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This commit is contained in:
Johnny Fernandes
2026-05-12 22:41:03 +01:00
parent a01a5c9cef
commit 5c2ee4bba5
31 changed files with 3189 additions and 380 deletions
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herding/world/geometry.py
+114 -7
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@@ -4,20 +4,35 @@ Coordinates are metres; (0, 0) is the field centre, +x east, +y north.
These constants mirror ``worlds/field.wbt`` and the proto files — if
the world changes, this file is the single point of update.
field +y north
field (rectangular)
+-----------+
| |
| |
| ...... |
+---||||----+ y = -15 (south wall, 3 m gate at x ∈ [10, 13])
+---||||----+ y = -15 (south wall, 3 m gate at x in [10, 13])
||||
|pen| y ∈ [-22, -15]
|pen| y in [-22, -15]
+---+
field_round (circular, R = 15 m)
.---.
/ ... \\
| ..... | gate at south, x in [-1.83, 1.83]
\\ ... /
'-+-' pen y in [-22, -15]
"""
import os
import math
# Field (square, stone-walled)
# ---------------------------------------------------------------------------
# Field shape selection — controlled by HERDING_WORLD env var at runtime.
# Defaults to "field" (rectangular). The launcher writes it into the
# runtime cfg so the controller can pick it up too.
# ---------------------------------------------------------------------------
FIELD_SHAPE = (os.environ.get("HERDING_WORLD", "field")).lower()
# ==================== Rectangular field (field.wbt) ====================
FIELD_X = (-15.0, 15.0)
FIELD_Y = (-15.0, 15.0)
FIELD_INSIDE_MARGIN = 0.5
@@ -32,12 +47,67 @@ PEN_ENTRY = (0.5 * (PEN_X[0] + PEN_X[1]), -15.0)
GATE_X = PEN_X
GATE_Y = -15.0
# ==================== Round field (field_round.wbt) ====================
FIELD_ROUND_R = 15.0
FIELD_ROUND_PEN_X = (-1.5, 1.5)
FIELD_ROUND_PEN_Y = (-22.0, -15.0)
FIELD_ROUND_PEN_CENTER = (
0.5 * (FIELD_ROUND_PEN_X[0] + FIELD_ROUND_PEN_X[1]),
0.5 * (FIELD_ROUND_PEN_Y[0] + FIELD_ROUND_PEN_Y[1]),
)
FIELD_ROUND_PEN_ENTRY = (0.0, -15.0)
FIELD_ROUND_GATE_X = FIELD_ROUND_PEN_X
FIELD_ROUND_GATE_Y = -15.0
# ==================== Active geometry (resolved at import) ===============
# Rectangular defaults are already assigned above. Override for round.
if FIELD_SHAPE == "field_round":
PEN_X = FIELD_ROUND_PEN_X
PEN_Y = FIELD_ROUND_PEN_Y
PEN_CENTER = FIELD_ROUND_PEN_CENTER
PEN_ENTRY = FIELD_ROUND_PEN_ENTRY
GATE_X = FIELD_ROUND_GATE_X
GATE_Y = FIELD_ROUND_GATE_Y
def configure(shape: str) -> None:
"""Switch the active field geometry at runtime.
Call this **before** importing any other ``herding.*`` module that
depends on the constants below (flocking_sim, lidar_sim, obs, etc.).
The import-time env-var path (``HERDING_WORLD``) still works; this
function is for scripts that need to choose the world via a CLI flag.
"""
global FIELD_SHAPE, PEN_X, PEN_Y, PEN_CENTER, PEN_ENTRY, GATE_X, GATE_Y
shape = shape.lower()
FIELD_SHAPE = shape
if shape == "field_round":
PEN_X = FIELD_ROUND_PEN_X
PEN_Y = FIELD_ROUND_PEN_Y
PEN_CENTER = FIELD_ROUND_PEN_CENTER
PEN_ENTRY = FIELD_ROUND_PEN_ENTRY
GATE_X = FIELD_ROUND_GATE_X
GATE_Y = FIELD_ROUND_GATE_Y
else:
PEN_X = (10.0, 13.0)
PEN_Y = (-22.0, -15.0)
PEN_CENTER = (0.5 * (PEN_X[0] + PEN_X[1]), 0.5 * (PEN_Y[0] + PEN_Y[1]))
PEN_ENTRY = (0.5 * (PEN_X[0] + PEN_X[1]), -15.0)
GATE_X = PEN_X
GATE_Y = -15.0
# Dog spec — protos/ShepherdDog.proto
DOG_WHEEL_RADIUS = 0.038 # m
DOG_WHEEL_BASE = 0.28 # m, axle-to-axle
DOG_MAX_WHEEL_OMEGA = 70.0 # rad/s
DOG_MAX_LINEAR = DOG_WHEEL_RADIUS * DOG_MAX_WHEEL_OMEGA # ≈ 2.66 m/s
# Dog mecanum spec — 4-wheel omnidirectional layout
DOG_WHEEL_BASE_X = 0.28 # m, front-to-back axle distance
DOG_WHEEL_BASE_Y = 0.28 # m, left-to-right axle distance
# Sheep spec — protos/Sheep.proto
SHEEP_WHEEL_RADIUS = 0.031 # m
SHEEP_WHEEL_BASE = 0.20 # m
@@ -58,21 +128,58 @@ def in_pen(x: float, y: float) -> bool:
def in_field(x: float, y: float, margin: float = 0.0) -> bool:
if FIELD_SHAPE == "field_round":
r = FIELD_ROUND_R - margin
return x * x + y * y <= r * r
return (FIELD_X[0] + margin <= x <= FIELD_X[1] - margin
and FIELD_Y[0] + margin <= y <= FIELD_Y[1] - margin)
def in_gate_corridor(x: float, y: float, margin: float = 0.0) -> bool:
"""True if (x, y) lies in the column of the gate (between field and pen)."""
return (PEN_X[0] - margin <= x <= PEN_X[1] + margin
return (GATE_X[0] - margin <= x <= GATE_X[1] + margin
and PEN_Y[0] - margin <= y <= GATE_Y + margin)
def is_penned_position(x: float, y: float, latch_margin: float = 0.2) -> bool:
"""True iff (x, y) is in the gate column and south of the gate line."""
return (PEN_X[0] - latch_margin <= x <= PEN_X[1] + latch_margin
return (GATE_X[0] - latch_margin <= x <= GATE_X[1] + latch_margin
and y <= GATE_Y)
def distance_to_pen_entry(x: float, y: float) -> float:
return math.hypot(x - PEN_ENTRY[0], y - PEN_ENTRY[1])
def distance_to_wall(x: float, y: float) -> float:
"""Shortest distance from (x, y) to the nearest field wall.
For a rectangular field this is the minimum Manhattan distance to the
four bounding walls. For a round field it is ``R - sqrt(x²+y²)``.
Returns a negative value if the point is outside the field.
"""
if FIELD_SHAPE == "field_round":
return FIELD_ROUND_R - math.hypot(x, y)
return min(
x - FIELD_X[0], FIELD_X[1] - x,
y - FIELD_Y[0], FIELD_Y[1] - y,
)
def clip_to_field(x: float, y: float, margin: float = 0.2) -> tuple[float, float]:
"""Clip (x, y) inside the field boundary with a small margin.
For round fields the point is projected radially inward if it exceeds
the circular boundary.
"""
if FIELD_SHAPE == "field_round":
r = math.hypot(x, y)
limit = FIELD_ROUND_R - margin
if r > limit and r > 1e-6:
scale = limit / r
return x * scale, y * scale
return x, y
return (
max(FIELD_X[0] + margin, min(FIELD_X[1] - margin, x)),
max(FIELD_Y[0] + margin, min(FIELD_Y[1] - margin, y)),
)