Makes sure program exits when exception is raised (#289)

# Description

Earlier the application was continuing to play when an exception was
raised. This is because we had a "while" loop in the simulation stop
callback. This MR makes sure that the while-loop is only called when it
is truly needed. Otherwise, the program should exit.

## 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 = "0.10.1"
+version = "0.10.2"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

 Changelog
 ---------
 
+0.10.2 (2023-12-12)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Added a check in the simulation stop callback in the :class:`omni.isaac.orbit.sim.SimulationContext` class
+  to not render when an exception is raised. The while loop in the callback was preventing the application
+  from closing when an exception was raised.
+
+
 0.10.1 (2023-12-06)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py

@@ -8,6 +8,7 @@ from __future__ import annotations
 import builtins
 import enum
 import numpy as np
+import sys
 import weakref
 from typing import Any
 
@@ -559,7 +560,7 @@ class SimulationContext(_SimulationContext):
         # check if the simulation is stopped
         if event.type == int(omni.timeline.TimelineEventType.STOP):
             # keep running the simulator when configured to not shutdown the app
-            if self._has_gui:
+            if self._has_gui and sys.exc_info()[0] is None:
                 self.app.print_and_log(
                     "Simulation is stopped. The app will keep running with physics disabled."
                     " Press Ctrl+C or close the window to exit the app."

source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_legged_robot_clone.py

@@ -102,9 +102,11 @@ def main():
     # -- Robot
     # resolve asset
     if args_cli.asset == "orbit":
-        usd_path = f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmalC/anymal_c_minimal_instanceable.usd"
+        usd_path = f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd"
+        root_prim_path = "/World/envs/env_.*/Robot/base"
     elif args_cli.asset == "oige":
         usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_instanceable.usd"
+        root_prim_path = "/World/envs/env_.*/Robot"
     elif os.path.exists(args_cli.asset):
         usd_path = args_cli.asset
     else:
@@ -132,8 +134,18 @@ def main():
         physics_scene_path, "/World/collisions", envs_prim_paths, global_paths=["/World/defaultGroundPlane"]
     )
 
+    # Resolve robot prim paths
+    if args_cli.asset == "orbit":
+        root_prim_path = "/World/envs/env_.*/Robot/base"
+    elif args_cli.asset == "oige":
+        root_prim_path = "/World/envs/env_.*/Robot"
+    elif os.path.exists(args_cli.asset):
+        usd_path = args_cli.asset
+        root_prim_path = "/World/envs/env_.*/Robot"
+    else:
+        raise ValueError(f"Invalid asset: {args_cli.asset}. Must be one of: orbit, oige.")
     # Setup robot
-    robot_view = ArticulationView("/World/envs/env_.*/Robot", name="ANYMAL")
+    robot_view = ArticulationView(root_prim_path, name="ANYMAL")
     world.scene.add(robot_view)
     # Play the simulator
     world.reset()