## Description

Adds a native C++ EnvPool integration for the pinned MyoSuite v2.11.6
surface under the MuJoCo family. The runtime loads generated upstream
metadata and assets from `third_party/myosuite/` and registers the full
official ID set plus EnvPool aliases without importing the official
Python package at runtime.

Key review points:
- Native runtime entrypoint and task implementation live in
`envpool/mujoco/myosuite/`.
- Upstream source, SimHive asset wiring, generated registry metadata,
pinned oracle requirements, and the MuJoCo 3.6 MjSpec compatibility
patch live under `third_party/myosuite/`.
- Official MyoSuite is used only by tests and doc-generation tooling as
a pinned oracle.
- Nine upstream IDs that fail official oracle instantiation in this
pinned NumPy 2 test environment are excluded only from oracle tests;
they remain registered and covered by EnvPool registry/determinism
tests.
- Documentation includes the MyoSuite environment page and the generated
EnvPool-vs-official render comparison image.

## Motivation and Context

MyoSuite exposes a large MuJoCo task surface that was not available
through EnvPool. This adds a packaged native implementation so users can
create MyoBase/Reorient, Walk/Terrain, MyoChallenge, and MyoDM-style
registered IDs through EnvPool without a Python runtime bridge.

- [ ] I have raised an issue to propose this change
([required](https://envpool.readthedocs.io/en/latest/pages/contributing.html)
for new features and bug fixes)

## Types of changes

What types of changes does your code introduce? Put an `x` in all the
boxes that apply:

- [ ] Bug fix (non-breaking change which fixes an issue)
- [x] New feature (non-breaking change which adds core functionality)
- [x] New environment (non-breaking change which adds 3rd-party
environment)
- [ ] Breaking change (fix or feature that would cause existing
functionality to change)
- [x] Documentation (update in the documentation)
- [ ] Example (update in the folder of example)

## Implemented Tasks

- [x] Register the full pinned MyoSuite ID surface and EnvPool aliases.
- [x] Add native MuJoCo-backed MyoSuite runtime, metadata/assets, tests,
and docs.
- [x] Add oracle, determinism, registry, render, docs, and release-wheel
validation coverage.

## Checklist

Go over all the following points, and put an `x` in all the boxes that
apply.
If you are unsure about any of these, don't hesitate to ask. We are here
to help!

- [x] I have read the
[CONTRIBUTION](https://envpool.readthedocs.io/en/latest/pages/contributing.html)
guide (**required**)
- [x] My change requires a change to the documentation.
- [x] I have updated the tests accordingly (*required for a bug fix or a
new feature*).
- [x] I have updated the documentation accordingly.
- [x] I have reformatted the code using `make format` (**required**)
- [x] I have checked the code using `make lint` (**required**)
- [x] I have ensured `make bazel-test` pass. (**required**)

Validation run:
- `make ruff py-format cpplint clang-format buildifier`
- `make mypy`
- `bazel test --config=test --cache_test_results=no --test_output=errors
//envpool/mujoco:myosuite_test
//envpool/mujoco:myosuite_oracle_align_test
//envpool/mujoco:myosuite_render_test`
- `make BAZEL_TEST_TARGETS='//envpool/mujoco:mujoco_render_test
//envpool/mujoco:mujoco_dmc_render_test //envpool/mujoco:robotics_test'
bazel-test`
- `make BAZEL_TEST_TARGETS='//envpool:make_test' bazel-test`
- `make bazel-test` (62/62 tests passed locally)
- `make -C docs html` (succeeds; 4 existing `cpp_interface.rst` Breathe
warnings remain)
- `make bazel-release`
- `make pypi-wheel`
- installed the generated wheel in a fresh venv and ran `make
release-test`
- `git diff --cached --check`

## Description

This fixes the EGL teardown crash reported in issue #401 for native
MuJoCo pixel environments. EGL contexts now share a ref-counted display
handle so one thread-local renderer cannot terminate the process EGL
display while another renderer still needs it during teardown. The
offscreen renderer destructor is also no-throw: if the GL context is
already unavailable during Python/interpreter shutdown, it frees
CPU-side MuJoCo scene state and avoids aborting the process.

The regression coverage now exercises all native MuJoCo GL-backed
families in one EGL subprocess: DMC, Gym MuJoCo, Robotics, MetaWorld,
and MyoSuite. The test intentionally leaves env objects alive until
interpreter shutdown, matching the failure mode where the rollout
succeeds and the process aborts while exiting.

## Motivation and Context

close #401

The reported script successfully resets a `WalkerWalk-v1` pixel env and
then aborts at process exit with `failed to make EGL context current`. I
reproduced the same exit-134 crash on the dev GPU devbox, including when
calling `pixels.close()`, which points at renderer/context teardown
rather than user API misuse.

- [x] I have raised an issue to propose this change
([required](https://envpool.readthedocs.io/en/latest/pages/contributing.html)
for new features and bug fixes)

## Types of changes

What types of changes does your code introduce? Put an `x` in all the
boxes that apply:

- [x] Bug fix (non-breaking change which fixes an issue)
- [ ] New feature (non-breaking change which adds core functionality)
- [ ] New environment (non-breaking change which adds 3rd-party
environment)
- [ ] Breaking change (fix or feature that would cause existing
functionality to change)
- [ ] Documentation (update in the documentation)
- [ ] Example (update in the folder of example)

## Implemented Tasks

- [x] Share EGL display lifetime across native MuJoCo EGL contexts.
- [x] Make native offscreen renderer teardown safe during interpreter
shutdown.
- [x] Add all-family EGL pixel-env teardown regression coverage.

## Checklist

Go over all the following points, and put an `x` in all the boxes that
apply.
If you are unsure about any of these, don't hesitate to ask. We are here
to help!

- [x] I have read the
[CONTRIBUTION](https://envpool.readthedocs.io/en/latest/pages/contributing.html)
guide (**required**)
- [ ] My change requires a change to the documentation.
- [x] I have updated the tests accordingly (*required for a bug fix or a
new feature*).
- [ ] I have updated the documentation accordingly.
- [ ] I have reformatted the code using `make format` (**required**)
- [ ] I have checked the code using `make lint` (**required**)
- [ ] I have ensured `make bazel-test` pass. (**required**)

Validation run:

- devbox `dev-0`: reproduced issue #401 with exit status 134 before the
fix.
- devbox `dev-0`: `make bazel-test
BAZEL_TEST_TARGETS=//envpool/mujoco:mujoco_egl_teardown_test`
- devbox `dev-0`: `make bazel-test
BAZEL_TEST_TARGETS=//envpool/mujoco:mujoco_pixel_observation_test`
- devbox `dev-0`: rebuilt and reinstalled the local wheel, then reran
the original `envpool.make("WalkerWalk-v1", from_pixels=True,
num_envs=2, frame_stack=3, ...)` script successfully with exit status 0.
- local: `ruff check envpool/mujoco/mujoco_egl_teardown_test.py
envpool/mujoco/pixel_observation_test_utils.py
envpool/mujoco/dmc/mujoco_dmc_pixel_observation_test.py`
- local: `git diff --check`
- local: `clang-format --style=file -i
envpool/mujoco/offscreen_renderer.cc -n --Werror`

## Description

Adds Gymnasium vector compatibility metadata to EnvPool's Gymnasium
wrapper so vector-aware wrappers, including
`gymnasium.wrappers.vector.NormalizeObservation`, can recognize EnvPool
as a vector environment.

The change keeps EnvPool's existing backward-compatible space contract:
`observation_space` and `action_space` still describe one
sub-environment, and the Gymnasium wrapper now also exposes `num_envs`,
`is_vector_env`, `single_observation_space`, and `single_action_space`.

This also bumps EnvPool from `1.2.1` to `1.2.2`.

## Motivation and Context

Fixes #258.

The original blocker was Gym/Gymnasium vector API incompatibility.
Gymnasium now supports the vector wrapper shape EnvPool needs, so
EnvPool can provide the expected vector attributes without changing the
dm_env wrapper or the underlying runtime.

- [x] I have raised an issue to propose this change
([required](https://envpool.readthedocs.io/en/latest/pages/contributing.html)
for new features and bug fixes)

## Types of changes

What types of changes does your code introduce? Put an `x` in all the
boxes that apply:

- [x] Bug fix (non-breaking change which fixes an issue)
- [ ] New feature (non-breaking change which adds core functionality)
- [ ] New environment (non-breaking change which adds 3rd-party
environment)
- [ ] Breaking change (fix or feature that would cause existing
functionality to change)
- [x] Documentation (update in the documentation)
- [ ] Example (update in the folder of example)

## Implemented Tasks

- [x] Add Gymnasium vector metadata and `VectorEnv` compatibility on the
Gymnasium wrapper only
- [x] Add a CartPole regression test covering Gymnasium vector
`NormalizeObservation`
- [x] Bump package version to `1.2.2`

## Checklist

Go over all the following points, and put an `x` in all the boxes that
apply.
If you are unsure about any of these, don't hesitate to ask. We are here
to help!

- [x] I have read the
[CONTRIBUTION](https://envpool.readthedocs.io/en/latest/pages/contributing.html)
guide (**required**)
- [x] My change requires a change to the documentation.
- [x] I have updated the tests accordingly (*required for a bug fix or a
new feature*).
- [x] I have updated the documentation accordingly.
- [ ] I have reformatted the code using `make format` (**required**)
- [x] I have checked the code using `ruff check
envpool/python/gymnasium_envpool.py envpool/python/protocol.py
envpool/classic_control/classic_control_test.py envpool/__init__.py`
- [ ] I have ensured `make bazel-test` pass. (**required**)

Validation run:
- `ruff check envpool/python/gymnasium_envpool.py
envpool/python/protocol.py
envpool/classic_control/classic_control_test.py envpool/__init__.py`
- `mypy envpool/python/gymnasium_envpool.py envpool/python/protocol.py
envpool/classic_control/classic_control_test.py envpool/__init__.py`
- `bazel test --test_output=errors
--test_filter=_ClassicControlEnvPoolTest.test_cartpole_gymnasium_vector_wrapper
--action_env=PATH=/Users/jiayi/.virtualenvs/openai/bin:/bin:/usr/bin:/usr/local/bin
//envpool/classic_control:classic_control_test`
- `bazel test --test_output=errors
--test_filter=_DummyEnvPoolTest.test_config
//envpool/dummy:dummy_py_envpool_test`

## Description

Use an EGL surfaceless context for MuJoCo offscreen rendering when
`EGL_KHR_surfaceless_context` is available, matching the context shape
used by upstream `mujoco.egl.GLContext`. Keep the existing 1x1 pbuffer
fallback for drivers that do not advertise surfaceless contexts.

This prevents MuJoCo from treating the EGL pbuffer as an available
default window framebuffer, which can leave `GL_INVALID_OPERATION`
queued and produce:

`OpenGL error 0x502 in or before mjr_makeContext`

The existing EGL teardown subprocess test now also fails if that warning
appears on stderr.

## Motivation and Context

Follow-up to #401 and the latest issue comment: the crash was fixed, but
source builds could still run successfully while printing the MuJoCo
OpenGL warning above. This change keeps the renderer headless from
MuJoCo's point of view so native pixel observation envs do not emit the
warning.

- [x] I have raised an issue to propose this change
([required](https://envpool.readthedocs.io/en/latest/pages/contributing.html)
for new features and bug fixes)

## Types of changes

What types of changes does your code introduce? Put an `x` in all the
boxes that apply:

- [x] Bug fix (non-breaking change which fixes an issue)
- [ ] New feature (non-breaking change which adds core functionality)
- [ ] New environment (non-breaking change which adds 3rd-party
environment)
- [ ] Breaking change (fix or feature that would cause existing
functionality to change)
- [ ] Documentation (update in the documentation)
- [ ] Example (update in the folder of example)

## Implemented Tasks

- [x] Prefer EGL surfaceless contexts for native MuJoCo offscreen
rendering.
- [x] Preserve pbuffer fallback when surfaceless contexts are
unavailable.
- [x] Add regression coverage for the MuJoCo `mjr_makeContext` OpenGL
warning.

## Checklist

Go over all the following points, and put an `x` in all the boxes that
apply.
If you are unsure about any of these, don't hesitate to ask. We are here
to help!

- [x] I have read the
[CONTRIBUTION](https://envpool.readthedocs.io/en/latest/pages/contributing.html)
guide (**required**)
- [ ] My change requires a change to the documentation.
- [x] I have updated the tests accordingly (*required for a bug fix or a
new feature*).
- [ ] I have updated the documentation accordingly.
- [ ] I have reformatted the code using `make format` (**required**)
- [ ] I have checked the code using `make lint` (**required**)
- [ ] I have ensured `make bazel-test` pass. (**required**)

Validation run:

- `clang-format --style=file -i envpool/mujoco/offscreen_renderer.cc -n
--Werror`
- `ruff check envpool/mujoco/pixel_observation_test_utils.py`
- `ruff format --check envpool/mujoco/pixel_observation_test_utils.py`
- `git diff --check -- envpool/mujoco/offscreen_renderer.cc
envpool/mujoco/pixel_observation_test_utils.py`
- `bazel test --test_output=errors
//envpool/mujoco:mujoco_egl_teardown_test`

Devbox Linux validation was attempted, but the Brix API endpoint is
currently failing DNS resolution from this client. The PR CI should run
the Linux/EGL path directly.