A Working Installation Guide For M1 Mac #682

geyang · 2022-02-06T01:12:36Z

It is becoming a bit difficult to see what is working vs what is not in Issue #662. So here is a working script that worked for me. A copy of this guide can be found at jaynes-starter-kit/docker/m1_mac_setup. This is adapted from @wookayin's script. The most crucial part for me is to use sudo to link the framework to the /usr/local/lib folder. Without this step, it did not work. @nikhilweee's comment confirms this.

Another key step is to remove the mujoco-py installation with a clean rm -rf .../site-packages/mujoco-py. This way the compiled binaries can be removed.

Background

Mujoco-py currently does not support mujoco2.1.1. The first arm64 release, which is needed for M1 Macs, came out a few weeks ago. Therefore mujoco2.1.1 is needed in order to run MuJoCo natively on the M1 Mac.

Pre-requisits:

make sure you use Miniforge as your Conda environment
install glfw via brew install glfw. Note the location for the installation
download MuJoCo2.1.1 image that ends with a *.dmg. The new mujoco2.1.1 is released as a Framework. You can copy the MuJoCo.app into /Applications/ folder.

Installation Script

Make a file locally called install-mujoco.sh, and put the following into it.

mkdir -p $HOME/.mujoco/mujoco210
ln -sf /Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.framework/Versions/Current/Headers/ $HOME/.mujoco/mujoco210/include


mkdir -p $HOME/.mujoco/mujoco210/bin
ln -sf /Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.framework/Versions/Current/libmujoco.2.1.1.dylib $HOME/.mujoco/mujoco210/bin/libmujoco210.dylib
sudo ln -sf /Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.framework/Versions/Current/libmujoco.2.1.1.dylib /usr/local/lib/
ln -s /Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.framework/Versions/Current/libmujoco.2.1.1.dylib $HOME/.mujoco/mjpro200/bin/

# For M1 (arm64) mac users:
# brew install glfw
ln -sf /opt/homebrew/lib/libglfw.3.dylib $HOME/.mujoco/mujoco210/bin
ln -s /Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.framework/Versions/Current/libmujoco.2.1.1.dylib /Users/ge/.mujoco/mjpro200/bin/
# remove old installation
rm -rf /opt/homebrew/Caskroom/miniforge/base/lib/python3.9/site-packages/mujoco_py

# which python
# exit

export CC=/opt/homebrew/bin/gcc-11         # see https://github.com/openai/mujoco-py/issues/605
pip install mujoco-py && python -c 'import mujoco_py'

Enjoy!

The text was updated successfully, but these errors were encountered:

t46 · 2022-03-12T00:14:29Z

This is awesome!!! Thanks for sharing your workaround!!

zdhNarsil · 2022-03-17T01:41:25Z

Get error on M1 new macbook pro
distutils.errors.CompileError: command '/opt/homebrew/bin/gcc-11' failed: No such file or directory

xfl03 · 2022-03-29T10:37:55Z

I tried it, but get following:

gcc-11: warning: this compiler does not support X86 (arch flags ignored)
gcc-11: error: unrecognized command-line option '-iwithsysroot/System/Library/Frameworks/System.framework/PrivateHeaders'
gcc-11: error: unrecognized command-line option '-iwithsysroot/Applications/Xcode.app/Contents/Developer/Library/Frameworks/Python3.framework/Versions/3.8/Headers'

Szepi · 2022-04-28T23:36:47Z

On:
command '/opt/homebrew/bin/gcc-11' failed: No such file or directory
This is a sign that the brew install is running on emulation mode on the new Mac. You may want to upgrade to the arm64 (native) version of brew if you see this. See, e.g., this page.
After installing brew, make sure you install glfw again, and also gcc. This seemed to do the trick for me. (Probably, the best order of doing this is to first have the native brew install, and then miniforge etc.)

DanqingZ · 2022-06-06T05:15:39Z

I first had error

distutils.errors.DistutilsExecError: command '/opt/homebrew/bin/gcc-11' failed with exit status 1

and then I run

brew install gcc@11

but then I had error

gcc-11: warning: this compiler does not support x86 ('-arch' option ignored)
ld: warning: object file (/Users/danqing0703/opt/anaconda3/lib/python3.8/site-packages/mujoco_py/generated/_pyxbld_2.1.2.14_38_macextensionbuilder/temp.macosx-10.9-x86_64-3.8/Users/danqing0703/opt/anaconda3/lib/python3.8/site-packages/mujoco_py/gl/dummyshim.o) was built for newer macOS version (11.0) than being linked (10.9)
ld: warning: object file (/Users/danqing0703/opt/anaconda3/lib/python3.8/site-packages/mujoco_py/generated/_pyxbld_2.1.2.14_38_macextensionbuilder/temp.macosx-10.9-x86_64-3.8/Users/danqing0703/opt/anaconda3/lib/python3.8/site-packages/mujoco_py/cymj.o) was built for newer macOS version (11.0) than being linked (10.9)
ld: warning: dylib (/Users/danqing0703/.mujoco/mujoco210/bin/libmujoco210.dylib) was built for newer macOS version (11.0) than being linked (10.9)
ld: warning: dylib (/Users/danqing0703/.mujoco/mujoco210/bin/libglfw.3.dylib) was built for newer macOS version (11.0) than being linked (10.9)
ld: warning: ignoring file /Users/danqing0703/opt/anaconda3/lib/libgomp.dylib, building for macOS-arm64 but attempting to link with file built for macOS-x86_64
ld: warning: object file (/opt/homebrew/Cellar/gcc/11.3.0_1/lib/gcc/11/gcc/aarch64-apple-darwin20/11/libgcc.a(ldadd_4_4.o)) was built for newer macOS version (11.0) than being linked (10.9)
ld: warning: object file (/opt/homebrew/Cellar/gcc/11.3.0_1/lib/gcc/11/gcc/aarch64-apple-darwin20/11/libgcc.a(lse-init.o)) was built for newer macOS version (11.0) than being linked (10.9)

Mr-13th · 2022-06-15T14:04:54Z

Thank you! Following your steps help me fix this bug!

anuragajay · 2022-06-15T20:57:22Z

You can follow @geyang steps with python 3.8 as well. If you don't already have cffi installed, you will need to install it with pip install cffi==1.14 (rather than pip install cffi given 1.15 might not be compatible with python3.8)

JWK7 · 2022-06-23T02:50:42Z

When i run the sh file it brings the error:
running build_ext
building 'mujoco_py.cymj' extension
/opt/homebrew/bin/gcc-11 -Wno-unused-result -Wsign-compare -Wunreachable-code -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /Users/johnchung/miniforge3/include -arch arm64 -fPIC -O2 -isystem /Users/johnchung/miniforge3/include -arch arm64 -I/opt/homebrew/opt/llvm/include -DONMAC -I/Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py -I/Users/johnchung/.mujoco/mujoco210/include -I/Users/johnchung/miniforge3/lib/python3.9/site-packages/numpy/core/include -I/Users/johnchung/miniforge3/include/python3.9 -c /Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py/cymj.c -o /Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py/generated/_pyxbld_2.1.2.14_39_macextensionbuilder/temp.macosx-11.0-arm64-cpython-39/Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py/cymj.o -fopenmp -w
In file included from /Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py/cymj.c:754:
/Users/johnchung/.mujoco/mujoco210/include/mjmodel.h:18:10: fatal error: mujoco/mjtnum.h: No such file or directory
18 | #include <mujoco/mjtnum.h>
| ^~~~~~~~~~~~~~~~~
compilation terminated.
Traceback (most recent call last):
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/unixccompiler.py", line 173, in _compile
self.spawn(compiler_so + cc_args + [src, '-o', obj] +
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/ccompiler.py", line 917, in spawn
spawn(cmd, dry_run=self.dry_run, **kwargs)
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/spawn.py", line 68, in spawn
raise DistutilsExecError(
distutils.errors.DistutilsExecError: command '/opt/homebrew/bin/gcc-11' failed with exit code 1

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "", line 1, in
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py/init.py", line 2, in
from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py/builder.py", line 504, in
cymj = load_cython_ext(mujoco_path)
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py/builder.py", line 110, in load_cython_ext
cext_so_path = builder.build()
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py/builder.py", line 226, in build
built_so_file_path = self._build_impl()
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py/builder.py", line 343, in _build_impl
so_file_path = super()._build_impl()
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py/builder.py", line 249, in _build_impl
dist.run_commands()
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 967, in run_commands
self.run_command(cmd)
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/dist.py", line 1229, in run_command
super().run_command(command)
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 986, in run_command
cmd_obj.run()
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/Cython/Distutils/old_build_ext.py", line 186, in run
_build_ext.build_ext.run(self)
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 339, in run
self.build_extensions()
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/mujoco_py/builder.py", line 149, in build_extensions
build_ext.build_extensions(self)
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/Cython/Distutils/old_build_ext.py", line 195, in build_extensions
_build_ext.build_ext.build_extensions(self)
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 448, in build_extensions
self._build_extensions_serial()
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 473, in _build_extensions_serial
self.build_extension(ext)
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 528, in build_extension
objects = self.compiler.compile(sources,
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/ccompiler.py", line 574, in compile
self._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/unixccompiler.py", line 176, in _compile
raise CompileError(msg)
distutils.errors.CompileError: command '/opt/homebrew/bin/gcc-11' failed with exit code 1

Can someone help?

grahamannett · 2022-06-28T20:52:45Z

When i run the sh file it brings the error: running build_ext building 'mujoco_py.cymj' extension
....
....
File "/Users/johnchung/miniforge3/lib/python3.9/site-packages/setuptools/_distutils/unixccompiler.py", line 176, in _compile raise CompileError(msg) distutils.errors.CompileError: command '/opt/homebrew/bin/gcc-11' failed with exit code 1

Can someone help?

i was getting errors like this a lot before trying to get it working. not exactly sure what i did to fix it but followed the instructions in the OP and its working. main thing I think might have played an issue for me was using brew that is x86 specific and thus all the pythons you install with conda/miniforge/pyenv were i386 (at least that is my understanding)

required me to reinstall brew and removed old brew that is i386 specific

jaku-jaku · 2022-07-07T19:30:22Z

When i run the sh file it brings the error: running build_ext building 'mujoco_py.cymj' extension
...
Can someone help?

Make sure to install MuJoCo 2.1.x (NOT 2.2.x as mentioned in #662).
I had the similar error before, and had to downgrade to 2.1.x in order to get it working.

natolambert · 2022-08-03T00:06:30Z

Thanks @geyang, this is still useful!

geyang · 2022-08-03T00:07:38Z

:)

…

On Tue, Aug 2, 2022 at 20:06 Nathan Lambert ***@***.***> wrote: Thanks @geyang <https://github.com/geyang>, this is still useful! — Reply to this email directly, view it on GitHub <#682 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAEZ5WVDRLOXQ7PJGFEH3NTVXGZZDANCNFSM5NUTVSSA> . You are receiving this because you were mentioned.Message ID: ***@***.***>

jaku-jaku · 2022-08-03T15:49:54Z

I believe mujoco-py only works with 2.1.x.

MuJoCo 2.2.x comes with m1 release support https://github.com/deepmind/mujoco/releases/tag/2.2.1
And MuJoCo 2.2.x comes with native Python bindings officially, so you may refer to migration instructions: https://mujoco.readthedocs.io/en/latest/python.html#migration-notes-for-mujoco-py

All you need to do is $pip install mujoco and use mujoco directly with arm architecture.

Someone made similar to mujocopy viewer with native MuJoCo 2.2.x: https://github.com/rohanpsingh/mujoco-python-viewer, which is a great starting point.
I have been doing refactoring and customization lately based on that repo: https://github.com/jaku-jaku/jx-mujoco-python-viewer along with work https://github.com/UW-Advanced-Robotics-Lab/uwarl-mujoco-summit-wam-sim

I also found dm_control has many features and well designed.

Personal Thoughts: (I maybe wrong), but I feel mujoco-py maybe less significant as MuJoCo releases newer versions with native viewer officially in python bindings. As for now, you may follow mujoco-python-viewer as starting point, and combine with native MuJoCo and dm_control.

natolambert · 2022-08-03T15:53:27Z

@jaku-jaku A lot of RL repositories still include mujoco_py as a dependency, so people are going to be dealing with this for years to come. Though I totally agree that it shouldn't really be the case. 🫠

Does pip install mujoco let you import mujoco_py. I should try this.

jaku-jaku · 2022-08-03T16:04:41Z

@natolambert

A lot of RL repositories still include mujoco_py as a dependency, so people are going to be dealing with this for years to come. Though I totally agree that it shouldn't really be the case.

Yeah, Based on my attempts with early installation with 2.2.x (starting in May) and mujoco-py, MuJoCo seems to have change some of the naming styles in 2.2.x. I am currently just getting into Mujoco, so I decided to skip the wrapper to reduce the dependency issue later on.

Does pip install mujoco let you import mujoco_py. I should try this.

Short answer, no. mujoco_py is just a wrap based on mujoco <2.1.x, and mujoco is a compiled C code for python to directly invoke Mujoco functions.
import mujoco , you can see how it works with https://github.com/jaku-jaku/jx-mujoco-python-viewer
I think the dm_control seems to be more actively maintained and has many control interfaces.

louieworth · 2022-08-15T12:20:41Z

When I followed this instruction and install Mujoco_py. There still comes with this error, and I think it comes to a new version of M1?

ImportError: dlopen(/opt/anaconda3/envs/jl/lib/python3.8/site-packages/mujoco_py/generated/cymj_2.1.2.14_38_macextensionbuilder_38.so, 0x0002): tried: '/opt/anaconda3/envs/jl/lib/python3.8/site-packages/mujoco_py/generated/cymj_2.1.2.14_38_macextensionbuilder_38.so' (mach-o file, but is an incompatible architecture (have (arm64), need (x86_64)))

Anyone, any suggestion?

wookayin · 2022-08-15T16:06:15Z

@louieworth your python binary is probably not arm64 one. Ensure you have installed arm64 version of anaconda3:

$ lipo -archs $(which python3)
arm64

leochen1234321 · 2022-08-22T09:37:55Z

perfect! i have worked on it for my whole day! and it works for me,thank you!!!

edouardfouche · 2022-10-27T01:59:46Z

Thank you @geyang ! It works on my M1 macbook with Python 3.9.
I did not have a /usr/local/lib folder so I had to create it (mkdir /usr/local/lib)
Make sure to adjust the path .../site-packages/mujoco_py if you are working in another environment than base.
I also had to remove rm -rf .../site-packages/mujoco_py-2.1.2.14.dist-info
Otherwise pip install mujoco-py thinks I already have mujoco_py

sachlatis · 2022-12-16T21:59:38Z

Thank you! It worked for me too.
Regarding this error:
distutils.errors.CompileError: command '/opt/homebrew/bin/gcc-11' failed with exit code 1
I had this error because I was using the version mujoco2.3.1. I solved this error by going back to version mujoco2.1.1.

DDDOH · 2023-04-10T10:57:37Z

Get error on M1 new macbook pro
distutils.errors.CompileError: command '/opt/homebrew/bin/gcc-11' failed: No such file or directory

I use export CC=/opt/homebrew/bin/gcc-12 instead and it worked for me. Check the version of gcc stored in the /opt/homebrew/bin folder.

kierad · 2023-07-13T18:49:59Z

On:
command '/opt/homebrew/bin/gcc-11' failed: No such file or directory
This is a sign that the brew install is running on emulation mode on the new Mac. You may want to upgrade to the arm64 (native) version of brew if you see this. See, e.g., this page.
After installing brew, make sure you install glfw again, and also gcc. This seemed to do the trick for me. (Probably, the best order of doing this is to first have the native brew install, and then miniforge etc.)

To expand on this: On my M1 Mac I had to uncheck Open using Rosetta for my terminal. Then check that uname -m outputs arm64. Then install homebrew (if successful, it should install to /opt/homebrew/, not /usr/local/). Then install https://formulae.brew.sh/formula/gcc@11, then try original walkthrough again.

grahamannett · 2023-08-14T23:10:16Z

anytime i have to create a new env for local dev of something that uses mujoco/gym/similar i run into slightly different issues somehow

DogWY · 2023-09-28T11:22:51Z

Thanks for your workaround! Your solution helped me solve the same problem I faced before.
But when I tried to solve the problem according to the solution you gave, I faced the following error while running to this code: pip install mujoco-py && python -c 'import mujoco_py'.

[1/1] Cythonizing /root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/cymj.pyx

Error compiling Cython file:
------------------------------------------------------------
...
    See c_warning_callback, which is the C wrapper to the user defined function
    '''
    global py_warning_callback
    global mju_user_warning
    py_warning_callback = warn
    mju_user_warning = c_warning_callback
                       ^
------------------------------------------------------------

/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/cymj.pyx:92:23: Cannot assign type 'void (const char *) except * nogil' to 'void (*)(const char *) noexcept nogil'

Error compiling Cython file:
------------------------------------------------------------
...
    See c_warning_callback, which is the C wrapper to the user defined function
    '''
    global py_error_callback
    global mju_user_error
    py_error_callback = err_callback
    mju_user_error = c_error_callback
                     ^
------------------------------------------------------------

/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/cymj.pyx:127:21: Cannot assign type 'void (const char *) except * nogil' to 'void (*)(const char *) noexcept nogil'
Traceback (most recent call last):
  File "main.py", line 8, in <module>
    import d4rl
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/d4rl/__init__.py", line 14, in <module>
    import d4rl.locomotion
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/d4rl/locomotion/__init__.py", line 2, in <module>
    from d4rl.locomotion import ant
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/d4rl/locomotion/ant.py", line 20, in <module>
    import mujoco_py
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/__init__.py", line 2, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/builder.py", line 504, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/builder.py", line 110, in load_cython_ext
    cext_so_path = builder.build()
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/builder.py", line 226, in build
    built_so_file_path = self._build_impl()
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/builder.py", line 278, in _build_impl
    so_file_path = super()._build_impl()
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/builder.py", line 239, in _build_impl
    dist.ext_modules = cythonize([self.extension])
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/Cython/Build/Dependencies.py", line 1134, in cythonize
    cythonize_one(*args)
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/Cython/Build/Dependencies.py", line 1301, in cythonize_one
    raise CompileError(None, pyx_file)
Cython.Compiler.Errors.CompileError: /root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/cymj.pyx

My laptop is Macbook Pro with M1Pro and the version of python is 3.8, and my solution is to change the version of Cython by this code: pip install Cython==3.0.0a10.

Hope my solution can help others.

promiseve · 2023-12-08T22:17:52Z

Get error on M1 new macbook pro distutils.errors.CompileError: command '/opt/homebrew/bin/gcc-11' failed: No such file or directory

Did anyone figure how to handle this error?

wookayin · 2023-12-08T22:54:13Z

Try ls /opt/homebrew/bin/gcc-* and update the path accordingly. Don't just blindly execute the script.

In 2023 homebrew will install gcc-13 not gcc-11

Or brew install specifically gcc@11.

joanvelja · 2024-01-24T19:01:42Z

Hi all,

I am having trouble installing MuJoCo 2.1.1, specifically over this:

Successfully installed mujoco-py-2.1.2.14
Compiling /Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/mujoco_py/cymj.pyx because it changed.
[1/1] Cythonizing /Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/mujoco_py/cymj.pyx
ld: warning: duplicate -rpath '/Users/joanvelja/miniconda3/envs/mujoco_env/lib' ignored
ld: library 'glfw.3' not found
collect2: error: ld returned 1 exit status
Traceback (most recent call last):
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/_distutils/unixccompiler.py", line 266, in link
    self.spawn(linker + ld_args)
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/_distutils/ccompiler.py", line 1041, in spawn
    spawn(cmd, dry_run=self.dry_run, **kwargs)
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/_distutils/spawn.py", line 70, in spawn
    raise DistutilsExecError(
distutils.errors.DistutilsExecError: command '/opt/homebrew/Cellar/gcc/13.2.0/bin/gcc-13' failed with exit code 1

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "<string>", line 1, in <module>
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/mujoco_py/__init__.py", line 2, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/mujoco_py/builder.py", line 504, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/mujoco_py/builder.py", line 110, in load_cython_ext
    cext_so_path = builder.build()
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/mujoco_py/builder.py", line 226, in build
    built_so_file_path = self._build_impl()
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/mujoco_py/builder.py", line 343, in _build_impl
    so_file_path = super()._build_impl()
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/mujoco_py/builder.py", line 249, in _build_impl
    dist.run_commands()
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 969, in run_commands
    self.run_command(cmd)
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/dist.py", line 989, in run_command
    super().run_command(command)
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
    cmd_obj.run()
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/Cython/Distutils/old_build_ext.py", line 186, in run
    _build_ext.build_ext.run(self)
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 345, in run
    self.build_extensions()
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/mujoco_py/builder.py", line 149, in build_extensions
    build_ext.build_extensions(self)
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/Cython/Distutils/old_build_ext.py", line 195, in build_extensions
    _build_ext.build_ext.build_extensions(self)
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 467, in build_extensions
    self._build_extensions_serial()
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 493, in _build_extensions_serial
    self.build_extension(ext)
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 572, in build_extension
    self.compiler.link_shared_object(
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/_distutils/ccompiler.py", line 752, in link_shared_object
    self.link(
  File "/Users/joanvelja/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/setuptools/_distutils/unixccompiler.py", line 268, in link
    raise LinkError(msg)
distutils.errors.LinkError: command '/opt/homebrew/Cellar/gcc/13.2.0/bin/gcc-13' failed with exit code 1

Where it says that ld: library 'glfw.3' not found. I did install glfw through brew though, and the symbolic link is being made.

Any clue on what I might be missing, @geyang @wookayin? I've been bumping my head on this the entire day.

Best

promiseve · 2024-01-25T22:11:04Z

Hey @joanvelja , have you been able to figure this out ? Perhaps we can try troubleshooting together?

Anri-Lombard · 2024-02-18T09:01:54Z

Thanks for your workaround! Your solution helped me solve the same problem I faced before. But when I tried to solve the problem according to the solution you gave, I faced the following error while running to this code: pip install mujoco-py && python -c 'import mujoco_py'.

[1/1] Cythonizing /root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/cymj.pyx

Error compiling Cython file:
------------------------------------------------------------
...
    See c_warning_callback, which is the C wrapper to the user defined function
    '''
    global py_warning_callback
    global mju_user_warning
    py_warning_callback = warn
    mju_user_warning = c_warning_callback
                       ^
------------------------------------------------------------

/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/cymj.pyx:92:23: Cannot assign type 'void (const char *) except * nogil' to 'void (*)(const char *) noexcept nogil'

Error compiling Cython file:
------------------------------------------------------------
...
    See c_warning_callback, which is the C wrapper to the user defined function
    '''
    global py_error_callback
    global mju_user_error
    py_error_callback = err_callback
    mju_user_error = c_error_callback
                     ^
------------------------------------------------------------

/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/cymj.pyx:127:21: Cannot assign type 'void (const char *) except * nogil' to 'void (*)(const char *) noexcept nogil'
Traceback (most recent call last):
  File "main.py", line 8, in <module>
    import d4rl
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/d4rl/__init__.py", line 14, in <module>
    import d4rl.locomotion
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/d4rl/locomotion/__init__.py", line 2, in <module>
    from d4rl.locomotion import ant
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/d4rl/locomotion/ant.py", line 20, in <module>
    import mujoco_py
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/__init__.py", line 2, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/builder.py", line 504, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/builder.py", line 110, in load_cython_ext
    cext_so_path = builder.build()
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/builder.py", line 226, in build
    built_so_file_path = self._build_impl()
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/builder.py", line 278, in _build_impl
    so_file_path = super()._build_impl()
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/builder.py", line 239, in _build_impl
    dist.ext_modules = cythonize([self.extension])
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/Cython/Build/Dependencies.py", line 1134, in cythonize
    cythonize_one(*args)
  File "/root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/Cython/Build/Dependencies.py", line 1301, in cythonize_one
    raise CompileError(None, pyx_file)
Cython.Compiler.Errors.CompileError: /root/anaconda3/envs/mujoco_env/lib/python3.8/site-packages/mujoco_py/cymj.pyx

My laptop is Macbook Pro with M1Pro and the version of python is 3.8, and my solution is to change the version of Cython by this code: pip install Cython==3.0.0a10.

Hope my solution can help others.

Legend!

JacopoD · 2024-03-20T16:55:58Z

Hey @joanvelja , have you been able to figure this out ? Perhaps we can try troubleshooting together?

Did you manage to fix?

Binjian · 2024-07-02T01:54:10Z

The fix still works till now on M3 MacOS Sonoma14.5. Here's the further patch
I use conda virtual enviroment with Python 3.10 (3.8 should also work).

pip install cffi=1.16.0
brew install gcc@11 

#actually installed Cython 0.29.37
pip install "Cython<3.0" 

#copy or make a softlink
cp -r /Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.framework /Path/to/Conda/Env/lib/

KisaraBlue · 2024-10-14T21:14:05Z

For me (M2 Sonoma) the script finally worked after these steps:

using brew in /opt/homebrew to install gcc@11 and glfw
using miniforge3 and python 3.8.20
installing cffi and cython with pip install cffi==1.14 and pip install Cython==3.0.0a10
following the instructions from @geyang

pranay8297 · 2025-01-06T05:16:12Z

For me (M2 Sonoma) the script finally worked after these steps:

using brew in /opt/homebrew to install gcc@11 and glfw

using miniforge3 and python 3.8.20

installing cffi and cython with pip install cffi==1.14 and pip install Cython==3.0.0a10

following the instructions from @geyang

I followed it and still it did not work for me

It was throwing this error fatal error: mjmodel.h: No such file or directory

To solve this error, you have to download source code zip file from mujoco-2.1.1 release and copy the include folder and paste it $HOME/.mujoco/mujoco210

and then run python -c 'import mujoco_py'

This worked for me

qiuruiyu mentioned this issue Nov 8, 2023

installation error on m1 mac Sonoma #780

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