[Feature] Added Genesis Environments to TorchRL

.github/unittest/linux_libs/scripts_genesis/environment.yml

@@ -0,0 +1,20 @@
+channels:
+  - pytorch
+  - defaults
+dependencies:
+  - pip
+  - pip:
+    - cloudpickle
+    - numpy
+    - pytest
+    - pytest-cov
+    - pytest-mock
+    - pytest-instafail
+    - pytest-rerunfailures
+    - pytest-error-for-skips
+    - pytest-asyncio
+    - expecttest
+    - pybind11[global]
+    - pyyaml
+    - scipy
+    - genesis-world

.github/unittest/linux_libs/scripts_genesis/install.sh

@@ -0,0 +1,58 @@
+#!/usr/bin/env bash
+
+unset PYTORCH_VERSION
+
+set -e
+
+eval "$(./conda/bin/conda shell.bash hook)"
+conda activate ./env
+
+if [ "${CU_VERSION:-}" == cpu ] ; then
+    version="cpu"
+else
+    if [[ ${#CU_VERSION} -eq 4 ]]; then
+        CUDA_VERSION="${CU_VERSION:2:1}.${CU_VERSION:3:1}"
+    elif [[ ${#CU_VERSION} -eq 5 ]]; then
+        CUDA_VERSION="${CU_VERSION:2:2}.${CU_VERSION:4:1}"
+    fi
+    echo "Using CUDA $CUDA_VERSION as determined by CU_VERSION ($CU_VERSION)"
+    version="$(python -c "print('.'.join(\"${CUDA_VERSION}\".split('.')[:2]))")"
+fi
+
+git submodule sync && git submodule update --init --recursive
+
+printf "Installing PyTorch with cu128"
+if [[ "$TORCH_VERSION" == "nightly" ]]; then
+  if [ "${CU_VERSION:-}" == cpu ] ; then
+      pip3 install --pre torch --index-url https://download.pytorch.org/whl/nightly/cpu -U
+  else
+      pip3 install --pre torch --index-url https://download.pytorch.org/whl/nightly/cu128 -U
+  fi
+elif [[ "$TORCH_VERSION" == "stable" ]]; then
+    if [ "${CU_VERSION:-}" == cpu ] ; then
+      pip3 install torch --index-url https://download.pytorch.org/whl/cpu -U
+  else
+      pip3 install torch --index-url https://download.pytorch.org/whl/cu128 -U
+  fi
+else
+  printf "Failed to install pytorch"
+  exit 1
+fi
+
+if [[ "$RELEASE" == 0 ]]; then
+  pip3 install git+https://github.com/pytorch/tensordict.git
+else
+  pip3 install tensordict
+fi
+
+python -c "import tensordict"
+
+printf "* Installing torchrl\n"
+python -m pip install -e . --no-build-isolation
+
+python -c "import torchrl"
+
+printf "* Installing genesis-world\n"
+pip3 install genesis-world
+
+python -c "import genesis; print('Genesis installed successfully')"

.github/unittest/linux_libs/scripts_genesis/post_process.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+set -e
+
+eval "$(./conda/bin/conda shell.bash hook)"
+conda activate ./env

.github/unittest/linux_libs/scripts_genesis/run_test.sh

@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+
+set -e
+
+eval "$(./conda/bin/conda shell.bash hook)"
+conda activate ./env
+apt-get update && apt-get install -y git wget cmake
+
+
+export PYTORCH_TEST_WITH_SLOW='1'
+export LAZY_LEGACY_OP=False
+python -m torch.utils.collect_env
+# Avoid error: "fatal: unsafe repository"
+git config --global --add safe.directory '*'
+
+root_dir="$(git rev-parse --show-toplevel)"
+env_dir="${root_dir}/env"
+lib_dir="${env_dir}/lib"
+
+# solves ImportError: /lib64/libstdc++.so.6: version `GLIBCXX_3.4.21' not found
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$lib_dir
+export MKL_THREADING_LAYER=GNU
+
+# this workflow only tests the libs
+python -c "import genesis"
+
+python .github/unittest/helpers/coverage_run_parallel.py -m pytest test/test_libs.py --instafail -v --durations 200 --capture no -k TestGenesis --error-for-skips
+coverage combine -q
+coverage xml -i

.github/unittest/linux_libs/scripts_genesis/setup_env.sh

@@ -0,0 +1,68 @@
+#!/usr/bin/env bash
+
+# This script is for setting up environment in which unit test is ran.
+# To speed up the CI time, the resulting environment is cached.
+#
+# Do not install PyTorch and torchvision here, otherwise they also get cached.
+
+set -e
+apt-get update && apt-get upgrade -y && apt-get install -y git cmake
+# Avoid error: "fatal: unsafe repository"
+git config --global --add safe.directory '*'
+apt-get install -y wget \
+    gcc \
+    g++ \
+    unzip \
+    curl \
+    patchelf \
+    libosmesa6-dev \
+    libgl1-mesa-glx \
+    libglfw3 \
+    swig3.0 \
+    libglew-dev \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libgles2 \
+    libglib2.0-0
+
+# Upgrade specific package
+apt-get upgrade -y libstdc++6
+
+this_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+root_dir="$(git rev-parse --show-toplevel)"
+conda_dir="${root_dir}/conda"
+env_dir="${root_dir}/env"
+
+cd "${root_dir}"
+
+case "$(uname -s)" in
+    Darwin*) os=MacOSX;;
+    *) os=Linux
+esac
+
+# 1. Install conda at ./conda
+if [ ! -d "${conda_dir}" ]; then
+    printf "* Installing conda\n"
+    wget -O miniconda.sh "http://repo.continuum.io/miniconda/Miniconda3-latest-${os}-x86_64.sh"
+    bash ./miniconda.sh -b -f -p "${conda_dir}"
+fi
+eval "$(${conda_dir}/bin/conda shell.bash hook)"
+
+# 2. Create test environment at ./env
+printf "python: ${PYTHON_VERSION}\n"
+if [ ! -d "${env_dir}" ]; then
+    printf "* Creating a test environment\n"
+    conda create --prefix "${env_dir}" -y python="$PYTHON_VERSION"
+fi
+conda activate "${env_dir}"
+
+# 4. Install Conda dependencies
+printf "* Installing dependencies (except PyTorch)\n"
+echo "  - python=${PYTHON_VERSION}" >> "${this_dir}/environment.yml"
+cat "${this_dir}/environment.yml"
+
+pip install pip --upgrade
+
+conda env update --file "${this_dir}/environment.yml" --prune

pyproject.toml

@@ -92,6 +92,7 @@ offline-data = [
 marl = ["vmas>=1.2.10", "pettingzoo>=1.24.1", "dm-meltingpot; python_version>='3.11'"]
 open_spiel = ["open_spiel>=1.5"]
 brax = ["jax>=0.7.0; python_version>='3.11'", "brax; python_version>='3.11'"]
+genesis = ["genesis-world"]
 procgen = ["procgen"]
 # Base LLM dependencies (no inference backend - use llm-vllm or llm-sglang)
 llm = [