How to install SoMo - SoftMotion PyBullet on Mac Big Sur

SoMo - Soft Motion PyBullet

Installation on Mac Big Sur

Install HomeBrew for Mac

/bin/bash -c "$(curl -fsSL []("

Install newest Python (3.9)

sudo brew install python

Install packages which might be not installed yet

sudo brew install pkg-config
sudo brew install freetype

Clone repo

git clone

Create virtual environment, might need to change 3.9 to a newer version

cd somo
python3.9 -m venv venv

Activate venv

source venv/bin/activate

Check clang version in Mac

clang --version

If it is 11.0, install the latest one (12.0). Installation might take long (30 mins)

sudo rm -rf /Library/Developer/CommandLineTools
sudo xcode-select --install
sudo xcode-select --switch /Library/Developer/CommandLineTools

Check clang --version again, make sure it 12.0

Install pybullet

pip3 install pybullet --upgrade

Install numpy 1.19

pip3 install numpy==1.19

Remove pybullet and numpy from requirements.txt

Install requirements.txt

pip3 install -r requirements.txt

Install SoMo

pip3 install -e .

Run test

python examples/iros2021/playing_ball/

Related Posts