Fix action smoothing history and viewer timing control

scripts/dreamwaq_sim2sim_mujoco.py

@@ -201,6 +201,10 @@ def parse_args():
     )
     parser.add_argument("--timeout", type=float, default=30.0, help="validation timeout in simulation seconds")
     parser.add_argument("--log-interval", type=float, default=0.5, help="pose log interval in simulation seconds")
+    parser.add_argument(
+        "--realtime-factor", type=float, default=1.0,
+        help="viewer playback speed relative to wall time (default: 1.0)",
+    )
     parser.add_argument("--manual", action="store_true", help="start with zero velocity and use keyboard commands")
     parser.add_argument("--headless", action="store_true", help="run validation without viewer or real-time delay")
     parser.add_argument("--no-validation", action="store_true", help="do not stop with automatic PASS/FAIL")
@@ -217,6 +221,9 @@ def main():
     if args.headless and args.no_validation:
         print("[ERROR] --headless requires automatic validation", file=sys.stderr)
         return 2
+    if args.realtime_factor <= 0.0:
+        print("[ERROR] --realtime-factor must be positive", file=sys.stderr)
+        return 2
 
     terrain_map = {
         "flat": "scene_dreamwaq_flat.xml",
@@ -292,6 +299,7 @@ def main():
             "down={platform_end:.2f}->{down_end:.2f}m pass_x={pass_x:.2f}m".format(**course)
         )
     if not args.headless:
+        print(f"[Viewer] realtime_factor={args.realtime_factor:.2f}x")
         print("[CTRL] W/S forward/back, Q/E lateral, A/D yaw, Space stop, R reset, Esc quit")
 
     keyboard = None
@@ -423,7 +431,7 @@ def main():
 
             if view is not None:
                 view.sync()
-                deadline = wall_start + data.time
+                deadline = wall_start + data.time / args.realtime_factor
                 remaining = deadline - time.monotonic()
                 if remaining > 0:
                     time.sleep(remaining)