Mujoco-py currently does not support mujoco2.1.1. The first arm64 release, which is needed for M1 Macs, came out a few weeks ago. Therefore mujoco2.1.1 is needed in order to run MuJoCo natively on the M1 Mac.
make sure you use Miniforge as your Conda environment install glfw via brew install glfw. Note the location for the installation download MuJoCo2.1.1 image that ends with a *.dmg. The new mujoco2.1.1 is released as a Framework. You can copy the MuJoCo.app into /Applications/ folder. Installation Script Make a file locally called install-mujoco.sh, and put the following into it.
mkdir -p $HOME/.mujoco/mujoco210
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
sudo ln -sf /Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.framework/Versions/Current/libmujoco.2.1.1.dylib /usr/local/lib/
- Install glfw and make library links
brew install glfw
ln -sf /opt/homebrew/lib/libglfw.3.dylib $HOME/.mujoco/mujoco210/bin
- Remove old installation
rm -rf /opt/homebrew/Caskroom/miniforge/base/lib/python3.9/site-packages/mujoco_py
- Install and compile using GCC
export CC=/opt/homebrew/bin/gcc-11
pip install mujoco-py && python -c 'import mujoco_py'