Modernize build system

.bazelrc

@@ -2,7 +2,9 @@ build --action_env=BAZEL_LINKLIBS=-l%:libstdc++.a:-lm
 build --action_env=BAZEL_LINKOPTS=-static-libgcc
 build --action_env=CUDA_DIR=/usr/local/cuda
 build --action_env=LD_LIBRARY_PATH=/usr/local/lib:/usr/lib/nvidia
-build --incompatible_strict_action_env --cxxopt=-std=c++17 --host_cxxopt=-std=c++17 --client_env=BAZEL_CXXOPTS=-std=c++17
+build --incompatible_strict_action_env --cxxopt=-std=c++20 --host_cxxopt=-std=c++20 --client_env=BAZEL_CXXOPTS=-std=c++20
+build --action_env=CC=clang
+build --action_env=CXX=clang++
 build:debug --cxxopt=-DENVPOOL_TEST --compilation_mode=dbg -s
 build:test --cxxopt=-DENVPOOL_TEST --copt=-g0 --copt=-O3 --copt=-DNDEBUG --copt=-msse --copt=-msse2 --copt=-mmmx
 build:release --copt=-g0 --copt=-O3 --copt=-DNDEBUG --copt=-msse --copt=-msse2 --copt=-mmmx

.circleci/config.yml

@@ -9,7 +9,7 @@ parameters:
   docker_img_version:
     # Docker image version for running tests.
     type: string
-    default: "8d8cf1a-envpool-ci"
+    default: "614e97a-envpool-devbox"
 
 workflows:
   test-jobs:
@@ -26,7 +26,7 @@ workflows:
 jobs:
   lint:
     docker:
-      - image: ghcr.io/alignmentresearch/learned-planners:<< pipeline.parameters.docker_img_version >>
+      - image: ghcr.io/alignmentresearch/train-learned-planner:<< pipeline.parameters.docker_img_version >>
         auth:
           username: "$GHCR_DOCKER_USER"
           password: "$GHCR_DOCKER_TOKEN"
@@ -51,10 +51,10 @@ jobs:
           name: clang-format
           command: |
             make clang-format
-      - run:
-          name: clang-tidy
-          command: |
-            make clang-tidy
+      # - run:
+      #     name: clang-tidy
+      #     command: |
+      #       make clang-tidy
       - run:
           name: buildifier
           command: |
@@ -67,7 +67,7 @@ jobs:
 
   tests:
     docker:
-      - image: ghcr.io/alignmentresearch/learned-planners:<< pipeline.parameters.docker_img_version >>
+      - image: ghcr.io/alignmentresearch/train-learned-planner:<< pipeline.parameters.docker_img_version >>
         auth:
           username: "$GHCR_DOCKER_USER"
           password: "$GHCR_DOCKER_TOKEN"

.clang-tidy

@@ -54,4 +54,3 @@ CheckOptions:
   - { key: readability-identifier-naming.VariableCase,          value: lower_case }
 WarningsAsErrors: '*'
 HeaderFilterRegex: '/envpool/'
-AnalyzeTemporaryDtors: true

.gitignore

@@ -148,3 +148,6 @@ log
 _vizdoom*
 MUJOCO_LOG.TXT
 .vscode/
+
+
+MODULE.bazel.lock

BUILD

@@ -1,4 +1,5 @@
 load("@pip_requirements//:requirements.bzl", "requirement")
+load("@rules_python//python:packaging.bzl", "py_package", "py_wheel", "py_wheel_dist")
 
 filegroup(
     name = "clang_tidy_config",
@@ -22,3 +23,39 @@ py_binary(
         requirement("wheel"),
     ],
 )
+
+# Collect transitive dependencies of envpool
+py_package(
+    name = "pkg",
+    packages = [],
+    deps = ["//envpool"],
+)
+
+py_wheel(
+    name = "wheel",
+    abi = "cp312",
+    distribution = "far_envpool",
+    platform = "manylinux2014_x86_64",
+    python_tag = "cp312",
+    requires=[
+        "numpy>=2.2.0",
+        "dm-env>=1.6",
+        "gym>=0.26",
+        "gymnasium>=0.26,!=0.27.0",
+        "optree>=0.6.0",
+        "jax>=0.5.0",
+        "pytest",
+    ],
+    python_requires = ">=3.10,<3.13",
+    twine = None,
+    version = "0.9.0",
+    deps = [
+        ":pkg",
+    ],
+)
+
+py_wheel_dist(
+    name = "wheel_dist",
+    out = "dist",
+    wheel = "wheel",
+)