[FEATURE] Share Metal command queue between Quadrants and PyTorch MPS#2760
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hughperkins wants to merge 1 commit intoGenesis-Embodied-AI:mainfrom
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[FEATURE] Share Metal command queue between Quadrants and PyTorch MPS#2760hughperkins wants to merge 1 commit intoGenesis-Embodied-AI:mainfrom
hughperkins wants to merge 1 commit intoGenesis-Embodied-AI:mainfrom
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At gs.init() time on Apple Metal, extract PyTorch MPS's MTLCommandQueue and pass it to Quadrants via external_metal_command_queue. This lets both frameworks dispatch GPU work on the same queue, so Metal's sequential command buffer ordering eliminates the need for explicit CPU-side syncs (qd.sync / torch.mps.synchronize) at every interop point. Raises an exception if the queue cannot be extracted, since correct synchronisation on Metal depends on the shared queue. Removes all torch.mps.synchronize() guards from solvers and misc.py. Depends on Genesis-Embodied-AI/quadrants#618. Co-authored-by: Cursor <cursoragent@cursor.com>
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At gs.init() time on Apple Metal, extract PyTorch MPS's MTLCommandQueue and pass it to Quadrants via external_metal_command_queue. This lets both frameworks dispatch GPU work on the same queue, so Metal's sequential command buffer ordering eliminates the need for explicit CPU-side syncs (qd.sync / torch.mps.synchronize) at every interop point.
Falls back gracefully to separate queues (with syncs preserved) if the queue pointer cannot be extracted (e.g. older PyTorch or non-MPS device).
Depends on Genesis-Embodied-AI/quadrants#618.
Description
Related Issue
Resolves Genesis-Embodied-AI/Genesis#
Motivation and Context
How Has This Been / Can This Be Tested?
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Checklist:
Submitting Code Changessection of CONTRIBUTING document.