Johnny Fernandes
d00da52c3c
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>
24 lines
1019 B
Bash
24 lines
1019 B
Bash
# Source this from your shell before running the launchers:
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#
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# source tools/setup_env.sh
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#
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# The launchers (`tools/run_webots.sh`, `tools/webots_sweep*.sh`,
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# `tools/calibrate_mecanum.sh`) and the Webots controllers (via
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# `controllers/*/runtime.ini`) all read $HERDING_PYTHON to decide
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# which Python interpreter to use. The default below points at the
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# project author's conda env — edit this file or override the var in
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# your shell to match your own setup.
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: "${HERDING_PYTHON:=/home/jalf/miniconda3/envs/tir/bin/python3}"
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export HERDING_PYTHON
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# Prepend the Python's bin/ to PATH so subprocesses pick up the same
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# interpreter (used by Webots when it doesn't read runtime.ini, and
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# by any Python tooling launched by the bash scripts).
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export PATH="$(dirname "$HERDING_PYTHON"):$PATH"
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if [[ ! -x "$HERDING_PYTHON" ]]; then
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echo "[setup_env] WARNING: HERDING_PYTHON=$HERDING_PYTHON is not executable." >&2
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echo "[setup_env] Edit tools/setup_env.sh or 'export HERDING_PYTHON=...' yourself." >&2
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fi
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