Test Implib.so macOS porting for MOSEK wheel

MODULE.bazel

@@ -115,13 +115,18 @@ pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
 
 [
     pip.parse(
-        hub_name = "drake_mypy",
+        hub_name = "drake_{hub}".format(hub = hub),
         python_version = python_version,
-        requirements_lock = "//setup:python/mypy/requirements.txt",
+        requirements_lock = "//setup:python/{hub}/requirements.txt".format(hub = hub),
     )
     for python_version in PYTHON_VERSIONS
+    for hub in [
+        "lief",
+        "mypy",
+    ]
 ]
 
+use_repo(pip, "drake_lief")
 use_repo(pip, "drake_mypy")
 
 # Load dependencies which are "public", i.e., made available to downstream

setup/python/lief/BUILD.bazel

@@ -0,0 +1,19 @@
+load("@rules_python//python/uv:lock.bzl", "lock")
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+package(default_visibility = ["//visibility:public"])
+
+lock(
+    name = "lock",
+    srcs = ["requirements.in"],
+    out = "requirements.txt",
+    args = [
+        "--upgrade",
+        "--universal",
+        # This is our minimum supported version.
+        # When changing this, see drake/tools/workspace/python/README.md.
+        "--python-version=3.12",
+    ],
+)
+
+add_lint_tests()

setup/python/lief/requirements.in

@@ -0,0 +1 @@
+lief

setup/python/lief/requirements.txt

@@ -0,0 +1,79 @@
+# This file was autogenerated by uv via the following command:
+#    bazel run //setup/python/lief:lock.update
+lief==0.17.6 \
+    --hash=sha256:04a6f26bd92a63af6860a270761fc2773a8b6b262cc9397b176c21c2c0cb5153 \
+    --hash=sha256:04b07e91213ce345febb4698efd310c6745f48190a1d7ce5dd0e7b306839362d \
+    --hash=sha256:054e7a1b2dcfb2e62acbabef0be8d52d2adc6c1f9451700b988f08aadee3c024 \
+    --hash=sha256:0aca84f35ec67854ffdb38a23b1848cb214df3e3f95eb7579bac3107e9f68cc8 \
+    --hash=sha256:0dec797538b9bfa2ef415532cec6ef7b739ef9d3dc5af0f848ba90d6e6045e31 \
+    --hash=sha256:12db9cce6644b11b1cfa5c228574ae52d37121d1a8380266b2b3eb0721aa5b98 \
+    --hash=sha256:17371938a85fcf64febb9eca77beb6537daa418fd3f86511e5ae402dc8bc2866 \
+    --hash=sha256:1b8339f385b64bf9da42ac8f5d5fc4c9f4235c4d9d804e472ffe8f1fddc830cb \
+    --hash=sha256:1df9b22f3851de7d0e86a8731ad07e47ca562ebe430605d90aecfcd6d20125d0 \
+    --hash=sha256:22a96028fd5fc7607b1b2213aa88ac13be89e50709b36d2a6fcd6fdb3333c3c4 \
+    --hash=sha256:234a422fe7158e755ac0acdd0bfdfd41f75392dad9dac147dd3b9c7a9f1a6811 \
+    --hash=sha256:27cabac8f34885294b63e814952686453b59bce35ffb0c7d12e722adef389cd2 \
+    --hash=sha256:2c3130841c30743f549a84606b2108e71819f5f7a6f9932baaa845841e83f1f9 \
+    --hash=sha256:2f669d5b4e63c6e66cac48e07d0f23436bf898ec9d0630016d23250e2eb43d28 \
+    --hash=sha256:347495918478606fc47d90a503791c308812f0a3ef5200b2c1e577e0bebd7c7e \
+    --hash=sha256:365bf48528339a0d9a5c993b0a54f5c3bb8fcd11ca85797c79f9ae6179777492 \
+    --hash=sha256:379efbaa54655fd7b423536ceddb255c52073ce341b908be25775d99578497e1 \
+    --hash=sha256:3a0678eafed01245d98187815714bdd602f285b8c9a05a4982ff9ddf82360717 \
+    --hash=sha256:3ae021be2d65ea6f522884356c152ddf25d16674bab00240b04abe83c1cd5cb8 \
+    --hash=sha256:3bd852c4d934d9c8357d6b9491db85e6722bc0076249f8b23a205a8912a85ed5 \
+    --hash=sha256:3e380832cc49a3f460b2b5ee672a6127db94fad0a1226cc8c66cbffa9bd09582 \
+    --hash=sha256:3e59a64012a602772270aa1a930cff9c39cddca42f0ca5d7f1959f4dd951f38e \
+    --hash=sha256:41fc73285cce73f668dbc902b4ae7388a02cace7fe0c03603a1e42608f84003c \
+    --hash=sha256:45fd98016f5743f81f635628c2efc25becda80caa22cfc03bd002f359bcb7f71 \
+    --hash=sha256:4e03969294b3be2728162fd3ce15f9f6d1571ba05f62abbb6aa9512c656e22c3 \
+    --hash=sha256:503fd8df6425a6c0386df9ca6e4f4ce29d07d268f0620ee1d4059eb4d48c2562 \
+    --hash=sha256:51b6c5932d4f36d61fb17fe783d9e1bfba33ec1d72b3d07486c96e6f548781ff \
+    --hash=sha256:520e5f8a7b1e2487630e27639751d9fb13c94205fed72d358a87994e44a73815 \
+    --hash=sha256:5a34d651eb82e24a113f837b1a961d23e155be41d72bf39a37407854c6597a8b \
+    --hash=sha256:5ba237d5984262b383531c629432cba97552a13818624e0d2a0ce099f06be161 \
+    --hash=sha256:5df55be6cd29c654b8a205846d67637955063ad0cfd83875451f339cf623b101 \
+    --hash=sha256:5fce8968fd47e103aa4df35e1efd0b61bde4921952d7cf0fd668facff648f3f5 \
+    --hash=sha256:6324add89c366607a6d652553e4cac6309e952ca638c24f38a8b00331f064a50 \
+    --hash=sha256:6484de5a7053c1b7022cb93f41450532f93daaf6b5ce6421c682b87fd2cd2122 \
+    --hash=sha256:68cc28da07bd50a530590a56142c809a68035f29ace0b107046b0e0784650f50 \
+    --hash=sha256:6d4eb8adce400af52cc174ac5cbe40ab10b9df5824193975d12e2d4f85b298a3 \
+    --hash=sha256:6dce8652883b5b7fe06b5416807a8bc3cc4c1ab3e498512d242c38925e8a7d77 \
+    --hash=sha256:70671623b9b1cf55a688d0365789dd048426075ff6368c42270b224605c4b078 \
+    --hash=sha256:7384abed26200f8c6cb50ca9cedac70e7452e85fe72e82d4c5e9050c78eff0ae \
+    --hash=sha256:7b690c719abf67632701ff69e14a22610eef79100b51abc5e7fbdc70a3d19504 \
+    --hash=sha256:7b7759b443745d0e5211d87723c0a84c4a74364ef6194cc8f8d315d98d117648 \
+    --hash=sha256:7dcefa6467f0f0d75413a10e7869e488344347f0c67eff5bc49ec216714f0674 \
+    --hash=sha256:8561a156ccea562e200e5bde0db8070785e3194fcd0ddf9109c8470970978076 \
+    --hash=sha256:88fb786338aeb4f6812ff6d079415e44f3696b826410b9504a9f710cc962ebe5 \
+    --hash=sha256:8f39f68a8d8666622aa0300b4f13b30c8bf91a1f0c2f6e3eb47af8813544719b \
+    --hash=sha256:918ea953830ecf348e5a8d9cf0b1a178035d6d4032bf2a9aa1dc72483e06b3a1 \
+    --hash=sha256:94463d54bc5ecce9e3ae3855a084bacd5b473a23c1a080746bf54a0ed0339255 \
+    --hash=sha256:a2905d56f54eeb146682daf341dde14928d9f4d32ca047e995a4548a348ad3cd \
+    --hash=sha256:a6935a08a7b3285d0cf053d852fd739475fea15572b5559160a88d284987e995 \
+    --hash=sha256:a74f792564a5e69915d08530618d79aa1fd8b5e7b72513fac765e1106c63f57a \
+    --hash=sha256:acd673591c870bdedfd5e583c423fb67bbd99e00eb1852061f0dec6a918d4634 \
+    --hash=sha256:af39643ab79ae644d2063a2ef93de908e61a8f40e37b155683c477c1928e6c64 \
+    --hash=sha256:b5885e8a422066f3691b9707045b85d9728eaba621991def0b4e0044b0b0b063 \
+    --hash=sha256:ba6fb4f5926f3631e0de13218bedce0cc6b229c7eb84fae095f0985385c8beb1 \
+    --hash=sha256:bd94782164176baee7f08a1e633376f26a5486edfd230c4a3fb351e49108bfd0 \
+    --hash=sha256:c2164243f152e82c49b0ccd606155b758644f4b1ee221f0dbd4da055469a922f \
+    --hash=sha256:c5a19642e42578fe0b701bd86b10dd7e86d69c35c67d25ac1433f72410a7c2bb \
+    --hash=sha256:c8129a70bc73e04fd9db4f49f386d4336a3a78ceef07c83ca74f9cf464c03c22 \
+    --hash=sha256:c9cfcd463bbbe7cabb2fed9d22211ba1337775cf07f4d754da24c3c3f5c426d5 \
+    --hash=sha256:d5a936d3cec06e808e49e216076f47f25142184b593e5e4c31d6e068d4dc8f77 \
+    --hash=sha256:da6b97ae3d91a953a93def5dedfb61b098b204d3d4a75dcd592ad8570cb5a2ff \
+    --hash=sha256:dbe04dda79f5d17c5b2d1b381997d93aa039f59c7c52b9fe48d398dda9cce8ea \
+    --hash=sha256:dbfe15d3d21d389857dac8cedc04f03f8ef98c5503e5e147a34480ecbf351826 \
+    --hash=sha256:de5716279c82640359fe59137ec0572a1ed9859051c1d901de593d6e0e99d9c8 \
+    --hash=sha256:e186ac1ea8a5f4729c4b8d2b7f2fe6c55dbf1eddd8bc15fa4d19ed08dfa6cc54 \
+    --hash=sha256:e1ded9ee9b5184b5753e4823343e3550a623d34f5407cb2f8d7918e17856d860 \
+    --hash=sha256:e29552f52749249c9b05041d96d9156de20207d745916d599b4eb49ee7a8e1bf \
+    --hash=sha256:eaa294b19ab9cc7bcb18462b964cd3f12f294cba2f256a5b4588633a5c8fb172 \
+    --hash=sha256:ef618117ec33665697e3d1fe9c15fac8d6c42e2eeaf4aca9c31ea12fdb056c67 \
+    --hash=sha256:f24fa49f0fe3f7d350aa87610fc5765890b18272c2aafaf720a10b2be0675154 \
+    --hash=sha256:f471fa92430de76b84aa9d036d7fa7cd14256a81814fd3a055d156462fb5bb56 \
+    --hash=sha256:f764c77c848cf7478623e754099f50699d5e23b5bc4a34ce68cd20af7e0b5541 \
+    --hash=sha256:fb8ea20af86b25b852d7fa4ba96cdaab2184b1a1529469786b2474dc2e1be446 \
+    --hash=sha256:fc6541fdf8958e8bfadc91f8c79e6aa8e2cca74ac8bb2aaf74bf946057d7cf1d \
+    --hash=sha256:fccb2c1cc3e6e2e5395d73b13c0198b69afa8a80cd80ac5b121efffa00faf594
+    # via -r setup/python/lief/requirements.in

setup/python/pyproject.toml

@@ -37,7 +37,6 @@ wheel = [
     "auditwheel; sys_platform == 'linux'",
     "build",
     "delocate; sys_platform == 'darwin'",
-    "wheel; sys_platform == 'darwin'",
 ]
 
 [tool.pdm]

tools/wheel/image/build-drake.sh

@@ -19,7 +19,7 @@ cat > /tmp/drake-wheel-build/drake-build/drake.bazelrc << EOF
 build --disk_cache=/var/cache/bazel/disk_cache
 build --repository_cache=/var/cache/bazel/repository_cache
 build --repo_env=DRAKE_WHEEL=1
-# Enable MOSEK lazy loading. Right now this is only done for Linux builds.
+# Enable MOSEK lazy loading.
 build --@drake//solvers:mosek_lazy_load=True
 EOF
 

tools/wheel/image/build-wheel.sh

@@ -131,42 +131,6 @@ python -m build --wheel
 
 if [[ "$(uname)" == "Darwin" ]]; then
     delocate-wheel -w wheelhouse -v dist/drake*.whl
-
-    # Remove libmosek from wheels.
-    if [[ -n "${MOSEK_ENABLED}" ]]; then
-        for w in wheelhouse/drake*.whl; do
-            mkdir fixup-wheel
-            wheel unpack --dest fixup-wheel "$w"
-
-            rm fixup-wheel/drake-*/pydrake/lib/libmosek*
-            rm fixup-wheel/drake-*/pydrake/lib/libtbb*
-            rm fixup-wheel/drake-*/pydrake/doc/mosek/mosek-eula.pdf
-            rm fixup-wheel/drake-*/pydrake/doc/mosek/LICENSE.third_party
-
-            change_lpath \
-                --old='@loader_path/libtbb' \
-                --old='@loader_path/libmosek' \
-                --new='@loader_path/../../mosek/libtbb' \
-                --new='@loader_path/../../mosek/libmosek' \
-                fixup-wheel/drake-*/pydrake/lib/*.so
-            change_lpath \
-                --old='@loader_path/lib/libtbb' \
-                --old='@loader_path/lib/libmosek' \
-                --new='@loader_path/../mosek/libtbb' \
-                --new='@loader_path/../mosek/libmosek' \
-                fixup-wheel/drake-*/pydrake/*.so
-            change_lpath \
-                --old='@loader_path/../lib/libtbb' \
-                --old='@loader_path/../lib/libmosek' \
-                --new='@loader_path/../../mosek/libtbb' \
-                --new='@loader_path/../../mosek/libmosek' \
-                fixup-wheel/drake-*/pydrake/*/*.so
-
-            rm "$w"
-            wheel pack --dest wheelhouse fixup-wheel/drake-*/
-            rm -rf fixup-wheel
-        done
-    fi
 else
     GLIBC_VERSION=$(ldd --version | sed -n '1{s/.* //;s/[.]/_/p}')
 

tools/wheel/macos/build-wheel.sh

@@ -46,6 +46,8 @@ cat > "$build_root/drake.bazelrc" << EOF
 build --disk_cache=$HOME/.cache/drake-wheel-build/bazel/disk_cache
 build --repository_cache=$HOME/.cache/drake-wheel-build/bazel/repository_cache
 build --repo_env=DRAKE_WHEEL=1
+# Enable MOSEK lazy loading.
+build --@drake//solvers:mosek_lazy_load=True
 # See tools/wheel/wheel_builder/macos.py for more on this env variable.
 build --macos_minimum_os="${MACOSX_DEPLOYMENT_TARGET}"
 EOF
@@ -56,9 +58,7 @@ EOF
 # for other mentions of MOSEK version bounds and fix those as well.
 WITH_MOSEK=ON
 PYTHON_MINOR=$($python_executable -c "import sys; print(sys.version_info.minor)")
-if [[ ${PYTHON_MINOR} -ge 15 ]]; then
-  WITH_MOSEK=OFF
-fi
+[ ${PYTHON_MINOR} -ge 15 ] && WITH_MOSEK=OFF
 
 # Install Drake.
 # N.B. When you change anything here, also fix wheel/image/build-drake.sh.

tools/workspace/implib_so_internal/package.BUILD.bazel

@@ -1,6 +1,7 @@
 # -*- bazel -*-
 
 load("@drake//tools/skylark:py.bzl", "py_binary")
+load("@drake_lief//:requirements.bzl", lief_requirement = "requirement")
 
 py_binary(
     name = "gen",
@@ -13,6 +14,9 @@ py_binary(
     python_version = "PY3",
     srcs_version = "PY3",
     visibility = ["//visibility:public"],
+    deps = [
+        lief_requirement("lief"),
+    ],
 )
 
 exports_files(["drake_repository_metadata.json"])

tools/workspace/implib_so_internal/repository.bzl

@@ -5,9 +5,9 @@ def implib_so_internal_repository(
         mirrors = None):
     github_archive(
         name = name,
-        repository = "yugr/Implib.so",
-        commit = "30e547b2e8d608f7cd69bc8ec88d047034a40e35",
-        sha256 = "0f5e111ce0648215a288c273639a045bde1f1b40139fbd85d06fd25e03af13a2",  # noqa
+        repository = "TaylorSasser/Implib.so",
+        commit = "3a94ebf1b26e021cfa8c2202e4f4c7b31eab8eec",
+        sha256 = "32aba7aed862d34b8b1e5353c2a69479a61b4e88b7e9388c634161827cb16a40",  # noqa
         build_file = ":package.BUILD.bazel",
         mirrors = mirrors,
     )

tools/workspace/mosek/gen_implib.bzl

@@ -0,0 +1,36 @@
+_PY_CC_TOOLCHAIN_TYPE = "@rules_python//python/cc:toolchain_type"
+
+def _impl(ctx):
+    args = ctx.actions.args()
+    args.add("--dlopen-callback", ctx.attr.dlopen_callback)
+    args.add("--outdir", ctx.outputs.outs[0].dirname)
+    args.add(ctx.file.src.path)
+
+    py_toolchain = ctx.toolchains[_PY_CC_TOOLCHAIN_TYPE]
+
+    ctx.actions.run(
+        mnemonic = "GenImplib",
+        executable = ctx.executable.tool,
+        arguments = [args],
+        inputs = [ctx.file.src],
+        outputs = ctx.outputs.outs,
+    )
+
+    return [DefaultInfo(
+        files = depset(ctx.outputs.outs),
+    )]
+
+gen_implib = rule(
+    implementation = _impl,
+    attrs = {
+        "src": attr.label(allow_single_file = True, mandatory = True),
+        "tool": attr.label(
+            mandatory = True,
+            executable = True,
+            cfg = "target",
+        ),
+        "dlopen_callback": attr.string(mandatory = True),
+        "outs": attr.output_list(mandatory = True),
+    },
+    toolchains = ["@rules_python//python/cc:toolchain_type"],
+)

tools/workspace/mosek/package.BUILD.bazel

@@ -4,6 +4,7 @@ load("@bazel_skylib//lib:paths.bzl", "paths")
 load("@bazel_skylib//rules:common_settings.bzl", "bool_flag")
 load("@drake//tools/install:install.bzl", "install", "install_files")
 load("@drake//tools/skylark:cc.bzl", "cc_import", "cc_library")
+load("@drake//tools/workspace/mosek:gen_implib.bzl", "gen_implib")
 
 package(default_visibility = ["//visibility:private"])
 
@@ -89,12 +90,12 @@ _IMPLIB_SRCS = [
     "{}.init.c".format(_MOSEK_SO_NAME),
 ]
 
-genrule(
+gen_implib(
     name = "_gen_implib",
-    srcs = [_MOSEK_MAJMIN_GLOB[0]],
+    src = _MOSEK_MAJMIN_GLOB[0],
     outs = _IMPLIB_SRCS,
-    cmd = "$(execpath @implib_so_internal//:gen) --dlopen-callback=drake_dlopen_mosek --outdir=$(RULEDIR) $<",
-    tools = ["@implib_so_internal//:gen"],
+    dlopen_callback = "drake_dlopen_mosek",
+    tool = "@implib_so_internal//:gen",
 )
 
 cc_library(

tools/workspace/python/venv_upgrade

@@ -5,8 +5,8 @@
 # - Users can make edits to drake/setup/python/pyproject.toml, and then
 #   run this script to compile it to drake/setup/python/pdm.lock.
 #
-# - Users can make edits to drake/setup/python/mypy/requirements.in, and then
-#   run this script to compile it to drake/setup/python/mypy/requirements.txt.
+# - Users can make edits to drake/setup/python/{hub}/requirements.in, and then
+#   run this script to compile it to drake/setup/python/{hub}/requirements.txt.
 #
 # The --reuse option may be given to apply changes to pyproject.toml while
 # attempting to preserve existing version pins.
@@ -117,10 +117,13 @@ done
 # Check for changes to the pdm lock file.
 files_to_commit+=( "$(git diff --name-only HEAD -- "${lockfile}")" )
 
-# Upgrade the mypy lockfile.
-readonly mypy_requirements="./setup/python/mypy/requirements.txt"
-bazel run //setup/python/mypy:lock.update
-files_to_commit+=( "$(git diff --name-only HEAD -- "${mypy_requirements}")" )
+# Upgrade the uv-managed lockfiles.
+readonly uv_hubs=("lief" "mypy")
+for hub in "${uv_hubs[@]}"; do
+    hub_requirements="./setup/python/${hub}/requirements.txt"
+    bazel run //setup/python/${hub}:lock.update
+    files_to_commit+=( "$(git diff --name-only HEAD -- "${hub_requirements}")" )
+done
 
 # If committing, do the commit.
 if [ -n "${commit}" ]; then