Clear Instance of SimulationContext when closing environment

[rdednl]

Description

In a context where an environment has to be closed and run again, this is not currently possible because the SimulationContext instance is not closed properly.

Fixes #118 (issue)

Minimum working example:

from omni.isaac.kit import SimulationApp
headless = True
simulation_app = SimulationApp({"headless": headless})

import gym
import omni.isaac.orbit_envs
from omni.isaac.orbit_envs.utils import parse_env_cfg


def main():
    task_name = "Isaac-Ant-v0"
    cfg_direct = parse_env_cfg(task_name, use_gpu=True, num_envs=8)

    idx = 1

    while True:
        print(f"STARTING ENV {idx}")
        env = gym.make(task_name, cfg=cfg_direct, headless=headless)

        env.close()
        print(f"CLOSING ENV {idx}")
        idx += 1

if __name__ == "__main__":
    main()

Type of change

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

Checklist

• I have run the pre-commit checks with ./orbit.sh --format
• I have made corresponding changes to the documentation
• 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

[Mayankm96]

Thanks a lot for finding the fix.

Can you please update the changelog and version in the extension as well? (basically the checks in the PR list)

[Mayankm96]

Thanks a lot for sending this MR. We have accounted for this in our latest release.

We will work on aligning community contributions better with our current v0.2 release. Stay tuned for more updates :)