fix: enhance Webots removal and installation scripts to manage WEBOTS_HOME environment variable

cobot/commands/delete.py

@@ -127,8 +127,10 @@ def _remove_ros2(write) -> None:
 # Remove Webots from the system via apt.
 # Удаляем Webots из системы через apt.
 def _remove_webots(write) -> None:
-    """Remove the webots package via apt and run autoremove. Skips if webots is not found on PATH.
+    """Remove the webots package via apt, run autoremove, and clean up WEBOTS_HOME
-    Удаляет пакет webots через apt и запускает autoremove. Пропускает если webots не найден в PATH.
+    from .bashrc / .zshrc. Skips if webots is not found on PATH.
+    Удаляет пакет webots через apt, запускает autoremove и очищает WEBOTS_HOME из
+    .bashrc / .zshrc. Пропускает если webots не найден в PATH.
     """
     write("[cyan][*][/cyan] Removing Webots...")
     if not shutil.which("webots"):
@@ -138,6 +140,22 @@ def _remove_webots(write) -> None:
     subprocess.run(["sudo", "apt", "autoremove", "-y"], capture_output=True)
     write("[green][ok][/green] Webots removed")
 
+    # Remove the WEBOTS_HOME block that install_webots.sh added to shell configs.
+    # Удаляем блок WEBOTS_HOME, добавленный install_webots.sh в конфиги оболочки.
+    for rc_name in [".bashrc", ".zshrc"]:
+        rc = Path.home() / rc_name
+        if not rc.exists():
+            continue
+        content = rc.read_text()
+        if "WEBOTS_HOME" not in content:
+            continue
+        new_content = content.replace("\n# Webots\nexport WEBOTS_HOME=/usr/local/webots\n", "\n")
+        new_content = new_content.replace("export WEBOTS_HOME=/usr/local/webots\n", "")
+        new_content = new_content.replace("# Webots\n", "")
+        if new_content != content:
+            rc.write_text(new_content)
+            write(f"[green][ok][/green] Cleaned WEBOTS_HOME from ~/{rc_name}")
+
 
 # Uninstall the cobot CLI from the uv tool store.
 # Удаляем cobot CLI из хранилища инструментов uv.

cobot/commands/run.py

@@ -18,6 +18,9 @@ _PROJECT_DIR = Path(__file__).parent.parent.parent
 _CONFIG_PATH = _PROJECT_DIR / "cobot-setting.yaml"
 _INSTALL_DIR = _PROJECT_DIR / "install"
 _JAZZY_DIR = Path("/opt/ros/jazzy")
+# Default Webots installation path for the official .deb package.
+# Путь установки Webots по умолчанию для официального .deb-пакета.
+_WEBOTS_DEFAULT_HOME = Path("/usr/local/webots")
 
 # Path where the config file is mounted inside the Docker container.
 # Путь по которому конфиг-файл монтируется внутри Docker-контейнера.
@@ -86,6 +89,28 @@ def _ask(step: str, question: str, options: List[str], default: str) -> Optional
     return _Ask(step, question, options, default).run()
 
 
+def _detect_webots_home() -> str:
+    """Return the WEBOTS_HOME path for the locally installed Webots.
+
+    Checks the environment variable first, then the default deb install path,
+    then resolves the 'webots' symlink to find the real installation directory.
+    Returns an empty string if Webots cannot be located.
+
+    Возвращает путь WEBOTS_HOME для локально установленного Webots.
+    Сначала проверяет переменную окружения, затем стандартный путь deb-установки,
+    затем разворачивает симлинк 'webots' до реальной директории установки.
+    Возвращает пустую строку если Webots не найден.
+    """
+    if "WEBOTS_HOME" in os.environ:
+        return os.environ["WEBOTS_HOME"]
+    if _WEBOTS_DEFAULT_HOME.is_dir():
+        return str(_WEBOTS_DEFAULT_HOME)
+    webots_bin = shutil.which("webots")
+    if webots_bin:
+        return str(Path(webots_bin).resolve().parent)
+    return ""
+
+
 # Detect the GPU type so we can pass the right flags to docker run for Webots rendering.
 # Определяем тип GPU, чтобы передать нужные флаги в docker run для рендеринга Webots.
 def _detect_gpu() -> str:
@@ -208,7 +233,11 @@ def _task_run_local(screen: RunScreen, mode: str) -> None:
     if mode == "webots":
         ros_cmd += " simulate:=1"
 
+    webots_home = _detect_webots_home() if mode == "webots" else ""
+    webots_export = f"export WEBOTS_HOME={webots_home} && " if webots_home else ""
+
     full_cmd = (
+        f"{webots_export}"
         f"source {_JAZZY_DIR}/setup.bash && "
         f"source {_INSTALL_DIR}/setup.bash && "
         f"{ros_cmd}"
@@ -216,7 +245,10 @@ def _task_run_local(screen: RunScreen, mode: str) -> None:
 
     label = "Webots simulator" if mode == "webots" else "Controller"
     screen.write(f"[bold]Launching {label} (local)[/bold]")
-    screen.write(f"[dim]{ros_cmd}[/dim]\n")
+    screen.write(f"[dim]{ros_cmd}[/dim]")
+    if webots_home:
+        screen.write(f"[dim]WEBOTS_HOME: {webots_home}[/dim]")
+    screen.write("")
 
     proc = subprocess.Popen(
         ["bash", "-c", full_cmd],

scripts/install_webots.sh

@@ -9,6 +9,7 @@ export DEBIAN_FRONTEND=noninteractive
 PROGRESS() { echo "PROGRESS:$1:$2"; }
 
 WEBOTS_VERSION="2025a"
+WEBOTS_HOME="/usr/local/webots"
 DEB_URL="https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb"
 TMP_DIR="$(mktemp -d)"
 DEB_PATH="${TMP_DIR}/webots_${WEBOTS_VERSION}_amd64.deb"
@@ -28,5 +29,20 @@ echo "Download complete. Installing..."
 
 sudo apt-get install -y "$DEB_PATH"
 
+PROGRESS 90 "Configuring WEBOTS_HOME..."
+echo "Setting WEBOTS_HOME=${WEBOTS_HOME}..."
+
+WEBOTS_BLOCK="# Webots\nexport WEBOTS_HOME=${WEBOTS_HOME}"
+
+for RC in "$HOME/.bashrc" "$HOME/.zshrc"; do
+    [ -f "$RC" ] || continue
+    if ! grep -q "WEBOTS_HOME" "$RC"; then
+        printf "\n%b\n" "$WEBOTS_BLOCK" >> "$RC"
+        echo "  Added WEBOTS_HOME to $RC"
+    fi
+done
+
+export WEBOTS_HOME="${WEBOTS_HOME}"
+
 PROGRESS 100 "Done"
 echo "Webots ${WEBOTS_VERSION} installed successfully."