Fixes reading of policy file from Nucleus in tutorial scripts (#308)

# Description

Adds read_file() step to scripts which check_file_path() but don't load
the file

Fixes #299 

## 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [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 = "0.10.4"
+version = "0.10.5"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

 Changelog
 ---------
 
+0.10.5 (2023-12-18)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed test ``check_base_env_anymal_locomotion.py``, which
+  previously called :func:`torch.jit.load` with the path to a policy (which would work
+  for a local file), rather than calling
+  :func:`omni.isaac.orbit.utils.assets.read_file` on the path to get the file itself.
+
+
 0.10.4 (2023-12-14)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/test/envs/check_base_env_anymal_locomotion.py

@@ -53,7 +53,7 @@ from omni.isaac.orbit.scene import InteractiveSceneCfg
 from omni.isaac.orbit.sensors import RayCasterCfg, patterns
 from omni.isaac.orbit.terrains import TerrainImporterCfg
 from omni.isaac.orbit.utils import configclass
-from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR, check_file_path
+from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR, check_file_path, read_file
 from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise
 
 ##
@@ -215,11 +215,13 @@ def main():
 
     # load level policy
     policy_path = os.path.join(ISAAC_ORBIT_NUCLEUS_DIR, "Policies", "ANYmal-C", "policy.pt")
+
     # check if policy file exists
     if not check_file_path(policy_path):
         raise FileNotFoundError(f"Policy file '{policy_path}' does not exist.")
+    file_bytes = read_file(policy_path)
     # jit load the policy
-    locomotion_policy = torch.jit.load(policy_path)
+    locomotion_policy = torch.jit.load(file_bytes)
     locomotion_policy.to(env.device)
     locomotion_policy.eval()
 

source/standalone/tutorials/03_envs/create_quadruped_base_env.py

@@ -60,7 +60,7 @@ from omni.isaac.orbit.scene import InteractiveSceneCfg
 from omni.isaac.orbit.sensors import RayCasterCfg, patterns
 from omni.isaac.orbit.terrains import TerrainImporterCfg
 from omni.isaac.orbit.utils import configclass
-from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR, check_file_path
+from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR, check_file_path, read_file
 from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise
 
 ##
@@ -217,8 +217,9 @@ def main():
     # check if policy file exists
     if not check_file_path(policy_path):
         raise FileNotFoundError(f"Policy file '{policy_path}' does not exist.")
+    file_bytes = read_file(policy_path)
     # jit load the policy
-    policy = torch.jit.load(policy_path).to(env.device).eval()
+    policy = torch.jit.load(file_bytes).to(env.device).eval()
 
     # simulate physics
     count = 0