Webots sim-to-real fixes, DAgger pipeline, 360° proto variant
Today's session worked across the full Webots delivery stack — found and
fixed a cluster of bugs blocking the BC/RL transfer, then explored
training-side mitigations for the residual perception gap.
Bug fixes:
- Makefile FP_RATE default 2.0 → 0.0: BC demos used fp_rate=0 but RL
fine-tune defaulted to fp_rate=2, poisoning the BC obs distribution
and stalling PPO at 0% success across 1.46M+ steps.
- controllers/{shepherd_dog,sheep}/runtime.ini: Webots was launching
controllers under system python3 (no numpy) and they were crashing
silently. Pinned to the conda tir env.
- herding/config.py HERDING_WEBOTS preset: pen_latch_depth 0.5 → 2.0,
max_new_tracks_per_step 3 → 1, static_reject 0.8 → 1.2. Stops phantom
FPs near the gate from latching as permanently-penned tracks.
- herding/perception/sheep_tracker.py: penned tracks now decay at
forget_steps × 8 instead of living forever. Adds get_positions
min_freshness filter for deploy-time use.
Training/eval matches deployment:
- training/bc/collect.py: --dagger-policy flag for DAgger rollouts
(policy drives, teacher labels) + --use-webots-preset for matched
140° tracker + DR config.
- controllers/shepherd_dog/shepherd_dog.py: scan-fallback (0, 0.6) when
BC/RL sees empty sheep_positions — recovers from FOV gaps.
Tooling:
- tools/dagger_round.sh: one-shot DAgger round (collect + concat + bc).
- tools/webots_sweep_gt.sh: full sweep with HERDING_USE_GT=1 for the
perception-gap diagnosis matrix.
- protos/ShepherdDog360.proto: 360° FOV variant for the FOV-ablation
comparison. Canonical proto stays at 140° per project spec.
Artifacts: v1 BC/RL policies for all 4 (drive × world) combos trained
in clean gym (success: diff/field 90-100%, diff/round 58%, mec/field
60-100%, mec/round 50-100%). DAgger r1/r2 BCs for diff/field show
12%→38% progression on gym HERDING_WEBOTS proxy but did not close
to actual Webots LiDAR (0/5 throughout). Next: LSTM policy or
learned tracker per the project-state memory.
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
This commit is contained in:
Johnny Fernandes
@@ -138,7 +138,8 @@ PROTO ShepherdDog [
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}
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]
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}
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# Lidar — front-facing 140° FOV, mounted at snout tip
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# Lidar — front-facing 140° FOV (canonical hardware spec).
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# See ShepherdDog360.proto for the 360° robustness-ablation variant.
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Lidar {
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translation 0.05 0 0.01
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name "lidar"
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@@ -0,0 +1,691 @@
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#VRML_SIM R2025a utf8
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# Shepherd Dog Robot - wheeled base with dog character on top, tail-mounted 360 lidar
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/TireRubber.proto"
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PROTO ShepherdDog360 [
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field SFVec3f translation 0 0 0
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field SFRotation rotation 0 1 0 0
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field SFString name "ShepherdDog"
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field SFString controller "shepherd_dog"
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field MFString controllerArgs []
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field SFString customData ""
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field SFBool supervisor FALSE
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field SFBool synchronization TRUE
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]
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{
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Robot {
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translation IS translation
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rotation IS rotation
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name IS name
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controller IS controller
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controllerArgs IS controllerArgs
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customData IS customData
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supervisor IS supervisor
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synchronization IS synchronization
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children [
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# ========== CHASSIS / BASE ==========
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DEF CHASSIS Transform {
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translation 0 0 0.05
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children [
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Shape {
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appearance DEF CHASSIS_APP PBRAppearance {
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||||
baseColor 0.2 0.2 0.2
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||||
roughness 0.6
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||||
metalness 0.3
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||||
}
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||||
geometry Box {
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size 0.32 0.16 0.06
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}
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}
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]
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}
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# Front slope
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DEF CHASSIS_FRONT Transform {
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translation 0.14 0 0.07
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children [
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Shape {
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appearance USE CHASSIS_APP
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geometry Box {
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||||
size 0.06 0.14 0.04
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}
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}
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]
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}
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# Rear slope
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DEF CHASSIS_REAR Transform {
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translation -0.14 0 0.07
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children [
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Shape {
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appearance USE CHASSIS_APP
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||||
geometry Box {
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||||
size 0.06 0.14 0.04
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}
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}
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]
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}
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# ========== DOG BODY on top of chassis ==========
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DEF BODY Transform {
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translation 0 0 0.11
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children [
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Shape {
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appearance DEF FUR_BROWN PBRAppearance {
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||||
baseColor 0.55 0.35 0.17
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roughness 0.85
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||||
metalness 0.0
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}
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geometry Box {
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size 0.30 0.16 0.08
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}
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}
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]
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}
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# ========== CHEST ==========
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DEF CHEST Transform {
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translation 0.12 0 0.11
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children [
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Shape {
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appearance DEF FUR_CREAM PBRAppearance {
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||||
baseColor 0.85 0.72 0.55
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||||
roughness 0.85
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||||
metalness 0.0
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||||
}
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||||
geometry Box {
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||||
size 0.08 0.18 0.08
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}
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}
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]
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}
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# ========== HEAD ==========
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DEF HEAD Transform {
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translation 0.20 0 0.17
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children [
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Shape {
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appearance USE FUR_BROWN
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geometry Box {
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||||
size 0.10 0.12 0.09
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}
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}
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]
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}
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# ========== SNOUT + LIDAR ==========
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DEF SNOUT Transform {
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translation 0.28 0 0.155
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children [
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Shape {
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appearance USE FUR_CREAM
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geometry Box {
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size 0.08 0.07 0.05
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}
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}
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# Nose
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Transform {
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translation 0.04 0 0.01
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.1 0.1 0.1
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roughness 0.4
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}
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geometry Sphere {
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radius 0.013
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subdivision 2
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}
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}
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]
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}
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# Lidar — 360° FOV (was 140°/2.44 rad). Wider FOV closes the
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# FOV-loss perception gap so policies trained on 360° gym sim
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# transfer cleanly without retraining.
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Lidar {
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translation 0.05 0 0.01
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name "lidar"
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horizontalResolution 360
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fieldOfView 6.28
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numberOfLayers 1
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minRange 0.10
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maxRange 15.0
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noise 0.005
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}
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]
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}
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# ========== LEFT EAR ==========
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DEF LEFT_EAR HingeJoint {
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jointParameters HingeJointParameters {
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axis 0 0 1
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anchor 0.19 0.055 0.21
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}
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device [
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RotationalMotor {
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name "left ear motor"
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maxVelocity 10.0
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minPosition -0.5
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maxPosition 0.5
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}
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]
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endPoint Solid {
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translation 0.19 0.055 0.21
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rotation 0 0 1 0.2
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name "left ear"
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children [
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Shape {
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appearance DEF FUR_DARK PBRAppearance {
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baseColor 0.35 0.20 0.10
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roughness 0.85
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metalness 0.0
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||||
}
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geometry Box {
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||||
size 0.035 0.025 0.06
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}
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}
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]
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boundingObject Box {
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||||
size 0.035 0.025 0.06
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}
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physics Physics {
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density -1
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mass 0.005
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}
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}
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}
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# ========== RIGHT EAR ==========
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DEF RIGHT_EAR HingeJoint {
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jointParameters HingeJointParameters {
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axis 0 0 1
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anchor 0.19 -0.055 0.21
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}
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device [
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RotationalMotor {
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name "right ear motor"
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maxVelocity 10.0
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minPosition -0.5
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maxPosition 0.5
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}
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]
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endPoint Solid {
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translation 0.19 -0.055 0.21
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rotation 0 0 -1 0.2
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name "right ear"
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||||
children [
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Shape {
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appearance USE FUR_DARK
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geometry Box {
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||||
size 0.035 0.025 0.06
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||||
}
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||||
}
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||||
]
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||||
boundingObject Box {
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||||
size 0.035 0.025 0.06
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||||
}
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||||
physics Physics {
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||||
density -1
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mass 0.005
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}
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}
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}
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# ========== EYES ==========
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DEF LEFT_EYE Transform {
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translation 0.25 0.05 0.19
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children [
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Shape {
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appearance PBRAppearance {
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||||
baseColor 0.95 0.95 0.95
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roughness 0.3
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||||
}
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geometry Sphere {
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radius 0.016
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subdivision 2
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}
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}
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# Pupil
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Transform {
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translation 0.012 0 0.004
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children [
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Shape {
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appearance PBRAppearance {
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||||
baseColor 0.1 0.1 0.1
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roughness 0.2
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||||
}
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||||
geometry Sphere {
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||||
radius 0.009
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subdivision 2
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}
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}
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]
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}
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]
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}
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DEF RIGHT_EYE Transform {
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translation 0.25 -0.05 0.19
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children [
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Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.95 0.95 0.95
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||||
roughness 0.3
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||||
}
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geometry Sphere {
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radius 0.016
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subdivision 2
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}
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}
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# Pupil
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Transform {
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translation 0.012 0 0.004
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children [
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Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.1 0.1 0.1
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roughness 0.2
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||||
}
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||||
geometry Sphere {
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||||
radius 0.009
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||||
subdivision 2
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}
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}
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]
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}
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]
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}
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# ========== COLLAR ==========
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DEF COLLAR Transform {
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translation 0.16 0 0.125
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children [
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Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.8 0.1 0.1
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roughness 0.5
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||||
}
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geometry Cylinder {
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||||
height 0.02
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radius 0.095
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subdivision 16
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}
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||||
}
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# ID tag
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Transform {
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||||
translation 0 0.10 0
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rotation 1 0 0 1.5708
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children [
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||||
Shape {
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||||
appearance PBRAppearance {
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||||
baseColor 0.75 0.75 0.0
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metalness 0.8
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roughness 0.2
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||||
}
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geometry Cylinder {
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||||
height 0.003
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||||
radius 0.018
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subdivision 8
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}
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}
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]
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}
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]
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}
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# ========== TAIL (lidar inside tail tip ball) ==========
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DEF TAIL HingeJoint {
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jointParameters HingeJointParameters {
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axis 0 1 0
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anchor -0.15 0 0.11
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}
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device [
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RotationalMotor {
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||||
name "tail motor"
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||||
maxVelocity 5.0
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minPosition -1.0
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||||
maxPosition 1.0
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||||
}
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||||
]
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||||
endPoint Solid {
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||||
translation -0.17 0 0.13
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||||
name "tail solid"
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||||
children [
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||||
Shape {
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||||
appearance USE FUR_BROWN
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geometry Capsule {
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||||
height 0.12
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radius 0.013
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top FALSE
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}
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}
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# Tail tip ball
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Transform {
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||||
translation 0 0 0.08
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||||
children [
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||||
Shape {
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||||
appearance PBRAppearance {
|
||||
baseColor 0.2 0.2 0.2
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||||
roughness 0.3
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||||
metalness 0.6
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||||
}
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||||
geometry Sphere {
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||||
radius 0.028
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||||
subdivision 4
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||||
}
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||||
}
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||||
]
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||||
}
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||||
]
|
||||
boundingObject Group {
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||||
children [
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||||
Capsule {
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||||
height 0.12
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||||
radius 0.013
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||||
}
|
||||
Transform {
|
||||
translation 0 0 0.08
|
||||
children [
|
||||
Sphere {
|
||||
radius 0.028
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
physics Physics {
|
||||
density -1
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||||
mass 0.08
|
||||
}
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||||
}
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||||
}
|
||||
|
||||
# ========== RIGHT AXLE ARM (horizontal bar from chassis to wheel) ==========
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DEF RIGHT_AXLE Transform {
|
||||
translation 0 -0.115 0.038
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||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.5 0.5 0.5
|
||||
roughness 0.3
|
||||
metalness 0.8
|
||||
}
|
||||
geometry Box {
|
||||
size 0.02 0.08 0.02
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== LEFT AXLE ARM ==========
|
||||
DEF LEFT_AXLE Transform {
|
||||
translation 0 0.115 0.038
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.5 0.5 0.5
|
||||
roughness 0.3
|
||||
metalness 0.8
|
||||
}
|
||||
geometry Box {
|
||||
size 0.02 0.08 0.02
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== RIGHT WHEEL ==========
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||||
DEF RIGHT_WHEEL_JOINT HingeJoint {
|
||||
jointParameters HingeJointParameters {
|
||||
axis 0 1 0
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||||
anchor 0 -0.14 0.038
|
||||
}
|
||||
device [
|
||||
RotationalMotor {
|
||||
name "right wheel motor"
|
||||
maxVelocity 70.0
|
||||
maxTorque 20.0
|
||||
}
|
||||
PositionSensor {
|
||||
name "right wheel sensor"
|
||||
resolution 0.00628
|
||||
}
|
||||
]
|
||||
endPoint Solid {
|
||||
translation 0 -0.14 0.038
|
||||
rotation 0 -1 0 1.570796
|
||||
children [
|
||||
DEF WHEEL_VIS Pose {
|
||||
rotation 1 0 0 -1.5708
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.15 0.15 0.15
|
||||
roughness 0.4
|
||||
metalness 0.5
|
||||
}
|
||||
geometry Cylinder {
|
||||
height 0.016
|
||||
radius 0.035
|
||||
subdivision 24
|
||||
}
|
||||
}
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.6 0.6 0.6
|
||||
roughness 0.3
|
||||
metalness 0.7
|
||||
}
|
||||
geometry Cylinder {
|
||||
height 0.018
|
||||
radius 0.014
|
||||
subdivision 12
|
||||
}
|
||||
}
|
||||
Shape {
|
||||
appearance TireRubber {
|
||||
textureTransform TextureTransform {
|
||||
scale 1.5 0.6
|
||||
}
|
||||
type "bike"
|
||||
}
|
||||
geometry Cylinder {
|
||||
height 0.022
|
||||
radius 0.038
|
||||
subdivision 24
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
name "right wheel"
|
||||
boundingObject Pose {
|
||||
rotation 1 0 0 -1.5708
|
||||
children [
|
||||
Cylinder {
|
||||
height 0.022
|
||||
radius 0.038
|
||||
}
|
||||
]
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.06
|
||||
centerOfMass [
|
||||
0 0 0
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== LEFT WHEEL ==========
|
||||
DEF LEFT_WHEEL_JOINT HingeJoint {
|
||||
jointParameters HingeJointParameters {
|
||||
axis 0 1 0
|
||||
anchor 0 0.14 0.038
|
||||
}
|
||||
device [
|
||||
RotationalMotor {
|
||||
name "left wheel motor"
|
||||
maxVelocity 70.0
|
||||
maxTorque 20.0
|
||||
}
|
||||
PositionSensor {
|
||||
name "left wheel sensor"
|
||||
resolution 0.00628
|
||||
}
|
||||
]
|
||||
endPoint Solid {
|
||||
translation 0 0.14 0.038
|
||||
rotation 0.707105 0 0.707109 -3.14159
|
||||
children [
|
||||
USE WHEEL_VIS
|
||||
]
|
||||
name "left wheel"
|
||||
boundingObject Pose {
|
||||
rotation 1 0 0 -1.5708
|
||||
children [
|
||||
Cylinder {
|
||||
height 0.022
|
||||
radius 0.038
|
||||
}
|
||||
]
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.12
|
||||
centerOfMass [
|
||||
0 0 0
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== FRONT CASTER ==========
|
||||
DEF FRONT_CASTER BallJoint {
|
||||
jointParameters BallJointParameters {
|
||||
anchor 0.14 0 0.02
|
||||
}
|
||||
endPoint Solid {
|
||||
translation 0.14 0 0.02
|
||||
name "front caster"
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.2 0.2 0.2
|
||||
roughness 0.3
|
||||
metalness 0.5
|
||||
}
|
||||
geometry Sphere {
|
||||
radius 0.02
|
||||
subdivision 2
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Sphere {
|
||||
radius 0.02
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.03
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== REAR CASTER ==========
|
||||
DEF REAR_CASTER BallJoint {
|
||||
jointParameters BallJointParameters {
|
||||
anchor -0.14 0 0.02
|
||||
}
|
||||
endPoint Solid {
|
||||
translation -0.14 0 0.02
|
||||
name "rear caster"
|
||||
children [
|
||||
Shape {
|
||||
appearance PBRAppearance {
|
||||
baseColor 0.2 0.2 0.2
|
||||
roughness 0.3
|
||||
metalness 0.5
|
||||
}
|
||||
geometry Sphere {
|
||||
radius 0.02
|
||||
subdivision 2
|
||||
}
|
||||
}
|
||||
]
|
||||
boundingObject Sphere {
|
||||
radius 0.02
|
||||
}
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 0.03
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ========== IMU SENSORS ==========
|
||||
Accelerometer {
|
||||
translation 0 0 0.10
|
||||
name "accelerometer"
|
||||
}
|
||||
Gyro {
|
||||
translation 0 0 0.10
|
||||
name "gyro"
|
||||
}
|
||||
Compass {
|
||||
translation 0 0 0.10
|
||||
name "compass"
|
||||
}
|
||||
|
||||
# ========== GPS ==========
|
||||
GPS {
|
||||
translation 0 0 0.17
|
||||
name "gps"
|
||||
}
|
||||
|
||||
# ========== RECEIVER ==========
|
||||
Receiver {
|
||||
name "receiver"
|
||||
channel 1
|
||||
}
|
||||
|
||||
# ========== EMITTER ==========
|
||||
Emitter {
|
||||
name "emitter"
|
||||
channel 1
|
||||
range 50.0
|
||||
}
|
||||
]
|
||||
|
||||
# ========== BOUNDING OBJECT ==========
|
||||
boundingObject Group {
|
||||
children [
|
||||
# Chassis box
|
||||
Transform {
|
||||
translation 0 0 0.05
|
||||
children [
|
||||
Box {
|
||||
size 0.32 0.16 0.06
|
||||
}
|
||||
]
|
||||
}
|
||||
# Body box
|
||||
Transform {
|
||||
translation 0 0 0.11
|
||||
children [
|
||||
Box {
|
||||
size 0.30 0.16 0.08
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
# ========== PHYSICS ==========
|
||||
physics Physics {
|
||||
density -1
|
||||
mass 5.0
|
||||
centerOfMass [
|
||||
0 0 0.03
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user