Fix uv sync for some MacOS Systems

pyproject.toml

@@ -172,7 +172,8 @@ unitree = [
 
 manipulation = [
     # Planning (Drake)
-    "drake>=1.40.0; platform_machine != 'aarch64'",
+    "drake==1.45.0; sys_platform == 'darwin' and platform_machine != 'aarch64'",
+    "drake>=1.40.0; sys_platform != 'darwin' and platform_machine != 'aarch64'",
 
     # Hardware SDKs
     "piper-sdk",

setup.py

@@ -13,20 +13,63 @@
 # limitations under the License.
 
 import os
+from pathlib import Path
+import struct
+import sys
 
 from pybind11.setup_helpers import Pybind11Extension, build_ext
 from setuptools import find_packages, setup
 
+
+def python_is_macos_universal_binary(executable: str | None = None) -> bool:
+    """
+    Returns True if the given executable is a macOS universal (fat) binary.
+    """
+    FAT_MAGIC = 0xCAFEBABE  # big-endian fat
+    FAT_CIGAM = 0xBEBAFECA  # little-endian fat
+    FAT_MAGIC_64 = 0xCAFEBABF  # big-endian fat 64
+    FAT_CIGAM_64 = 0xBFBAFECA  # little-endian fat 64
+
+    if executable is None:
+        executable = sys.executable
+
+    path = Path(executable)
+    if not path.exists():
+        return False
+
+    try:
+        with path.open("rb") as f:
+            header = f.read(4)
+            if len(header) < 4:
+                return False
+
+            magic = struct.unpack(">I", header)[0]
+            return magic in {
+                FAT_MAGIC,
+                FAT_CIGAM,
+                FAT_MAGIC_64,
+                FAT_CIGAM_64,
+            }
+    except OSError:
+        return False
+
+
+extra_compile_args = [
+    "-O3",  # Maximum optimization
+    "-ffast-math",  # Fast floating point
+]
+# when the python exe is a universal binary, this option fails because the compiler
+# call tries to build a matching (e.g. universal) binary, clang doesn't support this option for universal binaries
+# if the user is using an arm64 specific binary (ex: nix build) then the optimization exists and is useful
+if not python_is_macos_universal_binary():
+    extra_compile_args.append("-march=native")
+
 # C++ extensions
 ext_modules = [
     Pybind11Extension(
         "dimos.navigation.replanning_a_star.min_cost_astar_ext",
         [os.path.join("dimos", "navigation", "replanning_a_star", "min_cost_astar_cpp.cpp")],
-        extra_compile_args=[
-            "-O3",  # Maximum optimization
-            "-march=native",  # Optimize for current CPU
-            "-ffast-math",  # Fast floating point
-        ],
+        extra_compile_args=extra_compile_args,
         define_macros=[
             ("NDEBUG", "1"),
         ],