* `controllers/shepherd_dog/shepherd_dog.py`
- Tracks the first step at which each sheep crosses the gate; on
auto-finish (all sheep penned) prints a `[results]` summary
block: mode/drive/world/lidar/dogs/seed line, total simulated
time, per-sheep penning order with absolute step + seconds since
sim start, and the gate spread between the first and last
penning.
- Reads `HERDING_SEED` (env / runtime cfg) and seeds the
controller's RNG when set. Empty = time-based default = old
non-deterministic behaviour.
* `controllers/sheep/sheep.py` reads `HERDING_SEED` the same way
(loading `herding_runtime.cfg` itself so it works even when
Webots strips env vars) and seeds Python's RNG XOR'd with the
sheep's name hash, so a fixed seed gives a reproducible flock
trajectory without all sheep starting from identical wander state.
* `tools/run_webots.sh` writes `HERDING_SEED` into the runtime cfg
(empty when unset so existing scripts keep their stochastic
behaviour).
* `tools/webots_menu.sh` gains a Seed prompt (random / fixed
integer); the launch summary box shows the choice next to the
perception row.
* `Makefile`
- `make webots` now fires the interactive picker (replacing the
old positional invocation).
- `make webots_quick MODE=… DRIVE=… WORLD=… N=…` is the old
positional path, kept for batch / scripted use.
Smoke-tested: menu renders Mode → Drive → World → LiDAR → Dogs
→ Sheep → Perception → Seed → Headless prompts and shows the
selected Seed value in the launch summary. 126 pytest cases still
pass.
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Johnny Fernandes
e86fee5ae8