mjpython on MacOS does not support other 3rd party packages

[Fima2003]

Intro

Hi!

I am an undergrad student at Technion, I use MuJoCo for my research on Robotic arms.

My setup

I am using MuJoCo on python on Mac(M-series chip) with Sequoia 15.3.2, and I cannot import not pre-built packages when running with mjpython

What's happening? What did you expect?

Well, I expected it to run, but it does not

Steps for reproduction

1. Load the package below. pip3 install mink
2. Run the code below.(with mjpython setup.py)

import mujoco
import mink
import numpy as np


def setup():
    XML_PATH = "ur5e_scene.xml"
    model = mujoco.MjModel.from_xml_path(XML_PATH)
    data = mujoco.MjData(model)

    key_name = "home"
    key_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_KEY, key_name)
    if key_id >= 0:
        data.qpos[:] = model.key_qpos[key_id].copy()
        data.ctrl[:] = model.key_ctrl[key_id].copy()

    # Make sure the state is updated:
    mujoco.mj_forward(model, data)

    return model, data

if __name__ == "__main__":
    setup()

3. See the error

Traceback (most recent call last):
  File "/universal_robots_ur5e/setup.py", line 2, in <module>
    import mink
ModuleNotFoundError: No module named 'mink'

Minimal model for reproduction

The model is not that relevant, to be honest, but for argument's sake, you can use the default one:

minimal XML

<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom type="sphere" size="1" rgba="1 0 0 1"/>
  </worldbody>
</mujoco>

Code required for reproduction

import mujoco
import mink
import numpy as np


def setup():
    XML_PATH = "ur5e_scene.xml"
    model = mujoco.MjModel.from_xml_path(XML_PATH)
    data = mujoco.MjData(model)

    key_name = "home"
    key_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_KEY, key_name)
    if key_id >= 0:
        data.qpos[:] = model.key_qpos[key_id].copy()
        data.ctrl[:] = model.key_ctrl[key_id].copy()

    # Make sure the state is updated:
    mujoco.mj_forward(model, data)

    return model, data

if __name__ == "__main__":
    setup()

Confirmations

• [x] I searched the latest documentation thoroughly before posting.
• [x] I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

Did you ask on the mink repo?

cc @kevinzakka

[Fima2003]

@yuvaltassa this is not mink related issue as the rest of the 3rd party packages are also not loading. Should have mentioned that in the issue

[saran-t]

Sorry about the lack of response, we're now going through all the open issues to try to catch up. If you're still around, could you please describe your Python installation?

[yunho-c]

This may be because mjpython is pointing to a Python that does not have mink installed (i.e., not the same one that pip is pointing to).

[Fima2003]

thanks, I have figured this issue out