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Macbook M1 安装 mujoco 和 mujoco-py
环境：
Macbook M1 pro
Mac OS 13.2 (22D49)
安装 homebrew
安装Mac OS最为著名的包管理器 homebrew：
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
安装 miniforge
miniforge是一个基于Conda的Python发行版，重要的是它支持ARM架构。
- 下载 Miniforge3: https://github.com/conda-forge/miniforge
- 安装
bash Miniforge3-MacOSX-arm64.sh
source ~/.zshrc
* 切换anaconda和miniforge
对于安装了两个环境用户的切换方法
# 切换miniforge：
/Users/kylinchan/miniforge3/bin/conda init zsh
# 切换anaconda：
/opt/anaconda3/bin/conda init zsh
/opt/anaconda3/bin/conda init bash
安装 gcc@11
- 查看已经安装的gcc的版本
ls /opt/homebrew/bin/gcc*
- 安装 Apple Command Line Tools
xcode-select --install
- 安装 gcc11
brew install gcc@11
安装mujoco
安装有gui的版本 (mujoco-2.1.1-macos-universal2.dmg): https://github.com/deepmind/mujoco/releases/tag/2.1.1
安装mujoco-py
- 查看当前python环境是否在arm64下
$ which python3
/Users/$ID/.miniforge3/bin/python3
$ lipo -archs $(which python3)
arm64
- 安装
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'
