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Portable Python env + 360° LiDAR ablation flag

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Two small features.

(1) Portable interpreter
* `tools/setup_env.sh` exports HERDING_PYTHON (default points to the
  project's conda env; override in your shell to retarget).
* Both `controllers/*/runtime.ini` files now use Webots' env-var
  expansion: `COMMAND = $(HERDING_PYTHON)` so the Webots-launched
  controllers pick up the same interpreter as the bash scripts.
* `tools/run_webots.sh`, `tools/webots_sweep{,_gt}.sh` and
  `tools/calibrate_mecanum.sh` all source `setup_env.sh` at the top
  instead of hard-coding `/home/jalf/miniconda3/envs/tir/bin`.
The hard-coded conda path is now exactly one line in `setup_env.sh`'s
fallback default — a single place to edit on a new machine, or
override-once via `export HERDING_PYTHON=...`.

(2) 360° LiDAR FOV ablation
* New `LIDAR_WEBOTS_360` preset matches the existing
  `protos/ShepherdDog360.proto` (360 rays / 2π FOV / 15 m range).
* `tools/run_webots.sh` reads `HERDING_LIDAR=140|360` and swaps the
  diff-drive proto accordingly (mecanum keeps 140° — the
  ShepherdDogMecanum proto has its own LiDAR section). The variant
  is written into `herding_runtime.cfg` so the controller can read
  it even when Webots strips env vars.
* `controllers/shepherd_dog/shepherd_dog.py` picks the matching
  `lidar_cfg` (`HERDING_WEBOTS.lidar` for 140°, `LIDAR_WEBOTS_360`
  otherwise) and feeds it to `detections_from_scan` so the
  perception pipeline interprets ray angles + max range correctly.

Smoke test: `HERDING_LIDAR=360 tools/run_webots.sh 5 strombom
differential field` launches with `ShepherdDog360.proto`, the
controller logs the new mode/drive/world line, and the dog is
penning sheep through 360° perception (4/5 at step 19200 before I
killed the test). No retraining required because the gym already
trains under `LIDAR_FULL` (360° preset).

126 pytest cases still pass.

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
This commit is contained in:
Johnny Fernandes
2026-05-17 02:19:15 +00:00
parent 7ab69ab0f3
commit d00da52c3c
9 changed files with 105 additions and 12 deletions
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tools/setup_env.sh
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# Source this from your shell before running the launchers:
#
# source tools/setup_env.sh
#
# The launchers (`tools/run_webots.sh`, `tools/webots_sweep*.sh`,
# `tools/calibrate_mecanum.sh`) and the Webots controllers (via
# `controllers/*/runtime.ini`) all read $HERDING_PYTHON to decide
# which Python interpreter to use. The default below points at the
# project author's conda env — edit this file or override the var in
# your shell to match your own setup.
: "${HERDING_PYTHON:=/home/jalf/miniconda3/envs/tir/bin/python3}"
export HERDING_PYTHON
# Prepend the Python's bin/ to PATH so subprocesses pick up the same
# interpreter (used by Webots when it doesn't read runtime.ini, and
# by any Python tooling launched by the bash scripts).
export PATH="$(dirname "$HERDING_PYTHON"):$PATH"
if [[ ! -x "$HERDING_PYTHON" ]]; then
echo "[setup_env] WARNING: HERDING_PYTHON=$HERDING_PYTHON is not executable." >&2
echo "[setup_env] Edit tools/setup_env.sh or 'export HERDING_PYTHON=...' yourself." >&2
fi