Add MuJoCo Playground environments #1001
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| name: Release PyPI Wheel | |
| on: | |
| push: | |
| branches: | |
| - main | |
| tags: | |
| - v* | |
| pull_request: | |
| permissions: | |
| actions: write | |
| contents: read | |
| jobs: | |
| release-macos: | |
| name: release-macos (py${{ matrix.python-version }}) | |
| runs-on: macos-14 | |
| timeout-minutes: 60 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| python-version: >- | |
| ${{ fromJSON( | |
| (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) | |
| && '["3.11", "3.12", "3.13", "3.14"]' | |
| || '["3.12"]' | |
| ) }} | |
| env: | |
| HOMEBREW_NO_AUTO_UPDATE: "1" | |
| steps: | |
| - name: Cancel previous run | |
| uses: styfle/cancel-workflow-action@0.11.0 | |
| with: | |
| access_token: ${{ github.token }} | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - uses: actions/setup-go@v5 | |
| with: | |
| go-version: "1.22" | |
| - uses: actions/setup-java@v4 | |
| with: | |
| distribution: temurin | |
| java-version: "17" | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: Pin CMake 3 | |
| if: matrix.python-version == '3.14' | |
| run: | | |
| python -m pip install "cmake<4" | |
| CMAKE_BIN_DIR="$(python -c "import cmake; print(cmake.CMAKE_BIN_DIR)")" | |
| CMAKE_BIN="$CMAKE_BIN_DIR/cmake" | |
| echo "$CMAKE_BIN_DIR" >> "$GITHUB_PATH" | |
| sudo ln -sfn "$CMAKE_BIN" /usr/local/bin/cmake | |
| PATH="$CMAKE_BIN_DIR:$PATH" cmake --version | |
| - name: Install macOS dependencies | |
| run: | | |
| brew install ninja swig qt@5 | |
| if [ "${{ matrix.python-version }}" != "3.14" ]; then | |
| brew install cmake | |
| sudo ln -sfn "$(brew --prefix cmake)/bin/cmake" /usr/local/bin/cmake | |
| fi | |
| sudo ln -sfn "$(brew --prefix ninja)/bin/ninja" /usr/local/bin/ninja | |
| echo "BAZEL_RULES_QT_DIR=$(brew --prefix qt@5)" >> "$GITHUB_ENV" | |
| - name: Install bazelisk | |
| run: | | |
| go install github.com/bazelbuild/bazelisk@latest | |
| echo "$HOME/go/bin" >> "$GITHUB_PATH" | |
| - name: Build | |
| run: | | |
| rm -rf dist wheelhouse | |
| make RELEASE_PYTHON=${{ matrix.python-version }} pypi-wheel | |
| python -m pip install wheelhouse/*.whl --force-reinstall | |
| - name: Test | |
| run: | | |
| make release-test | |
| - name: Upload artifact | |
| uses: actions/upload-artifact@v7 | |
| with: | |
| name: wheel-macos-${{ matrix.python-version }} | |
| path: wheelhouse/ | |
| if-no-files-found: error | |
| release-linux: | |
| name: release-linux (${{ matrix.arch }}, py${{ matrix.python-version }}) | |
| runs-on: ${{ matrix.runner }} | |
| container: ${{ matrix.container }} | |
| timeout-minutes: 120 | |
| env: | |
| MUJOCO_GL: egl | |
| EGL_PLATFORM: surfaceless | |
| LIBGL_ALWAYS_SOFTWARE: "1" | |
| MESA_LOADER_DRIVER_OVERRIDE: llvmpipe | |
| GALLIUM_DRIVER: llvmpipe | |
| ENVPOOL_SKIP_MUJOCO_RENDER_SMOKE: "1" | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: >- | |
| ${{ fromJSON( | |
| (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) | |
| && '[{"arch":"x86_64","runner":"ubuntu-24.04","container":"quay.io/pypa/manylinux_2_28_x86_64","auditwheel-plat":"manylinux_2_28_x86_64","python-version":"3.11"},{"arch":"x86_64","runner":"ubuntu-24.04","container":"quay.io/pypa/manylinux_2_28_x86_64","auditwheel-plat":"manylinux_2_28_x86_64","python-version":"3.12"},{"arch":"x86_64","runner":"ubuntu-24.04","container":"quay.io/pypa/manylinux_2_28_x86_64","auditwheel-plat":"manylinux_2_28_x86_64","python-version":"3.13"},{"arch":"x86_64","runner":"ubuntu-24.04","container":"quay.io/pypa/manylinux_2_28_x86_64","auditwheel-plat":"manylinux_2_28_x86_64","python-version":"3.14"},{"arch":"aarch64","runner":"ubuntu-24.04-arm","container":"quay.io/pypa/manylinux_2_28_aarch64","auditwheel-plat":"manylinux_2_28_aarch64","python-version":"3.11"},{"arch":"aarch64","runner":"ubuntu-24.04-arm","container":"quay.io/pypa/manylinux_2_28_aarch64","auditwheel-plat":"manylinux_2_28_aarch64","python-version":"3.12"},{"arch":"aarch64","runner":"ubuntu-24.04-arm","container":"quay.io/pypa/manylinux_2_28_aarch64","auditwheel-plat":"manylinux_2_28_aarch64","python-version":"3.13"},{"arch":"aarch64","runner":"ubuntu-24.04-arm","container":"quay.io/pypa/manylinux_2_28_aarch64","auditwheel-plat":"manylinux_2_28_aarch64","python-version":"3.14"}]' | |
| || '[{"arch":"x86_64","runner":"ubuntu-24.04","container":"quay.io/pypa/manylinux_2_28_x86_64","auditwheel-plat":"manylinux_2_28_x86_64","python-version":"3.12"},{"arch":"aarch64","runner":"ubuntu-24.04-arm","container":"quay.io/pypa/manylinux_2_28_aarch64","auditwheel-plat":"manylinux_2_28_aarch64","python-version":"3.12"}]' | |
| ) }} | |
| steps: | |
| - name: Cancel previous run | |
| uses: styfle/cancel-workflow-action@0.11.0 | |
| with: | |
| access_token: ${{ github.token }} | |
| - uses: actions/checkout@v4 | |
| - name: Install build dependencies | |
| run: | | |
| dnf install -y git curl wget zsh gcc gcc-c++ cmake make ninja-build tmux golang java-17-openjdk-devel qt5-qtbase-devel qt5-qtdeclarative-devel mesa-libEGL-devel mesa-libGL-devel libglvnd-devel mesa-dri-drivers | |
| dnf clean all | |
| ln -sf "$(qmake-qt5 -query QT_INSTALL_HEADERS)" /usr/include/qt | |
| go install github.com/bazelbuild/bazelisk@latest | |
| ln -sf /root/go/bin/bazelisk /usr/local/bin/bazelisk | |
| ln -sf /root/go/bin/bazelisk /usr/local/bin/bazel | |
| - name: Set up Python ${{ matrix.python-version }} | |
| shell: bash | |
| run: | | |
| case "${{ matrix.python-version }}" in | |
| 3.11) PYBIN=/opt/python/cp311-cp311/bin ;; | |
| 3.12) PYBIN=/opt/python/cp312-cp312/bin ;; | |
| 3.13) PYBIN=/opt/python/cp313-cp313/bin ;; | |
| 3.14) PYBIN=/opt/python/cp314-cp314/bin ;; | |
| *) echo "unsupported python version: ${{ matrix.python-version }}" >&2; exit 1 ;; | |
| esac | |
| echo "$PYBIN" >> "$GITHUB_PATH" | |
| "$PYBIN/python3" --version | |
| - name: Pin CMake 3 | |
| if: matrix.python-version == '3.14' | |
| shell: bash | |
| run: | | |
| python -m pip install "cmake<4" | |
| CMAKE_BIN_DIR="$(python -c "import cmake; print(cmake.CMAKE_BIN_DIR)")" | |
| CMAKE_BIN="$CMAKE_BIN_DIR/cmake" | |
| echo "$CMAKE_BIN_DIR" >> "$GITHUB_PATH" | |
| ln -sfn "$CMAKE_BIN" /usr/local/bin/cmake | |
| PATH="$CMAKE_BIN_DIR:$PATH" cmake --version | |
| - name: Prefer system libstdc++ for Mesa | |
| shell: bash | |
| run: | | |
| echo "LD_PRELOAD=$(g++ -print-file-name=libstdc++.so.6)" >> "$GITHUB_ENV" | |
| - name: Build | |
| run: | | |
| rm -rf dist wheelhouse | |
| make PYPI_WHEEL_PLAT=${{ matrix.auditwheel-plat }} pypi-wheel | |
| python -m pip install wheelhouse/*.whl --force-reinstall | |
| - name: Test | |
| run: | | |
| make release-test | |
| - name: Test without Linux Qt runtime | |
| run: | | |
| rpm -qa 'qt5-qtbase*' 'qt5-qtdeclarative*' | sort | |
| dnf remove -y 'qt5-qtbase*' 'qt5-qtdeclarative*' | |
| dnf clean all | |
| make PROCGEN_QT_RUNTIME=absent release-test-procgen-qt | |
| - name: Upload artifact | |
| uses: actions/upload-artifact@v7 | |
| with: | |
| name: wheel-linux-${{ matrix.arch }}-${{ matrix.python-version }} | |
| path: wheelhouse/ | |
| if-no-files-found: error | |
| release-windows: | |
| name: release-windows (py${{ matrix.python-version }}) | |
| runs-on: windows-2022 | |
| timeout-minutes: 60 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| python-version: >- | |
| ${{ fromJSON( | |
| (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) | |
| && '["3.11", "3.12", "3.13", "3.14"]' | |
| || '["3.12"]' | |
| ) }} | |
| env: | |
| BAZEL_SH: C:/Program Files/Git/usr/bin/bash.exe | |
| MESA_GL_VERSION_OVERRIDE: 4.5COMPAT | |
| MSYS2_ARG_CONV_EXCL: "*" | |
| MSYS_NO_PATHCONV: "1" | |
| USE_BAZEL_VERSION: "8.6.0" | |
| steps: | |
| - name: Cancel previous run | |
| uses: styfle/cancel-workflow-action@0.11.0 | |
| with: | |
| access_token: ${{ github.token }} | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - uses: actions/setup-go@v5 | |
| with: | |
| go-version: "1.22" | |
| - uses: ilammy/msvc-dev-cmd@v1 | |
| - uses: actions/setup-java@v4 | |
| with: | |
| distribution: temurin | |
| java-version: "17" | |
| - name: Shorten temp path | |
| shell: pwsh | |
| run: | | |
| New-Item -ItemType Directory -Path C:\tmp -Force | Out-Null | |
| Add-Content -Path $env:GITHUB_ENV -Value "TMP=C:\tmp" | |
| Add-Content -Path $env:GITHUB_ENV -Value "TEMP=C:\tmp" | |
| Add-Content -Path $env:GITHUB_ENV -Value "TMPDIR=C:\tmp" | |
| - name: Install Windows dependencies | |
| shell: pwsh | |
| run: | | |
| choco install -y cmake make ninja strawberryperl swig llvm | |
| if (-not (Test-Path "C:\Program Files\LLVM\bin\llvm-strip.exe")) { | |
| throw "llvm-strip.exe was not installed" | |
| } | |
| Add-Content -Path $env:GITHUB_PATH -Value "C:\Program Files\LLVM\bin" | |
| - name: Create Mesa directory | |
| shell: pwsh | |
| run: | | |
| New-Item -ItemType Directory -Path (Join-Path $env:GITHUB_WORKSPACE ".mesa") -Force | Out-Null | |
| - name: Install Mesa software OpenGL | |
| uses: f3d-app/install-mesa-windows-action@v1 | |
| with: | |
| path: ${{ github.workspace }}\.mesa | |
| - name: Export Mesa location | |
| shell: pwsh | |
| run: | | |
| Add-Content -Path $env:GITHUB_ENV -Value "ENVPOOL_DLL_DIR=$env:GITHUB_WORKSPACE\.mesa" | |
| Add-Content -Path $env:GITHUB_PATH -Value "$env:GITHUB_WORKSPACE\.mesa" | |
| - name: Install Qt 5 | |
| uses: jurplel/install-qt-action@v4 | |
| with: | |
| version: "5.15.2" | |
| arch: "win64_msvc2019_64" | |
| set-env: "true" | |
| - name: Export Qt location | |
| shell: pwsh | |
| run: | | |
| Add-Content -Path $env:GITHUB_ENV -Value "BAZEL_RULES_QT_DIR=$env:QT_ROOT_DIR" | |
| Add-Content -Path $env:GITHUB_PATH -Value (Join-Path $env:QT_ROOT_DIR "bin") | |
| Add-Content -Path $env:GITHUB_PATH -Value "C:\Program Files\Git\usr\bin" | |
| - name: Install bazelisk | |
| shell: pwsh | |
| run: | | |
| go install github.com/bazelbuild/bazelisk@latest | |
| Add-Content -Path $env:GITHUB_PATH -Value (Join-Path $HOME "go/bin") | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: Pin CMake 3 | |
| if: matrix.python-version == '3.14' | |
| shell: pwsh | |
| run: | | |
| python -m pip install "cmake<4" | |
| $cmakeBinDir = python -c "import cmake; print(cmake.CMAKE_BIN_DIR)" | |
| Add-Content -Path $env:GITHUB_PATH -Value $cmakeBinDir | |
| & (Join-Path $cmakeBinDir "cmake.exe") --version | |
| - name: Build | |
| shell: bash | |
| run: | | |
| rm -rf dist wheelhouse | |
| make RELEASE_PYTHON=${{ matrix.python-version }} pypi-wheel | |
| python -m pip install wheelhouse/*.whl --force-reinstall | |
| - name: Test | |
| shell: bash | |
| run: | | |
| make release-test | |
| - name: Upload artifact | |
| uses: actions/upload-artifact@v7 | |
| with: | |
| name: wheel-windows-${{ matrix.python-version }} | |
| path: wheelhouse/ | |
| if-no-files-found: error | |
| publish: | |
| if: startsWith(github.ref, 'refs/tags') | |
| runs-on: ubuntu-latest | |
| needs: [release-linux, release-macos, release-windows] | |
| steps: | |
| - uses: actions/download-artifact@v8 | |
| with: | |
| pattern: wheel-* | |
| path: artifact | |
| merge-multiple: true | |
| - name: Move files so the next action can find them | |
| run: | | |
| mkdir dist && mv artifact/* dist/ | |
| ls dist/ | |
| - name: Publish distribution to PyPI | |
| uses: pypa/gh-action-pypi-publish@release/v1 | |
| with: | |
| password: ${{ secrets.PYPI_API_TOKEN }} |