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Release GIL in native viewer.

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Adds py::gil_scoped_release no_gil; to mujoco::studio::Viewer methods to release the Python GIL during C++ execution.

PiperOrigin-RevId: 930482271
Change-Id: I590794109418516ec5d9e8b536085560a1d36314
This commit is contained in:
Matija Kecman
2026-06-11 06:11:37 -07:00
committed by Copybara-Service
parent d068c96d00
commit 018fbc3223
1 changed files with 10 additions and 1 deletions
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python/mujoco/experimental/studio/native_viewer.cc
+10 -1
View File
@@ -72,6 +72,7 @@ class Viewer {
public:
Viewer(const std::string& title, int width, int height,
std::string graphics_mode_str) {
py::gil_scoped_release no_gil;
// Register resource providers for font and filament assets.
mjpResourceProvider resource_provider;
mjp_defaultResourceProvider(&resource_provider);
@@ -113,16 +114,19 @@ class Viewer {
}
void InitRenderer(const mujoco::python::MjModelWrapper& model) {
py::gil_scoped_release no_gil;
renderer_->Init(model.get());
}
bool NewFrame() {
py::gil_scoped_release no_gil;
const mujoco::platform::Window::Status status = window_->NewFrame();
return status == mujoco::platform::Window::Status::kRunning;
}
intptr_t UploadImage(intptr_t tex_id, const std::string img, int width,
int height, int bpp) {
py::gil_scoped_release no_gil;
return renderer_->UploadImage(tex_id, (const std::byte*)img.data(), width,
height, bpp);
}
@@ -131,6 +135,7 @@ class Viewer {
mujoco::python::MjDataWrapper& data,
mujoco::python::MjvCameraWrapper& cam, int width,
int height, int tex_id) {
py::gil_scoped_release no_gil;
const int bytes_per_pixel = 3;
std::vector<std::byte> bytes(width * height * bytes_per_pixel);
renderer_->RenderToTexture(model.get(), data.get(), cam.get(), width,
@@ -139,7 +144,9 @@ class Viewer {
bytes_per_pixel);
}
std::string GetDropFile() { return window_->GetDropFile(); }
std::string GetDropFile() {
return window_->GetDropFile();
}
void Present(const mujoco::python::MjModelWrapper& model,
mujoco::python::MjDataWrapper& data,
@@ -147,6 +154,8 @@ class Viewer {
mujoco::python::MjvCameraWrapper& camera,
mujoco::python::MjvOptionWrapper& vis_options,
const std::vector<uint8_t>& render_flags) {
py::gil_scoped_release no_gil;
const float width = window_->GetWidth();
const float height = window_->GetHeight();
const float scale = window_->GetScale();