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CARLA ? C-Shenron based Simualtor for Sensor data generation.
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Simulator/scripts/ISOLATE/e2e_agent_sem_lidar2shenron...
RUSHIL AMBARISH KADU 07e2effc13
Enhance Shenron visualization pipeline with HD Matplotlib plots, unified 120m coordinate system, and FastHeatmapEngine UI caching for 2x packaging speed 		1 month ago
..
noise_data feat: Integrate C-SHENRON physics-based radar simulation pipeline 2 months ago
shenron feat(physics): Implement true 1/R^4 radar range equation via area integration and millimeter phase jitter 1 month ago
.gitignore feat: Integrate C-SHENRON physics-based radar simulation pipeline 2 months ago
ConfigureRadar.py feat(radar): Major Update - Shenron Modularity and Physics Refinement (Iteration 18) 1 month ago
README.md feat(radar): Major Update - Shenron Modularity and Physics Refinement (Iteration 18) 1 month ago
__init__.py feat: Integrate C-SHENRON physics-based radar simulation pipeline 2 months ago
carla_shenron_config.yaml feat: Integrate C-SHENRON physics-based radar simulation pipeline 2 months ago
lidar.py feat(radar): Major Update - Shenron Modularity and Physics Refinement (Iteration 18) 1 month ago
lidar_utils.py feat(shenron): Stabilize radar physics with spatial and signal calibration 2 months ago
main.py feat: Integrate C-SHENRON physics-based radar simulation pipeline 2 months ago
map_carla_semantic_lidar_shenron.py feat: Integrate C-SHENRON physics-based radar simulation pipeline 2 months ago
path_config.py feat: Integrate C-SHENRON physics-based radar simulation pipeline 2 months ago
simulator_configs.yaml feat(shenron): Physics calibration - Iteration 07 High-Def Sync 2 months ago
transform_dsp_utils.py feat: Integrate C-SHENRON physics-based radar simulation pipeline 2 months ago

README.md

SHENRON: Modular Radar Simulation Package

This package contains the high-fidelity, physics-based radar simulation engine isolated from the main CARLA ADAS pipeline. It uses CARLA Semantic LiDAR as the primary input and synthesizes raw ADC-like radar signals.

🚀 Iteration 18: The "Knobs and Dials" Milestone

The engine has been restructured for modularity. You can now tune individual radar profiles without touching the core physics logic.

🏗️ Package Structure

  • main.py: Entry point for standalone execution.
  • ConfigureRadar.py: The Control Panel. Define hardware profiles (BW, Chirps, LUTs here).
  • lidar.py: Handles point cloud normalization and axis-swapping (CARLA -> Shenron).
  • shenron/Sceneset.py: Core physics engine (Fresnel + scattering + path loss).
  • shenron/heatmap_gen_fast.py: GPU-accelerated signal synthesis.

🛠️ Usage

  1. Configure Hardware: Edit ConfigureRadar.py to select/tune your radar profile (e.g., awrl1432).

  2. Set Paths: Edit carla_shenron_config.yaml to point to your LiDAR dataset and output directories.

  3. Run Simulation:

    # Windows (Conda environment required)
python main.py

📡 Physics Consistency

This package strictly enforces the 1/R⁴ Radar Range Equation. All legacy scaling multipliers have been removed to ensure the simulation matches real-world hardware intensity profiles.

Fox CARLA ADAS Simulation | Shenron Physics Engine | 2026-04-15