[envpool] Upgrade tests to Python 3.12 and MuJoCo 3.x

.github/workflows/lint.yml

@@ -14,10 +14,10 @@ jobs:
       - uses: actions/setup-go@v3
         with:
           go-version: ">=1.16.0"
-      - name: Set up Python 3.11
+      - name: Set up Python 3.12
         uses: actions/setup-python@v4
         with:
-          python-version: "3.11"
+          python-version: "3.12"
       - name: Upgrade pip
         run: |
           python -m pip install --upgrade pip

.github/workflows/release.yml

@@ -14,7 +14,7 @@ jobs:
     container: trinkle23897/envpool-release:2023-01-02-5f1a5fd
     strategy:
       matrix:
-        python-version: ["3.7", "3.8", "3.9", "3.10", "3.11"]
+        python-version: ["3.10", "3.11", "3.12", "3.13"]
     steps:
       - uses: actions/checkout@v3
       - name: Set up Python ${{ matrix.python-version }}

.readthedocs.yaml

@@ -9,7 +9,7 @@ version: 2
 build:
   os: ubuntu-22.04
   tools:
-    python: "3.11"
+    python: "3.12"
 
 # Build documentation in the docs/ directory with Sphinx
 sphinx:

BUILD

@@ -1,5 +1,5 @@
-load("@pip_requirements//:requirements.bzl", "requirement")
 load("@rules_python//python:defs.bzl", "py_binary")
+load("//envpool:requirements.bzl", "requirement")
 
 filegroup(
     name = "clang_tidy_config",

Makefile

@@ -102,10 +102,10 @@ buildifier: buildifier-install
 # bazel build/test
 
 bazel-pip-requirement-dev:
-	cd third_party/pip_requirements && (cmp requirements.txt requirements-dev.txt || ln -sf requirements-dev.txt requirements.txt)
+	cd third_party/pip_requirements && (cmp requirements.txt requirements-dev-lock.txt || ln -sf requirements-dev-lock.txt requirements.txt)
 
 bazel-pip-requirement-release:
-	cd third_party/pip_requirements && (cmp requirements.txt requirements-release.txt || ln -sf requirements-release.txt requirements.txt)
+	cd third_party/pip_requirements && (cmp requirements.txt requirements-release-lock.txt || ln -sf requirements-release-lock.txt requirements.txt)
 
 clang-tidy: clang-tidy-install bazel-pip-requirement-dev
 	$(BAZEL) build $(BAZELOPT) //... --config=clang-tidy --config=test

README.md

@@ -43,7 +43,7 @@ Check out our [arXiv paper](https://arxiv.org/abs/2206.10558) for more details!
 
 ### PyPI
 
-EnvPool is currently hosted on [PyPI](https://pypi.org/project/envpool/). It requires Python >= 3.7.
+EnvPool is currently hosted on [PyPI](https://pypi.org/project/envpool/). It supports Python 3.10-3.13.
 
 You can simply install EnvPool with the following command:
 

WORKSPACE

@@ -4,6 +4,10 @@ load("//envpool:workspace0.bzl", workspace0 = "workspace")
 
 workspace0()
 
+load("@rules_python//python:repositories.bzl", "py_repositories")
+
+py_repositories()
+
 load("//envpool:workspace1.bzl", workspace1 = "workspace")
 
 workspace1()
@@ -25,3 +29,7 @@ register_qt_toolchains()
 load("//envpool:pip.bzl", pip_workspace = "workspace")
 
 pip_workspace()
+
+load("@pip_requirements//:requirements.bzl", "install_deps")
+
+install_deps()

docker/release.dockerfile

@@ -47,7 +47,7 @@ RUN apt-get update \
 # use self-compiled openssl instead of system provided (1.0.2)
 RUN apt-get remove -y libssl-dev
 
-# install newest openssl (for py3.10 and py3.11)
+# install newest openssl (for py3.10 through py3.13)
 
 RUN wget https://www.openssl.org/source/openssl-1.1.1s.tar.gz
 RUN tar xf openssl-1.1.1s.tar.gz
@@ -62,11 +62,10 @@ RUN echo 'export PYENV_ROOT="$HOME/.pyenv"' >> /etc/profile
 RUN echo 'command -v pyenv >/dev/null || export PATH="$PYENV_ROOT/bin:$PATH"' >> /etc/profile
 RUN echo 'eval "$(pyenv init -)"' >> /etc/profile
 
-RUN LDFLAGS="-Wl,-rpath,/root/openssl-1.1.1s/lib" CONFIGURE_OPTS="-with-openssl=/root/openssl-1.1.1s" pyenv install -v 3.11-dev
 RUN LDFLAGS="-Wl,-rpath,/root/openssl-1.1.1s/lib" CONFIGURE_OPTS="-with-openssl=/root/openssl-1.1.1s" pyenv install -v 3.10-dev
-RUN LDFLAGS="-Wl,-rpath,/root/openssl-1.1.1s/lib" CONFIGURE_OPTS="-with-openssl=/root/openssl-1.1.1s" pyenv install -v 3.9-dev
-RUN LDFLAGS="-Wl,-rpath,/root/openssl-1.1.1s/lib" CONFIGURE_OPTS="-with-openssl=/root/openssl-1.1.1s" pyenv install -v 3.8-dev
-RUN LDFLAGS="-Wl,-rpath,/root/openssl-1.1.1s/lib" CONFIGURE_OPTS="-with-openssl=/root/openssl-1.1.1s" pyenv install -v 3.7-dev
+RUN LDFLAGS="-Wl,-rpath,/root/openssl-1.1.1s/lib" CONFIGURE_OPTS="-with-openssl=/root/openssl-1.1.1s" pyenv install -v 3.11-dev
+RUN LDFLAGS="-Wl,-rpath,/root/openssl-1.1.1s/lib" CONFIGURE_OPTS="-with-openssl=/root/openssl-1.1.1s" pyenv install -v 3.12-dev
+RUN LDFLAGS="-Wl,-rpath,/root/openssl-1.1.1s/lib" CONFIGURE_OPTS="-with-openssl=/root/openssl-1.1.1s" pyenv install -v 3.13-dev
 
 WORKDIR /__w/envpool/envpool
 COPY . .

docs/content/build.rst

@@ -79,7 +79,7 @@ EnvPool requires **GCC/G++ version >= 9.0** to build the source code. To install
     # to change the default cc to gcc-9:
     sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9
 
-It also requires **Python version >= 3.7**:
+It also requires **Python version >= 3.10**:
 
 .. code-block:: bash
 

docs/content/new_env.rst

@@ -716,7 +716,7 @@ If we want to add ``tianshou`` as a build dependency, in ``setup.cfg``:
 
     [options]
     packages = find:
-    python_requires = >=3.7
+    python_requires = >=3.10
     install_requires =
         dm-env>=1.4
         gym>=0.18

docs/env/dm_control.rst

@@ -1,9 +1,9 @@
 DeepMind Control Suite
 ======================
 
-We use ``dm_control==1.0.5`` and ``mujoco==2.2.1`` as the codebase.
+We use ``dm_control==1.0.5`` and ``mujoco==3.3.4`` as the codebase.
 See https://github.com/deepmind/dm_control/tree/1.0.5 and
-https://github.com/deepmind/mujoco/tree/2.2.1
+https://github.com/google-deepmind/mujoco/tree/3.3.4
 
 The ``domain_name`` and ``task_name`` for ``suite.load`` function are
 converted into ``DomainNameTaskName-v1`` in envpool, e.g.,

docs/env/mujoco_gym.rst

@@ -1,45 +1,45 @@
 Mujoco (gym)
 ============
 
-We use ``mujoco==2.2.1`` as the codebase.
-See https://github.com/deepmind/mujoco/tree/2.2.1
+We use ``mujoco==3.3.4`` as the codebase.
+See https://github.com/google-deepmind/mujoco/tree/3.3.4
 
-The implementation follows OpenAI gym \*-v4 environment, see
-`reference <https://github.com/openai/gym/tree/master/gym/envs/mujoco>`_.
+The implementation follows Gymnasium \*-v5 environment, see
+`reference <https://github.com/Farama-Foundation/Gymnasium/tree/v1.2.3/gymnasium/envs/mujoco>`_.
 
 You can set ``post_constraint`` to ``False`` to disable the bug fix with
 `this issue <https://github.com/openai/gym/issues/2593>`_, which is \*-v3
 environments' standard approach.
 
 
-Ant-v3/v4
+Ant-v3/v5
 ---------
 
 `gym Ant-v3 source code
 <https://github.com/openai/gym/blob/master/gym/envs/mujoco/ant_v3.py>`_
 
-`gym Ant-v4 source code
-<https://github.com/openai/gym/blob/master/gym/envs/mujoco/ant_v4.py>`_
+`gymnasium Ant-v5 source code
+<https://github.com/Farama-Foundation/Gymnasium/blob/v1.2.3/gymnasium/envs/mujoco/ant_v5.py>`_
 
 - Observation space (v3): ``(111)``, first 13 elements for ``qpos[2:]``, next
   14 elements for ``qvel``, other elements for clipped ``cfrc_ext`` (com-based
   external force on body, a.k.a. contact force);
-- Observation space (v4): ``(27)``, first 13 elements for ``qpos[2:]``, next
+- Observation space (v5): ``(27)``, first 13 elements for ``qpos[2:]``, next
   14 elements for ``qvel``;
 - Action space: ``(8)``, with range ``[-1, 1]``;
 - ``frame_skip``: 5;
 - ``max_episode_steps``: 1000;
 - ``reward_threshold``: 6000.0;
 
 
-HalfCheetah-v3/v4
+HalfCheetah-v3/v5
 -----------------
 
 `gym HalfCheetah-v3 source code
 <https://github.com/openai/gym/blob/master/gym/envs/mujoco/half_cheetah_v3.py>`_
 
-`gym HalfCheetah-v4 source code
-<https://github.com/openai/gym/blob/master/gym/envs/mujoco/half_cheetah_v4.py>`_
+`gymnasium HalfCheetah-v5 source code
+<https://github.com/Farama-Foundation/Gymnasium/blob/v1.2.3/gymnasium/envs/mujoco/half_cheetah_v5.py>`_
 
 - Observation space: ``(17)``, first 8 elements for ``qpos[1:]``, next 9
   elements for ``qvel``;
@@ -49,14 +49,14 @@ HalfCheetah-v3/v4
 - ``reward_threshold``: 4800.0;
 
 
-Hopper-v3/v4
+Hopper-v3/v5
 ------------
 
 `gym Hopper-v3 source code
 <https://github.com/openai/gym/blob/master/gym/envs/mujoco/hopper_v3.py>`_
 
-`gym Hopper-v4 source code
-<https://github.com/openai/gym/blob/master/gym/envs/mujoco/hopper_v4.py>`_
+`gymnasium Hopper-v5 source code
+<https://github.com/Farama-Foundation/Gymnasium/blob/v1.2.3/gymnasium/envs/mujoco/hopper_v5.py>`_
 
 - Observation space: ``(11)``, first 5 elements for ``qpos[1:]``, next 6
   elements for ``qvel``;
@@ -66,20 +66,20 @@ Hopper-v3/v4
 - ``reward_threshold``: 6000.0;
 
 
-Humanoid-v3/v4, HumanoidStandup-v2/v4
+Humanoid-v3/v5, HumanoidStandup-v2/v5
 -------------------------------------
 
 `gym Humanoid-v3 source code
 <https://github.com/openai/gym/blob/master/gym/envs/mujoco/humanoid_v3.py>`_
 
-`gym Humanoid-v4 source code
-<https://github.com/openai/gym/blob/master/gym/envs/mujoco/humanoid_v4.py>`_
+`gymnasium Humanoid-v5 source code
+<https://github.com/Farama-Foundation/Gymnasium/blob/v1.2.3/gymnasium/envs/mujoco/humanoid_v5.py>`_
 
 `gym HumanoidStandup-v2 source code
 <https://github.com/openai/gym/blob/master/gym/envs/mujoco/humanoidstandup.py>`_
 
-`gym HumanoidStandup-v4 source code
-<https://github.com/openai/gym/blob/master/gym/envs/mujoco/humanoidstandup_v4.py>`_
+`gymnasium HumanoidStandup-v5 source code
+<https://github.com/Farama-Foundation/Gymnasium/blob/v1.2.3/gymnasium/envs/mujoco/humanoidstandup_v5.py>`_
 
 - Observation space: ``(376)``, first 22 elements for ``qpos[2:]``, next 23
   elements for ``qvel``, next 140 elements for ``cinert`` (com-based body
@@ -91,14 +91,14 @@ Humanoid-v3/v4, HumanoidStandup-v2/v4
 - ``max_episode_steps``: 1000;
 
 
-InvertedDoublePendulum-v2/v4
+InvertedDoublePendulum-v2/v5
 ----------------------------
 
 `gym InvertedDoublePendulum-v2 source code
 <https://github.com/openai/gym/blob/master/gym/envs/mujoco/inverted_double_pendulum.py>`_
 
-`gym InvertedDoublePendulum-v4 source code
-<https://github.com/openai/gym/blob/master/gym/envs/mujoco/inverted_double_pendulum_v4.py>`_
+`gymnasium InvertedDoublePendulum-v5 source code
+<https://github.com/Farama-Foundation/Gymnasium/blob/v1.2.3/gymnasium/envs/mujoco/inverted_double_pendulum_v5.py>`_
 
 - Observation space: ``(11)``, first 1 element for ``qpos[0]``, next 2
   elements for ``sin(qpos[1:])``, next 2 elements for ``cos(qpos[1:])``,
@@ -109,14 +109,14 @@ InvertedDoublePendulum-v2/v4
 - ``reward_threshold``: 9100.0;
 
 
-InvertedPendulum-v2/v4
+InvertedPendulum-v2/v5
 ----------------------
 
 `gym InvertedPendulum-v2 source code
 <https://github.com/openai/gym/blob/master/gym/envs/mujoco/inverted_pendulum.py>`_
 
-`gym InvertedPendulum-v4 source code
-<https://github.com/openai/gym/blob/master/gym/envs/mujoco/inverted_pendulum_v4.py>`_
+`gymnasium InvertedPendulum-v5 source code
+<https://github.com/Farama-Foundation/Gymnasium/blob/v1.2.3/gymnasium/envs/mujoco/inverted_pendulum_v5.py>`_
 
 - Observation space: ``(4)``, first 2 elements for ``qpos``, next 2 elements
   for ``qvel``;
@@ -126,14 +126,14 @@ InvertedPendulum-v2/v4
 - ``reward_threshold``: 950.0;
 
 
-Pusher-v2/v4
+Pusher-v2/v5
 ------------
 
 `gym Pusher-v2 source code
 <https://github.com/openai/gym/blob/master/gym/envs/mujoco/pusher.py>`_
 
-`gym Pusher-v4 source code
-<https://github.com/openai/gym/blob/master/gym/envs/mujoco/pusher_v4.py>`_
+`gymnasium Pusher-v5 source code
+<https://github.com/Farama-Foundation/Gymnasium/blob/v1.2.3/gymnasium/envs/mujoco/pusher_v5.py>`_
 
 - Observation space: ``(23)``, first 7 elements for ``qpos[:7]``, next 7
   elements for ``qvel[:7]``, next 3 elements for ``tips_arm``, next 3
@@ -144,14 +144,14 @@ Pusher-v2/v4
 - ``reward_threshold``: 0.0;
 
 
-Reacher-v2/v4
+Reacher-v2/v5
 -------------
 
 `gym Reacher-v2 source code
 <https://github.com/openai/gym/blob/master/gym/envs/mujoco/reacher.py>`_
 
-`gym Reacher-v4 source code
-<https://github.com/openai/gym/blob/master/gym/envs/mujoco/reacher_v4.py>`_
+`gymnasium Reacher-v5 source code
+<https://github.com/Farama-Foundation/Gymnasium/blob/v1.2.3/gymnasium/envs/mujoco/reacher_v5.py>`_
 
 - Observation space: ``(11)``, first 2 elements for ``cos(qpos[:2])``, next 2
   elements for ``sin(qpos[:2])``, next 2 elements for ``qpos[2:]``, next 2
@@ -163,14 +163,14 @@ Reacher-v2/v4
 - ``reward_threshold``: -3.75;
 
 
-Swimmer-v3/v4
+Swimmer-v3/v5
 -------------
 
 `gym Swimmer-v3 source code
 <https://github.com/openai/gym/blob/master/gym/envs/mujoco/swimmer_v3.py>`_
 
-`gym Swimmer-v4 source code
-<https://github.com/openai/gym/blob/master/gym/envs/mujoco/swimmer_v4.py>`_
+`gymnasium Swimmer-v5 source code
+<https://github.com/Farama-Foundation/Gymnasium/blob/v1.2.3/gymnasium/envs/mujoco/swimmer_v5.py>`_
 
 - Observation space: ``(8)``, first 3 elements for ``qpos[2:]``, next 5
   elements for ``qvel``;
@@ -180,14 +180,14 @@ Swimmer-v3/v4
 - ``reward_threshold``: 360.0;
 
 
-Walker2d-v3/v4
+Walker2d-v3/v5
 --------------
 
 `gym Walker2d-v3 source code
 <https://github.com/openai/gym/blob/master/gym/envs/mujoco/walker2d_v3.py>`_
 
-`gym Walker2d-v4 source code
-<https://github.com/openai/gym/blob/master/gym/envs/mujoco/walker2d_v4.py>`_
+`gymnasium Walker2d-v5 source code
+<https://github.com/Farama-Foundation/Gymnasium/blob/v1.2.3/gymnasium/envs/mujoco/walker2d_v5.py>`_
 
 - Observation space: ``(17)``, first 8 elements for ``qpos[1:]``, next 9
   elements for ``qvel``;

docs/index.rst

@@ -47,7 +47,7 @@ Installation
 ------------
 
 EnvPool is currently hosted on `PyPI <https://pypi.org/project/envpool/>`_.
-It requires Python >= 3.7.
+It supports Python 3.10-3.13.
 
 You can install EnvPool with the following command:
 

envpool/BUILD

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-load("@pip_requirements//:requirements.bzl", "requirement")
 load("@rules_python//python:defs.bzl", "py_library", "py_test")
+load("//envpool:requirements.bzl", "requirement")
 
 package(default_visibility = ["//visibility:public"])
 

envpool/atari/BUILD

@@ -12,10 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-load("@pip_requirements//:requirements.bzl", "requirement")
 load("@pybind11_bazel//:build_defs.bzl", "pybind_extension")
 load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
 load("@rules_python//python:defs.bzl", "py_library", "py_test")
+load("//envpool:requirements.bzl", "requirement")
 
 package(default_visibility = ["//visibility:public"])
 

envpool/box2d/BUILD

@@ -12,10 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-load("@pip_requirements//:requirements.bzl", "requirement")
 load("@pybind11_bazel//:build_defs.bzl", "pybind_extension")
 load("@rules_cc//cc:defs.bzl", "cc_library")
 load("@rules_python//python:defs.bzl", "py_library", "py_test")
+load("//envpool:requirements.bzl", "requirement")
 
 package(default_visibility = ["//visibility:public"])
 

envpool/classic_control/BUILD

@@ -12,10 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-load("@pip_requirements//:requirements.bzl", "requirement")
 load("@pybind11_bazel//:build_defs.bzl", "pybind_extension")
 load("@rules_cc//cc:defs.bzl", "cc_library")
 load("@rules_python//python:defs.bzl", "py_library", "py_test")
+load("//envpool:requirements.bzl", "requirement")
 
 package(default_visibility = ["//visibility:public"])