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Copybara import of the project:

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3a95b62f59e81bfef0f076afb173ecc14b27943d by Levi Burner <leviburner@gmail.com>:

rollout prototype native threadpool for comparing to python threads

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efd8be1124ac839b902de45973a3ca8b9f2215e6 by Levi Burner <leviburner@gmail.com>:

copy mjpcs threadpool into python bindings

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75603eea3e8362e354a9675e8a6cd14e56ec3d28 by Levi Burner <leviburner@gmail.com>:

rollout use threadpool as translation unit

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06b90febd021663f6cc81fd7895e4d6e2008ed97 by Levi Burner <leviburner@gmail.com>:

rollout add chunk_divisor parameter

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298ab2f3c0d6e12530832c3cdbf784dd92d54806 by Levi Burner <leviburner@gmail.com>:

rollout add native threading test

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169cf9978e7abad6edd1392b8e6aab995e4f8f10 by Levi Burner <leviburner@gmail.com>:

rollout exchange chunk_divisor arg for chunk_size

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265af851d74432d261277d3dbda11cdef1841bc8 by Levi Burner <leviburner@gmail.com>:

rollout fix cosmetics

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1e8bffa88bf36190501b334bef31147e23db39f7 by Levi Burner <leviburner@gmail.com>:

make native rollout a class instead of a function

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ba788214b047577f58c41ce0ab6c62c277cd8b0d by Levi Burner <leviburner@gmail.com>:

rollout update docs and changelog

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e4cb7732319e04cba2ab2c2ad848c659f6309808 by Levi Burner <leviburner@gmail.com>:

rollout don't register atexit handler for Rollout objects

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5a08d2efdbbbb01d4b1231ff9a36a1dc44f4d9ee by Levi Burner <leviburner@gmail.com>:

rollout nthread kwarg, rename shutdown_pool to close, fixups

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f622378543596a208339af0208fa3a70bf2a8007 by Levi Burner <leviburner@gmail.com>:

rollout add missing .close() calls

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50f3ebca43c53eac03f03943c34bb1e46967bd4f by Levi Burner <leviburner@gmail.com>:

rollout return immediately

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2282 from aftersomemath:rollout-threaded 50f3ebca43c53eac03f03943c34bb1e46967bd4f
PiperOrigin-RevId: 706744277
Change-Id: I1ab2263b7d6ce30cf1908aec8fd5f2eb976a19e6
This commit is contained in:
Levi Burner
2024-12-16 09:56:12 -08:00
committed by Copybara-Service
parent b26d6f0466
commit a7eb6efd4e
8 changed files with 761 additions and 203 deletions
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doc/changelog.rst
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@@ -5,6 +5,14 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
Python bindings
^^^^^^^^^^^^^^^
- :ref:`rollout<PyRollout>` now features native multi-threading. If a sequence of ``MjData`` instances
of length ``nthread`` is passed in, ``rollout`` will automatically create a thread pool and parallelize
the computation. The thread pool can be resused across calls, but then the function cannot be called simultaneously
from multiple threads. To run multiple threaded rollouts simultaneously, use the new class ``Rollout`` which
encapsulates the thread pool. Contribution by :github:user:`aftersomemath`.
Bug fixes
^^^^^^^^^
- Fixed a bug in the box-sphere collider, depth was incorrect for deep penetrations (:github:issue:`2206`).