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Merge pull request #3141 from ocadotechnology:recompile-release-gil

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PiperOrigin-RevId: 883109831
Change-Id: I75c22ec071aae8f78b8354de40d8f58e8e952a50
This commit is contained in:
Copybara-Service
2026-03-13 05:25:45 -07:00
parent 86aae0f5a5 0c9083723c
commit 910fbbb111
2 changed files with 24 additions and 2 deletions
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python/mujoco/structs.cc
+12 -1
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@@ -77,7 +77,18 @@ py::tuple RecompileSpec(raw::MjSpec* spec, const MjModelWrapper& old_m,
raw::MjModel* m = static_cast<raw::MjModel*>(mju_malloc(sizeof(mjModel))); raw::MjModel* m = static_cast<raw::MjModel*>(mju_malloc(sizeof(mjModel)));
m->buffer = nullptr; m->buffer = nullptr;
raw::MjData* d = mj_copyData(nullptr, old_m.get(), old_d.get()); raw::MjData* d = mj_copyData(nullptr, old_m.get(), old_d.get());
if (mj_recompile(spec, nullptr, m, d)) {
bool compile_failed = false;
{
// Release GIL before calling mj_recompile which may spawn threads
py::gil_scoped_release no_gil;
if (mj_recompile(spec, nullptr, m, d)) {
compile_failed = true;
}
}
if (compile_failed) {
throw py::value_error(mjs_getError(spec)); throw py::value_error(mjs_getError(spec));
} }
python/mujoco/structs_wrappers.cc
+12 -1
View File
@@ -400,7 +400,18 @@ py::tuple RecompileSpec(raw::MjSpec* spec, const MjModelWrapper& old_m,
raw::MjModel* m = static_cast<raw::MjModel*>(mju_malloc(sizeof(mjModel))); raw::MjModel* m = static_cast<raw::MjModel*>(mju_malloc(sizeof(mjModel)));
m->buffer = nullptr; m->buffer = nullptr;
raw::MjData* d = mj_copyData(nullptr, old_m.get(), old_d.get()); raw::MjData* d = mj_copyData(nullptr, old_m.get(), old_d.get());
if (mj_recompile(spec, nullptr, m, d)) {
bool compile_failed = false;
{
// Release GIL before calling mj_recompile which may spawn threads
py::gil_scoped_release no_gil;
if (mj_recompile(spec, nullptr, m, d)) {
compile_failed = true;
}
}
if (compile_failed) {
throw py::value_error(mjs_getError(spec)); throw py::value_error(mjs_getError(spec));
} }