release.yml

name: Release PyPI Wheel

on:
  push:
    branches:
      - main
    tags:
      - v*
  pull_request:

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

permissions:
  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'))
            && '["3.12", "3.13", "3.14"]'
            || '["3.12"]'
          ) }}
    env:
      HOMEBREW_NO_AUTO_UPDATE: "1"
    steps:
      - uses: actions/checkout@v7
        with:
          fetch-depth: 0
      - uses: actions/setup-go@v7
        with:
          go-version: "1.27"
      - uses: actions/setup-java@v6
        with:
          distribution: temurin
          java-version: "25"
      - name: Set up Python ${{ matrix.python-version }}
        uses: actions/setup-python@v7
        with:
          python-version: ${{ matrix.python-version }}
      - name: Install latest CMake
        run: |
          python -m pip install --upgrade cmake
          CMAKE_BIN_DIR="$(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 qtbase
          sudo ln -sfn "$(brew --prefix ninja)/bin/ninja" /usr/local/bin/ninja
          echo "BAZEL_RULES_QT_DIR=$(brew --prefix qtbase)" >> "$GITHUB_ENV"
      - name: Install bazelisk
        run: |
          go install github.com/bazelbuild/bazelisk@latest
          echo "$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:
      BAZEL_RULES_QT_DIR: /opt/envpool-qt6
      WHEEL_LICENSE_DIR: /opt/envpool-qt6/licenses/qt6
      MUJOCO_GL: egl
      EGL_PLATFORM: surfaceless
      LIBGL_ALWAYS_SOFTWARE: "1"
      MESA_LOADER_DRIVER_OVERRIDE: llvmpipe
      GALLIUM_DRIVER: llvmpipe
    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":"3.12"},{"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":"3.12"},{"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:
      - uses: actions/checkout@v7
      - uses: actions/setup-go@v7
        with:
          go-version: "1.27"
      - uses: actions/setup-java@v6
        with:
          distribution: temurin
          java-version: "25"
      - name: Install build dependencies
        run: |
          dnf install -y git curl wget zsh gcc gcc-c++ make tmux mesa-libEGL-devel mesa-libGL-devel libglvnd-devel mesa-dri-drivers
          dnf clean all
          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
            3.12) 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: Install CMake and Ninja
        shell: bash
        run: |
          python -m pip install --upgrade cmake ninja
          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:$PATH" cmake --version
          ninja --version
      - name: Cache Qt 6
        id: qt-cache
        uses: actions/cache@v6
        with:
          path: /opt/envpool-qt6
          key: qt-manylinux_2_28-${{ matrix.arch }}-${{ hashFiles('third_party/qt/build_release.sh') }}
      - name: Build Qt 6 from source
        if: steps.qt-cache.outputs.cache-hit != 'true'
        run: bash third_party/qt/build_release.sh "$BAZEL_RULES_QT_DIR"
      - 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=${{ matrix.auditwheel-plat }} pypi-wheel
          python -m pip install wheelhouse/*.whl --force-reinstall
      - name: Test with only the bundled Qt runtime
        shell: bash
        run: |
          mv "$BAZEL_RULES_QT_DIR" "${BAZEL_RULES_QT_DIR}-sdk-unused"
          trap 'mv "${BAZEL_RULES_QT_DIR}-sdk-unused" "$BAZEL_RULES_QT_DIR"' EXIT
          make PROCGEN_QT_RUNTIME=bundled release-test
      - name: Upload artifact
        uses: actions/upload-artifact@v7
        with:
          name: wheel-linux-${{ 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'))
            && '["3.12", "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: "9.2.0"
    steps:
      - uses: actions/checkout@v7
        with:
          fetch-depth: 0
      - uses: actions/setup-go@v7
        with:
          go-version: "1.27"
      - uses: ilammy/msvc-dev-cmd@v1
      - uses: actions/setup-java@v6
        with:
          distribution: temurin
          java-version: "25"
      - 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@v3
        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 6
        uses: jurplel/install-qt-action@v4
        with:
          version: "6.11.1"
          # Qt 6.11 repository layout support; not yet in an aqt release.
          aqtsource: git+https://github.com/miurahr/aqtinstall.git@8c3695d4a4e1ceabf6a74dc6c79681656dc6b74b
          py7zrversion: "==1.1.0"
          arch: "win64_msvc2022_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 $env:GITHUB_PATH -Value "C:\Program Files\Git\usr\bin"
      - name: Collect Qt licenses and notices
        shell: bash
        run: |
          qt_prefix=$(cygpath -u "$QT_ROOT_DIR")
          bash third_party/qt/build_release.sh --licenses-only "$qt_prefix"
          echo "WHEEL_LICENSE_DIR=$(cygpath -m "$qt_prefix/licenses/qt6")" >> "$GITHUB_ENV"
      - 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@v7
        with:
          python-version: ${{ matrix.python-version }}
      - name: Install latest CMake
        shell: pwsh
        run: |
          python -m pip install --upgrade cmake
          $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]
    permissions:
      actions: read
      contents: write
    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 }}
          skip-existing: true
      - name: Create GitHub release and upload wheels
        env:
          GH_TOKEN: ${{ github.token }}
        run: |
          gh release view "${GITHUB_REF_NAME}" >/dev/null 2>&1 || \
            gh release create "${GITHUB_REF_NAME}" \
              --title "${GITHUB_REF_NAME}" \
              --generate-notes \
              --verify-tag
          gh release upload "${GITHUB_REF_NAME}" dist/*.whl --clobber