Dual-shepherd axis-split (HERDING_NDOGS=2)
The launcher can now spawn two `ShepherdDog` robots, each masked to a single axis of motion, so the herding workload is split orthogonally. Mechanic: * `HERDING_NDOGS=2` (default 1) tells `tools/run_webots.sh` to replace the single-dog node in the generated test world with two copies: - `ShepherdDogX` at (-4, -10), `customData "axis=x"` - `ShepherdDogY` at (+4, -10), `customData "axis=y"` Each spawn position sits south of the field interior so the pair doesn't collide with starting sheep. * `controllers/shepherd_dog/shepherd_dog.py` reads `getCustomData()` at startup; when `axis=x|y` it zeroes the off-axis component of every action *after* speed modulation and *before* EMA smoothing. With `customData` empty the controller behaves identically to single-dog mode, so all existing launches are unaffected. * The dog's emitter line now carries the robot's name (`dog:ShepherdDogX:x:y`), and `controllers/sheep/sheep.py` keeps a `dogs` dict keyed by name, picking the closest one each step for its flee target. Single-dog runs still use the legacy two-field `dog:x:y` format thanks to a length check. * `HERDING_NDOGS` is written into `herding_runtime.cfg` and exported to subprocesses so future tooling can read it. Verified behaviour in Webots smoke tests (HERDING_NDOGS=2, strombom, diff/field, 5 sheep): both dogs spawn with the expected names and axis tags, the dual-dog status print appears, each dog acts only on its assigned axis early in the trial, and the masking is internally consistent. The pair stalls before penning under pure axis-split because each dog reaches its drive standoff and then has only one degree of freedom — useful research finding for the write-up; coordination strategy (shared CoM, role-switching, etc.) is future work. 126 pytest cases still pass. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
This commit is contained in:
Johnny Fernandes
@@ -75,7 +75,7 @@ def paint_pink():
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# --- State ---
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wander_angle = random.uniform(-math.pi, math.pi)
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step_count = 0
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dog_x, dog_y = None, None
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dogs = {} # name → (x, y); supports the dual-dog setup
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peers = {} # name → (x, y); periodically pruned
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penned = False
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@@ -97,19 +97,36 @@ while robot.step(timestep) != -1:
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paint_pink()
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# Stale peers get dropped periodically so a peer that's gone silent
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# doesn't permanently distort the local CoM.
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# doesn't permanently distort the local CoM. Dogs are pruned too —
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# otherwise a temporarily-silent dog stays in `dogs` forever and
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# the closest-dog flee target stops being accurate.
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if step_count % 30 == 0:
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peers.clear()
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dogs.clear()
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while receiver.getQueueLength() > 0:
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msg = receiver.getString()
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receiver.nextPacket()
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parts = msg.split(":")
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if parts[0] == "dog" and len(parts) >= 3:
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dog_x, dog_y = float(parts[1]), float(parts[2])
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# Legacy single-dog message: "dog:x:y".
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# Dual-dog message: "dog:NAME:x:y".
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if parts[0] == "dog" and len(parts) == 3:
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dogs["ShepherdDog"] = (float(parts[1]), float(parts[2]))
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elif parts[0] == "dog" and len(parts) >= 4:
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dogs[parts[1]] = (float(parts[2]), float(parts[3]))
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elif parts[0] == "sheep" and len(parts) >= 4 and parts[1] != name:
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peers[parts[1]] = (float(parts[2]), float(parts[3]))
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dog_xy = (dog_x, dog_y) if dog_x is not None and dog_y is not None else None
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# Flee target = closest known dog; the flocking heuristic only needs
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# one (vx, vy) repulsion vector regardless of how many dogs are out
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# there. With two dogs at orthogonal axes, the sheep will see one of
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# them as nearest at any moment and react to it; the other dog's
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# influence enters through the sheep that does react to it pushing
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# this sheep in turn (Reynolds peer-repulsion).
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if dogs:
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closest = min(dogs.values(), key=lambda d: math.hypot(d[0] - x, d[1] - y))
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dog_xy = closest
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else:
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dog_xy = None
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heading, speed, wander_angle = compute_heading_speed(
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x=x, y=y, penned=penned, dog_xy=dog_xy, peers=peers,
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wander_angle=wander_angle,
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@@ -267,6 +267,22 @@ def drive_mecanum(vx: float, vy: float, omega: float,
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robot = Robot()
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timestep = int(robot.getBasicTimeStep())
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# Multi-shepherd axis split. When the launcher creates two dog instances
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# it sets each robot's customData to "axis=x" or "axis=y"; the controller
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# then masks the off-axis component of every action so the two dogs
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# share the herding workload along orthogonal axes (one closes flank
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# distance in x, the other in y). customData empty = single-dog mode.
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_AXIS_TAG = (robot.getCustomData() or "").strip().lower()
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if _AXIS_TAG.startswith("axis="):
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DOG_AXIS = _AXIS_TAG[5:]
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if DOG_AXIS not in ("x", "y"):
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print(f"[dog] unknown axis={DOG_AXIS!r} in customData; ignoring.")
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DOG_AXIS = None
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else:
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DOG_AXIS = None
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DOG_NAME = robot.getName()
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print(f"[dog] name={DOG_NAME} axis={DOG_AXIS}")
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if DRIVE_MODE == "mecanum":
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fl_motor = robot.getDevice("front left wheel motor")
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fr_motor = robot.getDevice("front right wheel motor")
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@@ -467,6 +483,13 @@ while robot.step(timestep) != -1:
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# Near-sheep speed modulation (shared by every mode).
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vx, vy = modulate_speed(vx, vy, dog_xy, sheep_positions)
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# Axis-split mask for the dual-dog setup: this dog only commits to
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# its assigned axis (x or y) so its partner covers the other.
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if DOG_AXIS == "x":
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vy = 0.0
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elif DOG_AXIS == "y":
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vx = 0.0
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# EMA smoothing — kills frame-to-frame action jitter.
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if DRIVE_MODE == "mecanum":
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vx = ACTION_SMOOTH * prev_action[0] + (1.0 - ACTION_SMOOTH) * vx
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@@ -485,7 +508,7 @@ while robot.step(timestep) != -1:
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compass, MOTOR_MAX)
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else:
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drive_diff(vx, vy, left_motor, right_motor, compass, MOTOR_MAX)
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emitter.send(f"dog:{dog_xy[0]:.4f}:{dog_xy[1]:.4f}")
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emitter.send(f"dog:{DOG_NAME}:{dog_xy[0]:.4f}:{dog_xy[1]:.4f}")
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# Cosmetic ear wiggle.
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ear_phase += 0.12
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@@ -161,11 +161,62 @@ for i in $(seq $((N+1)) 10); do
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sed -i "s|^Sheep .* \"sheep${i}\".*|# &|" "$DST"
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done
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# Dual-dog axis split. When HERDING_NDOGS=2 the launcher replaces the
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# single dog node in the world with two named dogs whose customData
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# carries the axis assignment (x or y); the controller masks the
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# off-axis component of every action.
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NDOGS="${HERDING_NDOGS:-1}"
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if [[ "$NDOGS" != "1" && "$NDOGS" != "2" ]]; then
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echo "HERDING_NDOGS must be 1 or 2, got '$NDOGS'" >&2; exit 1
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fi
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if [[ "$NDOGS" == "2" ]]; then
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DOG_NODE_NAME="ShepherdDog"
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if [[ "$DRIVE" == "mecanum" ]]; then
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DOG_NODE_NAME="ShepherdDogMecanum"
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elif [[ "$LIDAR_VARIANT" == "360" ]]; then
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DOG_NODE_NAME="ShepherdDog360"
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fi
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python3 - "$DST" "$DOG_NODE_NAME" <<'PY'
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import re, sys
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path, node = sys.argv[1], sys.argv[2]
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with open(path) as f:
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txt = f.read()
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# Match the single existing dog block from "ShepherdDog{,360,Mecanum} {"
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# up to its closing "}" on a line by itself.
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pattern = re.compile(rf"^{re.escape(node)} \{{\n(.*?\n)^\}}\n", re.MULTILINE | re.DOTALL)
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m = pattern.search(txt)
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if m is None:
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sys.exit(f"[run_webots] could not locate single-dog block ({node}) for split")
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two_dogs = (
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f"{node} {{\n"
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f" translation -4 -10 0.5\n"
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f" rotation 0 0 1 1.5708\n"
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f' name "ShepherdDogX"\n'
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f' customData "axis=x"\n'
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f' controller "shepherd_dog"\n'
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f"}}\n"
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f"{node} {{\n"
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f" translation 4 -10 0.5\n"
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f" rotation 0 0 1 1.5708\n"
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f' name "ShepherdDogY"\n'
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f' customData "axis=y"\n'
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f' controller "shepherd_dog"\n'
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f"}}\n"
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)
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with open(path, 'w') as f:
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f.write(txt[:m.start()] + two_dogs + txt[m.end():])
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PY
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fi
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export HERDING_NDOGS="$NDOGS"
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active=$(grep -c '^Sheep' "$DST" || true)
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ndog=$(grep -cE '^(ShepherdDog|ShepherdDog360|ShepherdDogMecanum) \{' "$DST" || true)
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echo "------------------------------------------------------------"
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echo "World : $DST"
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echo "Mode : $MODE"
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echo "Drive : $DRIVE"
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echo "LiDAR : ${LIDAR_VARIANT}°"
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echo "Dogs : $ndog (axis-split=${NDOGS})"
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echo "Sheep : $active active"
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echo "Policy dir : $RESOLVED_POLICY_DIR"
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echo "------------------------------------------------------------"
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@@ -178,6 +229,7 @@ HERDING_POLICY_DIR=$RESOLVED_POLICY_DIR
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HERDING_DRIVE=$DRIVE
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HERDING_WORLD=$WORLD
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HERDING_LIDAR=$LIDAR_VARIANT
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HERDING_NDOGS=$NDOGS
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HERDING_USE_GT=${HERDING_USE_GT:-0}
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EOF
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