Feature/visualization#5
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- Add browser-based Three.js visualization (visualize.py + template) that loads trained models and renders animated ball trajectories - Fix path generator falling back to stationary at high speeds by scaling min_duration based on zone geometry and sampled speed - Remove all curriculum learning code (caused catastrophic forgetting and paths were too short for meaningful high-speed training) - Clean up train.py: remove --no-curriculum flag, unused SAC import Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Physics: replace height-window hit detection with plane-crossing approach that checks where the ball descends through z=HUB_OPENING_HEIGHT and whether the (x,y) landing is within the hub circle. Reward: add velocity penalty (-0.3 at max velocity) to discourage mortar-style high-arc shots. Also includes path generator refactor, config cleanup, and expanded tests. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Penalize peak trajectory height above 4m (-0.2 per excess meter) instead of velocity. This discourages mortar-style high-arc shots at long range while still allowing close-range lobs where the peak stays under 4m. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Replace hard 4m threshold with smooth gradient from hub_height + 2 ball diameters (2.13m). Penalty is -0.1 per meter of excess, so flatter shots are always preferred but close-range lobs incur minimal cost. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Physics: detect when ball passes through hub cylinder on the way UP (ascending collision) and mark as a miss. Previously only checked descending crossings, allowing shots that went up through the hub. Visualization: fix play/pause button width, default to --no-browser. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Detect when ball passes through the hub cylinder while ascending (going up through where the hub structure would be). Only ascending trajectories trigger collision; descending balls entering through the top opening are valid hits. Updated test to use trajectory that misses laterally without hub collision. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Replace heuristic-based ascending crossing checks with a cleaner physical model: the hub is a cylinder with a top scoring surface and solid walls. - Ball entering cylinder radius at z < HUB_OPENING_HEIGHT = wall collision (miss) - Ball entering from above (z >= hub height) and descending through = valid hit - Track first entry into cylinder radius to determine entry point Add wall collision tests for close-range shots that would "cheat" by going up through the hub opening. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
- Increase hub opacity from 0.3 to 0.5 for better visibility - Add visualization section to README with usage examples - Update CLAUDE.md physics description for wall collision model - Add visualize.py and template to project structure Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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add a simple web visualization feature. Fix some physics bugs. Get rid of curriculum learning as it is hurting performance.