research: karman reproduce keeps Legacy's 150x800 zero-action target-sampling time before adding the pinball

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

research/karman_reproduce/run.py

@@ -34,7 +34,7 @@ import numpy as np
 
 L0, U0, NX, NY = 20.0, 0.01, 1280, 512
 R, YC = L0 / 2, (NY - 1) / 2
-SI, INTERVALS, WARMUP = 800, 200, int(4 * NX / U0)
+SI, INTERVALS, WARMUP, FIFO_LEN = 800, 200, int(4 * NX / U0), 150
 BIAS = np.array([0.0, -4.0, 4.0])
 
 
@@ -73,7 +73,9 @@ def main():
         probes = [sim.add_body("sensor", center=(40 * L0, YC + dy, 0.0), radius=5.0)
                   for dy in (40.0, 0.0, -40.0)]
         sim.initialize()
-        sim.run(WARMUP)  # Legacy order: disturbance + probes first, then the pinball
+        # Legacy build_karman_cloak order: stabilize disturbance + probes, then the
+        # 150-interval zero-action target sampling (kept as flow time), then the pinball.
+        sim.run(WARMUP + FIFO_LEN * SI)
         pinball = [sim.add_body("circle", center=c, radius=R)
                    for c in ((30 * L0, YC, 0.0), (626.0, YC + 15, 0.0), (626.0, YC - 15, 0.0))]
         sim.sync_bodies()
@@ -102,7 +104,7 @@ def main():
         with open(os.path.join(args.out, "case.json"), "w") as fh:
             json.dump(dict(celeris=git_head(here), dynamis=git_head(args.dynamis),
                            config=os.path.realpath(args.config), model=os.path.realpath(args.model),
-                           norm=os.path.realpath(args.norm), warmup=WARMUP, interval=SI, intervals=args.intervals,
+                           norm=os.path.realpath(args.norm), warmup=WARMUP, target_sampling=FIFO_LEN * SI, interval=SI, intervals=args.intervals,
                            probe_cells=cells), fh, indent=1)
     finally:
         sim.close()