[envpool] stabilize manylinux release wheel builds

.github/workflows/release.yml

@@ -1,18 +1,21 @@
 name: Release PyPI Wheel
 
-# on: [push, pull_request]
 on:
   push:
     branches:
       - main
     tags:
       - v*
+  pull_request:
+    branches:
+      - main
 
 jobs:
   release:
     runs-on: ubuntu-latest
     container: quay.io/pypa/manylinux_2_28_x86_64
     strategy:
+      fail-fast: false
       matrix:
         python-version: ["3.11", "3.12", "3.13"]
     steps:
@@ -44,21 +47,24 @@ jobs:
         run: |
           make release-test
       - name: Upload artifact
-        uses: actions/upload-artifact@main
+        uses: actions/upload-artifact@v7
         with:
-          name: wheel
+          name: wheel-${{ matrix.python-version }}
           path: wheelhouse/
+          if-no-files-found: error
 
   publish:
     runs-on: ubuntu-latest
     needs: [release]
     steps:
-      - uses: actions/download-artifact@v3
+      - 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/wheel/* dist/
+          mkdir dist && mv artifact/* dist/
           ls dist/
       - name: Publish distribution to PyPI
         if: startsWith(github.ref, 'refs/tags')

BUILD

@@ -1,25 +1,58 @@
+load("@python_versions//3.11:defs.bzl", py_binary_311 = "py_binary")
+load("@python_versions//3.12:defs.bzl", py_binary_312 = "py_binary")
+load("@python_versions//3.13:defs.bzl", py_binary_313 = "py_binary")
 load("@rules_python//python:defs.bzl", "py_binary")
 load("//envpool:requirements.bzl", "requirement")
 
+_SETUP_SRCS = [
+    "setup.py",
+]
+
+_SETUP_DATA = [
+    "README.md",
+    "setup.cfg",
+    "//envpool",
+]
+
+_SETUP_DEPS = [
+    requirement("setuptools"),
+    requirement("wheel"),
+]
+
 filegroup(
     name = "clang_tidy_config",
     data = [".clang-tidy"],
 )
 
 py_binary(
     name = "setup",
-    srcs = [
-        "setup.py",
-    ],
-    data = [
-        "README.md",
-        "setup.cfg",
-        "//envpool",
-    ],
+    srcs = _SETUP_SRCS,
+    data = _SETUP_DATA,
     main = "setup.py",
     python_version = "PY3",
-    deps = [
-        requirement("setuptools"),
-        requirement("wheel"),
-    ],
+    deps = _SETUP_DEPS,
+)
+
+py_binary_311(
+    name = "setup_py311",
+    srcs = _SETUP_SRCS,
+    data = _SETUP_DATA,
+    main = "setup.py",
+    deps = _SETUP_DEPS,
+)
+
+py_binary_312(
+    name = "setup_py312",
+    srcs = _SETUP_SRCS,
+    data = _SETUP_DATA,
+    main = "setup.py",
+    deps = _SETUP_DEPS,
+)
+
+py_binary_313(
+    name = "setup_py313",
+    srcs = _SETUP_SRCS,
+    data = _SETUP_DATA,
+    main = "setup.py",
+    deps = _SETUP_DEPS,
 )

Makefile

@@ -13,6 +13,8 @@ BAZEL          = USE_BAZEL_VERSION=$(BAZEL_VERSION) $(BAZELISK_BIN)
 DATE           = $(shell date "+%Y-%m-%d")
 DOCKER_TAG     = $(DATE)-$(COMMIT_HASH)
 DOCKER_USER    = trinkle23897
+RELEASE_PYTHON ?= $(shell python3 -c 'import sys; print("{}.{}".format(sys.version_info[0], sys.version_info[1]))')
+RELEASE_SETUP_TARGET = //:setup_py$(subst .,,$(RELEASE_PYTHON))
 CLANG_TIDY_MAJOR = 18
 CLANG_TIDY_BIN = clang-tidy-$(CLANG_TIDY_MAJOR)
 CLANG_TIDY_WRAPPER_DIR = $(HOME)/.cache/$(PROJECT_NAME)/bin
@@ -78,7 +80,13 @@ spelling-system-install:
 	python3 -c "import ctypes.util, sys; sys.exit(0 if ctypes.util.find_library('enchant-2') or ctypes.util.find_library('enchant') else 1)")
 
 auditwheel-install:
-	$(call check_install_extra, auditwheel, auditwheel typed-ast patchelf)
+	$(call check_install_extra, auditwheel, auditwheel patchelf)
+
+release-system-install:
+	if command -v dnf >/dev/null 2>&1; then \
+		perl -MCompress::Zlib -e1 >/dev/null 2>&1 || \
+			(dnf install -y perl-IO-Compress && dnf clean all); \
+	fi
 
 # python linter
 
@@ -125,10 +133,10 @@ bazel-build: bazel-install bazel-pip-requirement-dev
 	mkdir -p dist
 	cp bazel-bin/setup.runfiles/$(PROJECT_NAME)/dist/*.whl ./dist
 
-bazel-release: bazel-install bazel-pip-requirement-release
-	$(BAZEL) run $(BAZELOPT) //:setup --config=release -- bdist_wheel
+bazel-release: bazel-install bazel-pip-requirement-release release-system-install
+	$(BAZEL) run $(BAZELOPT) $(RELEASE_SETUP_TARGET) --config=release -- bdist_wheel
 	mkdir -p dist
-	cp bazel-bin/setup.runfiles/$(PROJECT_NAME)/dist/*.whl ./dist
+	cp bazel-bin/$(subst //:,,$(RELEASE_SETUP_TARGET)).runfiles/$(PROJECT_NAME)/dist/*.whl ./dist
 
 bazel-test: bazel-install bazel-pip-requirement-dev
 	$(BAZEL) test --test_output=all $(BAZELOPT) //... --config=test --spawn_strategy=local --color=yes
@@ -194,7 +202,9 @@ docker-release-launch: docker-release
 	docker run --network=host -v /:/host -v $(shell pwd):/app -v $(HOME)/.cache:/root/.cache --shm-size=4gb -it $(PROJECT_NAME)-release:$(DOCKER_TAG) zsh
 
 pypi-wheel: auditwheel-install bazel-release
-	ls dist/*.whl -Art | tail -n 1 | xargs auditwheel repair --plat manylinux_2_28_x86_64
+	rm -rf wheelhouse
+	CURRENT_WHEEL=$$(ls dist/*.whl -Art | tail -n 1); \
+	python3 -m auditwheel repair --plat manylinux_2_28_x86_64 "$$CURRENT_WHEEL"
 
 release-test1:
 	cd envpool && python3 make_test.py

docker/release.dockerfile

@@ -9,7 +9,7 @@ WORKDIR $HOME
 
 RUN dnf install -y \
     git curl wget zsh gcc gcc-c++ make tmux golang java-17-openjdk-devel \
-    qt5-qtbase-devel qt5-qtdeclarative-devel \
+    qt5-qtbase-devel qt5-qtdeclarative-devel perl-IO-Compress \
     && dnf clean all
 RUN ln -sf "$(qmake-qt5 -query QT_INSTALL_HEADERS)" /usr/include/qt
 

envpool/mujoco/gym/mujoco_env.h

@@ -20,6 +20,7 @@
 #include <mjxmacro.h>
 #include <mujoco.h>
 
+#include <fstream>
 #include <stdexcept>
 #include <string>
 
@@ -28,6 +29,17 @@ namespace mujoco_gym {
 class MujocoEnv {
  private:
   std::array<char, 1000> error_;
+  std::string xml_path_;
+
+  static std::string ResolveXMLPath(const std::string& xml) {
+    auto ext = xml.rfind(".xml");
+    if (ext == std::string::npos) {
+      return xml;
+    }
+    std::string patched = xml.substr(0, ext) + "_envpool.xml";
+    std::ifstream stream(patched);
+    return stream.good() ? patched : xml;
+  }
 
  protected:
   mjModel* model_;
@@ -44,7 +56,8 @@ class MujocoEnv {
  public:
   MujocoEnv(const std::string& xml, int frame_skip, bool post_constraint,
             int max_episode_steps)
-      : model_(mj_loadXML(xml.c_str(), nullptr, error_.begin(), 1000)),
+      : xml_path_(ResolveXMLPath(xml)),
+        model_(mj_loadXML(xml_path_.c_str(), nullptr, error_.begin(), 1000)),
         frame_skip_(frame_skip),
         post_constraint_(post_constraint),
         max_episode_steps_(max_episode_steps),

envpool/pip.bzl

@@ -14,18 +14,27 @@
 
 """EnvPool pip requirements initialization, this is loaded in WORKSPACE."""
 
-load("@rules_python//python:pip.bzl", "pip_parse")
+load("@python_versions//:pip.bzl", "multi_pip_parse")
 
 def workspace():
     """Configure pip requirements."""
 
     if "pip_requirements" not in native.existing_rules().keys():
-        pip_parse(
+        multi_pip_parse(
             name = "pip_requirements",
-            python_interpreter_target = "@python3_12_x86_64-unknown-linux-gnu//:bin/python3",
+            default_version = "3.12",
+            python_interpreter_target = {
+                "3.11": "@python_versions_3_11_x86_64-unknown-linux-gnu//:bin/python3",
+                "3.12": "@python_versions_3_12_x86_64-unknown-linux-gnu//:bin/python3",
+                "3.13": "@python_versions_3_13_x86_64-unknown-linux-gnu//:bin/python3",
+            },
+            requirements_lock = {
+                "3.11": "@envpool//third_party/pip_requirements:requirements.txt",
+                "3.12": "@envpool//third_party/pip_requirements:requirements.txt",
+                "3.13": "@envpool//third_party/pip_requirements:requirements.txt",
+            },
             # default timeout value is 600, change it if you failed.
             # timeout = 3600,
             quiet = False,
-            requirements_lock = "@envpool//third_party/pip_requirements:requirements.txt",
             # extra_pip_args = ["--extra-index-url", "https://mirrors.aliyun.com/pypi/simple"],
         )

envpool/python_tool_versions.bzl

@@ -12,21 +12,26 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Additional Python toolchain versions for rules_python 0.12."""
+"""Additional Python toolchain versions for rules_python."""
 
-# Sourced from bazelbuild/rules_python 0.37.0.
-PYTHON_TOOL_VERSIONS = {
-    "3.12.7": {
-        "url": "20241008/cpython-{python_version}+20241008-{platform}-{build}.tar.gz",
-        "sha256": {
-            "aarch64-apple-darwin": "dd07d467f1d533b93d06e4d2ff88b91f491329510c6434297b88b584641bff5d",
-            "aarch64-unknown-linux-gnu": "ce3230da53aacb17ff77e912170786f47db4a446d4acb6cde7c397953a032bca",
-            "ppc64le-unknown-linux-gnu": "27d3cba42e94593c49f8610dcadd74f5b731c78f04ebabc2b0e1ba031ec09441",
-            "s390x-unknown-linux-gnu": "1e28e0fc9cd1fa0365a149c715c44d3030b2c989ca397fc074809b943449df41",
-            "x86_64-apple-darwin": "2347bf53ed3623645bed35adfca950b2c5291e3a759ec6c7765aa707b5dc866b",
-            "x86_64-pc-windows-msvc": "4ed1a146c66c7dbd85b87df69b17afc166ea7d70056aaf59a49c3d987a030d3b",
-            "x86_64-unknown-linux-gnu": "adbda1f3b77d7b65a551206e34a225375f408f9823e2e11df4c332aaecb8714b",
-        },
-        "strip_prefix": "python",
+load("@rules_python//python:versions.bzl", "MINOR_MAPPING", "TOOL_VERSIONS")
+
+_PYTHON_3_12_7 = {
+    "url": "20241008/cpython-{python_version}+20241008-{platform}-{build}.tar.gz",
+    "sha256": {
+        "aarch64-apple-darwin": "dd07d467f1d533b93d06e4d2ff88b91f491329510c6434297b88b584641bff5d",
+        "aarch64-unknown-linux-gnu": "ce3230da53aacb17ff77e912170786f47db4a446d4acb6cde7c397953a032bca",
+        "ppc64le-unknown-linux-gnu": "27d3cba42e94593c49f8610dcadd74f5b731c78f04ebabc2b0e1ba031ec09441",
+        "s390x-unknown-linux-gnu": "1e28e0fc9cd1fa0365a149c715c44d3030b2c989ca397fc074809b943449df41",
+        "x86_64-apple-darwin": "2347bf53ed3623645bed35adfca950b2c5291e3a759ec6c7765aa707b5dc866b",
+        "x86_64-pc-windows-msvc": "4ed1a146c66c7dbd85b87df69b17afc166ea7d70056aaf59a49c3d987a030d3b",
+        "x86_64-unknown-linux-gnu": "adbda1f3b77d7b65a551206e34a225375f408f9823e2e11df4c332aaecb8714b",
     },
+    "strip_prefix": "python",
 }
+
+PYTHON_TOOL_VERSIONS = dict(TOOL_VERSIONS)
+PYTHON_TOOL_VERSIONS["3.12.7"] = _PYTHON_3_12_7
+
+PYTHON_MINOR_MAPPING = dict(MINOR_MAPPING)
+PYTHON_MINOR_MAPPING["3.12"] = "3.12.7"

envpool/workspace1.bzl

@@ -17,15 +17,17 @@
 load("@com_github_nelhage_rules_boost//:boost/boost.bzl", "boost_deps")
 load("@com_justbuchanan_rules_qt//:qt_configure.bzl", "qt_configure")
 load("@rules_foreign_cc//foreign_cc:repositories.bzl", "rules_foreign_cc_dependencies")
-load("@rules_python//python:repositories.bzl", "python_register_toolchains")
-load("//envpool:python_tool_versions.bzl", "PYTHON_TOOL_VERSIONS")
+load("@rules_python//python:repositories.bzl", "python_register_multi_toolchains")
+load("//envpool:python_tool_versions.bzl", "PYTHON_MINOR_MAPPING", "PYTHON_TOOL_VERSIONS")
 
 def workspace():
     """Configure pip requirements."""
-    python_register_toolchains(
-        name = "python3_12",
-        python_version = "3.12.7",
+    python_register_multi_toolchains(
+        name = "python_versions",
+        python_versions = ["3.11", "3.12", "3.13"],
+        default_version = "3.12",
         ignore_root_user_error = True,
+        minor_mapping = PYTHON_MINOR_MAPPING,
         tool_versions = PYTHON_TOOL_VERSIONS,
     )
 

third_party/cuda/cuda.bzl

@@ -16,12 +16,61 @@
 
 _CUDA_DIR = "CUDA_DIR"
 
+_STUB_CUDA_RUNTIME_API_H = """
+#ifndef CUDA_RUNTIME_API_H_
+#define CUDA_RUNTIME_API_H_
+
+#include <stddef.h>
+#include <stdlib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef void* cudaStream_t;
+typedef int cudaError_t;
+
+enum cudaMemcpyKind {
+    cudaMemcpyHostToHost = 0,
+    cudaMemcpyHostToDevice = 1,
+    cudaMemcpyDeviceToHost = 2,
+    cudaMemcpyDeviceToDevice = 3,
+};
+
+static inline cudaError_t cudaMemcpyAsync(
+    void* dst, const void* src, size_t count, enum cudaMemcpyKind kind,
+    cudaStream_t stream) {
+    (void)dst;
+    (void)src;
+    (void)count;
+    (void)kind;
+    (void)stream;
+    abort();
+    return 1;
+}
+
+static inline cudaError_t cudaStreamSynchronize(cudaStream_t stream) {
+    (void)stream;
+    abort();
+    return 1;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* CUDA_RUNTIME_API_H_ */
+"""
+
 def _impl(rctx):
     cuda_dir = rctx.os.environ.get(_CUDA_DIR, default = "/usr/local/cuda")
-    rctx.symlink("{}/include".format(cuda_dir), "include")
-    rctx.symlink("{}/lib64".format(cuda_dir), "lib64")
+    cuda_include = rctx.path("{}/include/cuda_runtime_api.h".format(cuda_dir))
+    cudart_static = rctx.path("{}/lib64/libcudart_static.a".format(cuda_dir))
     rctx.file("WORKSPACE")
-    rctx.file("BUILD", content = """
+    if cuda_include.exists and cudart_static.exists:
+        rctx.symlink("{}/include".format(cuda_dir), "include")
+        rctx.symlink("{}/lib64".format(cuda_dir), "lib64")
+        rctx.file("BUILD", content = """
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
@@ -33,6 +82,17 @@ cc_library(
     ]),
     strip_include_prefix = "include",
 )
+""")
+    else:
+        rctx.file("include/cuda_runtime_api.h", _STUB_CUDA_RUNTIME_API_H)
+        rctx.file("BUILD", content = """
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "cudart_static",
+    hdrs = ["include/cuda_runtime_api.h"],
+    strip_include_prefix = "include",
+)
 """)
 
 cuda_configure = repository_rule(