diff --git a/Makefile b/Makefile
index 2951ad9..2d89991 100644
--- a/Makefile
+++ b/Makefile
@@ -146,7 +146,7 @@ MODE             ?= rl
 
 
 .PHONY: all bc_demos bc rl rl_fast eval eval_fast eval_all eval_all_fast \
-        test webots webots_quick webots_sweep clean clean_all help \
+        test webots webots_sweep clean clean_all help \
         train_all train_diff_rect train_diff_round \
         train_mec_rect train_mec_round \
         train_all_fast train_diff_rect_fast train_diff_round_fast \
@@ -161,6 +161,17 @@ export HERDING_WORLD = $(WORLD)
 # the build is run under tee / nohup / tmux pipes.
 export PYTHONUNBUFFERED = 1
 
+# Mecanum needs --use-webots-preset so collect/rl pick up
+# HERDING_MEC_WEBOTS — the gym mecanum kinematics get the strafe
+# efficiency and forward-bleed match against the physical-roller
+# Webots proto. Without this flag the policy trains on textbook
+# X-pattern mecanum and fails on deployment.
+ifeq ($(DRIVE),mecanum)
+WEBOTS_PRESET_FLAG = --use-webots-preset
+else
+WEBOTS_PRESET_FLAG =
+endif
+
 bc_demos: $(BC_DEMOS)
 $(BC_DEMOS):
 	$(PY) -m training.bc.collect \
@@ -171,7 +182,8 @@ $(BC_DEMOS):
 		--max-steps $(DEMO_MAX_STEPS) \
 		--fp-rate $(FP_RATE) \
 		--action-smooth $(ACTION_SMOOTH_TRAIN) \
-		--wheel-slip-std $(WHEEL_SLIP_STD)
+		--wheel-slip-std $(WHEEL_SLIP_STD) \
+		$(WEBOTS_PRESET_FLAG)
 
 bc: $(BC_POLICY)
 $(BC_POLICY): $(BC_DEMOS)
@@ -190,6 +202,8 @@ $(RL_POLICY): $(BC_POLICY)
 		--fp-rate $(FP_RATE) \
 		--action-smooth $(ACTION_SMOOTH_TRAIN) \
 		--wheel-slip-std $(WHEEL_SLIP_STD)
+	# (rl/train.py auto-applies HERDING_MEC_WEBOTS when drive=mecanum;
+	# no --use-webots-preset flag needed.)
 
 eval: $(RL_POLICY)
 	$(PY) -m training.eval --policy $(RL_DIR) \
@@ -223,9 +237,6 @@ test:
 webots:
 	@bash tools/webots_menu.sh
 
-webots_quick:
-	tools/run_webots.sh $(N) $(MODE) $(DRIVE) $(WORLD)
-
 # Headless sweep across all modes × worlds × flock sizes.
 # Results are written to webots_sweep.log.
 # Set USE_GT=1 to bypass LiDAR tracker (isolate perception from policy).