ModuleNotFoundError: No module named 'habitat_sim._ext'

[Sunnyzhr]

Overview

When running python main.py -n1 --auto_gpu_config 0 --split val, I will get error if I write ~/.bashrc with export PYTHONPATH=$PYTHONPATH:~/Desktop/habitat-sim/

ModuleNotFoundError: No module named 'habitat_sim._ext'

I will also get error if I write ~/.bashrc with unset PYTHONPATH

ModuleNotFoundError: No module named habitat.sims.habitat_simulato.action_spaces'

My Info

ENVIRONMENT INFO:
Platform: Linux-5.4.0-52-generic-x86_64-with-glibc2.10
Machine: x86_64
Processor: x86_64
Libc version: glibc 2.27
Mac version:
Python version: 3.8.3
Architecture: 64bit ELF
Win version:
System OS: Linux
Release: 5.4.0-52-generic
Version: #57 18.04.1-Ubuntu SMP Thu Oct 15 14:04:49 UTC 2020
Operational System: linux
GCC version: gcc (Ubuntu 7.5.0-3ubuntu1~18.04) 7.5.0\n'
CMAKE version: 3.14.0
NVIDIA-SMI: Mon Oct 26 12:50:01 2020
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 450.80.02 Driver Version: 450.80.02 CUDA Version: 11.0 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 GeForce GTX 1650 Off | 00000000:01:00.0 On | N/A |
| N/A 42C P8 3W / N/A | 433MiB / 3903MiB | 1% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+

+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
| 0 N/A N/A 1323 G /usr/lib/xorg/Xorg 18MiB |
| 0 N/A N/A 1413 G /usr/bin/gnome-shell 47MiB |
| 0 N/A N/A 1688 G /usr/lib/xorg/Xorg 148MiB |
| 0 N/A N/A 1827 G /usr/bin/gnome-shell 134MiB |
| 0 N/A N/A 3226 G /usr/lib/firefox/firefox 1MiB |
| 0 N/A N/A 31858 G ...AAAAAAAAA= --shared-files 79MiB |
+-----------------------------------------------------------------------------+

nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2020 NVIDIA Corporation
Built on Thu_Jun_11_22:26:38_PDT_2020
Cuda compilation tools, release 11.0, V11.0.194
Build cuda_11.0_bu.TC445_37.28540450_0

My Steps

1.Git clone

cd ~/Desktop
git clone --branch stable https://github.com/facebookresearch/habitat-sim.git
git clone --branch stable https://github.com/facebookresearch/habitat-lab.git
git clone --recurse-submodules https://github.com/devendrachaplot/Neural-SLAM

sudo chmod 777 -R ~/Desktop/habitat-sim
sudo chmod 777 -R ~/Desktop/habitat-lab
sudo chmod 777 -R ~/Desktop/Neural-SLAM

2.conda install
Instructed by habitat-sim tutorials

cd ~/Desktop/habitat-sim
conda install habitat-sim -c conda-forge -c aihabitat
conda install habitat-sim headless -c conda-forge -c aihabitat
conda install habitat-sim withbullet headless -c conda-forge -c aihabitat

cd ~/Desktop/habitat-lab
conda install habitat-sim -c conda-forge -c aihabitat
conda install habitat-sim headless -c conda-forge -c aihabitat
conda install habitat-sim withbullet headless -c conda-forge -c aihabitat

cd ~/Desktop/Neural-SLAM
conda install habitat-sim -c conda-forge -c aihabitat
conda install habitat-sim headless -c conda-forge -c aihabitat
conda install habitat-sim withbullet headless -c conda-forge -c aihabitat

3.build habitat-sim
Instructed by BuildFromSource:

cd ~/Desktop/habitat-sim
conda create -n habitat python=3.6 cmake=3.14.0

conda activate habitat
pip install -r requirements.txt
sudo apt-get update || true
sudo apt-get install -y --no-install-recommends \
     libjpeg-dev libglm-dev libgl1-mesa-glx libegl1-mesa-dev mesa-utils xorg-dev freeglut3-dev

python setup.py install
python setup.py install --headless
python setup.py install --with-cuda
sudo apt-get install libbullet-dev
python setup.py install --bullet 

All these bulid commands above run successfully.

./build/viewer ./data/scene_datasets/habitat-test-scenes/skokloster-castle.glb
./build/viewer --enable-physics ./data/scene_datasets/habitat-test-scenes/van-gogh-room.glb
python examples/example.py --scene ./data/scene_datasets/habitat-test-scenes/skokloster-castle.glb
python examples/example.py --scene ./data/scene_datasets/habitat-test-scenes/skokloster-castle.glb --enable_physics

All these example files above run successfully.

4.export PATHONPATH
This is the most confusing part. I really have no idea what to do.
Instructed by BuildFromSource:, we should write ~/.bashrc with export PYTHONPATH=$PYTHONPATH:~/Desktop/habitat-sim/ However, after doing that, I even could not succeed run example file of habitat-sim, and will get error:

ModuleNotFoundError: No module named 'habitat_sim._ext'

Then accoriding to erikwijmans commented on Feb 14,

Please do unset PYTHONPATH (or similar) to remove it.

Then I write ~/.bashrc with unset PYTHONPATH. I can succeed to run example files of habitat-sim again.

5. build habitat-lab

sudo -s
conda activate habitat
cd ~/Desktop/habitat-lab
pip install -e .
pip install -r requirements.txt
python setup.py develop --all

python examples/example.py 
python setup.py test
python examples/benchmark.py

I can successfully bulid and run the example files.

6.build Neural-SLAM

sudo -s 
conda activate habitat
cd ~/Desktop/Neural-SLAM
conda install pytorch==1.2.0 torchvision cudatoolkit=11.0 -c pytorch

I will get error:

(Error: habitat 0.1.6 requires torch>=1.3.1, but you'll have torch 1.2.0 which is incompatible.)

I ignore it and run next commands:pip install -r requirements.txt(I don't whether I need to upgrade the torch version to 1.3.1)

Then, when run command python main.py -n1 --auto_gpu_config 0 --split val, I get error:

ModuleNotFoundError: No module named habitat.sims.habitat_simulato.action_spaces'

It should be noticed that, at that time, I wrote ~/.bashrc with unset PYTHONPATH.
Thus, I try to write ~/.bashrc with export PYTHONPATH=$PYTHONPATH:~/Desktop/habitat-sim/ , then the error will change to:

ModuleNotFoundError: No module named 'habitat_sim._ext'

So what is the correct PYTHONPATH to add in to ~/.bashrc ?
How to fix the error?

Expectation

Successfully run the code.

[devendrachaplot]

Hi,
You need to install specific older versions of habitat-sim and habitat-api for running the Active Neural SLAM code. Check the instructions on installing dependencies in the README for specific versions:

https://github.com/devendrachaplot/Neural-SLAM/blob/master/README.md#installing-dependencies

[Sunnyzhr]

@devendrachaplot Thank you so much for reply!

I follow your instructions carefully, and encounter another errorAttributeError: module 'env' has no attribute 'habitat'. Fortunately, I follow your instruction again to solve the problem. (By change import ... to from ... import ... ) THANKS again!!!

After that, I encounter another trouble that I cannot run with GPU. I fix it by change my torch(cuda11.0) to torch(cuda10.0).

Then, I start to run commands of the tutorial, I've encounter several new problems as below:

New problem 1 - python main.py -n1 --auto_gpu_config 0 --split val

The command runs without error at the first 38 minuets. However, then it encounter errors as below. Additionally, I find that there are some other people who encouter the same error. The code will fail at Cantwell.glb

...
...
Time: 00d 00h 37m 49s, num timesteps 980, FPS 0,
Rewards:
Losses: Local Loss: 4.630, SLAM Loss proj/exp/pose:0.0004/0.0004/0.0101
Time: 00d 00h 38m 11s, num timesteps 990, FPS 0,
Rewards:
Losses: Local Loss: 4.661, SLAM Loss proj/exp/pose:0.0003/0.0003/0.0100
2020-10-27 17:39:42,208 Computing map for data/scene_datasets/gibson/Cantwell.glb
Traceback (most recent call last):
File "main.py", line 769, in
main()
File "main.py", line 617, in main
g_agent.update(g_rollouts)
File "/home/u/Desktop/Neural-SLAM/algo/ppo.py", line 58, in update
for sample in data_generator:
File "/home/u/Desktop/Neural-SLAM/utils/storage.py", line 95, in feed_forward_generator
mini_batch_size = batch_size // num_mini_batch
ZeroDivisionError: integer division or modulo by zero
Exception ignored in: <bound method VectorEnv.del of <env.habitat.habitat_api.habitat.core.vector_env.VectorEnv object at 0x7faf77d21c18>>
Traceback (most recent call last):
File "/home/u/Desktop/Neural-SLAM/env/habitat/habitat_api/habitat/core/vector_env.py", line 487, in del
self.close()
File "/home/u/Desktop/Neural-SLAM/env/habitat/habitat_api/habitat/core/vector_env.py", line 351, in close
write_fn((CLOSE_COMMAND, None))
File "/home/u/anaconda3/envs/habitat/lib/python3.6/multiprocessing/connection.py", line 206, in send
self._send_bytes(_ForkingPickler.dumps(obj))
File "/home/u/anaconda3/envs/habitat/lib/python3.6/multiprocessing/connection.py", line 404, in _send_bytes
self._send(header + buf)
File "/home/u/anaconda3/envs/habitat/lib/python3.6/multiprocessing/connection.py", line 368, in _send
n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe

New problem 2 - python main.py

The error information is:

(habitat) root@c:~/Desktop/Neural-SLAM# python main.py
Traceback (most recent call last):
File "main.py", line 33, in
args = get_args()
File "/home/u/Desktop/Neural-SLAM/arguments.py", line 198, in get_args
/1024/1024/1024 > 10.0, "Insufficient GPU memory"
AssertionError: Insufficient GPU memory

I check my GPU memory (I only have 1 GPU) with torch.cuda.get_device_properties(0).total_memory/1024/1024/1024 . The result is 3.81195068359375 which is less than 10.
I see the arguments.py, there are two lines:

num_processes_per_gpu = int(gpu_memory/1.4)
num_processes_on_first_gpu = int((gpu_memory - 10.0)/1.4)

Therefore, could you please recommend me a value of num_processes_per_gpu and num_processes_on_first_gpu?

Expectation

Successfully run the codes.

Thanks for your attention!

[devendrachaplot]

For the first problem, you can try adding the argument: --num_mini_batch 1

For the second problem, you can try running the habitat simulator and/or model without using the GPU. For running habitat without GPU, you need to install the CPU version. For running the model without using the GPU, you can use --no_cuda argument.