Fix simulation destroy process exit handling

embodichain/lab/sim/sim_manager.py

@@ -2054,17 +2054,30 @@ def wait_scene_destruction(timeout_ms: int = 10000) -> None:
                 f"Scene destruction wait timeout, {scene_count} C++ scene(s) still alive!"
             )
 
-    def destroy(self) -> None:
+    def destroy(self, exit_process: bool | None = None) -> None:
         """
         No longer destructs C++ objects in place due to lingering deep local variables;
         instead, packages itself into a destruction task, submits to the cleanup queue,
         and waits for top-level delayed consumption.
+
+        Args:
+            exit_process (bool | None): Whether to call os._exit(0) after queuing
+                the destruction task. If None, reads EMBODICHAIN_SIM_EXIT_PROCESS.
         """
-        self._is_pending_kill = True
 
+        if exit_process is None:
+            exit_process = (
+                os.getenv("EMBODICHAIN_SIM_EXIT_PROCESS", "1").strip().lower()
+            )
+            exit_process = exit_process not in ("0", "false", "no", "off")
+
+        self._is_pending_kill = True
         # Transfer the actual destruction logic to the cleanup queue
         SimulationManager._cleanup_queue.put(self._deferred_destroy)
 
+        if exit_process:
+            os._exit(0)
+
     def _deferred_destroy(self) -> None:
         """Destroy all simulated assets and release resources."""
         # Clean up all gizmos before destroying the simulation

scripts/tutorials/gym/random_reach.py

@@ -176,3 +176,5 @@ def _extend_obs(self, obs: EnvObs, **kwargs) -> EnvObs:
             print(f"FPS: {fps:.2f}")
         else:
             print("Elapsed time is too short to calculate FPS.")
+
+    env.close()

tests/conftest.py

@@ -17,6 +17,8 @@
 import os
 import pytest
 
+os.environ.setdefault("EMBODICHAIN_SIM_EXIT_PROCESS", "0")
+
 
 def pytest_addoption(parser):
     parser.addoption(