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google-deepmind / mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control
https://github.com/deepmind/mujoco_mpc
Apache License 2.0
952 stars 142 forks source link

Linking error on MacOS 11(x86_64), not able to link mujoco with --gc-sections #219

Closed keszegrobert closed 7 months ago

keszegrobert commented 9 months ago

This was my setup:

user@Macbook-MacBook-Air-4 mujoco_mpc % clang --version
Homebrew clang version 14.0.6
Target: x86_64-apple-darwin20.6.0
Thread model: posix
InstalledDir: /usr/local/opt/llvm@14/bin
user@Macbook-MacBook-Air-4 mujoco_mpc % cmake --version
cmake version 3.27.8

CMake suite maintained and supported by Kitware (kitware.com/cmake).

I have compiled the source using these steps:

git clone https://github.com/google-deepmind/mujoco_mpc.git
cd mujoco_mpc
mkdir build
cd build
export CC=clang
export CXX=clang++
cmake .. -G Ninja -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON
ninja

As I have seen at: https://github.com/google-deepmind/mujoco_mpc/blob/main/.github/workflows/build.yml

[108/2754] Linking CXX shared library lib/libmujoco.3.0.1.dylib
FAILED: lib/libmujoco.3.0.1.dylib 
: && /usr/local/opt/llvm@14/bin/clang++ -O3 -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.1.sdk -mmacosx-version-min=11.7 -dynamiclib -Wl,-headerpad_max_install_names -mmacosx-version-min=11 -Wl,-no_weak_imports -fuse-ld=lld -Wl,--gc-sections -current_version 3.0.1 -o lib/libmujoco.3.0.1.dylib -install_name @rpath/libmujoco.3.0.1.dylib _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_callback.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_collision_box.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_collision_convex.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_collision_driver.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_collision_primitive.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_collision_sdf.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_core_constraint.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_core_smooth.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_crossplatform.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_derivative.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_derivative_fd.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_forward.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_inverse.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_island.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_io.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_passive.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_plugin.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_print.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_ray.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_resource.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_sensor.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_setconst.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_solver.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_support.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_util_blas.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_util_errmem.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_util_misc.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_util_solve.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_util_sparse.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_util_spatial.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_vfs.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_vis_init.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_vis_interact.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_vis_state.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/engine/engine_vis_visualize.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/user/user_composite.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/user/user_flexcomp.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/user/user_mesh.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/user/user_model.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/user/user_objects.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/user/user_util.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/xml/xml_api.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/xml/xml_base.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/xml/xml.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/xml/xml_native_reader.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/xml/xml_numeric_format.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/xml/xml_native_writer.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/xml/xml_urdf.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/xml/xml_util.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/render/glad/glad.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/render/glad/loader.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/render/render_context.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/render/render_gl2.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/render/render_gl3.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/render/render_util.c.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/thread/thread_pool.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/thread/thread_task.cc.o _deps/mujoco-build/CMakeFiles/mujoco.dir/src/ui/ui_main.c.o  lib/libccd.a  lib/liblodepng.a  lib/libqhullstatic_r.a  lib/libtinyobjloader.a  lib/libtinyxml2.a  /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.1.sdk/usr/lib/libm.tbd  -lm && :
ld64.lld: error: unknown argument '--gc-sections'
clang-14: error: linker command failed with exit code 1 (use -v to see invocation)
[113/2754] Building CXX object _deps/googletest-build/googletest/CMakeFiles/gtest.dir/src/gtest-all.cc.o
ninja: build stopped: subcommand failed.

I had to comment out some lines in cmake/MujocoLinkOptions.cmake to not build with --gc-sections, but I think it can be done better

thowell commented 7 months ago

The errors you were experiencing are likely related to dependency issues that have since been resolved. If you are still experiencing the issues described above please reopen this issue.

You can also remove gRPC if you don't plan to use the Python API (macOS):

git clone https://github.com/google-deepmind/mujoco_mpc.git
cd mujoco_mpc
mkdir build
cd build
cmake .. -G Ninja -DMJPC_BUILD_GRPC_SERVICE:BOOL=OFF
cmake --build . --config=Release --target mjpc
./bin/mjpc
keszegrobert commented 7 months ago

still getting errors by running the above sequence of commands

ld64.lld: error: unknown argument '--gc-sections'

This is weird because in the config step this is written out:

-- Performing Test SUPPORTS_GC_SECTIONS
-- Performing Test SUPPORTS_GC_SECTIONS - Success
keszegrobert commented 7 months ago

I don't have permission to reopen this issue