environment. As a result, the invalidation callbacks were
not called, leading to problems if you want to open another environment
right after closing one.

Fixes #342

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## 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
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

source/extensions/omni.isaac.orbit/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.18"
+version = "0.10.19"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.10.19 (2024-02-08)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed environment closing so that articulations, objects, and sensors are cleared properly.
+
+
 0.10.18 (2024-02-05)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py

@@ -173,6 +173,12 @@ class InteractiveScene:
             global_paths=self._global_prim_paths,
         )
 
+    def __del__(self):
+        """Clear instances of registered assets and sensors."""
+        self.articulations.clear()
+        self.rigid_objects.clear()
+        self.sensors.clear()
+
     def __str__(self) -> str:
         """Returns a string representation of the scene."""
         msg = f"<class {self.__class__.__name__}>\n"

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/parse_cfg.py

@@ -53,7 +53,7 @@ def load_cfg_from_registry(task_name: str, entry_point_key: str) -> dict | Any:
         ValueError: If the entry point key is not available in the gym registry for the task.
     """
     # obtain the configuration entry point
-    cfg_entry_point = gym.spec(task_name).kwargs.pop(entry_point_key)
+    cfg_entry_point = gym.spec(task_name).kwargs.get(entry_point_key)
     # check if entry point exists
     if cfg_entry_point is None:
         raise ValueError(

source/extensions/omni.isaac.orbit_tasks/test/test_environments.py

@@ -62,7 +62,7 @@ class TestEnvironments(unittest.TestCase):
         for task_name in self.registered_tasks:
             print(f">>> Running test for environment: {task_name}")
             # check environment
-            self._check_random_actions(task_name, use_gpu, num_envs, num_steps=1000)
+            self._check_random_actions(task_name, use_gpu, num_envs, num_steps=200)
             # close the environment
             print(f">>> Closing environment: {task_name}")
             print("-" * 80)
@@ -76,7 +76,7 @@ class TestEnvironments(unittest.TestCase):
         for task_name in self.registered_tasks:
             print(f">>> Running test for environment: {task_name}")
             # check environment
-            self._check_random_actions(task_name, use_gpu, num_envs, num_steps=1000)
+            self._check_random_actions(task_name, use_gpu, num_envs, num_steps=200)
             # close the environment
             print(f">>> Closing environment: {task_name}")
             print("-" * 80)

tools/tests_to_skip.py

@@ -13,7 +13,6 @@ TESTS_TO_SKIP = [
     "test_differential_ik.py",  # Failing
     # orbit_tasks
     "test_data_collector.py",  # Failing
-    "test_environments.py",  # Failing between 2 environments
     "test_record_video.py",  # Failing
     "test_rsl_rl_wrapper.py",  # Timing out (10 minutes)
     "test_sb3_wrapper.py",  # Timing out (10 minutes)