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[BUG FIX] Fix GPU synchronization issue on Apple Metal. #2600

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Merged
duburcqa merged 1 commit into from
Mar 23, 2026
Merged

[BUG FIX] Fix GPU synchronization issue on Apple Metal. #2600

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4 changes: 4 additions & 0 deletions genesis/engine/solvers/rigid/collider/collider.py
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Original file line number Diff line number Diff line change
Expand Up @@ -550,6 +550,8 @@ def reset(self, envs_idx=None, *, cache_only: bool = True) -> None:
normal.zero_()
else:
normal[:, envs_idx] = 0.0
if gs.backend == gs.metal:
torch.mps.synchronize()
return

envs_idx = self._solver._scene._sanitize_envs_idx(envs_idx)
Expand Down Expand Up @@ -603,6 +605,8 @@ def clear(self, envs_idx=None):
pos[:, envs_idx] = 0.0
normal[:, envs_idx] = 0.0
force[:, envs_idx] = 0.0
if gs.backend == gs.metal:
torch.mps.synchronize()
return

if not isinstance(envs_idx, torch.Tensor):
Expand Down
4 changes: 4 additions & 0 deletions genesis/engine/solvers/rigid/constraint/solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,8 @@ def reset(self, envs_idx=None):
else:
is_warmstart[envs_idx] = False
qacc_ws[:, envs_idx] = 0.0
if gs.backend == gs.metal:
torch.mps.synchronize()
return

envs_idx = self._solver._scene._sanitize_envs_idx(envs_idx)
Expand Down Expand Up @@ -159,6 +161,8 @@ def clear(self, envs_idx=None):
assign_indexed_tensor(n_constraints_equality, env_mask, 0)
assign_indexed_tensor(n_constraints_frictionloss, env_mask, 0)
assign_indexed_tensor(qd_n_equalities, env_mask, n_eq)
if gs.backend == gs.metal:
torch.mps.synchronize()
return

if not isinstance(envs_idx, torch.Tensor):
Expand Down
12 changes: 12 additions & 0 deletions genesis/engine/solvers/rigid/rigid_solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1946,6 +1946,8 @@ def _set_dofs_info(self, tensor_list, dofs_idx, name, envs_idx=None):
num_values = len(tensor_list)
for j, mask_j in enumerate(((*mask, ..., j) for j in range(num_values)) if num_values > 1 else (mask,)):
assign_indexed_tensor(data, mask_j, tensor_list[j])
if gs.backend == gs.metal:
torch.mps.synchronize()
return

tensor_list = list(tensor_list)
Expand Down Expand Up @@ -2037,6 +2039,8 @@ def set_dofs_position(self, position, dofs_idx=None, envs_idx=None):
if gs.use_zerocopy:
errno = qd_to_torch(self._errno, copy=False)
errno[envs_idx] = 0
if gs.backend == gs.metal:
torch.mps.synchronize()
else:
kernel_set_zero(envs_idx, self._errno)

Expand Down Expand Up @@ -2064,6 +2068,8 @@ def control_dofs_force(self, force, dofs_idx=None, envs_idx=None):
ctrl_mode[mask] = gs.CTRL_MODE.FORCE
ctrl_force = qd_to_torch(self.dofs_state.ctrl_force, transpose=True, copy=False)
assign_indexed_tensor(ctrl_force, mask, force)
if gs.backend == gs.metal:
torch.mps.synchronize()
return

force, dofs_idx, envs_idx = self._sanitize_io_variables(
Expand All @@ -2083,6 +2089,8 @@ def control_dofs_velocity(self, velocity, dofs_idx=None, envs_idx=None):
ctrl_pos[mask] = 0.0
ctrl_vel = qd_to_torch(self.dofs_state.ctrl_vel, transpose=True, copy=False)
assign_indexed_tensor(ctrl_vel, mask, velocity)
if gs.backend == gs.metal:
torch.mps.synchronize()
return

velocity, dofs_idx, envs_idx = self._sanitize_io_variables(
Expand All @@ -2102,6 +2110,8 @@ def control_dofs_position(self, position, dofs_idx=None, envs_idx=None):
assign_indexed_tensor(ctrl_pos, mask, position)
ctrl_vel = qd_to_torch(self.dofs_state.ctrl_vel, transpose=True, copy=False)
ctrl_vel[mask] = 0.0
if gs.backend == gs.metal:
torch.mps.synchronize()
return

position, dofs_idx, envs_idx = self._sanitize_io_variables(
Expand All @@ -2121,6 +2131,8 @@ def control_dofs_position_velocity(self, position, velocity, dofs_idx=None, envs
assign_indexed_tensor(ctrl_pos, mask, position)
ctrl_vel = qd_to_torch(self.dofs_state.ctrl_vel, transpose=True, copy=False)
assign_indexed_tensor(ctrl_vel, mask, velocity)
if gs.backend == gs.metal:
torch.mps.synchronize()
return

position, dofs_idx, _ = self._sanitize_io_variables(
Expand Down
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