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When importing mujoco_py according to this documentation, the cymj extension build fails with a clang-10 error (see below). This error also occurs when I do brew uninstall gcc && brew install gcc@x (while x being 6,8,9). Also executing this command didn't help: conda install -c conda-forge openmp. Pip and brew have been updated / upgraded to the newest version before running these commands. The gcc-9 compiler line (along those for versions 7 and 8) in the mujoco builder.py is active. Applying the sdk folder copy & rename trick from this issue did not help either.

Here is the full stdout/stderr:

$ python3
Python 3.7.7 (default, May  6 2020, 04:59:01)
[Clang 4.0.1 (tags/RELEASE_401/final)] :: Anaconda, Inc. on darwin
Type "help", "copyright", "credits" or "license" for more information.
>>> import mujoco_py
Import error. Trying to rebuild mujoco_py.
running build_ext
building 'mujoco_py.cymj' extension
/usr/local/opt/llvm/bin/clang -Wno-unused-result -Wsign-compare -Wunreachable-code -DNDEBUG -g -fwrapv -O3 -Wall -I/Users/fabioferreira/miniconda3/envs/gtn/include -arch x86_64 -I/Users/fabioferreira/miniconda3/envs/gtn/include -arch x86_64 -I/usr/local/opt/llvm/include -DONMAC -I/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py -I/Users/fabioferreira/.mujoco/mujoco200/include -I/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/numpy/core/include -I/Users/fabioferreira/miniconda3/envs/gtn/include/python3.7m -c /Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/cymj.c -o /Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/generated/_pyxbld_2.0.2.10_37_macextensionbuilder/temp.macosx-10.9-x86_64-3.7/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/cymj.o -fopenmp -w
/usr/local/opt/llvm/bin/clang -Wno-unused-result -Wsign-compare -Wunreachable-code -DNDEBUG -g -fwrapv -O3 -Wall -I/Users/fabioferreira/miniconda3/envs/gtn/include -arch x86_64 -I/Users/fabioferreira/miniconda3/envs/gtn/include -arch x86_64 -I/usr/local/opt/llvm/include -DONMAC -I/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py -I/Users/fabioferreira/.mujoco/mujoco200/include -I/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/numpy/core/include -I/Users/fabioferreira/miniconda3/envs/gtn/include/python3.7m -c /Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/gl/dummyshim.c -o /Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/generated/_pyxbld_2.0.2.10_37_macextensionbuilder/temp.macosx-10.9-x86_64-3.7/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/gl/dummyshim.o -fopenmp -w
/usr/local/opt/llvm/bin/clang -bundle -undefined dynamic_lookup -L/Users/fabioferreira/miniconda3/envs/gtn/lib -arch x86_64 -L/Users/fabioferreira/miniconda3/envs/gtn/lib -arch x86_64 -L/usr/local/opt/llvm/lib -I/usr/local/opt/llvm/include -arch x86_64 /Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/generated/_pyxbld_2.0.2.10_37_macextensionbuilder/temp.macosx-10.9-x86_64-3.7/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/cymj.o /Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/generated/_pyxbld_2.0.2.10_37_macextensionbuilder/temp.macosx-10.9-x86_64-3.7/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/gl/dummyshim.o -L/Users/fabioferreira/.mujoco/mujoco200/bin -L/Users/fabioferreira/.mujoco/mujoco200/bin -lmujoco200 -lglfw.3 -o /Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/generated/_pyxbld_2.0.2.10_37_macextensionbuilder/lib.macosx-10.9-x86_64-3.7/mujoco_py/cymj.cpython-37m-darwin.so -fopenmp
ld: unknown option: -platform_version <------------------------------ error
clang-10: error: linker command failed with exit code 1 (use -v to see invocation) <-------------- error
Traceback (most recent call last):
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/unixccompiler.py", line 205, in link
    self.spawn(linker + ld_args)
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/ccompiler.py", line 910, in spawn
    spawn(cmd, dry_run=self.dry_run)
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/spawn.py", line 36, in spawn
    _spawn_posix(cmd, search_path, dry_run=dry_run)
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/spawn.py", line 159, in _spawn_posix
    % (cmd, exit_status))
distutils.errors.DistutilsExecError: command '/usr/local/opt/llvm/bin/clang' failed with exit status 1

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/builder.py", line 105, in load_cython_ext
    cext_so_path = builder.build()
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/builder.py", line 221, in build
    built_so_file_path = self._build_impl()
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/builder.py", line 338, in _build_impl
    so_file_path = super()._build_impl()
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/builder.py", line 244, in _build_impl
    dist.run_commands()
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/dist.py", line 966, in run_commands
    self.run_command(cmd)
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/dist.py", line 985, in run_command
    cmd_obj.run()
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/Cython/Distutils/old_build_ext.py", line 186, in run
    _build_ext.build_ext.run(self)
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/command/build_ext.py", line 340, in run
    self.build_extensions()
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/mujoco_py/builder.py", line 144, in build_extensions
    build_ext.build_extensions(self)
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/site-packages/Cython/Distutils/old_build_ext.py", line 195, in build_extensions
    _build_ext.build_ext.build_extensions(self)
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/command/build_ext.py", line 449, in build_extensions
    self._build_extensions_serial()
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/command/build_ext.py", line 474, in _build_extensions_serial
    self.build_extension(ext)
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/command/build_ext.py", line 559, in build_extension
    target_lang=language)
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/ccompiler.py", line 717, in link_shared_object
    extra_preargs, extra_postargs, build_temp, target_lang)
  File "/Users/fabioferreira/miniconda3/envs/gtn/lib/python3.7/distutils/unixccompiler.py", line 207, in link
    raise LinkError(msg)
distutils.errors.LinkError: command '/usr/local/opt/llvm/bin/clang' failed with exit status 1

Versions:

  • OS: [e.g. macOS 10.13.6] macOS 10.15.5
  • Python Version [e.g. 3.6.6] Python 3.7.7
  • Mujoco Version [e.g. 1.50] 2.0.0
  • mujoco-py version [e.g. 1.50.1.59] 2.0.2.10

Additional context

$ brew info llvm
llvm: stable 10.0.0 (bottled), HEAD [keg-only]
Next-gen compiler infrastructure
https://llvm.org/
/usr/local/Cellar/llvm/10.0.0_3 (7,055 files, 1GB)
  Poured from bottle on 2020-07-03 at 19:38:12
From: https://github.com/Homebrew/homebrew-core/blob/HEAD/Formula/llvm.rb
==> Dependencies
Build: cmake ✔, python@3.8 ✔
Required: libffi ✔
==> Requirements
Build: xcode ✔
==> Options
--HEAD

$ brew info gcc
gcc: stable 10.1.0 (bottled), HEAD
GNU compiler collection
https://gcc.gnu.org/
/usr/local/Cellar/gcc/10.1.0 (1,463 files, 338.5MB) *
  Poured from bottle on 2020-07-03 at 19:31:35
From: https://github.com/Homebrew/homebrew-core/blob/HEAD/Formula/gcc.rb
==> Dependencies
Required: gmp ✔, isl ✔, libmpc ✔, mpfr ✔
==> Options
--HEAD

$ brew info boost
boost: stable 1.72.0 (bottled), HEAD
Collection of portable C++ source libraries
https://www.boost.org/
/usr/local/Cellar/boost/1.72.0_3 (14,466 files, 563.8MB) *
  Poured from bottle on 2020-07-03 at 19:31:23
From: https://github.com/Homebrew/homebrew-core/blob/HEAD/Formula/boost.rb
==> Dependencies
Required: icu4c ✔
==> Options
--HEAD

$ brew info hdf5
hdf5: stable 1.12.0 (bottled)
File format designed to store large amounts of data
https://www.hdfgroup.org/HDF5
/usr/local/Cellar/hdf5/1.12.0_1 (268 files, 16.3MB) *
  Poured from bottle on 2020-07-03 at 19:31:39
From: https://github.com/Homebrew/homebrew-core/blob/HEAD/Formula/hdf5.rb
==> Dependencies
Build: autoconf ✔, automake ✔, libtool ✔
Required: gcc ✔, szip ✔

$ /usr/bin/xcodebuild -version
Xcode 11.5
Build version 11E608c

$ ld -v
@(#)PROGRAM:ld  PROJECT:ld64-274.2
configured to support archs: i386 x86_64 x86_64h armv6 armv7 armv7s armv7m armv7k arm64 (tvOS)
LTO support using: LLVM version 5.0.0

I have the following lines in my ~/.zshrc:

 15 # mujoco
 16 export PATH="/usr/local/opt/llvm/bin:$PATH"
 17
 18 export CC="/usr/local/opt/llvm/bin/clang"
 19 export CXX="/usr/local/opt/llvm/bin/clang++"
 20 export CXX11="/usr/local/opt/llvm/bin/clang++"
 21 export CXX14="/usr/local/opt/llvm/bin/clang++"
 22 export CXX17="/usr/local/opt/llvm/bin/clang++"
 23 export CXX1X="/usr/local/opt/llvm/bin/clang++"
 24 export LDFLAGS="-L/usr/local/opt/llvm/lib"
 25 export CPPFLAGS="-I/usr/local/opt/llvm/include"
whiletrue
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1 Answers1

0

Using this as a reference (https://reviews.llvm.org/D74784) and having just went through this headache myself. It seems that there was an issue with ld itself where there is an old default option -platform_version that was deprecated.

Although the awesome people working on LLVM fixed it, my issue was that LLVM will say it's up-to-date. I had to run the following in order for it to work again:

brew reinstall llvm

If you uninstall LLVM (and comment out the exports for LLVM in your .zshrc file) it should also work, just in case the force reinstall method doesn't work for you. My default clang without LLVM that worked for me was:

> clang -v
Apple clang version 11.0.3 (clang-1103.0.32.62)
Target: x86_64-apple-darwin19.5.0
Thread model: posix
InstalledDir: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin
Jeremy Caney
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Troy Sincomb
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