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TIR_PROJ/protos/ShepherdDog360.proto
T
Johnny Fernandes dd5ac669e5 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>
2026-05-16 17:21:02 +00:00

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#VRML_SIM R2025a utf8
# Shepherd Dog Robot - wheeled base with dog character on top, tail-mounted 360 lidar
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/TireRubber.proto"
PROTO ShepherdDog360 [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
field SFString name "ShepherdDog"
field SFString controller "shepherd_dog"
field MFString controllerArgs []
field SFString customData ""
field SFBool supervisor FALSE
field SFBool synchronization TRUE
]
{
Robot {
translation IS translation
rotation IS rotation
name IS name
controller IS controller
controllerArgs IS controllerArgs
customData IS customData
supervisor IS supervisor
synchronization IS synchronization
children [
# ========== CHASSIS / BASE ==========
DEF CHASSIS Transform {
translation 0 0 0.05
children [
Shape {
appearance DEF CHASSIS_APP PBRAppearance {
baseColor 0.2 0.2 0.2
roughness 0.6
metalness 0.3
}
geometry Box {
size 0.32 0.16 0.06
}
}
]
}
# Front slope
DEF CHASSIS_FRONT Transform {
translation 0.14 0 0.07
children [
Shape {
appearance USE CHASSIS_APP
geometry Box {
size 0.06 0.14 0.04
}
}
]
}
# Rear slope
DEF CHASSIS_REAR Transform {
translation -0.14 0 0.07
children [
Shape {
appearance USE CHASSIS_APP
geometry Box {
size 0.06 0.14 0.04
}
}
]
}
# ========== DOG BODY on top of chassis ==========
DEF BODY Transform {
translation 0 0 0.11
children [
Shape {
appearance DEF FUR_BROWN PBRAppearance {
baseColor 0.55 0.35 0.17
roughness 0.85
metalness 0.0
}
geometry Box {
size 0.30 0.16 0.08
}
}
]
}
# ========== CHEST ==========
DEF CHEST Transform {
translation 0.12 0 0.11
children [
Shape {
appearance DEF FUR_CREAM PBRAppearance {
baseColor 0.85 0.72 0.55
roughness 0.85
metalness 0.0
}
geometry Box {
size 0.08 0.18 0.08
}
}
]
}
# ========== HEAD ==========
DEF HEAD Transform {
translation 0.20 0 0.17
children [
Shape {
appearance USE FUR_BROWN
geometry Box {
size 0.10 0.12 0.09
}
}
]
}
# ========== SNOUT + LIDAR ==========
DEF SNOUT Transform {
translation 0.28 0 0.155
children [
Shape {
appearance USE FUR_CREAM
geometry Box {
size 0.08 0.07 0.05
}
}
# Nose
Transform {
translation 0.04 0 0.01
children [
Shape {
appearance PBRAppearance {
baseColor 0.1 0.1 0.1
roughness 0.4
}
geometry Sphere {
radius 0.013
subdivision 2
}
}
]
}
# Lidar — 360° FOV (was 140°/2.44 rad). Wider FOV closes the
# FOV-loss perception gap so policies trained on 360° gym sim
# transfer cleanly without retraining.
Lidar {
translation 0.05 0 0.01
name "lidar"
horizontalResolution 360
fieldOfView 6.28
numberOfLayers 1
minRange 0.10
maxRange 15.0
noise 0.005
}
]
}
# ========== LEFT EAR ==========
DEF LEFT_EAR HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.19 0.055 0.21
}
device [
RotationalMotor {
name "left ear motor"
maxVelocity 10.0
minPosition -0.5
maxPosition 0.5
}
]
endPoint Solid {
translation 0.19 0.055 0.21
rotation 0 0 1 0.2
name "left ear"
children [
Shape {
appearance DEF FUR_DARK PBRAppearance {
baseColor 0.35 0.20 0.10
roughness 0.85
metalness 0.0
}
geometry Box {
size 0.035 0.025 0.06
}
}
]
boundingObject Box {
size 0.035 0.025 0.06
}
physics Physics {
density -1
mass 0.005
}
}
}
# ========== RIGHT EAR ==========
DEF RIGHT_EAR HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.19 -0.055 0.21
}
device [
RotationalMotor {
name "right ear motor"
maxVelocity 10.0
minPosition -0.5
maxPosition 0.5
}
]
endPoint Solid {
translation 0.19 -0.055 0.21
rotation 0 0 -1 0.2
name "right ear"
children [
Shape {
appearance USE FUR_DARK
geometry Box {
size 0.035 0.025 0.06
}
}
]
boundingObject Box {
size 0.035 0.025 0.06
}
physics Physics {
density -1
mass 0.005
}
}
}
# ========== EYES ==========
DEF LEFT_EYE Transform {
translation 0.25 0.05 0.19
children [
Shape {
appearance PBRAppearance {
baseColor 0.95 0.95 0.95
roughness 0.3
}
geometry Sphere {
radius 0.016
subdivision 2
}
}
# Pupil
Transform {
translation 0.012 0 0.004
children [
Shape {
appearance PBRAppearance {
baseColor 0.1 0.1 0.1
roughness 0.2
}
geometry Sphere {
radius 0.009
subdivision 2
}
}
]
}
]
}
DEF RIGHT_EYE Transform {
translation 0.25 -0.05 0.19
children [
Shape {
appearance PBRAppearance {
baseColor 0.95 0.95 0.95
roughness 0.3
}
geometry Sphere {
radius 0.016
subdivision 2
}
}
# Pupil
Transform {
translation 0.012 0 0.004
children [
Shape {
appearance PBRAppearance {
baseColor 0.1 0.1 0.1
roughness 0.2
}
geometry Sphere {
radius 0.009
subdivision 2
}
}
]
}
]
}
# ========== COLLAR ==========
DEF COLLAR Transform {
translation 0.16 0 0.125
children [
Shape {
appearance PBRAppearance {
baseColor 0.8 0.1 0.1
roughness 0.5
}
geometry Cylinder {
height 0.02
radius 0.095
subdivision 16
}
}
# ID tag
Transform {
translation 0 0.10 0
rotation 1 0 0 1.5708
children [
Shape {
appearance PBRAppearance {
baseColor 0.75 0.75 0.0
metalness 0.8
roughness 0.2
}
geometry Cylinder {
height 0.003
radius 0.018
subdivision 8
}
}
]
}
]
}
# ========== TAIL (lidar inside tail tip ball) ==========
DEF TAIL HingeJoint {
jointParameters HingeJointParameters {
axis 0 1 0
anchor -0.15 0 0.11
}
device [
RotationalMotor {
name "tail motor"
maxVelocity 5.0
minPosition -1.0
maxPosition 1.0
}
]
endPoint Solid {
translation -0.17 0 0.13
name "tail solid"
children [
Shape {
appearance USE FUR_BROWN
geometry Capsule {
height 0.12
radius 0.013
top FALSE
}
}
# Tail tip ball
Transform {
translation 0 0 0.08
children [
Shape {
appearance PBRAppearance {
baseColor 0.2 0.2 0.2
roughness 0.3
metalness 0.6
}
geometry Sphere {
radius 0.028
subdivision 4
}
}
]
}
]
boundingObject Group {
children [
Capsule {
height 0.12
radius 0.013
}
Transform {
translation 0 0 0.08
children [
Sphere {
radius 0.028
}
]
}
]
}
physics Physics {
density -1
mass 0.08
}
}
}
# ========== RIGHT AXLE ARM (horizontal bar from chassis to wheel) ==========
DEF RIGHT_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
}
}
]
}
# ========== 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 ==========
DEF RIGHT_WHEEL_JOINT HingeJoint {
jointParameters HingeJointParameters {
axis 0 1 0
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
]
}
}
}
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