Update Visualizer accesses to be safer and in the correct order to avoid race conditions

CHANGELOG.md

@@ -1,34 +1,44 @@
+# v0.0.7
+
+## Fixed
+* Fixed bug that caused traces to linger when switching from a trace task to a traceless task (@bhung, #108)
+* Fixed bug where task and optimizer events were cleared before the Visualizer finished rendering (@bhung, #108)
+* Fixed bug where events and locks are getting recreated when a task is made, causing bad references (@bhung, #108)
+
+## Dev
+* Updated changelog with instructions on package updates (@bhung, #108)
+
 # v0.0.6
 
 ## Added
-* New copyrights
+* New copyrights (@baxelrod, #103)
 
 ## Fixed
-* Fixed bug that caused Viser and Mujoco to crash on visualization due to different API
-* Added pycparser deps
-* Fixed a new mujoco API compatibility
+* Fixed bug that caused Viser and Mujoco to crash on visualization due to different API (@bhung, #107)
+* Added pycparser deps (@bhung, #107)
+* Fixed a new mujoco API compatibility (@bhung, #107)
 
 # v0.0.5
 
 ## Added
-* Separation between middleware implementation and core functionality
-* Support for different middleware implementations
-* Sliders with enforced bounds to errors caused by unintended values
-* Interface to create controllers from registered tasks and optimizers
-* Abstract interface to implement different simulation backends
-* Removed duplication of objects inside a node to ensure that all references to data point to the same object
+* Separation between middleware implementation and core functionality (@bhung, #93)
+* Support for different middleware implementations (@bhung, #93)
+* Sliders with enforced bounds to errors caused by unintended values (@bhung, #93)
+* Interface to create controllers from registered tasks and optimizers (@bhung, #93)
+* Abstract interface to implement different simulation backends (@bhung, #93)
+* Removed duplication of objects inside a node to ensure that all references to data point to the same object (@bhung, #93)
 
 ## Fixed
-* Fixed bug that would allow certain sliders to be set to arbitrary values that could crash the app
-* Fixed bug that would allow NaN as a valid entry into the slider text box
-* Fixed bug that caused the ControllerConfig to not be recreated when the `TaskConfig` was reset.
+* Fixed bug that would allow certain sliders to be set to arbitrary values that could crash the app (@bhung, #93)
+* Fixed bug that would allow NaN as a valid entry into the slider text box (@bhung, #93)
+* Fixed bug that caused the ControllerConfig to not be recreated when the `TaskConfig` was reset. (@bhung, #93)
 
 ## Documentation
-* Added specification between different slider types.
-* Added guidelines on how to use the `Controller`. `Visualizer`, and `Simulation` objects
+* Added specification between different slider types. (@bhung, #93)
+* Added guidelines on how to use the `Controller`. `Visualizer`, and `Simulation` objects (@bhung, #93)
 
 ## Dev
-* Modified release process so that any CODEOWNER can publish to pypi
+* Modified release process so that any CODEOWNER can publish to pypi (@bhung, #99)
 
 # v0.0.4
 

CONTRIBUTING.md

@@ -88,6 +88,15 @@ feat(task): add fr3_stack task with novel constraints
 fix(mppi): guard against div-by-zero in cost calculation
 ```
 
+## 📦 Package updates and versioning
+
+If you are adding a significant change and would like it to be reviewed as a new package release, you will need to
+update a few things:
+
+1. `CHANGELOG.md`: Following the format in the file, add your changes to the changelog with the proper PR references
+2. `pyproject.toml`: Update the version of `judo_rai` appropriately
+3. `pixi.lock`: Update the `pixi.lock` file. You can do this by running `pixi shell` and exiting after it's done.
+
 ## 💬 Discussions
 
 Have questions or ideas?

judo/visualizers/model.py

@@ -295,9 +295,9 @@ def set_traces(self, traces: np.ndarray | None, all_traces_rollout_size: int) ->
 
     def remove(self) -> None:
         """Wrapper function to remove all geometries from Viser."""
+        self.remove_traces()
         for geom in self._geoms:
             geom.remove()
-        self.remove_traces()
 
 
 def add_plane(

judo/visualizers/visualizer.py

@@ -56,9 +56,24 @@ def __init__(
         self.task_name = ""
         self.optimizer_name = ""
 
+        # Initializes the locks and events in the constructor to avoid recreating them each time the task is set.
         self.task_lock = threading.Lock()
         self.task_updated = threading.Event()
 
+        self.controller_config_lock = threading.Lock()
+        self.controller_config_updated = threading.Event()
+
+        self.optimizer_lock = threading.Lock()
+        self.optimizer_updated = threading.Event()
+
+        self.optimizer_config_lock = threading.Lock()
+        self.optimizer_config_updated = threading.Event()
+
+        self.task_config_lock = threading.Lock()
+        self.task_config_updated = threading.Event()
+
+        self.task_reset_updated = threading.Event()
+
         self.sim_pause_button = sim_pause_button
         if self.sim_pause_button:
             self.sim_pause_lock = threading.Lock()
@@ -120,24 +135,12 @@ def set_task(self, task_name: str, optimizer_name: str) -> None:
             raise ValueError(f"Optimizer {optimizer_name} not found in optimizer registry.")
         _, optimizer_config_cls = optimizer_entry
 
-        self.controller_config_lock = threading.Lock()
-        self.controller_config_updated = threading.Event()
         self.controller_config = ControllerConfig()
         self.controller_config.set_override(task_name)
 
-        self.optimizer_lock = threading.Lock()
-        self.optimizer_updated = threading.Event()
-
-        self.optimizer_config_lock = threading.Lock()
-        self.optimizer_config_updated = threading.Event()
         self.optimizer_config = optimizer_config_cls()
         self.optimizer_config.set_override(task_name)
 
-        self.task_config_lock = threading.Lock()
-        self.task_config_updated = threading.Event()
-
-        self.task_reset_updated = threading.Event()
-
         self.setup_gui()
 
         # send the configs to the other nodes
@@ -235,10 +238,9 @@ def _(_: viser.GuiEvent) -> None:
                 """Callback for when the pause button is clicked."""
                 if sim_pause_button.label == "Pause Simulation":
                     sim_pause_button.label = "Resume Simulation"
-                    self.sim_pause_updated.set()
                 else:
                     sim_pause_button.label = "Pause Simulation"
-                    self.sim_pause_updated.set()
+                self.sim_pause_updated.set()
 
         # create a display for plan time
         self.gui_elements["plan_time_display"] = self.server.gui.add_number(
@@ -292,7 +294,6 @@ def _(_: viser.GuiEvent) -> None:
         def _(_: viser.GuiEvent) -> None:
             """Callback for when the optimizer dropdown is updated."""
             # first, send the name of the new optimizer
-            self.optimizer_updated.set()
             self.optimizer_name = optimizer_dropdown.value
 
             # update config
@@ -301,7 +302,6 @@ def _(_: viser.GuiEvent) -> None:
             optimizer_config_cls = optimizer_entry[1]
             self.optimizer_config = optimizer_config_cls()
             self.optimizer_config.set_override(self.task_name)
-            self.optimizer_config_updated.set()
 
             # replace optimizer param gui elements
             for v in self.gui_elements["optimizer_params"]:
@@ -316,21 +316,23 @@ def _(_: viser.GuiEvent) -> None:
 
             # because the optimizer will be updated, we need to sent the task parameters back to it so it doesn't start
             # with defaults
+            self.optimizer_updated.set()
+            self.optimizer_config_updated.set()
             self.task_config_updated.set()
 
         @task_dropdown.on_update
         def _(_: viser.GuiEvent) -> None:
             """Callback for when the task dropdown is updated."""
             # first, send the name of the new task
             self.task_name = task_dropdown.value
-            self.task_updated.set()
 
             # replace gui elements
             self._remove_gui_elements()
 
             # set up the entire visualizer from scratch
             with self.task_lock:
                 self.set_task(self.task_name, self.optimizer_name)
+            self.task_updated.set()
 
     def remove_handles(self, handles: list[ElementType] | ElementType) -> None:
         """Remove GUI handles from the visualization node."""

pyproject.toml

@@ -5,7 +5,7 @@ build-backend = "hatchling.build"
 [project]
 name = "judo-rai"
 description = "Judo: a hackable sampling-based MPC toolbox"
-version = "0.0.6"
+version = "0.0.7"
 readme = "README.md"
 license = { file = "LICENSE" }
 authors = [