Add profile velocity option to collect_comparison.sh

scripts/eval/README.md

@@ -132,12 +132,21 @@ Seven runs per controller: a profile run, three single-axis sweeps and three
 two-axis grids, all on the evaluation plant, 60 s a command with the first 8 s
 discarded. About twelve minutes a controller on an RTX 3060.
 
-The RL controllers run first. Their checkpoints are checked for existence
-before anything starts, but a checkpoint that exists can still fail to load,
-and putting a quintic run first would hide that failure behind twenty minutes
-of work. The grids carry both the combined-axis tracking and — through
-`fall_time` — the stability envelope, so nothing is collected twice. Figures
-land in `logs/eval/comparison/figures` as 300 dpi PNG and PDF.
+The command envelope lives in two places in that script, deliberately. The
+`*_MIN` / `*_MAX` / `*_STEP` variables set the sweep and grid axes, which feed
+figures 03 to 07; the `PROFILE_*` variables set the amplitudes of the profile
+lanes, which are figures 01 and 02 and nothing else. Widening the sweeps does
+not widen the profile, and it should not: a sweep is meant to overshoot what a
+controller can do so the stability envelope has an outside, while a profile is
+meant to show a controller tracking a moving command, which it cannot do at a
+speed it falls over at.
+
+The RL half runs first. The checkpoint is checked for existence before anything
+starts, but a checkpoint that exists can still fail to load, and putting the
+quintic half first would hide that failure behind twenty minutes of work. The grids carry
+both the combined-axis tracking and — through `fall_time` — the stability
+envelope, so nothing is collected twice. Figures land in
+`logs/eval/comparison/figures` as 300 dpi PNG and PDF.
 
 Every environment in a sweep is a distinct command rather than a replica: the
 plant is deterministic and the domain randomisation is off, so replicas of one

scripts/eval/collect_comparison.sh

@@ -247,6 +247,16 @@ WZ_MIN=${WZ_MIN:--3.0}
 WZ_MAX=${WZ_MAX:-3.0}
 WZ_STEP=${WZ_STEP:-0.05}
 
+# Command amplitudes for the profile runs -- figures 01 and 02.
+PROFILE_VX=0.35
+PROFILE_VY=0.20
+PROFILE_WZ=0.60
+# The combined lanes hold one axis while another moves, so each component is
+# lower than the single-axis amplitude above it.
+PROFILE_COMBINED_VX=0.25
+PROFILE_COMBINED_VY=0.15
+PROFILE_COMBINED_WZ=0.40
+
 # Grid axes (used for plotting)
 VX_GRID_MIN=${VX_GRID_MIN:--2.0}
 VX_GRID_MAX=${VX_GRID_MAX:-2.0}
@@ -315,6 +325,12 @@ run_controller() {
   echo "=== ${name} (${engine}): velocity profile ==="
   uv run python scripts/eval/eval_velocity_profile.py \
     --engine "${engine}" "${extra[@]}" \
+    --profile.vx "${PROFILE_VX}" \
+    --profile.vy "${PROFILE_VY}" \
+    --profile.wz "${PROFILE_WZ}" \
+    --profile.combined-vx "${PROFILE_COMBINED_VX}" \
+    --profile.combined-vy "${PROFILE_COMBINED_VY}" \
+    --profile.combined-wz "${PROFILE_COMBINED_WZ}" \
     --profile.hold 6.0 --profile.ramp 1.5 --profile.replicas 4 \
     --output-dir "${OUT}" --tag "profile_${name}"