From fb58c7982763d3b26d9485fc63580009e6629016 Mon Sep 17 00:00:00 2001
From: Frank14f <1515444314@qq.com>
Date: Tue, 3 Nov 2026 01:26:54 +0800
Subject: [PATCH] Use committed Taylor body IDs after topology sync

---
 research/fig2_collection/run.py    |  5 ++++-
 tests/unit/test_fig2_collection.py | 30 ++++++++++++++++++++++++++++++
 2 files changed, 34 insertions(+), 1 deletion(-)

diff --git a/research/fig2_collection/run.py b/research/fig2_collection/run.py
index 25b3a68..f325d62 100644
--- a/research/fig2_collection/run.py
+++ b/research/fig2_collection/run.py
@@ -249,8 +249,11 @@ def make_release(scene, plan, cfgpath, base, out, started, cap, release_dir):
         warm = 32 if plan['smoke'] else (512000 if scene == 'taylor' else 2048000)
         if scene == 'taylor':
             base.warmup(sim, warm, started, cap)
-            bodies = [sim.add_body('circle', point, 20.) for point in CENTRES]
+            first = sim.bodies.count
+            for point in CENTRES:
+                sim.add_body('circle', point, 20.)  # runtime additions return staged ID -1
             sim.sync_bodies()
+            bodies = list(range(first, first+len(CENTRES)))
         base.warmup(sim, warm-1, started, cap)
         sim.run(1, zero_obs=True, sync_obs=True)
         force = sum(float(sim.read_force(body)[1]) for body in bodies)
diff --git a/tests/unit/test_fig2_collection.py b/tests/unit/test_fig2_collection.py
index b81a577..7dae6df 100644
--- a/tests/unit/test_fig2_collection.py
+++ b/tests/unit/test_fig2_collection.py
@@ -182,6 +182,36 @@ class CollectionContracts(unittest.TestCase):
 
 
 class SelectionContracts(unittest.TestCase):
+    def test_taylor_release_uses_committed_ids_not_staged_minus_one(self):
+        reads=[]
+        class Sim:
+            def __init__(self,*args):
+                self.bodies=types.SimpleNamespace(count=0)
+                self.stepper=types.SimpleNamespace(step_count=0)
+                self.initialized=False;self.pending=0
+            def __enter__(self):return self
+            def __exit__(self,*args):pass
+            def add_body(self,*args,**kwargs):
+                if self.initialized:self.pending+=1;return -1
+                index=self.bodies.count;self.bodies.count+=1;return index
+            def initialize(self):self.initialized=True
+            def sync_bodies(self):self.bodies.count+=self.pending;self.pending=0
+            def run(self,n,**kwargs):self.stepper.step_count+=n
+            def read_force(self,body):
+                if body<0:raise IndexError('staged ID')
+                reads.append(body);return [0.,float(body),0.]
+        pkg=types.ModuleType('CelerisLab');pkg.Simulation=Sim
+        motion=types.ModuleType('CelerisLab.body.motion');motion.Translation=None
+        base=types.SimpleNamespace(warmup=lambda sim,n,*args:sim.run(n),
+            capture_seed=lambda sim:(np.zeros(18,np.float32),np.ones(18,np.float32),
+                                      np.ones(2,np.uint16),sim.stepper.step_count))
+        with tempfile.TemporaryDirectory() as directory,patch.dict(sys.modules,{'CelerisLab':pkg,'CelerisLab.body.motion':motion}):
+            seed,force,_=driver.make_release('taylor',driver.schedule('taylor',True),'unused',base,
+                                             Path(directory),0,60,None)
+        self.assertEqual(reads,[3,4,5])
+        self.assertEqual(force,12.)
+        self.assertEqual(seed[3],64)
+
     def test_recorded_clock_must_equal_observed_solver(self):
         driver.check_clock(types.SimpleNamespace(step_count=4579200),4576000,3200)
         with self.assertRaisesRegex(RuntimeError,'observed solver clock'):