[BUG] Warp Sim examples segfault on Mac ARM CPU

[eric-heiden]

Bug Description

Running example_cartpole.py on Mac with Apple Silicon chips (e.g. M1 MacBook Pro) fails, need to investigate further:

Warp 1.4.2 initialized:
   CUDA not enabled in this build
   Devices:
     "cpu"      : "arm"
   Kernel cache:
     /Users/Myself/Library/Caches/warp/1.4.2
Module warp.sim.collide f6c82b4 load on device 'cpu' took 7.96 ms  (cached)
Module warp.sim.articulation aada68e load on device 'cpu' took 1506.18 ms  (compiled)
Segmentation fault: 11

System Information

No response

[wgu93]

Hi everyone, I encounter the same issue on M3 MacBook Pro (CPU only) in a virtual environment with Python=3.10.

Run:

python example_bounce.py 

Results:

Warp 1.5.0 initialized:
   CUDA not enabled in this build
   Devices:
     "cpu"      : "arm"
   Kernel cache:
     /Users/wgu/Library/Caches/warp/1.5.0
Module warp.sim.collide f3f8e69 load on device 'cpu' took 1.78 ms  (cached)
zsh: segmentation fault  python example_bounce.py

[shi-eric]

This issue seems related to #552. After adding some debug commands into example_cartpole.py:

import faulthandler

faulthandler.enable()

wp.config.mode = "debug"

I can get:

Warp 1.6.0 initialized:
   CUDA not enabled in this build
   Devices:
     "cpu"      : "arm"
   Kernel cache:
     /Users/ershi/Library/Caches/warp/1.6.0
Module warp.sim.collide 0854a6f load on device 'cpu' took 0.54 ms  (cached)
Module warp.sim.articulation c03ef51 load on device 'cpu' took 1.28 ms  (cached)
Fatal Python error: Segmentation fault

Current thread 0x00000001ed358840 (most recent call first):
  File "/Users/ershi/code-projects/warp/warp/context.py", line 5683 in launch
  File "/Users/ershi/code-projects/warp/warp/sim/articulation.py", line 489 in eval_fk
  File "/Users/ershi/code-projects/warp/warp/examples/sim/example_cartpole.py", line 87 in __init__
  File "/Users/ershi/code-projects/warp/warp/examples/sim/example_cartpole.py", line 135 in <module>

Extension modules: numpy._core._multiarray_umath, numpy.linalg._umath_linalg (total: 2)
Segmentation fault: 11

But this is only with Python installations I installed from uv. The ones I installed from Brew and Miniforge seem to work fine...

[vyeevani]

running into this issue as well

[groves152]

This is still an issue on Python 3.10.5 (also tested with Python 3.13.2) and Warp 1.7.2 on M3 Macbook Pro

Warp 1.7.2 initialized: CUDA not enabled in this build Devices: "cpu" : "arm" Kernel cache: /Users/josh/Library/Caches/warp/1.7.2 Module lib.pulse f20debb load on device 'cpu' took 6.55 ms (cached) zsh: segmentation fault /Applications/miniconda/miniconda3/envs/nvidia_warp/bin/python

[joshuayanggithub]

Have any of you been able to resolve this issue? @groves152 @vyeevani @shi-eric

[c0d1f1ed]

Thanks everyone for reporting this! It has the same root cause as #356