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Release gil when compiling spec.

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When compiling with threading, we will block the main thread anyways waiting for all threads to complete.

PiperOrigin-RevId: 854230560
Change-Id: Ief689d381afaa3aacc5d712a8df0cb4b6762251c
This commit is contained in:
Sam Haves
2026-01-09 09:49:24 -08:00
committed by Copybara-Service
parent 45e164bf8f
commit e37c2268a6
1 changed files with 13 additions and 2 deletions
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python/mujoco/specs_wrapper.cc
+13 -2
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@@ -89,7 +89,12 @@ MjSpec::~MjSpec() { mj_deleteSpec(ptr); }
raw::MjModel* MjSpec::Compile() { raw::MjModel* MjSpec::Compile() {
if (assets.empty()) { if (assets.empty()) {
auto m = mj_compile(ptr, 0); raw::MjModel* m;
{
// Release GIL before calling mj_compile which may spawn threads
py::gil_scoped_release no_gil;
m = mj_compile(ptr, 0);
}
if (!m || mjs_isWarning(ptr)) { if (!m || mjs_isWarning(ptr)) {
throw py::value_error(mjs_getError(ptr)); throw py::value_error(mjs_getError(ptr));
} }
@@ -112,7 +117,13 @@ raw::MjModel* MjSpec::Compile() {
} }
} }
} }
auto m = mj_compile(ptr, &vfs);
raw::MjModel* m;
{
// Release GIL before calling mj_compile which may spawn threads
py::gil_scoped_release no_gil;
m = mj_compile(ptr, &vfs);
}
mj_deleteVFS(&vfs); mj_deleteVFS(&vfs);
if (!m || mjs_isWarning(ptr)) { if (!m || mjs_isWarning(ptr)) {
throw py::value_error(mjs_getError(ptr)); throw py::value_error(mjs_getError(ptr));