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mujoco_py Does not Recognize GCC@10
Describe the bug As titled. For Mac with M1 chips, it is impossible to use older versions of GCC, as described in https://formulae.brew.sh/formula/gcc@6. What are the possible workarounds? Thanks.
To Reproduce Install mujoco-py with GCC@10, and you will see the error.
Expected behavior How to make mujoco-py recognize GCC@10
Error Messages
RuntimeError: Could not find GCC executable.
Desktop (please complete the following information):
- OS: MacOS with M1 chip.
- Python Version [e.g. 3.7]
- MuJoCo version: default latest version for MacOS on MuJoCo's official website
- mujoco-py version [e.g. 2.0.2.8]
I'm also getting a similar issue trying to run some code that uses mujoco-py on apple m1. When I try running I get the following error
distutils.errors.CompileError: command '/usr/local/bin/gcc-8' failed with exit status 1
Macbook air m1 2021 (after installing gcc with brew install gcc):
RuntimeError: Could not find GCC executable.
HINT: On OS X, install GCC with `brew install gcc`. or `port install gcc`.
----------------------------------------
ERROR: Failed building wheel for mujoco-py
The gcc paths are hardcoded in the builder script, unfortunately. Do the authors even care future compatibility? The script supports up to gcc 9. However, unfortunately, gcc@9 cannot be installed on arm64 machines.
A dirty, hacky workaround is to create as a symbolic link as follows:
ln -sf /opt/homebrew/bin/gcc-11 /usr/local/bin/gcc-9
Yes, I know this is totally a nonsense but with this gcc can be detected. Or alternatively, you could set an environment variable like export CC=/opt/homebrew/bin/gcc-11 and then do pip install.
However, I failed to successfully the extension due to the architecture difference, running into the following error:
.../mujoco_py/generated/cymj_2.0.2.13_39_macextensionbuilder_39.so, 2): no suitable image found. Did find:
/private/var/folders/yj/.../T/pip-install-as50_4qo/mujoco-py_e1a..../mujoco_py/generated/cymj_2.0.2.13_39_macextensionbuilder_39.so: mach-o, but wrong architecture
Dear OpenAI, please maintain the package!
I tried a couple of things. In short, I don't think one can run mujoco on a M1 arm_64 machine.
First, the mujoco on macos is released with x86_64 binary, so we have to use x86_64 for python and cython extensions. In order to do so:
Install gcc using "x86_64" homebrew: This can be typically done via /usr/local/bin/brew install gcc@9. Note that this should be a different homebrew installation than arm64 brew (/opt/homebrew/bin/...) You will see gcc is installed at /usr/local/bin/gcc-9.
Make sure that you are using x86_64 python. You can verify this with the command lipo -archs $(which python)
Export CC=/usr/local/bin/gcc-9 to force compiler detection to x86_64-compatible gcc before installing mujoco-py. The resulting shared module mujoco_py/generated/cymj_2.0.2.13_38_macextensionbuilder_38.so will be a x86_64 binary rather than arm64.
However, the mujoco binary itself uses a x86_64 specific hardware instructions (AVX2) which cannot be emulated using rosetta2. So my conclusion is that until mujoco officially supports M1, there is no chance one could run mujoco-py (and raw mujoco itself) on arm64 mac.
[1] 42661 illegal hardware instruction python setup.py build
I soloved the gcc problem on Macbook pro with m1 chip. here are the steps I did:
-
enter the downloaded mujoco folder from github, hand install mujoco.py by running 'python setup.py install' in terminal
-
found the builder.py in your env package folder, the path in my device is ‘/Users/xx/miniforge3/envs/dl/lib/python3.9/site-packages/
-
in line 321 of builder.py, add your gcc-11 filepath to the ‘_build_impl' function as follows:
c_compilers = [ '/usr/local/bin/gcc-9', '/usr/local/bin/gcc-8', '/usr/local/bin/gcc-7', '/usr/local/bin/gcc-6', '/opt/local/bin/gcc-mp-9', '/opt/local/bin/gcc-mp-8', '/opt/local/bin/gcc-mp-7', '/opt/local/bin/gcc-mp-6', '/opt/homebrew/Cellar/gcc/11.1.0_1/bin/gcc-11' ] -
if you could not find your gcc-11 path, try 'brew reinstall gcc', it will tell you where the gcc was installed.
However, after doing this, i still got a import error:
ImportError: dlopen(/Users/cq/miniforge3/envs/dl/lib/python3.9/site-packages/mujoco_py-2.0.2.13-py3.9.egg/mujoco_py/generated/cymj_2.0.2.13_39_macextensionbuilder_39.so, 2): Symbol not found: _mjcb_act_bias Referenced from: /Users/cq/miniforge3/envs/dl/lib/python3.9/site-packages/mujoco_py-2.0.2.13-py3.9.egg/mujoco_py/generated/cymj_2.0.2.13_39_macextensionbuilder_39.so Expected in: flat namespace in /Users/cq/miniforge3/envs/dl/lib/python3.9/site-packages/mujoco_py-2.0.2.13-py3.9.egg/mujoco_py/generated/cymj_2.0.2.13_39_macextensionbuilder_39.so
hope these information helps.
I soloved the gcc problem on Macbook pro with m1 chip. here are the steps I did:
- enter the downloaded mujoco folder from github, hand install mujoco.py by running 'python setup.py install' in terminal
- found the builder.py in your env package folder, the path in my device is ‘/Users/xx/miniforge3/envs/dl/lib/python3.9/site-packages/
- in line 321 of builder.py, add your gcc-11 filepath to the ‘_build_impl' function as follows:
c_compilers = [ '/usr/local/bin/gcc-9', '/usr/local/bin/gcc-8', '/usr/local/bin/gcc-7', '/usr/local/bin/gcc-6', '/opt/local/bin/gcc-mp-9', '/opt/local/bin/gcc-mp-8', '/opt/local/bin/gcc-mp-7', '/opt/local/bin/gcc-mp-6', '/opt/homebrew/Cellar/gcc/11.1.0_1/bin/gcc-11' ]- if you could not find your gcc-11 path, try 'brew reinstall gcc', it will tell you where the gcc was installed.
However, after doing this, i still got a import error:
ImportError: dlopen(/Users/cq/miniforge3/envs/dl/lib/python3.9/site-packages/mujoco_py-2.0.2.13-py3.9.egg/mujoco_py/generated/cymj_2.0.2.13_39_macextensionbuilder_39.so, 2): Symbol not found: _mjcb_act_bias Referenced from: /Users/cq/miniforge3/envs/dl/lib/python3.9/site-packages/mujoco_py-2.0.2.13-py3.9.egg/mujoco_py/generated/cymj_2.0.2.13_39_macextensionbuilder_39.so Expected in: flat namespace in /Users/cq/miniforge3/envs/dl/lib/python3.9/site-packages/mujoco_py-2.0.2.13-py3.9.egg/mujoco_py/generated/cymj_2.0.2.13_39_macextensionbuilder_39.so
hope these information helps.
Same here.
ld: warning: ignoring file /Users/soowonkim/.mujoco/mujoco200/bin/libmujoco200.dylib, building for macOS-arm64 but attempting to link with file built for macOS-x86_64
ld: warning: ignoring file /Users/soowonkim/.mujoco/mujoco200/bin/libglfw.3.dylib, building for macOS-arm64 but attempting to link with file built for macOS-x86_64
Traceback (most recent call last):
File "
@ConnerQiu As I mentioned, even though you succeeded installing the mujoco-py, you cannot run mujoco on M1 because mujoco binary does not support M1/arm64 architecture.
@ConnerQiu As I mentioned, even though you succeeded installing the mujoco-py, you cannot run mujoco on M1 because mujoco binary does not support M1/arm64 architecture.
Yes, I agree. we could only wait a newly released arm64 version.
The project (mujoco-py) is abandoned and no longer maintained. Your best bet is to use the workaround I posted or move to the mujoco python binding https://github.com/google-deepmind/mujoco/ ASAP.