feat(radar): Iteration 14a Gaussian Vertical Antenna Damping

Implemented Gaussian vertical-gain damping (-2.77 constant) to address the 'Super-Reflector' tree density problem.

- [ConfigureRadar] Defined total vertical_beamwidth for AWRL1432 (30.0) and Radarbook (60.0).
- [Sceneset] Added G_vertical damping math in get_loss_3 to suppress high-elevation energy.
- [Sceneset] Retained debug logs (G_vertical average/min/max) for Iteration 14b calibration.

Hiccups:
- Resolved environment activation (carla312) in verification shell.
- Corrected test_shenron.py command syntax.

scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/ConfigureRadar.py

@@ -34,6 +34,8 @@ class radar():
             self.idle = 0 ## Idle time
             self.chirpT = self.N_sample / self.samp_rate  ## Time of chirp
             self.chirp_rep = 12*27e-6
+            self.vertical_beamwidth = 30.0 # Total beamwidth (±15°)
+
 
             Ts = 1 / self.samp_rate
             self.t = np.arange(0, self.chirpT, Ts)
@@ -68,6 +70,8 @@ class radar():
             self.chirpT = self.N_sample / self.samp_rate  ## Time of chirp
             self.chirp_rep = 0.75e-3
             self.idle = self.chirp_rep -  self.chirpT## Idle time
+            self.vertical_beamwidth = 60.0 # Total beamwidth (±30°)
+
 
             Ts = 1 / self.samp_rate
             self.t = np.arange(0, self.chirpT, Ts)
@@ -101,6 +105,8 @@ class radar():
             self.chirpT = self.N_sample / self.samp_rate  ## Time of chirp
             self.chirp_rep = 36.4e-6
             self.idle = self.chirp_rep - self.chirpT ## Idle time
+            self.vertical_beamwidth = 30.0 # Total beamwidth (±15°)
+
 
             Ts = 1 / self.samp_rate
             self.t = np.arange(0, self.chirpT, Ts)

scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/shenron/Sceneset.py

@@ -409,7 +409,20 @@ def get_loss_3(points, rho, elev_angle, angles, radar, use_spec = True, use_diff
 
     spec_angle_thresh = 5.0*np.pi/180 # Increased from 2.0 to 5.0 for stability on turns
 
-    P_incident = np.power(rho,2) * np.sin(elev_angle) * voxel_phi * voxel_theta * (1/np.power(rho,tx_dist_loss_exponent)) * K_sq 
+    # --- Iteration 14a: Vertical Antenna Gain (Gaussian Damping) ---
+    # Determine elevation in degrees relative to boresight (horizontal).
+    # elev_angle is currently radians from Z-axis (90 deg = horizontal).
+    phi_deg = np.rad2deg(np.abs(np.pi/2 - elev_angle))
+    
+    # Gaussian Damping: G_elev = exp(-2.77 * (phi / beta)^2)
+    # beta is the total beamwidth (e.g., 30 deg for +-15 deg FOV).
+    G_vertical = np.exp(-2.77 * np.power(phi_deg / radar.vertical_beamwidth, 2))
+    
+    # DEBUG: Confirm damping is active
+    if len(G_vertical) > 0:
+        print(f"[DEBUG 14a] G_vertical mean: {np.mean(G_vertical):.4f}, min: {np.min(G_vertical):.4f}, max: {np.max(G_vertical):.4f}")
+
+    P_incident = np.power(rho,2) * np.sin(elev_angle) * voxel_phi * voxel_theta * (1/np.power(rho,tx_dist_loss_exponent)) * K_sq * G_vertical
 
     material = np.array(points[:,4])
     material = np.asarray(material, dtype = 'int')