Johnny Fernandes
97 lines
3.2 KiB
Bash
Executable File
97 lines
3.2 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]
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# N : number of active sheep (1..10), default 10
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# MODE : "bc" | "rl" | "strombom" | "sequential" | "dagger", default "bc"
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#
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# Examples:
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# tools/run_webots.sh 10 bc # BC-trained policy, 10 sheep
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# tools/run_webots.sh 10 rl # KL-PPO fine-tune of bc, 10 sheep
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# tools/run_webots.sh 5 sequential # the analytic teacher, 5 sheep
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# tools/run_webots.sh 3 strombom # canonical baseline, 3 sheep
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#
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# Notes:
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# * The RL mode loads the latest BC policy by default — priority
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# the BC policy (bc/policy.zip) (the controller resolves it).
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# (LiDAR-perception, frame-stack K=4). Override via
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# 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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set -e
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N=${1:-10}
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MODE=${2:-bc}
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if (( N < 1 || N > 10 )); then
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echo "N must be 1..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|dagger) ;;
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*) echo "MODE must be bc|rl|strombom|sequential|dagger, got '$MODE'" >&2; exit 1 ;;
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esac
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DAGGER_DRIVER=${HERDING_DAGGER_DRIVER:-teacher}
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ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )/.." && pwd )"
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SRC="$ROOT/worlds/field.wbt"
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DST="$ROOT/worlds/field_test.wbt"
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cp "$SRC" "$DST"
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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")
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echo "------------------------------------------------------------"
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echo "World : $DST"
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echo "Mode : $MODE"
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echo "Sheep : $active active"
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echo "Policy dir : ${HERDING_POLICY_DIR:-$ROOT/training/runs/bc}"
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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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RESOLVED_POLICY_DIR="${HERDING_POLICY_DIR:-$ROOT/training/runs/bc}"
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cat > "$ROOT/herding_runtime.cfg" <<EOF
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HERDING_MODE=$MODE
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HERDING_POLICY_DIR=$RESOLVED_POLICY_DIR
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HERDING_DAGGER_DRIVER=$DAGGER_DRIVER
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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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# 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="$ROOT/training/dagger/.DONE"
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mkdir -p "$(dirname "$DONE_FILE")"
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rm -f "$DONE_FILE"
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webots "$DST" &
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WEBOTS_PID=$!
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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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