Introduce a new header `gil.h` defining `MutexLockIfGilDisabled` to support thread-safety in both standard and free-threaded CPython builds.
Protect critical shared states and registries:
- Guard global Python callback pointers in `callbacks.cc` using a mutex. Move `gil_scoped_acquire` into local blocks around refcount modifications to prevent `longjmp` from bypassing destructors.
- Protect raw pointer maps in `structs_wrappers.cc` with static mutexes.
- Replace TOCTOU race in `mjcb_time` initialization with thread-safe `std::call_once`.
- Add synchronization to lazy indexer array cache initialization in `indexers.cc` and `indexer_xmacro.h`.
- Protect vector mutations in `StructListBase::PopulateUpTo` in `structs.h` with a mutex.
- Revert unnecessary atomic changes to threadpool counters.
- Declare free-threading compatibility by passing `pybind11::mod_gil_not_used()` to all extension modules.
Fixes#3259Fixes#3256Fixes#2978
PiperOrigin-RevId: 941101502
Change-Id: Iec4ce58afcbc75d4b0be6a9a21fc8a47854242e3
WaitForAtomicNoGil spins until the render loop consumes a pending
set_texts/set_figures/set_images request (atomic == expected). If the
user closes the viewer window after a request is submitted but before
the render loop consumes it, the render loop exits and the atomic is
never updated. The calling thread spins forever, preventing the
process from terminating.
Check exitrequest inside the spin loop so the wait bails out once the
viewer is shutting down.
Removed the GIL lock in set_figures, clear_figures, set_texts, clear_texts, set_images, and clear_images
PiperOrigin-RevId: 861245200
Change-Id: I52f21d82f9813752c7cb357213c24ea6188583db
By default this option is off, which preserves the current behavior of syncing all of `mjModel` and `mjData`.
PiperOrigin-RevId: 776498017
Change-Id: I02127c9397efbabebb89b0e0d139b00b6e665d35
--
c9acc0a6f677951db34f2b607bd60fc18a43f72b by Levi Burner <leviburner@gmail.com>:
Fix race condition in Python viewers set_X methods
--
b89ab8f7a0f628ee7a02ebfbac2a97f113112076 by Levi Burner <leviburner@gmail.com>:
use std::swap to replace some copying
--
02625bed0cffbfc9ea4537f74689f0bbcb8bf44c by Levi Burner <leviburner@gmail.com>:
fix whitespace
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2613 from aftersomemath:simulate-set-race 02625bed0cffbfc9ea4537f74689f0bbcb8bf44c
PiperOrigin-RevId: 766646168
Change-Id: I1e1dc16afbfb1e69fb958d54bd1075cc9aed3569
The viewer currently hard crashes when the user script loops on the passive viewer handle without paying attention to `is_running`. This is considered user error, however this change makes the user script hang on the loop rather than hard crashing.
Startblock:
diffbase is submitted
PiperOrigin-RevId: 572336261
Change-Id: Id53126a158242b947584da1f946304ae8e792d4a
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.
To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.
Fixes https://github.com/deepmind/mujoco/issues/796
PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.
PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
Also allow a `Callable[[], [MjModel, MjData]]` to be provided as an argument to `launch` instead of a fixed MjModel/MjData instance. This allows users to customise the behaviour of the Reload button.
Context: https://github.com/deepmind/mujoco/discussions/576#discussioncomment-4161429
PiperOrigin-RevId: 492296268
Change-Id: Ic4b797d2ea8a6967f7e3e7316f2184ea94a86d8b
Saran Tunyasuvunakool