| 91 | |
| 92 | |
| 93 | def simulate_tau_batch_parallel(sim_batch, q, v, tau_batch, dt): |
| 94 | def rollout_single(sim, tau): |
| 95 | q_ = q.copy() |
| 96 | v_ = v.copy() |
| 97 | sim.rollout(q_, v_, tau, dt) # rollout without GIL |
| 98 | return sim.qnew, sim.vnew |
| 99 | |
| 100 | with concurrent.futures.ThreadPoolExecutor(max_workers=max_workers) as executor: |
| 101 | futures = [ |
| 102 | executor.submit(rollout_single, sim, tau) |
| 103 | for sim, tau in zip(sim_batch, tau_batch) |
| 104 | ] |
| 105 | results = [f.result() for f in futures] |
| 106 | |
| 107 | return results |
| 108 | |
| 109 | |
| 110 | # check if results match |