Interactive Webots launcher (tools/webots_menu.sh)
Single-command picker that prompts for every experimental knob the project supports, then dispatches to `tools/run_webots.sh` with the matching env vars. The banner reminds the user that the interpreter path lives in `tools/setup_env.sh` (or `$HERDING_PYTHON`) so the "this conda path won't exist on another machine" trap is hard to fall into. Prompts, in order: Mode : bc | rl | strombom | sequential | universal Drive : differential | mecanum World : field | field_round LiDAR FOV : 140° | 360° (skipped when drive=mecanum) Dogs : 1 | 2 (axis-split — only ask leak if 2) Sheep : 1..10 Perception : LiDAR | GT bypass Headless : no (windowed) | yes (xvfb-run + fast mode) Each prompt has a default marked with `*`; pressing Enter through the whole flow runs the canonical demo (BC / diff / field / 140° / 1 dog / 5 sheep / LiDAR / windowed). The configuration is summarised in a boxed block before the final "Launch? [Y/n]" confirm. README quick-start now lists `tools/webots_menu.sh` as the recommended starting point and shows the env-var-prefixed launcher invocations (HERDING_LIDAR=360, HERDING_NDOGS=2, HERDING_USE_GT=1) for non-interactive use. 126 pytest cases still pass. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
This commit is contained in:
Johnny Fernandes
Executable
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#!/usr/bin/env bash
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# Interactive Webots launcher. Prompts for the experiment knobs
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# (mode, drive, world, LiDAR FOV, number of dogs, flock size, GT
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# bypass) and then dispatches to tools/run_webots.sh with the
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# selected configuration.
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#
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# Usage: bash tools/webots_menu.sh
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set -e
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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ROOT="$( cd "$SCRIPT_DIR/.." && pwd )"
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# Resolve HERDING_PYTHON the same way every other launcher does.
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source "$SCRIPT_DIR/setup_env.sh"
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# ----- Cosmetics ----------------------------------------------------
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if [[ -t 1 ]]; then
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B=$'\e[1m'; D=$'\e[2m'; R=$'\e[0m'
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G=$'\e[32m'; Y=$'\e[33m'; C=$'\e[36m'
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else
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B=""; D=""; R=""; G=""; Y=""; C=""
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fi
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banner () {
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cat <<EOF
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${B}${C}┌──────────────────────────────────────────────────────────────────┐
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│ Shepherd-dog Webots launcher (interactive) │
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└──────────────────────────────────────────────────────────────────┘${R}
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${Y}⚠ Python interpreter${R}
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This script and the Webots controllers read ${B}\$HERDING_PYTHON${R} to
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decide which interpreter to start. Current value:
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${G}$HERDING_PYTHON${R}
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${D}If that path is wrong on your machine, edit ${R}${B}tools/setup_env.sh${R}${D}
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or export HERDING_PYTHON=/path/to/python3 in your shell.${R}
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EOF
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}
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ask_choice () {
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# ask_choice "Prompt" "default" "label1:val1" "label2:val2" ...
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local prompt="$1" default="$2"; shift 2
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local i=1 labels=() values=()
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for opt in "$@"; do
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labels+=("${opt%%:*}")
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values+=("${opt#*:}")
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done
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while true; do
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echo "${B}$prompt${R}"
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for i in "${!labels[@]}"; do
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local marker=" "
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[[ "${values[$i]}" == "$default" ]] && marker="${G}*${R}"
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printf " %s %d) ${B}%s${R}\n" "$marker" "$((i+1))" "${labels[$i]}"
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done
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printf " Choice [${G}1-${#labels[@]}${R}, default ${G}%s${R}]: " "$default"
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local raw; read -r raw || true
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raw="${raw:-}"
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if [[ -z "$raw" ]]; then
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CHOICE="$default"; return
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fi
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if [[ "$raw" =~ ^[0-9]+$ ]] && (( raw >= 1 && raw <= ${#labels[@]} )); then
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CHOICE="${values[$((raw-1))]}"; return
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fi
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echo " ${Y}invalid — try again${R}"
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done
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}
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ask_int () {
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# ask_int "Prompt" default min max
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local prompt="$1" default="$2" lo="$3" hi="$4"
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while true; do
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printf "${B}%s${R} [${G}%s${R}-${G}%s${R}, default ${G}%s${R}]: " "$prompt" "$lo" "$hi" "$default"
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local raw; read -r raw || true
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raw="${raw:-$default}"
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if [[ "$raw" =~ ^[0-9]+$ ]] && (( raw >= lo && raw <= hi )); then
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CHOICE="$raw"; return
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fi
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echo " ${Y}must be an integer in [$lo, $hi]${R}"
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done
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}
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# ----- Prompts ------------------------------------------------------
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banner
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ask_choice "Mode" "bc" \
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"BC (behaviour-cloned MLP):bc" \
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"RL (KL-PPO fine-tune):rl" \
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"Strömbom (analytic):strombom" \
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"Sequential (analytic):sequential" \
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"Universal teacher (BC source):universal"
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MODE="$CHOICE"
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echo
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ask_choice "Drive" "differential" \
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"Differential (2-wheel):differential" \
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"Mecanum (4-wheel, omnidirectional):mecanum"
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DRIVE="$CHOICE"
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echo
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ask_choice "World" "field" \
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"Rectangular (field):field" \
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"Round (field_round):field_round"
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WORLD="$CHOICE"
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echo
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# LiDAR ablation only applies to differential (mecanum proto has its
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# own 140° sensor that we don't fork).
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if [[ "$DRIVE" == "differential" ]]; then
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ask_choice "LiDAR FOV" "140" \
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"140° (canonical, ShepherdDog.proto):140" \
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"360° (FOV ablation, ShepherdDog360.proto):360"
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LIDAR="$CHOICE"
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else
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LIDAR="140"
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echo "${D}LiDAR: 140° (mecanum drive — no 360° proto variant available)${R}"
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fi
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echo
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ask_choice "Number of shepherd dogs" "1" \
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"1 — solo:1" \
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"2 — axis-split (X-dog + Y-dog):2"
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NDOGS="$CHOICE"
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echo
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if [[ "$NDOGS" == "2" ]]; then
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ask_choice "Axis-split leak (soft mask gain on the off-axis)" "0.3" \
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"0.0 — strict (each dog only moves on its axis; tends to deadlock):0.0" \
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"0.3 — default (off-axis at 30% gain; verified to pen):0.3" \
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"0.5 — softer:0.5" \
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"1.0 — no mask (both dogs run full policy):1.0"
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AXIS_LEAK="$CHOICE"
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echo
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fi
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ask_int "Flock size (number of sheep)" 5 1 10
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N_SHEEP="$CHOICE"
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echo
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ask_choice "Perception" "lidar" \
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"LiDAR (canonical):lidar" \
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"Ground-truth bypass (HERDING_USE_GT=1):gt"
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if [[ "$CHOICE" == "gt" ]]; then USE_GT=1; else USE_GT=0; fi
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echo
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ask_choice "Headless?" "no" \
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"No — show the Webots window:no" \
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"Yes — headless, fast simulation (xvfb-run):yes"
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HEADLESS="$CHOICE"
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echo
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# ----- Summary ------------------------------------------------------
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cat <<EOF
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${B}${C}── Launch configuration ──────────────────────────────────────────${R}
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Mode : ${B}$MODE${R}
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Drive : ${B}$DRIVE${R}
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World : ${B}$WORLD${R}
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LiDAR FOV : ${B}${LIDAR}°${R}
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Dogs : ${B}$NDOGS${R}$( [[ "$NDOGS" == "2" ]] && echo " (axis_leak=${B}$AXIS_LEAK${R})" )
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Sheep : ${B}$N_SHEEP${R}
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Perception : ${B}$( [[ "$USE_GT" == "1" ]] && echo "GT bypass" || echo "LiDAR" )${R}
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Headless : ${B}$HEADLESS${R}
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${C}──────────────────────────────────────────────────────────────────${R}
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EOF
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printf "${B}Launch? [Y/n] ${R}"
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read -r confirm || true
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if [[ "$confirm" =~ ^[Nn] ]]; then
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echo "Aborted."; exit 0
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fi
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# ----- Dispatch -----------------------------------------------------
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export HERDING_LIDAR="$LIDAR"
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export HERDING_NDOGS="$NDOGS"
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export HERDING_USE_GT="$USE_GT"
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[[ -n "${AXIS_LEAK:-}" ]] && export HERDING_AXIS_LEAK="$AXIS_LEAK"
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if [[ "$HEADLESS" == "yes" ]]; then
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export WEBOTS_HEADLESS=1
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export WEBOTS_EXTRA_ARGS="--stdout --stderr"
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exec xvfb-run -a bash "$SCRIPT_DIR/run_webots.sh" \
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"$N_SHEEP" "$MODE" "$DRIVE" "$WORLD"
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else
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exec bash "$SCRIPT_DIR/run_webots.sh" \
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"$N_SHEEP" "$MODE" "$DRIVE" "$WORLD"
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fi
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