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Fix Rigid Object/Group CUDA memory issue #46

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Merged
yuecideng merged 1 commit into from
Dec 21, 2025
Merged

Fix Rigid Object/Group CUDA memory issue #46

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3 changes: 3 additions & 0 deletions embodichain/lab/sim/objects/rigid_object.py
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Original file line number Diff line number Diff line change
Expand Up @@ -350,6 +350,7 @@ def set_local_pose(
# we should keep `pose_` life cycle to the end of the function.
pose = torch.cat((quat, xyz), dim=-1)
indices = self.body_data.gpu_indices[local_env_ids]
torch.cuda.synchronize(self.device)
self._ps.gpu_apply_rigid_body_data(
data=pose.clone(),
gpu_indices=indices,
Expand Down Expand Up @@ -458,6 +459,7 @@ def add_force_torque(

else:
indices = self.body_data.gpu_indices[local_env_ids]
torch.cuda.synchronize(self.device)
if force is not None:
self._ps.gpu_apply_rigid_body_data(
data=force,
Expand Down Expand Up @@ -658,6 +660,7 @@ def clear_dynamics(self, env_ids: Sequence[int] | None = None) -> None:
(len(local_env_ids), 3), dtype=torch.float32, device=self.device
)
indices = self.body_data.gpu_indices[local_env_ids]
torch.cuda.synchronize(self.device)
self._ps.gpu_apply_rigid_body_data(
data=zeros,
gpu_indices=indices,
Expand Down
2 changes: 2 additions & 0 deletions embodichain/lab/sim/objects/rigid_object_group.py
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Original file line number Diff line number Diff line change
Expand Up @@ -362,6 +362,7 @@ def set_local_pose(
indices = self.body_data.gpu_indices[local_env_ids][
:, local_obj_ids
].flatten()
torch.cuda.synchronize(self.device)
self._ps.gpu_apply_rigid_body_data(
data=pose.clone(),
gpu_indices=indices,
Expand Down Expand Up @@ -433,6 +434,7 @@ def clear_dynamics(self, env_ids: Sequence[int] | None = None) -> None:
device=self.device,
)
indices = self.body_data.gpu_indices[local_env_ids].flatten()
torch.cuda.synchronize(self.device)
self._ps.gpu_apply_rigid_body_data(
data=zeros,
gpu_indices=indices,
Expand Down
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