From 79dbee2dc9b9a46d25da6e8bdd51ef13d2bfb527 Mon Sep 17 00:00:00 2001 From: rakadu1 Date: Tue, 14 Apr 2026 17:07:50 +0530 Subject: [PATCH] refactor(physics): de-hack Sceneset engine and restore physical realism --- .../e2e_agent_sem_lidar2shenron_package/shenron/Sceneset.py | 6 +++--- scripts/track_full_state.py | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/shenron/Sceneset.py b/scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/shenron/Sceneset.py index 252f671..058328a 100644 --- a/scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/shenron/Sceneset.py +++ b/scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/shenron/Sceneset.py @@ -407,7 +407,7 @@ def get_loss_3(points, rho, elev_angle, angles, radar, use_spec = True, use_diff tx_dist_loss_exponent = 2.0 # Free-space power loss (one-way trip) rx_dist_loss_exponent = 0 - spec_angle_thresh = 5.0*np.pi/180 # Increased from 2.0 to 5.0 for stability on turns + spec_angle_thresh = 2.0*np.pi/180 # Tightened back to 2.0 degrees for physical realism # --- Iteration 14a: Vertical Antenna Gain (Gaussian Damping) --- # Determine elevation in degrees relative to boresight (horizontal). @@ -486,8 +486,8 @@ def get_loss_3(points, rho, elev_angle, angles, radar, use_spec = True, use_diff print("Both Scatter and specular can't be false") AssertionError - P_spec = P_spec *4*100*25/9 - P_scat = P_scat *100*25/9 + P_spec = P_spec + P_scat = P_scat loss = P_spec + P_scat # loss = loss * 2**7.2 diff --git a/scripts/track_full_state.py b/scripts/track_full_state.py index 60342fe..50b298b 100644 --- a/scripts/track_full_state.py +++ b/scripts/track_full_state.py @@ -48,7 +48,7 @@ def track_full_state(session_path): print("-" * 15) if __name__ == "__main__": - target_session = Path("Shenron_debug/iterations/diag_30deg_clip") + target_session = Path("Shenron_debug/iterations/dehacked_final") if target_session.exists(): track_full_state(target_session) else: