[CI] Fix libs

ghstack-source-id: e7f383e
Pull-Request: #3203

Author: vmoens

.github/unittest/linux_libs/scripts_isaaclab/isaac.sh

@@ -20,6 +20,8 @@ export TF_CPP_MIN_LOG_LEVEL=0
 export BATCHED_PIPE_TIMEOUT=60
 export TD_GET_DEFAULTS_TO_NONE=1
 export OMNI_KIT_ACCEPT_EULA=yes
+export PIP_DISABLE_PIP_VERSION_CHECK=1
+export PYTHONNOUSERSITE=1
 
 nvidia-smi
 
@@ -46,36 +48,62 @@ eval "$(${conda_dir}/bin/conda shell.bash hook)"
 conda create --prefix ${env_dir} python=3.10 -y
 conda activate ${env_dir}
 
+# Set LD_LIBRARY_PATH to prioritize conda environment libraries early
+export LD_LIBRARY_PATH=${lib_dir}:${LD_LIBRARY_PATH:-}
+
+# Ensure libexpat is at the correct version BEFORE installing other packages
+conda install -c conda-forge expat -y
+
+# Force the loader to pick conda's libexpat over the system one
+if [ -f "${lib_dir}/libexpat.so.1" ]; then
+  export LD_PRELOAD="${lib_dir}/libexpat.so.1:${LD_PRELOAD:-}"
+elif [ -f "${lib_dir}/libexpat.so" ]; then
+  export LD_PRELOAD="${lib_dir}/libexpat.so:${LD_PRELOAD:-}"
+fi
+
+# Quick diagnostic to confirm which expat is resolved by pyexpat
+PYEXPAT_SO=$(python - <<'PY'
+import importlib.util
+spec = importlib.util.find_spec('pyexpat')
+print(spec.origin)
+PY
+)
+echo "* pyexpat module: ${PYEXPAT_SO}"
+ldd "${PYEXPAT_SO}" | grep -i expat || true
+
+# Reinstall Python to ensure it links against the correct expat
+conda install --force-reinstall python=3.10 -y
+
 # Pin pytorch to 2.5.1 for IsaacLab
 conda install pytorch==2.5.1 torchvision==0.20.1 pytorch-cuda=12.4 -c pytorch -c nvidia -y
 
-conda run -p ${env_dir} pip install --upgrade pip
-conda run -p ${env_dir} pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com
+python -m pip install --upgrade pip --disable-pip-version-check
+python -m pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com --disable-pip-version-check
 conda install conda-forge::"cmake>3.22" -y
 
 git clone https://github.com/isaac-sim/IsaacLab.git
 cd IsaacLab
-conda run -p ${env_dir} ./isaaclab.sh --install sb3
+./isaaclab.sh --install sb3
 cd ../
 
 # install tensordict
 if [[ "$RELEASE" == 0 ]]; then
   conda install "anaconda::cmake>=3.22" -y
-  conda run -p ${env_dir} python -m pip install "pybind11[global]"
-  conda run -p ${env_dir} python -m pip install git+https://github.com/pytorch/tensordict.git
+  python -m pip install "pybind11[global]" --disable-pip-version-check
+  python -m pip install git+https://github.com/pytorch/tensordict.git --disable-pip-version-check
 else
-  conda run -p ${env_dir} python -m pip install tensordict
+  python -m pip install tensordict --disable-pip-version-check
 fi
 
 # smoke test
-conda run -p ${env_dir} python -c "import tensordict"
+python -c "import tensordict"
 
 printf "* Installing torchrl\n"
-conda run -p ${env_dir} python -m pip install -e . --no-build-isolation
-conda run -p ${env_dir} python -c "import torchrl"
+python -m pip install -e . --no-build-isolation --disable-pip-version-check
+python -c "import torchrl"
 
 # Install pytest
-conda run -p ${env_dir} python -m pip install pytest pytest-cov pytest-mock pytest-instafail pytest-rerunfailures pytest-error-for-skips pytest-asyncio
+python -m pip install pytest pytest-cov pytest-mock pytest-instafail pytest-rerunfailures pytest-error-for-skips pytest-asyncio --disable-pip-version-check
 
 # Run tests
-conda run -p ${env_dir} python -m pytest test/test_libs.py -k isaac -s
+python -m pytest test/test_libs.py -k isaac -s

.github/unittest/linux_libs/scripts_minari/environment.yml

@@ -25,6 +25,6 @@ dependencies:
     - gymnasium-robotics
     - minari[create]
     - jax>=0.7.0
-    - mujoco<3.3.6      
+    - mujoco>=2.3.0,<3.0.0
     - mujoco-py<2.2,>=2.1
     - minigrid

.github/workflows/test-linux-libs.yml

@@ -156,10 +156,10 @@ jobs:
         export BATCHED_PIPE_TIMEOUT=60
         export TD_GET_DEFAULTS_TO_NONE=1
 
-        bash .github/unittest/linux_libs/scripts_d4rl/setup_env.sh
-        bash .github/unittest/linux_libs/scripts_d4rl/install.sh
-        bash .github/unittest/linux_libs/scripts_d4rl/run_test.sh
-        bash .github/unittest/linux_libs/scripts_d4rl/post_process.sh
+        bash .github/unittest/linux_libs/scripts_envpool/setup_env.sh
+        bash .github/unittest/linux_libs/scripts_envpool/install.sh
+        bash .github/unittest/linux_libs/scripts_envpool/run_test.sh
+        bash .github/unittest/linux_libs/scripts_envpool/post_process.sh
 
   unittests-gendgrl:
     strategy:

test/test_libs.py

@@ -73,6 +73,8 @@
 from torchrl.data.datasets.roboset import RobosetExperienceReplay
 from torchrl.data.datasets.vd4rl import VD4RLExperienceReplay
 from torchrl.data.replay_buffers import SamplerWithoutReplacement
+from torchrl.data.replay_buffers.samplers import SliceSampler
+from torchrl.data.replay_buffers.storages import LazyTensorStorage
 from torchrl.data.utils import CloudpickleWrapper
 from torchrl.envs import (
     CatTensors,
@@ -82,6 +84,7 @@
     EnvCreator,
     RemoveEmptySpecs,
     RenameTransform,
+    StepCounter,
 )
 from torchrl.envs.batched_envs import SerialEnv
 from torchrl.envs.libs.brax import _has_brax, BraxEnv, BraxWrapper
@@ -2790,7 +2793,6 @@ class TestVmas:
     @pytest.mark.parametrize("scenario_name", VmasWrapper.available_envs)
     @pytest.mark.parametrize("continuous_actions", [True, False])
     def test_all_vmas_scenarios(self, scenario_name, continuous_actions):
-        
         env = VmasEnv(
             scenario=scenario_name,
             continuous_actions=continuous_actions,
@@ -3455,12 +3457,16 @@ def test_d4rl_dummy(self, task):
     @pytest.mark.parametrize("split_trajs", [True, False])
     @pytest.mark.parametrize("from_env", [True, False])
     def test_dataset_build(self, task, split_trajs, from_env):
+        import d4rl  # noqa: F401
+
         t0 = time.time()
         data = D4RLExperienceReplay(
             task, split_trajs=split_trajs, from_env=from_env, batch_size=2
         )
         sample = data.sample()
-        env = GymWrapper(gym.make(task))
+        # D4RL environments are registered with gym, not gymnasium
+        with set_gym_backend("gym"):
+            env = GymWrapper(gym.make(task))
         rollout = env.rollout(2)
         for key in rollout.keys(True, True):
             if "truncated" in key:
@@ -5144,6 +5150,17 @@ def test_isaaclab(self, env):
         env.check_env_specs(break_when_any_done="both")
         torchrl_logger.info("Check succeeded!")
 
+    def test_isaaclab_rb(self, env):
+        env = env.append_transform(StepCounter())
+        rb = ReplayBuffer(
+            storage=LazyTensorStorage(50, ndim=2), sampler=SliceSampler(num_slices=5)
+        )
+        rb.extend(env.rollout(20))
+        # check that rb["step_count"].flatten() is made of sequences of 4 consecutive numbers
+        flat_ranges = rb["step_count"].flatten() % 4
+        arange = torch.arange(flat_ranges.numel(), device=flat_ranges.device) % 4
+        assert (flat_ranges == arange).all()
+
     def test_isaac_collector(self, env):
         col = SyncDataCollector(
             env, env.rand_action, frames_per_batch=1000, total_frames=100_000_000

torchrl/data/datasets/d4rl.py

@@ -267,16 +267,19 @@ def _get_dataset_direct_download(self, name, env_kwargs):
         return dataset
 
     def _get_dataset_direct(self, name, env_kwargs):
-        from torchrl.envs.libs.gym import GymWrapper
+        from torchrl.envs.libs.gym import GymWrapper, set_gym_backend
 
         type(self)._import_d4rl()
 
         if not self._has_d4rl:
             raise ImportError("Could not import d4rl") from self.D4RL_ERR
         import d4rl
-        import gym
 
-        env = GymWrapper(gym.make(name))
+        # D4RL environments are registered with gym, not gymnasium
+        # so we need to ensure we're using the gym backend
+        with set_gym_backend("gym"):
+            import gym
+            env = GymWrapper(gym.make(name))
         with tempfile.TemporaryDirectory() as tmpdir:
             os.environ["D4RL_DATASET_DIR"] = tmpdir
             dataset = d4rl.qlearning_dataset(env._env, **env_kwargs)
@@ -346,12 +349,15 @@ def _get_dataset_from_env(self, name, env_kwargs):
         """
         if env_kwargs:
             raise RuntimeError("env_kwargs cannot be passed with using from_env=True")
-        import gym
+        import d4rl  # noqa: F401
 
         # we do a local import to avoid circular import issues
-        from torchrl.envs.libs.gym import GymWrapper
+        from torchrl.envs.libs.gym import GymWrapper, set_gym_backend
 
-        with tempfile.TemporaryDirectory() as tmpdir:
+        # D4RL environments are registered with gym, not gymnasium
+        # so we need to ensure we're using the gym backend
+        with set_gym_backend("gym"), tempfile.TemporaryDirectory() as tmpdir:
+            import gym
             os.environ["D4RL_DATASET_DIR"] = tmpdir
             env = GymWrapper(gym.make(name))
             dataset = make_tensordict(