[RL] M1 Mac Mujoco_py 설치 (gcc@9 error)

 

https://github.com/deepmind/mujoco/releases 

Releases · deepmind/mujoco

 

Mujoco_py pip 설치 전 수행 작업 

https://github.com/openai/mujoco-py/issues/662 

Support MuJoCo 2.1.1 (including arm64 mac support) · Issue #662 · openai/mujoco-py

1. [2.1.1] (https://github.com/deepmind/mujoco/releases/tag/2.1.1) 파일 설치

1) mac 전용 [mujoco-2.1.1-macos-universal2.dmg] 파일 설치

2) dmg 설치 후 Mujoco 파일 Application으로 이동

 

2. 2.1.* 버전 이하에서는 .mujoco를 읽어 python에서 작동 같은 방식으로 ln -sf로 연결

mkdir -p $HOME/.mujoco/mujoco210         # Remove existing installation if any
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.*.dylib $HOME/.mujoco/mujoco210/bin/libmujoco210.dylib
ln -sf /Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.framework/Versions/Current/libmujoco.2.*.dylib /usr/local/lib/

# For M1 (arm64) mac users:
# The released binary doesn't ship glfw3, so need to install on your own
brew install glfw
ln -sf /opt/homebrew/lib/libglfw.3.dylib $HOME/.mujoco/mujoco210/bin

# Please make sure /opt/homebrew/bin/gcc-11  exists: install gcc if you haven't already
# brew install gcc
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'

* gcc-9 2.1이상의 버전에서는 대부분 gcc-9 사용으로 m1 mac에서 사용이 어렵다

* 중간에 permission 에러가 나오면 sudo 권한을 주고 command를 입력하면 된다.

 

import mujoco_py
import gymnasium as gym
import os

mj_path = mujoco_py.utils.discover_mujoco() # path 확인

env = gym.make('Humanoid-v2', render_mode='rgb_array')

env.reset()

import matplotlib.pyplot as plt

plt.imshow(env.render())
plt.show()