Compiling in Mac with Mujoco

[cbfinn]

Compiling in Mac with Mujoco

[eaa3]

There appears to be a problem with line 64 in the file /usr/local/Cellar/cmake/3.5.2/share/cmake/Modules/FindPythonLibs.cmake.
I have temporarily commented this line in order to build gps on OSX Mavericks. After that, it generates fine with cmake 3.5.1. My guess is that there was a change in the behaviour of the function get_filename_component on more recent versions of cmake that made the statement in line 64 syntactically incorrect.

Editing to mention that cmake 3.5.1 presented similar issue

[jangirrishabh]

@mjm522 @cbfinn I found an easier solution, just comment out Line number 14 in gps/src/3rdparty/Boost.NumPy/CMakeLists.txt
Where it is trying to look for PythonLibs 2.7 REQUIRED, because the requirement is already satisfied and thus conflicting with 3rdparty/CMakeLists.txt

I am in a Anaconda virtual environment on a Linux GPU machine, so my guess is that there was a conflict between the root python libs and the conda python libs

[cbfinn]

I would recommend trying to upgrade your cmake version. (e.g. found this on
a quick google search: openMVG/openMVG#348)

Chelesa

On Fri, Jun 10, 2016 at 7:56 PM, mjm522 [email protected] wrote:

I was successfully able to run ./compile_proto.sh, It did created all
necessary directories.

After to install the integration with MuJoCo, I tried the following and
gets following log for cmake and make -j.

$ cmake ../src/3rdparty
-- The C compiler identification is AppleClang 7.3.0.7030031
-- The CXX compiler identification is AppleClang 7.3.0.7030031
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Setting build type to 'Release' as none was specified.
-- Boost version: 1.60.0
-- Found the following Boost libraries:
-- python
-- Found PythonLibs: /usr/lib/libpython2.7.dylib (found suitable version "2.7.10", minimum required is "2.7")
CMake Error at /usr/local/Cellar/cmake/3.5.2/share/cmake/Modules/FindPythonLibs.cmake:64 (get_filename_component):
get_filename_component called with incorrect number of arguments
Call Stack (most recent call first):
Boost.NumPy/CMakeLists.txt:14 (find_package)

-- Found PythonInterp: python (found version "2.7.11")
-- Found NumPy: version "1.11.0" /usr/local/lib/python2.7/site-packages/numpy/core/include
-- Boost version: 1.60.0
-- Found the following Boost libraries:
-- python
-- found boost:
INCLUDE: /usr/local/include
LIB: /usr/local/lib/libboost_python-mt.dylib
osg includes:
-- Configuring incomplete, errors occurred!
See also "/Users/michaelmathew/gps/build/CMakeFiles/CMakeOutput.log".
Michaels-MacBook-Pro:build michaelmathew$ make -j
make: *** No targets specified and no makefile found. Stop.

Is there anything else that needs to done while installing on mac? I am
using OSX El Capitan

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[mjm522]

I am already using Cmake 3.5.2..

[cbfinn]

@zhangmarvin , @svlevine Do you know who has experience compiling mujoco on mac?

[svlevine]

Compiling MuJoCo, or compiling mjcpy? MuJoCo is closed source, so we do not compile it. I believe there are mac binaries (you can check on the Roboti website), and then we have to figure out how to compile mjcpy for Mac, which I think shouldn't be too hard.

The error above is

CMake Error at /usr/local/Cellar/cmake/3.5.2/share/cmake/Modules/FindPythonLibs.cmake:64 (get_filename_component):
get_filename_component called with incorrect number of arguments

It doesn't look like this has anything to do with us. Probably a mismatch between the cmake version and the FindPythonLibs.cmake module.

[mjm522]

I solved this issue by downgrading to Cmake 3.3.2 and then rebuilding.
However now I have a new error.
when I try to run the example
python python/gps/gps_main.py mjc_example
It says: No module named mjcpy

[cbfinn]

That error usually means that your python path isn't set up properly. Make sure that mjcpy is on your python path and ld library path, as explained in the set-up instructions.

Also, .bashrc files aren't always executed on start-up for macs, so you may want to source it in your .bash_profile.

[mjm522]

I have edited the .bash_profile. and it does give out the path on echoing.
I have doubt:

The setup says to add

export DLD_LIBRARY_PATH=$DLD_LIBRARY_PATH:/path/to/gps/build/lib
export PYTHONPATH=$PYTHONPATH:/path/to/gps/build/lib

The make -jhas produced only one file in the above path. libboost_numpy.dylib
There are no files by the name mjcpy in the above path or is it within the above library?.
How many files do the make -j generate? I didn't get a single error while doing cmake or make!!!

With the above path given a python terminal also fails to find the file mjcpy.

Can you please suggest what might have went wrong other than the path problem.?

I have another doubt(suggestion) as well. The Cmakelist.txt inside /gps_path/src/mjcpy2/ the final line is

target_link_libraries(mjcpy "${CMAKE_SOURCE_DIR}/mjpro/libmujoco.so" ${OSG_LIBRARIES} boost_numpy)

But .so is a runtime library for linux. In mac it should be a .dylib file. So I edited the above line to be

target_link_libraries(mjcpy "${CMAKE_SOURCE_DIR}/mjpro131/bin/libmujoco131.dylib" ${OSG_LIBRARIES} boost_numpy)
So I guess your Cmake file should be added with the above line; though you have an if-endif instruction for detecting Apple inside Cmakelist.txt, you have only specified a single type of dynamic library integration which may not work in mac.

[mjm522]

I saw there were some changes . I too edited the files as mentioned in the post. And finally I successfully compiled mjcpy.so!!!

That led to the new error in python terminal:

>>> import mjcpy
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
ImportError: dlopen(/Users/michaelmathew/gps/build/lib/mjcpy.so, 2): Library not loaded: @executable_path/libmujoco131.dylib
  Referenced from: /Users/michaelmathew/gps/build/lib/mjcpy.so
  Reason: image not found

I solved it by providing a sym link to the folder to /usr/lib

But now error is not there, but the moment I import, python terminal quits with following error.

"Python quit unexpectedly" with Segmentation fault: 11

Could you please suggest anything.. if it rings a bell? I almost did it.. but.... -_-

Note: Google search shows that this error is persistent with OSx python. But In all these years, I have never faced it with any of my python codes.

[mjm522]

Could you please tell me on which version of python you got it working?

[cbfinn]

We assume python 2.7, as mentioned on the docs:
http://rll.berkeley.edu/gps/

[mjm522]

I finally compiled everything and it works fine now.

Here are a set of instructions to follow to install gps on Mac. It is tested on OSX El-Capitan and OSX Maverics :)

[cbfinn]

Great, thanks!

[cbfinn]

Can you make a pull request that adds a link to your instructions to the gps docs?

[mjm522]

I put them up as a text file.
and Submitted :)

[cbfinn]

I don't see the pull request...

[mjm522]

Could you please check now?

[robotsorcerer]

Did you guys merge the pull request? I spent a number of hours trying to get this fixed.