[envpool] clean up dev Python dependencies and stabilize state buffers

BUILD

@@ -21,7 +21,7 @@ _SETUP_DEPS = [
 
 filegroup(
     name = "clang_tidy_config",
-    data = [".clang-tidy"],
+    srcs = [".clang-tidy"],
 )
 
 py_binary(

benchmark/requirements.txt

@@ -3,6 +3,6 @@ gym>=0.26.2
 ale-py==0.11.2
 mujoco==3.6.0
 tqdm
-opencv-python-headless>=4.11.0.86,<4.13
+opencv-python-headless>=4.13.0.92
 dm_control==1.0.38
 packaging

demo/envpool_demo_ant.ipynb

@@ -28,7 +28,7 @@
         "!pip install envpool\n",
         "!pip install gym\n",
         "\n",
-        "!pip install free-mujoco-py\n",
+        "!pip install mujoco\n",
         "!sudo apt-get install -y xvfb python-opengl ffmpeg > /dev/null 2>&1\n",
         "!pip install imageio==2.4.1\n",
         "!pip install -U colabgymrender"
@@ -2781,4 +2781,4 @@
   },
   "nbformat": 4,
   "nbformat_minor": 0
-}
+}

demo/envpool_demo_breakout.ipynb

@@ -48,7 +48,7 @@
         "!pip install envpool\n",
         "!pip install gym\n",
         "\n",
-        "!pip install free-mujoco-py\n",
+        "!pip install mujoco\n",
         "!apt-get install -y xvfb python-opengl ffmpeg > /dev/null 2>&1\n",
         "!pip install imageio==2.4.1\n",
         "!pip install -U colabgymrender"
@@ -1884,4 +1884,4 @@
       ]
     }
   ]
-}
+}

demo/envpool_demo_halfcheetah.ipynb

@@ -48,7 +48,7 @@
         "!pip install envpool\n",
         "!pip install gym\n",
         "\n",
-        "!pip install free-mujoco-py\n",
+        "!pip install mujoco\n",
         "!apt-get install -y xvfb python-opengl ffmpeg > /dev/null 2>&1\n",
         "!pip install imageio==2.4.1\n",
         "!pip install -U colabgymrender"
@@ -1372,4 +1372,4 @@
       ]
     }
   ]
-}
+}

demo/envpool_demo_pong.ipynb

@@ -50,7 +50,7 @@
         "!pip install envpool\n",
         "!pip install gym\n",
         "\n",
-        "!pip install free-mujoco-py\n",
+        "!pip install mujoco\n",
         "!apt-get install -y xvfb python-opengl ffmpeg > /dev/null 2>&1\n",
         "!pip install imageio==2.4.1\n",
         "!pip install -U colabgymrender"
@@ -892,4 +892,4 @@
       ]
     }
   ]
-}
+}

envpool/box2d/BUILD

@@ -90,10 +90,9 @@ py_test(
         ":box2d",
         ":box2d_registration",
         requirement("absl-py"),
-        requirement("gym"),
-        requirement("box2d-py"),
+        requirement("box2d"),
+        requirement("gymnasium"),
         requirement("pygame"),
-        requirement("opencv-python-headless"),
         requirement("numpy"),
     ],
 )

envpool/box2d/box2d_correctness_test.py

@@ -15,8 +15,7 @@
 
 from typing import Any, Dict, List, Tuple, no_type_check
 
-# import cv2
-import gym
+import gymnasium as gym
 import numpy as np
 import pygame
 from absl import logging
@@ -46,16 +45,16 @@ def test_bipedal_walker_space(self) -> None:
     self.run_space_check(env0, env1)
 
   def test_lunar_lander_space(self) -> None:
-    env0 = gym.make("LunarLander-v2")
+    env0 = gym.make("LunarLander-v3")
     env1 = make_gym("LunarLander-v2")
     self.run_space_check(env0, env1)
 
-    env0 = gym.make("LunarLanderContinuous-v2")
+    env0 = gym.make("LunarLanderContinuous-v3")
     env1 = make_gym("LunarLanderContinuous-v2")
     self.run_space_check(env0, env1)
 
   def test_car_racing_space(self) -> None:
-    env0 = gym.make("CarRacing-v2")
+    env0 = gym.make("CarRacing-v3")
     env1 = make_gym("CarRacing-v2")
     self.run_space_check(env0, env1)
 

envpool/core/circular_buffer.h

@@ -64,6 +64,17 @@ class CircularBuffer {
     sem_put_.signal();
     return v;
   }
+
+  bool TryGet(V* out) {
+    if (!sem_get_.tryWait()) {
+      return false;
+    }
+    uint64_t head = head_.fetch_add(1);
+    auto offset = head % size_;
+    *out = std::move(buffer_[offset]);
+    sem_put_.signal();
+    return true;
+  }
 };
 
 #endif  // ENVPOOL_CORE_CIRCULAR_BUFFER_H_

envpool/core/state_buffer_queue.h

@@ -145,8 +145,8 @@ class StateBufferQueue {
    * time of each state buffer is in the same order as the allocation time.
    */
   std::vector<Array> Wait(std::size_t additional_done_count = 0) {
-    std::unique_ptr<StateBuffer> newbuf = stock_buffer_.Get();
-    if (newbuf == nullptr) {
+    std::unique_ptr<StateBuffer> newbuf;
+    if (!stock_buffer_.TryGet(&newbuf) || newbuf == nullptr) {
       newbuf = std::make_unique<StateBuffer>(batch_, max_num_players_, specs_,
                                              is_player_state_);
     }

envpool/workspace0.bzl

@@ -163,10 +163,10 @@ def workspace():
     maybe(
         http_archive,
         name = "com_justbuchanan_rules_qt",
-        sha256 = "6b42a58f062b3eea10ada5340cd8f63b47feb986d16794b0f8e0fde750838348",
-        strip_prefix = "bazel_rules_qt-3196fcf2e6ee81cf3a2e2b272af3d4259b84fcf9",
+        sha256 = "29c1bf65369195d038eb5d3c923499fd229fa7ba947524dbdd9c48c91e1ee740",
+        strip_prefix = "bazel_rules_qt-89290cc7962d697c31b361a0f62141ca13d062d2",
         urls = [
-            "https://github.com/justbuchanan/bazel_rules_qt/archive/3196fcf2e6ee81cf3a2e2b272af3d4259b84fcf9.tar.gz",
+            "https://github.com/justbuchanan/bazel_rules_qt/archive/89290cc7962d697c31b361a0f62141ca13d062d2.tar.gz",
         ],
     )
 

third_party/pip_requirements/requirements-dev-lock.txt

@@ -1,19 +1,16 @@
 absl-py==2.4.0
 attrs==26.1.0
-box2d-py==2.3.8
+box2d==2.3.10
 certifi==2026.2.25
-cffi==2.0.0
 charset-normalizer==3.4.6
 cloudpickle==3.1.2
 cuda-bindings==12.9.4
 cuda-pathfinder==1.4.3
-cython==3.2.4
 dm-control==1.0.38
 dm-env==1.6
 dm-tree==0.1.9
 etils==1.14.0
 farama-notifications==0.0.4
-fasteners==0.20
 filelock==3.25.2
 fsspec==2026.2.0
 glfw==2.10.0
@@ -36,10 +33,9 @@ minigrid==3.0.0
 ml-dtypes==0.5.4
 mpmath==1.3.0
 mujoco==3.6.0
-mujoco-py==2.1.2.14
 networkx==3.6.1
 numba==0.64.0
-numpy==2.2.6
+numpy==2.4.3
 nvidia-cublas-cu12==12.8.4.1
 nvidia-cuda-cupti-cu12==12.8.90
 nvidia-cuda-nvrtc-cu12==12.8.93
@@ -55,19 +51,19 @@ nvidia-nccl-cu12==2.27.5
 nvidia-nvjitlink-cu12==12.8.93
 nvidia-nvshmem-cu12==3.4.5
 nvidia-nvtx-cu12==12.8.90
-opencv-python-headless==4.12.0.88
+opencv-python-headless==4.13.0.92
 opt-einsum==3.4.0
 optree==0.19.0
 packaging==26.0
 pettingzoo==1.25.0
 pillow==12.1.1
-protobuf==3.20.3
-pycparser==3.0
+protobuf==7.34.1
 pygame==2.6.1
 pyopengl==3.1.10
 pyparsing==3.3.2
 requests==2.32.5
 scipy==1.17.1
+swig==4.4.1
 sympy==1.14.0
 tensorboard==2.20.0
 tensorboard-data-server==0.7.2

third_party/pip_requirements/requirements-dev.txt

@@ -3,19 +3,17 @@ wheel
 numpy>=2,<3
 dm-env>=1.6
 gym>=0.26.2
-gymnasium>=1.2.3
+gymnasium[box2d]>=1.2.3
 optree>=0.19.0
 jax[cpu]>=0.9.2,<0.10
 absl-py
 packaging>=26.0
 tqdm
-protobuf<=4.20.0
 torch>=1.0,!=2.0.0,!=2.0.1
 tianshou>=0.5.1,<1.0.0
-opencv-python-headless>=4.11.0.86,<4.13
-box2d-py
+opencv-python-headless>=4.13.0.92
 dm-control>=1.0.38
 mujoco==3.6.0
-mujoco_py>=2.1.2.14
+imageio
 pygame
 minigrid>=3.0.0