Fail to "pip install mujoco" on M2 chip MacOS

[Proguranto]

Intro

Hi!

I am an undergrad at UW, I want to use MuJoCo for my research on RL.

My setup

Chip: Apple M2
macOS: Sequoia 15.0.1
Python version: 3.13.0
Virtaul env: Anaconda (miniforge3)

My question

When I try running pip install mujoco, I run into the following error:

`(mujoco) ➜ ~ pip install mujoco
Collecting mujoco
Using cached mujoco-3.2.4.tar.gz (716 kB)
Installing build dependencies ... done
Getting requirements to build wheel ... done
Preparing metadata (pyproject.toml) ... done
Collecting absl-py (from mujoco)
Using cached absl_py-2.1.0-py3-none-any.whl.metadata (2.3 kB)
Collecting etils[epath] (from mujoco)
Using cached etils-1.10.0-py3-none-any.whl.metadata (6.5 kB)
Requirement already satisfied: glfw in ./mambaforge/envs/mujoco/lib/python3.13/site-packages (from mujoco) (2.7.0)
Requirement already satisfied: numpy in ./mambaforge/envs/mujoco/lib/python3.13/site-packages (from mujoco) (2.1.3)
Collecting pyopengl (from mujoco)
Using cached PyOpenGL-3.1.7-py3-none-any.whl.metadata (3.2 kB)
Collecting fsspec (from etils[epath]->mujoco)
Using cached fsspec-2024.10.0-py3-none-any.whl.metadata (11 kB)
Collecting importlib_resources (from etils[epath]->mujoco)
Using cached importlib_resources-6.4.5-py3-none-any.whl.metadata (4.0 kB)
Collecting typing_extensions (from etils[epath]->mujoco)
Using cached typing_extensions-4.12.2-py3-none-any.whl.metadata (3.0 kB)
Collecting zipp (from etils[epath]->mujoco)
Using cached zipp-3.20.2-py3-none-any.whl.metadata (3.7 kB)
Using cached absl_py-2.1.0-py3-none-any.whl (133 kB)
Using cached PyOpenGL-3.1.7-py3-none-any.whl (2.4 MB)
Using cached etils-1.10.0-py3-none-any.whl (164 kB)
Using cached fsspec-2024.10.0-py3-none-any.whl (179 kB)
Using cached importlib_resources-6.4.5-py3-none-any.whl (36 kB)
Using cached typing_extensions-4.12.2-py3-none-any.whl (37 kB)
Using cached zipp-3.20.2-py3-none-any.whl (9.2 kB)
Building wheels for collected packages: mujoco
Building wheel for mujoco (pyproject.toml) ... error
error: subprocess-exited-with-error

× Building wheel for mujoco (pyproject.toml) did not run successfully.
│ exit code: 1
╰─> [119 lines of output]
running bdist_wheel
running build
running build_py
creating build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/viewer.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/renderer.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/renderer_test.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/specs_test.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/init.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/minimize.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/msh2obj_test.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/minimize_test.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/msh2obj.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/rollout.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/rollout_test.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/bindings_test.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/viewer_test.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/render_test.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/memory_leak_test.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
copying mujoco/gl_context.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco
creating build/lib.macosx-11.0-arm64-cpython-313/mujoco/cgl
copying mujoco/cgl/cgl.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/cgl
copying mujoco/cgl/init.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/cgl
creating build/lib.macosx-11.0-arm64-cpython-313/mujoco/egl
copying mujoco/egl/init.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/egl
copying mujoco/egl/egl_ext.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/egl
creating build/lib.macosx-11.0-arm64-cpython-313/mujoco/osmesa
copying mujoco/osmesa/init.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/osmesa
creating build/lib.macosx-11.0-arm64-cpython-313/mujoco/usd
copying mujoco/usd/exporter_test.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/usd
copying mujoco/usd/shapes.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/usd
copying mujoco/usd/exporter.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/usd
copying mujoco/usd/camera.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/usd
copying mujoco/usd/utils.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/usd
copying mujoco/usd/objects.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/usd
copying mujoco/usd/demo.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/usd
copying mujoco/usd/lights.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/usd
creating build/lib.macosx-11.0-arm64-cpython-313/mujoco/glfw
copying mujoco/glfw/init.py -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/glfw
creating build/lib.macosx-11.0-arm64-cpython-313/mujoco/testdata
copying mujoco/testdata/msh.xml -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/testdata
copying mujoco/testdata/abdomen_1_body.msh -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/testdata
copying mujoco/testdata/usd_golden.usda -> build/lib.macosx-11.0-arm64-cpython-313/mujoco/testdata
running build_ext
Traceback (most recent call last):
File "/Users/guranto/mambaforge/envs/mujoco/lib/python3.13/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 353, in
main()
~~~~^^
File "/Users/guranto/mambaforge/envs/mujoco/lib/python3.13/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 335, in main
json_out['return_val'] = hook(**hook_input['kwargs'])
~~~~^^^^^^^^^^^^^^^^^^^^^^^^
File "/Users/guranto/mambaforge/envs/mujoco/lib/python3.13/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 251, in build_wheel
return _build_backend().build_wheel(wheel_directory, config_settings,
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
metadata_directory)
^^^^^^^^^^^^^^^^^^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/build_meta.py", line 437, in build_wheel
return _build(['bdist_wheel', '--dist-info-dir', str(metadata_directory)])
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/build_meta.py", line 425, in _build
return self._build_with_temp_dir(
~~~~~~~~~~~~~~~~~~~~~~~~~^
cmd,
^^^^
...<3 lines>...
self._arbitrary_args(config_settings),
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/build_meta.py", line 406, in _build_with_temp_dir
self.run_setup()
~~~~~~~~~~~~~~^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/build_meta.py", line 319, in run_setup
exec(code, locals())
~~~~^^^^^^^^^^^^^^^^
File "", line 334, in
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/init.py", line 117, in setup
return distutils.core.setup(**attrs)
~~~~~~~~~~~~~~~~~~~~^^^^^^^^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/_distutils/core.py", line 183, in setup
return run_commands(dist)
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/_distutils/core.py", line 199, in run_commands
dist.run_commands()
~~~~~~~~~~~~~~~~~^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/_distutils/dist.py", line 954, in run_commands
self.run_command(cmd)
~~~~~~~~~~~~~~~~^^^^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/dist.py", line 999, in run_command
super().run_command(command)
~~~~~~~~~~~~~~~~~~~^^^^^^^^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/_distutils/dist.py", line 973, in run_command
cmd_obj.run()
~~~~~~~~~~~^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/command/bdist_wheel.py", line 410, in run
self.run_command("build")
~~~~~~~~~~~~~~~~^^^^^^^^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/_distutils/cmd.py", line 316, in run_command
self.distribution.run_command(command)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/dist.py", line 999, in run_command
super().run_command(command)
~~~~~~~~~~~~~~~~~~~^^^^^^^^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/_distutils/dist.py", line 973, in run_command
cmd_obj.run()
~~~~~~~~~~~^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/_distutils/command/build.py", line 135, in run
self.run_command(cmd_name)
~~~~~~~~~~~~~~~~^^^^^^^^^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/_distutils/cmd.py", line 316, in run_command
self.distribution.run_command(command)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/dist.py", line 999, in run_command
super().run_command(command)
~~~~~~~~~~~~~~~~~~~^^^^^^^^^
File "/private/var/folders/tx/w3tply3d5zs49_95lkdk9kgc0000gp/T/pip-build-env-aqb89ix0/overlay/lib/python3.13/site-packages/setuptools/_distutils/dist.py", line 973, in run_command
cmd_obj.run()
~~~~~~~~~~~^^
File "", line 152, in run
File "", line 166, in _find_mujoco
RuntimeError: MUJOCO_PATH environment variable is not set
[end of output]

note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed building wheel for mujoco
Failed to build mujoco
ERROR: ERROR: Failed to build installable wheels for some pyproject.toml based projects (mujoco)`

When looking through previous issues #1128 and #1079, I have verified that I am using the correct conda installation for my architecture and installing MuJoCo from PyPI with pip install mujoco.

Minimal model and/or code that explain my question

No response

Confirmations

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

[Proguranto]

After downgrading to python=3.12.7, the installation works fine! Sorry, I did not realize Python 3.13 was not supported at this time.