[BugFix] Fix habitat (#1941)

Author: Vincent Moens

.github/unittest/linux_libs/scripts_habitat/setup_env.sh

@@ -65,7 +65,8 @@ pip install pip --upgrade
 
 conda env update --file "${this_dir}/environment.yml" --prune
 
-conda install habitat-sim withbullet headless -c conda-forge -c aihabitat-nightly -y
-conda run python -m pip install git+https://github.com/facebookresearch/habitat-lab.git#subdirectory=habitat-lab
+#conda install habitat-sim withbullet headless -c conda-forge -c aihabitat -y
+conda install habitat-sim withbullet headless -c conda-forge -c aihabitat -y
+conda run python -m pip install git+https://github.com/facebookresearch/habitat-lab.git@stable#subdirectory=habitat-lab
 #conda run python -m pip install git+https://github.com/facebookresearch/habitat-lab.git#subdirectory=habitat-baselines
 conda run python -m pip install "gym[atari,accept-rom-license]" pygame

test/test_env.py

@@ -346,7 +346,8 @@ def test_mb_env_batch_lock(self, device, seed=0):
         mb_env.step(td)
 
         with pytest.raises(
-            RuntimeError, match=re.escape("Expected a tensordict with shape==env.batch_size")
+            RuntimeError,
+            match=re.escape("Expected a tensordict with shape==env.batch_size"),
         ):
             mb_env.step(td_expanded)
 

torchrl/envs/libs/habitat.py

@@ -102,6 +102,7 @@ def __init__(self, env_name, **kwargs):
         device_num = torch.device(kwargs.pop("device", 0)).index
         kwargs["override_options"] = [
             f"habitat.simulator.habitat_sim_v0.gpu_device_id={device_num}",
+            "habitat.simulator.concur_render=False",
         ]
         super().__init__(env_name=env_name, **kwargs)