Johnny Fernandes
b3cf9909a8
Each wheel is now a hub solid + 8 passive HingeJoint rollers (capsules
tilted 45° in body xy plane at the bottom contact point) instead of
a single plain Cylinder. The rollers free-spin around their tilt axes
so the wheel exhibits mecanum X-pattern behaviour: gym-frame strafe
commands now produce body strafe in Webots, where before they
produced wrong-direction motion (the plain cylinders behaved as 4-
wheel skid-steer).
Calibration on flat field, 200 steps each:
gym predict webots out err
vx=0.5 vy=0 1.33 m/s +x 1.19 m/s +x 10.9% +x
0 m/s +y -0.10 m/s +y ~clean
vx=0 vy=0.5 1.33 m/s +y 0.50 m/s +y 62.1% +y
0 m/s +x -0.37 m/s +x noticeable
mecanum
coupling
Strafe is imperfect (-x bleed-through, magnitude under-shoot) but
direction is correct and the platform is now omnidirectional. Forward
motion is high-fidelity. Tilt signs assigned so diagonal pairs FL+RR
and FR+RL share the same body-frame roller orientation (the standard
X pattern). Two contact-material names "MecanumWheelA/B" are kept for
diagnostic separation; both use the same isotropic Coulomb friction
of 2.0 with forceDependentSlip 0.005.
tools/run_webots.sh ships the matching contactProperties block on
every mecanum launch (re-emitted into the temporary world copy).
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
192 lines
6.5 KiB
Bash
Executable File
192 lines
6.5 KiB
Bash
Executable File
#!/bin/bash
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# Launch Webots with N sheep enabled and the chosen controller mode.
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# Generates a temporary world file in worlds/field_test.wbt with sheep
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# beyond N commented out, sets the env vars the dog controller reads,
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# then execs Webots on it.
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#
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# Usage:
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# tools/run_webots.sh [N] [MODE] [DRIVE] [WORLD]
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# N : number of active sheep (1..10), default 10
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# MODE : "bc" | "rl" | "strombom" | "sequential", default "bc"
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# DRIVE : "differential" | "mecanum", default "differential"
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# WORLD : base world name (without .wbt), default "field"
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# Supported: "field" (rectangular), "field_round" (circular)
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#
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# Examples:
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# tools/run_webots.sh 10 bc # behaviour-cloned MLP, diff drive
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# tools/run_webots.sh 10 rl mecanum # KL-PPO fine-tune, mecanum wheels
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# tools/run_webots.sh 5 sequential field_round # analytic baseline, round field
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# tools/run_webots.sh 3 strombom mecanum field_round # Strömbom, mecanum, round
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#
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# Notes:
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# * bc loads training/runs/bc/policy.zip, rl loads training/runs/rl.
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# Override via HERDING_POLICY_DIR=/path/to/run env var.
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# * Conda env "tir" must be active (provides stable-baselines3 + torch).
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#
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# Headless-ish (no 3D view, fast sim, no modal dialogs):
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# WEBOTS_HEADLESS=1 make webots N=10 MODE=rl DRIVE=mecanum
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# WEBOTS_HEADLESS=1 tools/run_webots.sh 10 rl mecanum
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# This passes --no-rendering --minimize --mode=fast --batch to webots.
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# Webots still needs a display (Qt); on a machine without one use e.g.:
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# xvfb-run -a env WEBOTS_HEADLESS=1 tools/run_webots.sh 10 rl mecanum
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# Optional extra CLI tokens (space-separated):
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# WEBOTS_EXTRA_ARGS="--stdout --stderr" WEBOTS_HEADLESS=1 tools/run_webots.sh 10 rl
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set -e
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N=${1:-10}
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MODE=${2:-bc}
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DRIVE=${3:-differential}
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WORLD=${4:-field}
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if (( N < 0 || N > 10 )); then
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echo "N must be 0..10, got $N" >&2; exit 1
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fi
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case "$MODE" in
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bc|rl|strombom|sequential|universal|calibrate) ;;
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*) echo "MODE must be bc|rl|strombom|sequential|universal|calibrate, got '$MODE'" >&2; exit 1 ;;
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esac
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case "$DRIVE" in
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differential|mecanum) ;;
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*) echo "DRIVE must be differential|mecanum, got '$DRIVE'" >&2; exit 1 ;;
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esac
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ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )/.." && pwd )"
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SRC="$ROOT/worlds/${WORLD}.wbt"
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if [[ ! -f "$SRC" ]]; then
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echo "World file not found: $SRC" >&2; exit 1
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fi
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DST="$ROOT/worlds/${WORLD}_test.wbt"
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if [[ -n "${HERDING_POLICY_DIR:-}" ]]; then
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RESOLVED_POLICY_DIR="$HERDING_POLICY_DIR"
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else
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# Try drive-mode-specific path first, then legacy path.
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if [[ "$MODE" == "rl" ]]; then
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DRIVED="$ROOT/training/runs/rl_${DRIVE}"
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LEGACY="$ROOT/training/runs/rl"
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else
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DRIVED="$ROOT/training/runs/bc_${DRIVE}"
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LEGACY="$ROOT/training/runs/bc"
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fi
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if [[ -d "$DRIVED" ]]; then
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RESOLVED_POLICY_DIR="$DRIVED"
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else
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RESOLVED_POLICY_DIR="$LEGACY"
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fi
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fi
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cp "$SRC" "$DST"
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# Swap robot proto based on drive mode.
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# Base worlds reference ShepherdDog (diff-drive). For mecanum we swap in
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# ShepherdDogMecanum and inject mecanum contact properties.
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if [[ "$DRIVE" == "mecanum" ]]; then
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sed -i 's|"../protos/ShepherdDog.proto"|"../protos/ShepherdDogMecanum.proto"|' "$DST"
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sed -i 's|^ShepherdDog {|ShepherdDogMecanum {|' "$DST"
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# Inject mecanum roller contact properties. The proto's rollers are
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# split into two contact materials so that we can keep the friction
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# axes oriented along each roller's free-spin direction — but with
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# physical roller hinges (no longer plain cylinder wheels) the
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# ground contact is via the capsules and standard friction works.
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# Slightly bumped coulombFriction keeps the rollers gripping during
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# mecanum strafing.
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python3 -c "
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with open('$DST', 'r') as f:
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txt = f.read()
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mec = ''' ContactProperties {
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material1 \"MecanumWheelA\"
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coulombFriction [
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2.0
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]
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bounce 0
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forceDependentSlip [
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0.005
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]
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softCFM 0.0001
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}
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ContactProperties {
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material1 \"MecanumWheelB\"
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coulombFriction [
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2.0
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]
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bounce 0
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forceDependentSlip [
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0.005
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]
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softCFM 0.0001
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}
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'''
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# The contactProperties array closes with ' ]\n}' (2-space indent ] then WorldInfo }).
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# Insert the new block just before that closing ].
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txt = txt.replace('\n ]\n}', '\n' + mec + ' ]\n}', 1)
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with open('$DST', 'w') as f:
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f.write(txt)
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"
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fi
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# Comment out sheep N+1..10 by prefixing the matching Sheep { ... } line.
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for i in $(seq $((N+1)) 10); do
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sed -i "s|^Sheep .* \"sheep${i}\".*|# &|" "$DST"
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done
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active=$(grep -c '^Sheep' "$DST" || true)
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echo "------------------------------------------------------------"
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echo "World : $DST"
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echo "Mode : $MODE"
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echo "Drive : $DRIVE"
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echo "Sheep : $active active"
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echo "Policy dir : $RESOLVED_POLICY_DIR"
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echo "------------------------------------------------------------"
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# Webots strips HERDING_* env vars from controller subprocesses in some
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# setups, so we also write a runtime config file the controller reads.
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cat > "$ROOT/herding_runtime.cfg" <<EOF
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HERDING_MODE=$MODE
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HERDING_POLICY_DIR=$RESOLVED_POLICY_DIR
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HERDING_DRIVE=$DRIVE
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HERDING_WORLD=$WORLD
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HERDING_USE_GT=${HERDING_USE_GT:-0}
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EOF
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export HERDING_MODE="$MODE"
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export HERDING_POLICY_DIR="$RESOLVED_POLICY_DIR"
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export HERDING_DRIVE="$DRIVE"
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export HERDING_WORLD="$WORLD"
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# The controller writes this sentinel when all GT sheep are penned. We
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# poll for it and kill Webots so the run finishes cleanly instead of
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# idling for minutes after the task is done.
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DONE_FILE="$ROOT/training/.run_done"
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mkdir -p "$(dirname "$DONE_FILE")"
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rm -f "$DONE_FILE"
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if [[ "${WEBOTS_HEADLESS:-}" == "1" ]]; then
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echo "[run_webots] headless flags: --no-rendering --minimize --mode=fast --batch"
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# shellcheck disable=SC2086
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webots --no-rendering --minimize --mode=fast --batch ${WEBOTS_EXTRA_ARGS:-} "$DST" &
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else
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# shellcheck disable=SC2086
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webots ${WEBOTS_EXTRA_ARGS:-} "$DST" &
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fi
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WEBOTS_PID=$!
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cleanup() {
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kill "$WEBOTS_PID" 2>/dev/null || true
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wait "$WEBOTS_PID" 2>/dev/null || true
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exit 0
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}
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trap cleanup INT TERM
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# Poll for the sentinel; bail when Webots exits on its own or when the
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# user closes the window.
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while kill -0 "$WEBOTS_PID" 2>/dev/null; do
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if [[ -f "$DONE_FILE" ]]; then
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echo "[run_webots] all sheep penned — closing Webots"
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sleep 1 # let the controller print its line
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kill "$WEBOTS_PID" 2>/dev/null || true
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break
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fi
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sleep 1
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done
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wait "$WEBOTS_PID" 2>/dev/null || true
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