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Model-based design and verification for robotics.
https://drake.mit.edu
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Test on new Apple arm hardware #14555

Closed jwnimmer-tri closed 2 years ago

jwnimmer-tri commented 3 years ago

New Apple laptops ship with arm (not x86) processors. There is an emulation layer (Rosetta 2) for x86 binaries to continue to run.

We should experiment and test how Drake behaves on this new hardware, at minimum so we can inform users what to expect, but ideally to inform a work plan to patch up any problems, so that at least some installation method can work for users who want to run Drake on this platform.

Any work related to native code support (arm), will be in a separate issue.

jwnimmer-tri commented 2 years ago

Some additional context:

The goal of this issue is to report on the landscape of what is or isn't working / what the work plan will need to be for Drake to add official support for that hardware. There is no need to submit patches to fix a broken Drake on these platforms. This is a "survey" ticket, not a "fix" ticket.

One important question is whether Drake's https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac.tar.gz pre-compiled binary will run unchanged.

It's also important to learn whether we can build on this platform from source. (Building in x86_64 mode, i.e., still using Rosetta while running.)

Both are useful to know, and I don't have any request for which of the two questions you poke at first.

jwnimmer-tri commented 2 years ago

For reference, #13514 is about ARM support (which is distinct from this issue's investigation of Rosetta's capabilities).

mwoehlke-kitware commented 2 years ago

drake-visualizer from the precompiled package starts up okay. What else would constitute a good functionality test?

mwoehlke-kitware commented 2 years ago 
$ bazel test //...
INFO: Analyzed 8612 targets (0 packages loaded, 0 targets configured).
INFO: Found 3450 targets and 5162 test targets...
FAIL: //multibody/tree:spatial_inertia_test (see /private/var/tmp/_bazel_USER/db4fc5c80bb85819057f46c09c9ed04c/execroot/drake/bazel-out/darwin-opt/testlogs/multibody/tree/spatial_inertia_test/test.log)
INFO: From Testing //multibody/tree:spatial_inertia_test:
==================== Test output for //multibody/tree:spatial_inertia_test:
Using drake_cc_googletest_main.cc

[==========] Running 18 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 18 tests from SpatialInertia
[ RUN      ] SpatialInertia.DefaultConstructor
[       OK ] SpatialInertia.DefaultConstructor (0 ms)
[ RUN      ] SpatialInertia.ConstructionFromMasComAndUnitInertia
[       OK ] SpatialInertia.ConstructionFromMasComAndUnitInertia (0 ms)
[ RUN      ] SpatialInertia.CastToAutoDiff
[       OK ] SpatialInertia.CastToAutoDiff (0 ms)
[ RUN      ] SpatialInertia.ShiftOperator
[       OK ] SpatialInertia.ShiftOperator (0 ms)
[ RUN      ] SpatialInertia.PlusEqualOperator
[       OK ] SpatialInertia.PlusEqualOperator (0 ms)
[ RUN      ] SpatialInertia.ReExpress
[       OK ] SpatialInertia.ReExpress (0 ms)
[ RUN      ] SpatialInertia.Shift
[       OK ] SpatialInertia.Shift (0 ms)
[ RUN      ] SpatialInertia.IsPhysicallyValidWithZeroMass
[       OK ] SpatialInertia.IsPhysicallyValidWithZeroMass (0 ms)
[ RUN      ] SpatialInertia.IsPhysicallyValidWithBadInertia
multibody/tree/test/spatial_inertia_test.cc:356: Failure
matcher(err.what(), expected_msg) evaluates to false, where
err.what() evaluates to "Spatial inertia fails SpatialInertia::IsPhysicallyValid().\n mass = 1\n Center of mass = [0  0  0]\n Inertia about point P, I_BP =\n[  -2, -0.1, -0.2]\n[-0.1,   -3, -0.3]\n[-0.2, -0.3,   -4]\n Principal moments of inertia about Bcm (center of mass) =\n[-4.105976670111365  -2.9188291125626042  -1.9751942173260322]\n"
expected_msg evaluates to "Spatial inertia fails SpatialInertia::IsPhysicallyValid\\(\\).\n mass = 1.0\n Center of mass = \\[0.0  0.0  0.0\\]\n Inertia about point P, I_BP =\n\\[  -2, -0.1, -0.2\\]\n\\[-0.1,   -3, -0.3\\]\n\\[-0.2, -0.3,   -4\\]\n Principal moments of inertia about Bcm \\(center of mass\\) =\n\\[-4.105976670111\\d+  -2.9188291125626\\d+  -1.9751942173260\\d+\\]\n"
[  FAILED  ] SpatialInertia.IsPhysicallyValidWithBadInertia (0 ms)
[ RUN      ] SpatialInertia.IsPhysicallyValidWithCOMTooFarOut
multibody/tree/test/spatial_inertia_test.cc:379: Failure
matcher(err.what(), expected_msg) evaluates to false, where
err.what() evaluates to "Spatial inertia fails SpatialInertia::IsPhysicallyValid().\n mass = 1\n Center of mass = [2  0  0]\n Inertia about point P, I_BP =\n[0.4,   0,   0]\n[  0, 0.4,   0]\n[  0,   0, 0.4]\n Inertia about center of mass, I_BBcm =\n[ 0.4,    0,    0]\n[   0, -3.6,    0]\n[   0,    0, -3.6]\n Principal moments of inertia about Bcm (center of mass) =\n[-3.6  -3.6  0.4]\n"
expected_msg evaluates to "Spatial inertia fails SpatialInertia::IsPhysicallyValid\\(\\).\n mass = 1.0\n Center of mass = \\[2.0  0.0  0.0\\]\n Inertia about point P, I_BP =\n\\[0.4,   0,   0\\]\n\\[  0, 0.4,   0\\]\n\\[  0,   0, 0.4\\]\n Inertia about center of mass, I_BBcm =\n\\[ 0.4,    0,    0\\]\n\\[   0, -3.6,    0\\]\n\\[   0,    0, -3.6\\]\n Principal moments of inertia about Bcm \\(center of mass\\) =\n\\[-3.6  -3.6  0.4\\]\n"
[  FAILED  ] SpatialInertia.IsPhysicallyValidWithCOMTooFarOut (0 ms)
[ RUN      ] SpatialInertia.IsPhysicallyValidThrowsNiceExceptionMessage
multibody/tree/test/spatial_inertia_test.cc:425: Failure
matcher(err.what(), expected_msg) evaluates to false, where
err.what() evaluates to "Spatial inertia fails SpatialInertia::IsPhysicallyValid().\n mass = 0.634\n Center of mass = [0  0.016  -0.02]\n Inertia about point P, I_BP =\n[  0.0023989,    0.000245,     1.3e-05]\n[   0.000245,   0.0023566,  0.00020438]\n[    1.3e-05,  0.00020438, 0.000570304]\n Inertia about center of mass, I_BBcm =\n[0.001983, 0.000245,  1.3e-05]\n[0.000245, 0.002103,  1.5e-06]\n[ 1.3e-05,  1.5e-06, 0.000408]\n Principal moments of inertia about Bcm (center of mass) =\n[0.0004078925412357755  0.0017908225928030743  0.002295284865961151]\n"
expected_msg evaluates to "Spatial inertia fails SpatialInertia::IsPhysicallyValid\\(\\).\n mass = 0.634\n Center of mass = \\[0.0  0.016  -0.02\\]\n Inertia about point P, I_BP =\n\\[  0.0023989,    0.000245,     1.3e-05\\]\n\\[   0.000245,   0.0023566,  0.00020438\\]\n\\[    1.3e-05,  0.00020438, 0.000570304\\]\n Inertia about center of mass, I_BBcm =\n\\[0.001983, 0.000245,  1.3e-05\\]\n\\[0.000245, 0.002103,  1.5e-06\\]\n\\[ 1.3e-05,  1.5e-06, 0.000408\\]\n Principal moments of inertia about Bcm \\(center of mass\\) =\n\\[0.0004078925412\\d+  0.001790822592803\\d+  0.00229528486596\\d+\\]\n"
[  FAILED  ] SpatialInertia.IsPhysicallyValidThrowsNiceExceptionMessage (0 ms)
[ RUN      ] SpatialInertia.SkipValidityCheck
[       OK ] SpatialInertia.SkipValidityCheck (0 ms)
[ RUN      ] SpatialInertia.MakeFromCentralInertia
[       OK ] SpatialInertia.MakeFromCentralInertia (0 ms)
[ RUN      ] SpatialInertia.KineticEnergy
[       OK ] SpatialInertia.KineticEnergy (0 ms)
[ RUN      ] SpatialInertia.MultiplyByEigenMatrix
[       OK ] SpatialInertia.MultiplyByEigenMatrix (0 ms)
[ RUN      ] SpatialInertia.SymbolicNan
[       OK ] SpatialInertia.SymbolicNan (0 ms)
[ RUN      ] SpatialInertia.SymbolicConstant
[       OK ] SpatialInertia.SymbolicConstant (0 ms)
[ RUN      ] SpatialInertia.PlusEqualOperatorForTwoMasslessBodies
[       OK ] SpatialInertia.PlusEqualOperatorForTwoMasslessBodies (0 ms)
[----------] 18 tests from SpatialInertia (2 ms total)

[----------] Global test environment tear-down
[==========] 18 tests from 1 test suite ran. (2 ms total)
[  PASSED  ] 15 tests.
[  FAILED  ] 3 tests, listed below:
[  FAILED  ] SpatialInertia.IsPhysicallyValidWithBadInertia
[  FAILED  ] SpatialInertia.IsPhysicallyValidWithCOMTooFarOut
[  FAILED  ] SpatialInertia.IsPhysicallyValidThrowsNiceExceptionMessage

 3 FAILED TESTS
================================================================================
FAIL: //examples/pendulum:trajectory_optimization_simulation_test (see /private/var/tmp/_bazel_USER/db4fc5c80bb85819057f46c09c9ed04c/execroot/drake/bazel-out/darwin-opt/testlogs/examples/pendulum/trajectory_optimization_simulation_test/test_attempts/attempt_1.log)
FAIL: //examples/pendulum:trajectory_optimization_simulation_test (see /private/var/tmp/_bazel_USER/db4fc5c80bb85819057f46c09c9ed04c/execroot/drake/bazel-out/darwin-opt/testlogs/examples/pendulum/trajectory_optimization_simulation_test/test_attempts/attempt_2.log)
FAIL: //examples/pendulum:trajectory_optimization_simulation_test (see /private/var/tmp/_bazel_USER/db4fc5c80bb85819057f46c09c9ed04c/execroot/drake/bazel-out/darwin-opt/testlogs/examples/pendulum/trajectory_optimization_simulation_test/test.log)

FAILED: //examples/pendulum:trajectory_optimization_simulation_test (Summary)
      /private/var/tmp/_bazel_USER/db4fc5c80bb85819057f46c09c9ed04c/execroot/drake/bazel-out/darwin-opt/testlogs/examples/pendulum/trajectory_optimization_simulation_test/test.log
      /private/var/tmp/_bazel_USER/db4fc5c80bb85819057f46c09c9ed04c/execroot/drake/bazel-out/darwin-opt/testlogs/examples/pendulum/trajectory_optimization_simulation_test/test_attempts/attempt_1.log
      /private/var/tmp/_bazel_USER/db4fc5c80bb85819057f46c09c9ed04c/execroot/drake/bazel-out/darwin-opt/testlogs/examples/pendulum/trajectory_optimization_simulation_test/test_attempts/attempt_2.log
INFO: From Testing //examples/pendulum:trajectory_optimization_simulation_test:
==================== Test output for //examples/pendulum:trajectory_optimization_simulation_test:
Failed to solve optimization for the swing-up trajectory
================================================================================
==================== Test output for //examples/pendulum:trajectory_optimization_simulation_test:
Failed to solve optimization for the swing-up trajectory
================================================================================
==================== Test output for //examples/pendulum:trajectory_optimization_simulation_test:
Failed to solve optimization for the swing-up trajectory
================================================================================
INFO: Elapsed time: 3.630s, Critical Path: 0.98s
INFO: 4 processes: 7 darwin-sandbox, 1 local.
INFO: Build completed, 2 tests FAILED, 4 total actions
//multibody/tree:spatial_inertia_test                                    FAILED in 0.2s
  /private/var/tmp/_bazel_USER/db4fc5c80bb85819057f46c09c9ed04c/execroot/drake/bazel-out/darwin-opt/testlogs/multibody/tree/spatial_inertia_test/test.log
//examples/pendulum:trajectory_optimization_simulation_test              FAILED in 3 out of 3 in 0.3s
  Stats over 3 runs: max = 0.3s, min = 0.2s, avg = 0.3s, dev = 0.0s
  /private/var/tmp/_bazel_USER/db4fc5c80bb85819057f46c09c9ed04c/execroot/drake/bazel-out/darwin-opt/testlogs/examples/pendulum/trajectory_optimization_simulation_test/test.log
  /private/var/tmp/_bazel_USER/db4fc5c80bb85819057f46c09c9ed04c/execroot/drake/bazel-out/darwin-opt/testlogs/examples/pendulum/trajectory_optimization_simulation_test/test_attempts/attempt_1.log
  /private/var/tmp/_bazel_USER/db4fc5c80bb85819057f46c09c9ed04c/execroot/drake/bazel-out/darwin-opt/testlogs/examples/pendulum/trajectory_optimization_simulation_test/test_attempts/attempt_2.log

Executed 3 out of 5162 tests: 5160 tests pass and 2 fail locally.
There were tests whose specified size is too big. Use the --test_verbose_timeout_warnings command line option to see which ones these INFO: Build completed, 2 tests FAILED, 4 total actions
sherm1 commented 2 years ago

Oh, that's more over-sensitivity to number formatting as in #16188. cc @mitiguy

mwoehlke-kitware commented 2 years ago

BTW, to test/use this:

jwnimmer-tri commented 2 years ago

The remaining work here is to: (1) weave this into the user documentation (2) file follow-up tickets for next steps (e.g., adding apple silicon CI)