From 5c55c5bdf72321c52583a7b5d9be3347e0b22fa7 Mon Sep 17 00:00:00 2001 From: Frank14f <1515444314@qq.com> Date: Tue, 30 Jun 2026 15:55:15 +0800 Subject: [PATCH] fix(oid): correct FIFO bias in karman_blk and collect_controlled - collect_karman_blk.py: bias_arr[4]=front (was -4U0, should be 0), bias_arr[5]=bottom (was +4U0, should be -4U0), bias_arr[6]=top (was 0, should be +4U0). Matches legacy_karman_env.py:179-182. - collect_controlled.py: same fix for Karman branch. - Add missing import data_dir_for_scene in collect_controlled.py Co-authored-by: Cursor --- src/OID_analysis/scripts/collect_controlled.py | 9 +++++---- src/OID_analysis/scripts/collect_karman_blk.py | 7 ++++--- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/src/OID_analysis/scripts/collect_controlled.py b/src/OID_analysis/scripts/collect_controlled.py index 229140f..0cbfcab 100644 --- a/src/OID_analysis/scripts/collect_controlled.py +++ b/src/OID_analysis/scripts/collect_controlled.py @@ -41,7 +41,7 @@ from OID_analysis.utils.cfd_interface import ( # noqa: E402 calc_lag, calc_dtw_sim, analyze_harmonics, gen_target_states_at, ) from OID_analysis.configs import ( # noqa: E402 - get_scene, get_scene_list, model_path_for_scene, LEGACY_CFG_DIR, + get_scene, get_scene_list, model_path_for_scene, data_dir_for_scene, LEGACY_CFG_DIR, ) DATA_TYPE = np.float32 @@ -117,12 +117,13 @@ def collect_single(scene_name: str, device_id: int, n_steps: int) -> dict: "sens_deviation": sens_deviation.tolist(), "sens_norm_fact": sens_norm_fact.tolist()} - # Preset-action FIFO (matches legacy env) + # Preset-action FIFO (matches legacy env: front=0, bottom=-4*U0, top=+4*U0) ff.apply_ddf() bias_arr = np.zeros(n_obj, dtype=DATA_TYPE) if cfg["has_disturbance"]: - bias_arr[4] = -4.0 * u0 - bias_arr[5] = 4.0 * u0 + bias_arr[4] = 0.0 # front = 0 + bias_arr[5] = -4.0 * u0 # bottom = -4*U0 + bias_arr[6] = 4.0 * u0 # top = +4*U0 else: bias_arr[4] = -1.0 * u0 bias_arr[5] = 1.0 * u0 diff --git a/src/OID_analysis/scripts/collect_karman_blk.py b/src/OID_analysis/scripts/collect_karman_blk.py index d73f3a9..4bb2002 100644 --- a/src/OID_analysis/scripts/collect_karman_blk.py +++ b/src/OID_analysis/scripts/collect_karman_blk.py @@ -91,11 +91,12 @@ def collect(device_id: int, n_steps: int) -> str: } print(f" norm: force_norm_fact={force_norm_fact:.6f}") - # Bias-action FIFO init (cloak: [0, -4*U0, 4*U0]) + # Bias-action FIFO init (cloak: front=0, bottom=-4*U0, top=+4*U0) ff.apply_ddf() bias_arr = np.zeros(n_obj, dtype=DATA_TYPE) - bias_arr[4] = -4.0 * u0 # front=0, bottom=-4U0, top=4U0 - bias_arr[5] = 4.0 * u0 + bias_arr[4] = 0.0 # front = 0 + bias_arr[5] = -4.0 * u0 # bottom = -4*U0 + bias_arr[6] = 4.0 * u0 # top = +4*U0 fifo.clear() for _ in range(FIFO_LEN): ff.run(si, bias_arr)