Install Mujoco_py on Apple M1

install_mujoco_apple_m1.sh

# this works for Mujoco.2.1.1 and mujoco_py 2.1

# install mujoco app into Applications
# since the newst mujoco_py version does not officially support Mujoco2.1.1, we need some hack to make it work as follows:


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.2.1.1.dylib $HOME/.mujoco/mujoco210/bin/libmujoco210.dylib
ln -sf /Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.framework/Versions/Current/libmujoco.2.1.1.dylib /usr/local/lib/

brew install glfw

ln -sf /opt/homebrew/lib/libglfw.3.dylib $HOME/.mujoco/mujoco210/bin

brew install llvm

export PATH="/opt/homebrew/opt/llvm/bin:$PATH"
export CPPFLAGS="-I/opt/homebrew/opt/llvm/include"
export LDFLAGS="-L/opt/homebrew/opt/llvm/lib -Wl,-rpath,/opt/homebrew/opt/llvm/lib  -L/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/lib/"
export SDKROOT=$(xcrun --sdk macosx --show-sdk-path)
export CC="/opt/homebrew/opt/llvm/bin/clang"

pip install -U 'mujoco-py<2.2,>=2.1'