Windows OS not supported?

[internetscooter]

Describe the bug

Hi TBP,

I think Windows OS is not supported due to facebookresearch/habitat-sim#1570 - if this is the case there should be a note on this in the code/docs?

Below is the complete message. If the above is the case I will see what workaround I can come up with.

PS C:\code\tbp.monty> conda env create C:\Users\paulm\anaconda3\Lib\argparse.py:2006: FutureWarning: remote_definitionis deprecated and will be removed in 25.9. Useconda env create --file=URL` instead.
action(self, namespace, argument_values, option_string)
Channels:

• aihabitat
• pytorch
• pyg
• defaults
  Platform: win-64
  Collecting package metadata (repodata.json): done
  Solving environment: failed

PackagesNotFoundError: The following packages are not available from current channels:

• aihabitat::habitat-sim==0.2.2
• wget

Current channels:

• https://conda.anaconda.org/aihabitat
• https://conda.anaconda.org/pytorch
• https://conda.anaconda.org/pyg
• https://repo.anaconda.com/pkgs/main
• https://repo.anaconda.com/pkgs/r
• https://repo.anaconda.com/pkgs/msys2
• https://conda.anaconda.org/conda-forge

To search for alternate channels that may provide the conda package you're
looking for, navigate to

https://anaconda.org

and use the search bar at the top of the page.`

[tristanls]

Hi @internetscooter, thank you for the report.

We did not intend to exclude Windows OS. While Habitat is not available on Windows, Monty should be available.

Does the following environment_win.yml file work for installation (Habitat dependencies omitted)?

# This file may be used to create an environment using:
#
# ## Miniconda or Anaconda
#     $ conda env create --file environment_win.yml
# If you are using the zsh shell, run:
#     $ conda init zsh
# Or, if you are using a different shell, run:
#     $ conda init
# After init, if you do not want conda to change your global shell when
# you open a new terminal, run:
#     $ conda config --set auto_activate_base false
# Finally, activate the environment with:
#     $ conda activate tbp.monty
#
# platform: win
name: tbp.monty
channels:
  - pytorch
  - pyg
  - defaults
  - conda-forge

dependencies:
  - python=3.8
  - cmake>=3.14.0
  - pyg::pyg
  - wget

  - pytorch::pytorch=1.11.0
  - conda-forge::quaternion=2023.0.3 # later versions missing np.long
  - pytorch::torchvision

  - pip
  - pip:
      - -e .[dev]

For example, the Monty Meets World benchmarks are intended to be independent of Habitat: https://thousandbrainsproject.readme.io/docs/benchmark-experiments#monty-meets-world. (A documentation update is pending in #57, which shares instructions for downloading the data used in the benchmarks.)

Unfortunately, once you pointed out the problem, it became apparent that Monty is accidentally coupled to Habitat in some of the motor policies:

tbp.monty/src/tbp/monty/frameworks/models/motor_policies.py

Line 18 in d1c8369

import habitat_sim.utils as hab_utils

I think this coupling can be removed as only a quat_rotate_vector and common.quat_to_magnum are used, and can likely be replaced by non-Habitat implementations.

[internetscooter]

Would yo be happy including SciPy?

scipy.spatial.transform.Rotation

[tristanls]

@vkakerbeck, @nielsleadholm any thoughts on habitat_sim.utils replacements and @internetscooter 's suggestion above?

[vkakerbeck]

I agree, scipy's Rotation function seems the most straight forward function to replace the use of quat_rotate_vector (especially since we are using this function in all the other places). It should already be included in the installed dependencies as well (

tbp.monty/pyproject.toml

Line 26 in 70d610a

'scipy',

)
For the quaternion <-> magnum conversions (quat_to_magnum and quat_from_magnum) it seems like we could just call whatever habitat implements in the respective functions instead (https://github.com/facebookresearch/habitat-sim/blob/d7da04897f234727813aee3368d7e44e0f08c50e/src_python/habitat_sim/utils/common.py#L48) since its just a straight forward call to magnum functionality (mn.Quaternion(quat.imag, quat.real))

[tristanls]

Thanks @vkakerbeck! After you mentioned calling magnum directly, I remembered that magnum and attr are transitive dependencies bundled with habitat_sim. I think that any calls to magnum would have to be moved to Habitat-specific simulator code. It looks to me like SurfacePolicy.get_inverse_agent_rot would need to be reimplemented:

tbp.monty/src/tbp/monty/frameworks/models/motor_policies.py

Lines 1212 to 1236 in 0d33c9c

	def get_inverse_agent_rot(self):
	"""Get the inverse rotation of the agent's current orientation.
	Used to transform poses of e.g. point normals or principle curvature from
	global coordinates into the coordinate frame of the agent.
	To intuit why we apply the inverse, imagine an e.g. point normal with the same
	pose as the agent; in the agent's reference frame, this should have the
	identity pose, which will be aquired by transforming the original pose by the
	inverse
	NB Magnum appears to be a library used by Habitat; i.e. it is still grounded
	in quaternions
	Returns:
	Inverse quaternion rotation.
	"""
	inverse_magnum_rotation = hab_utils.common.quat_to_magnum(
	self.state["agent_id_0"]["rotation"]
	).inverted()
	inverse_quaternion_rotation = hab_utils.common.quat_from_magnum(
	inverse_magnum_rotation
	)
	return inverse_quaternion_rotation

[vkakerbeck]

I'm kind of confused why we convert here to magnum anyways. We could just invert the quaternion directly... @nielsleadholm any recollection why we did that?

[tristanls]

I dug into the pre-open source code history, and based on that context (PR 201), the magnum conversion seems incidental and not done for a specific reason.

[tristanls]

As reported in https://thousandbrains.discourse.group/t/implimentation-problems-on-a-raspberry-pi/187/7, tests are another source of coupling. Following the default instructions and running pytest will fail when importing Habitat dependencies.

[vkakerbeck]

Okay, so it sounds like for getting Monty running without habitat we can use scipy.spatial.transform.Rotation.inv instead of the two lines that convert back and forth between quaternion and magnum.

Making the unit tests independent of habitat will be a lot more involved 😬 This can be done in a second step later on.

[internetscooter]

Does the following environment_win.yml file work for installation (Habitat dependencies omitted)?

@tristanls it still failed on the wget. I updated that to python-wget and that solved the errors

Edit: However pytest fails with pytest: error: unrecognized arguments: -n , there might be another quirk with Windows and pytest-xdist

[internetscooter]

Installing conda install -c conda-forge pytest-xdist and restarting the shell got pytest running. Here is the output for windows with habitat_sim failures for reference:

`
============================================================================================ test session starts ============================================================================================
platform win32 -- Python 3.8.20, pytest-7.1.1, pluggy-1.5.0
rootdir: C:\code\tbp.monty, configfile: pyproject.toml, testpaths: tests/unit
plugins: cov-3.0.0, forked-1.6.0, xdist-2.5.0
gw0 [168] / gw1 [168] / gw2 [168] / gw3 [168] / gw4 [168] / gw5 [168] / gw6 [168] / gw7 [168] / gw8 [168] / gw9 [168] / gw10 [168] / gw11 [168] / gw12 [168] / gw13 [168]
........................................................................................................................................................................ [100%]
================================================================================================== ERRORS ===================================================================================================
______________________________________________________________________________ ERROR collecting tests/unit/base_config_test.py ______________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\base_config_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init_.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\base_config_test.py:18: in
from tbp.monty.frameworks.config_utils.config_args import (
src\tbp\monty\frameworks\config_utils\config_args.py:52: in
from tbp.monty.frameworks.models.motor_policies import (
src\tbp\monty\frameworks\models\motor_policies.py:18: in
import habitat_sim.utils as hab_utils
E ModuleNotFoundError: No module named 'habitat_sim'
---------------------------------------------------------------------------------------------- Captured stdout ----------------------------------------------------------------------------------------------
MONTY_LOGS not set. Using default directory: C:\Users\paulm\AppData\Local\Temp\tmp66uzl7un
MONTY_MODELS not set. Using default directory: C:\Users\paulm\AppData\Local\Temp\tmp66uzl7unpretrained_models/
WANDB_DIR not set. Using default directory: C:\Users\paulm\AppData\Local\Temp\tmp66uzl7un
____________________________________________________________________________ ERROR collecting tests/unit/custom_actions_test.py _____________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\custom_actions_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\custom_actions_test.py:12: in
import magnum as mn
E ModuleNotFoundError: No module named 'magnum'
_____________________________________________________________________________ ERROR collecting tests/unit/embodied_data_test.py _____________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\embodied_data_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\embodied_data_test.py:20: in
from tbp.monty.frameworks.config_utils.config_args import make_base_policy_config
src\tbp\monty\frameworks\config_utils\config_args.py:52: in
from tbp.monty.frameworks.models.motor_policies import (
src\tbp\monty\frameworks\models\motor_policies.py:18: in
import habitat_sim.utils as hab_utils
E ModuleNotFoundError: No module named 'habitat_sim'
______________________________________________________________________________ ERROR collecting tests/unit/evidence_lm_test.py ______________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\evidence_lm_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\evidence_lm_test.py:26: in
from tbp.monty.frameworks.config_utils.config_args import (
src\tbp\monty\frameworks\config_utils\config_args.py:52: in
from tbp.monty.frameworks.models.motor_policies import (
src\tbp\monty\frameworks\models\motor_policies.py:18: in
import habitat_sim.utils as hab_utils
E ModuleNotFoundError: No module named 'habitat_sim'
____________________________________________________________________________ ERROR collecting tests/unit/graph_building_test.py _____________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\graph_building_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\graph_building_test.py:18: in
from tbp.monty.frameworks.config_utils.config_args import (
src\tbp\monty\frameworks\config_utils\config_args.py:52: in
from tbp.monty.frameworks.models.motor_policies import (
src\tbp\monty\frameworks\models\motor_policies.py:18: in
import habitat_sim.utils as hab_utils
E ModuleNotFoundError: No module named 'habitat_sim'
____________________________________________________________________________ ERROR collecting tests/unit/graph_learning_test.py _____________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\graph_learning_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\graph_learning_test.py:24: in
from tbp.monty.frameworks.config_utils.config_args import (
src\tbp\monty\frameworks\config_utils\config_args.py:52: in
from tbp.monty.frameworks.models.motor_policies import (
src\tbp\monty\frameworks\models\motor_policies.py:18: in
import habitat_sim.utils as hab_utils
E ModuleNotFoundError: No module named 'habitat_sim'
_____________________________________________________________________________ ERROR collecting tests/unit/habitat_data_test.py ______________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\habitat_data_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\habitat_data_test.py:13: in
import magnum as mn
E ModuleNotFoundError: No module named 'magnum'
______________________________________________________________________________ ERROR collecting tests/unit/habitat_sim_test.py ______________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\habitat_sim_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\habitat_sim_test.py:16: in
import habitat_sim
E ModuleNotFoundError: No module named 'habitat_sim'
________________________________________________________________________________ ERROR collecting tests/unit/policy_test.py _________________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\policy_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\policy_test.py:16: in
import habitat_sim.utils as hab_utils
E ModuleNotFoundError: No module named 'habitat_sim'
_____________________________________________________________________________ ERROR collecting tests/unit/run_parallel_test.py ______________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\run_parallel_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\run_parallel_test.py:21: in
from tbp.monty.frameworks.config_utils.config_args import (
src\tbp\monty\frameworks\config_utils\config_args.py:52: in
from tbp.monty.frameworks.models.motor_policies import (
src\tbp\monty\frameworks\models\motor_policies.py:18: in
import habitat_sim.utils as hab_utils
E ModuleNotFoundError: No module named 'habitat_sim'
__________________________________________________________________________________ ERROR collecting tests/unit/run_test.py __________________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\run_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\run_test.py:19: in
import magnum as mn
E ModuleNotFoundError: No module named 'magnum'
_____________________________________________________________________________ ERROR collecting tests/unit/sensor_module_test.py _____________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\sensor_module_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\sensor_module_test.py:16: in
from tbp.monty.frameworks.config_utils.config_args import (
src\tbp\monty\frameworks\config_utils\config_args.py:52: in
from tbp.monty.frameworks.models.motor_policies import (
src\tbp\monty\frameworks\models\motor_policies.py:18: in
import habitat_sim.utils as hab_utils
E ModuleNotFoundError: No module named 'habitat_sim'
_________________________________________________________________________________ ERROR collecting tests/unit/tacto_test.py _________________________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\tacto_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap.gcd_import(name[level:], package, level)
tests\unit\tacto_test.py:11: in
import habitat_sim
E ModuleNotFoundError: No module named 'habitat_sim'
__________________________________________________________________ ERROR collecting tests/unit/frameworks/actions/habitat/actuator_test.py __________________________________________________________________
ImportError while importing test module 'C:\code\tbp.monty\tests\unit\frameworks\actions\habitat\actuator_test.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\importlib_init.py:127: in import_module
return _bootstrap._gcd_import(name[level:], package, level)
tests\unit\frameworks\actions\habitat\actuator_test.py:13: in
from habitat_sim import Agent, AgentConfiguration
E ModuleNotFoundError: No module named 'habitat_sim'
============================================================================================= warnings summary ==============================================================================================
....\Users\paulm\anaconda3\envs\tbp.monty\lib\site-packages_pytest\stepwise.py:52
C:\Users\paulm\anaconda3\envs\tbp.monty\lib\site-packages_pytest\stepwise.py:52: PytestCacheWarning: cache could not write path C:\code\tbp.monty.pytest_cache\v\cache\stepwise
session.config.cache.set(STEPWISE_CACHE_DIR, [])

tests/unit/evidence_sdr_lm_test.py::EvidenceSDRIntegrationTest::test_can_generate_reasonable_sdrs
C:\code\tbp.monty\src\tbp\monty\frameworks\models\evidence_sdr_matching.py:446: RuntimeWarning: invalid value encountered in divide
evidence[valid_ix] = (evidence[valid_ix] - input_range[0]) * (

-- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html
========================================================================================== short test summary info ==========================================================================================
ERROR tests/unit/base_config_test.py
ERROR tests/unit/custom_actions_test.py
ERROR tests/unit/embodied_data_test.py
ERROR tests/unit/evidence_lm_test.py
ERROR tests/unit/graph_building_test.py
ERROR tests/unit/graph_learning_test.py
ERROR tests/unit/habitat_data_test.py
ERROR tests/unit/habitat_sim_test.py
ERROR tests/unit/policy_test.py
ERROR tests/unit/run_parallel_test.py
ERROR tests/unit/run_test.py
ERROR tests/unit/sensor_module_test.py
ERROR tests/unit/tacto_test.py
ERROR tests/unit/frameworks/actions/habitat/actuator_test.py
================================================================================ 168 passed, 2 warnings, 14 errors in 59.87s ================================================================================
`

[nielsleadholm]

Just adding my voice @tristanls @vkakerbeck that I agree the use of magnum looks like it was incidental rather than required, and Scipy should work well as an alternative.

[tristanls]

I'm looking at motor_policies.py to remove the hab_utils dependency. I don't have a plan to address the tests yet.