Replace the failing ODE-rolled mecanum chassis dynamics with a
Supervisor.setVelocity call that uses the gym mecanum forward
kinematics formula directly. Wheel motors still spin (visual);
chassis motion comes from the gym model so training and deployment
match by construction.
Results (seed=42, n=10 sheep): BC + RL mecanum pen 10/10 in both
field and field_round. n=5 mecanum cells still 0/5 due to tracker
phantoms anchored to wall corners under the 360° LiDAR — documented
in docs/status.md as the remaining gap.
Cleanup: drop deploy-time hacks (HERDING_HEADING_*, HERDING_OMEGA_CLAMP,
HERDING_TRACKER_*) that were workarounds for the old ODE chaos;
revert the proto inertiaMatrix, roller dampingConstant, and reduced
motor torque since they no longer carry load; refresh comments
around the mecanum config presets.
Repo hygiene pass after a long working session.
Files removed:
* stage1_train.log — runtime training log (~125 KB), shouldn't have
been tracked.
* training/bc/demos.npz — orphan default-name demos file from before
the world+drive-suffixed naming convention took over; no script
references it.
* training/runs/bc_dagger{1,2}_differential_field/policy.zip — failed
DAgger experiment artifacts. Per `memory/dagger_results.md` the
whole DAgger experiment hit 0/5 on Webots transfer; these checkpoints
have no consumers.
Untracked-but-deleted (no git change) — also cleaned from disk:
* Root-level runtime logs (43 *.log files, all unused — gitignored now).
* training/bc/{combined,dagger}*.npz (5 huge demo blobs, 2.6 GB
reclaimed; not committed).
* training/bc/v1/ (2.6 GB backup of pre-DAgger demos; reclaimed).
* training/runs/at_20260426_*/ (orphan timestamped runs; reclaimed).
* All __pycache__/.
Dead code removed:
* `herding/control/strombom.py::compute_action_debug` — no callers
anywhere in the repo.
* `herding/control/sequential.py::compute_action_debug` — same.
* `herding/control/universal.py::compute_action_diff` — same.
.gitignore extended to cover:
* All *.log files (training/eval/webots logs are runtime artifacts).
* training/bc/*.npz (re-collectable on demand by `make bc_demos`).
* training/bc/v1/.
* .pytest_cache, *.pyc, .claude/.
README refreshed:
* Mecanum + round-world coverage in the headline.
* Quick-start updated for DRIVE/WORLD-suffixed Makefile targets,
GT-bypass example, and the mecanum-retrain caveat.
* Layout reflects the actual current tree (config.py, both protos,
both worlds, all tools).
* Results table replaced with the Webots end-to-end numbers from
the 2026-05-16 sweep (8/8 diff combos + LiDAR/GT comparison).
Verification: 126 pytest cases still pass (was 126 going in — no
test-coverage regression from the dead-code removal).
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Johnny Fernandes