Duckievillage

Duckievillage is an adaptation of Duckietown's OpenAI Gym gym-duckietown for the undergraduate level Intro to Robotics (MAC0318) course held at the Institute of Mathematics and Statistics (IME) of the University of São Paulo (USP).

This project is not to be thought of as a fork or standalone project, but as a complement to Duckietown's Gym. To be more precise, Duckievillage's objectives are two-fold: to be an environment wrapper around DuckietownEnv, which allows a more custom-made environment for our own robotics course; and to be used as course walkthrough.

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Installation

The preferred way of installing Duckievillage is using the installation script. You'll need git and Anaconda (or miniconda) installed. Simply cd to the folder where this file is located and run install.sh within your preferred shell. Pass, as argument, your rcfile and you're good to go. For example, for zsh:

zsh install.sh ~/.zshrc

For bash:

bash install.sh ~/.bashrc

If you are unsure what your current shell is, run:

$(echo "$SHELL") ./install.sh

Carefully read instructions generated by the script. Once you're done, remember to activate the duckietown environment:

conda activate duckietown

This must be done at every session (that is, every time you open a new terminal shell) before running Duckievillage.

You can now test your installation or proceed to the first assignment.

Manual installation

Alternatively, you might can install the required packages manually by following these steps:

1. Install Anaconda
2. git clone https:///gitlab.uspdigital.usp.br/mac0318-2021/duckievillage.git
3. cd duckievillage
4. git clone https://github.com/RenatoGeh/gym-duckietown.git duckietown
5. cd duckietown
6. conda env create -f environment.yaml --name duckietown
7. echo "export PYTHONPATH=\"\${PYTHONPATH}:$(pwd)\"" >> ~/.bashrc
8. Re-source your rcfile (e.g. source ~/.zshrc)
9. conda activate duckietown
10. pip install -r requirements.txt
11. cd ..
12. git clone https://gitlab.uspdigital.usp.br/mac0318-2021/assignments.git assignments

Before every terminal session, activate duckietown's environment:

conda activate duckietown

You can now test your installation or proceed to the first assignment.

Alternative pip installation

Yet another alternative is to install everything via pip. It is highly recommended that you use a python environment if you install this way. Here is an example on how to create such an environment:

mkdir -p ~/.venv && cd ~/.venv && python3 -m venv duckietown && cd -

To activate this environment, do

source ~/.venv/duckietown/bin/activate

You can then install Duckievillage by the following command under the Duckievillage root directory:

pip install -r requirements.txt

Clone Duckietown if you haven't yet:

[ ! -d "duckietown" ] && git clone https://github.com/RenatoGeh/gym-duckietown.git duckietown

And assignments:

[ ! -d "assignments" ] && git clone https://gitlab.uspdigital.usp.br/mac0318-2021/assignments.git assignments

Make sure your rcfile (replace .bashrc with your own) contains Duckietown in your python path:

echo "export PYTHONPATH=\"\${PYTHONPATH}:$(pwd)/duckietown/src\"" >> ~/.bashrc

Resource your rcfile:

source ~/.bashrc

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Testing

Cd to the folder where this file is locate and activate you environment (if not already acrivated):

conda activate duckietown

Test your setup with:

python3 assignments/manual/manual.py

This should open the simulator graphical interface and run the code for the first assignment.

If you get an error, trying restarting your computer. If the error persists see the FAQ section below.

Uninstallation

To uninstall, simply run uninstall.sh with the same shell you used for installing Duckievillage and follow instructions.

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Updating Duckievillage

Before running Duckievillage, make sure you have the latest version by running update.sh:

zsh update.sh

This will update Duckievillage, Duckietown and assignments.

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Frequently Asked Questions

1. Why do I keep getting permission denied when trying to clone Duckievillage by GIT/SSH?

You have to upload your SSH public key: https://gitlab.uspdigital.usp.br/-/profile/keys

If you don't have an SSH keypair, see: https://gitlab.uspdigital.usp.br/help/ssh/README#generate-an-ssh-key-pair

2. Why do I keep getting permission denied when trying to clone Duckievillage by HTTPS?

You have to set up an HTTPS password: https://gitlab.uspdigital.usp.br/-/profile/password/edit

3. I get a permission denied when trying to clone from within a WSL shell!

You should clone from a WSL partition, and not from your Windows NTFS. Do cd ~ and retry.

4. ModuleNotFoundError: No module named 'duckievillage'

You have to cd to the Duckievillage root directory (i.e. the directory you cloned). If the error persists, try either closing your shell session and opening another one (don't forget to cd to the Duckievillage root directory and activate your environment with conda), or sourcing your rcfile.

5. ModuleNotFoundError: No module named 'zuper_commons'

You have to activate the Duckietown environment: conda activate duckietown.

6. install.sh: line 2: syntax error near unexpected token $'{\r

This is a Windows error (due to carriage return). Git Windows adds carriage returns. You can fix this by either remove the carriage return characters or try cloning the repository from within WSL. Do note that Windows is not supported in Duckievillage.

7. pyglet.gl.ContextException: Could not create GL context

This might either be a VM issue or a Pyglet version issue. VMs are not supported in Duckievillage. If it's Pyglet, you may want to either try updating the Anaconda environment with the latest python and packages; or alternatively ditch Anaconda and install everything with pip. For the latter, you might want to completely remove Anaconda so Python doesn't get confused with package versions (or at least completely isolate Anaconda from another Python environment. See the pip alternative instructions. Wayland might also cause this problem. Consider using a Xorg backend for your Desktop Environment or Window Manager instead.

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Schedule

See the wiki.