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Fix interrupted tutorial shutdown #529

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Merged
yuecideng merged 2 commits into from
Aug 20, 2026
+29 −6
Merged

Fix interrupted tutorial shutdown #529

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728774a
fix(sim): make tutorial shutdown interrupt-safe
wu-simulab Aug 20, 2026
d7d3712
update
yuecideng Aug 20, 2026
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9 changes: 9 additions & 0 deletions embodichain/lab/sim/sim_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -255,6 +255,7 @@ def __new__(cls, sim_config: SimulationManagerCfg = SimulationManagerCfg()):
instance = super(SimulationManager, cls).__new__(cls)
# Store sim_config in the instance for use in __init__ or elsewhere
instance.sim_config = sim_config
instance._is_constructed = False
cls._instances[n_instance] = instance
return instance

Expand Down Expand Up @@ -378,6 +379,8 @@ def __init__(
if sim_config.headless is False:
self._window = self._world.get_windows()

self._is_constructed = True

@classmethod
def get_instance(cls, instance_id: int = 0) -> SimulationManager:
"""Get the instance of SimulationManager by id.
Expand Down Expand Up @@ -3117,6 +3120,12 @@ def _deferred_destroy(self) -> None:
self.stop_window_record()
self.wait_window_record_saves()

# Stop the render loop before releasing scene resources. Vulkan window
# presentation may otherwise continue acquiring swapchain images while
# Env::Clean tears down render objects used by the in-flight frame.
if getattr(self, "is_window_opened", False):
self.close_window()

import sys, gc

self.clean_materials()
Expand Down
26 changes: 20 additions & 6 deletions scripts/tutorials/atomic_action/tutorial_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -230,16 +230,30 @@ def run_tutorial(main: Callable[[], None]) -> None:
Args:
main: Zero-argument tutorial entry point.
"""
interrupted = False
try:
main()
try:
main()
except KeyboardInterrupt:
# Handle Ctrl+C before native cleanup. An active traceback keeps
# main() locals (including borrowed C++ material wrappers) alive;
# destroying World first would make their later destructors unsafe.
interrupted = True
logger.log_info("Tutorial interrupted; shutting down cleanly.")
finally:
if SimulationManager.is_instantiated():
sim = SimulationManager.get_instance()
if sim.is_window_recording():
sim.stop_window_record()
sim.wait_window_record_saves()
sim.destroy(exit_process=False)
SimulationManager.flush_cleanup_queue()
if not getattr(sim, "_is_constructed", False):
SimulationManager.reset(getattr(sim, "instance_id", 0))
Comment on lines 243 to +247

@greptile-apps greptile-apps Bot Aug 20, 2026

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P2 Regression tests absent from changeset

The new interrupt, partial-construction, and native teardown branches have no accompanying test changes, so later regressions in this lifecycle-sensitive behavior will not be detected by the repository's automated coverage despite the PR description claiming new regression tests.

Context Used: AGENTS.md (source)

Prompt To Fix With AI 
This is a comment left during a code review.
Path: scripts/tutorials/atomic_action/tutorial_utils.py
Line: 243-247

Comment:
**Regression tests absent from changeset**

The new interrupt, partial-construction, and native teardown branches have no accompanying test changes, so later regressions in this lifecycle-sensitive behavior will not be detected by the repository's automated coverage despite the PR description claiming new regression tests.

**Context Used:** AGENTS.md ([source](https://github.com/dexforce/embodichain/blob/main/AGENTS.md))

---

For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

Fix in Codex Fix in Claude Code

else:
if sim.is_window_recording():
sim.stop_window_record()
sim.wait_window_record_saves()
sim.destroy(exit_process=False)
SimulationManager.flush_cleanup_queue()

if interrupted:
raise SystemExit(130)


def add_ur5_gripper_robot(
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