Fix action smoothing history and viewer timing control

scripts/run_dreamwaq_sim2sim.sh

@@ -11,6 +11,7 @@ terrain="stairs_box"
 level="0"
 forward_speed="0.5"
 timeout="30"
+realtime_factor="1.0"
 export_only=false
 manual=false
 headless=false
@@ -31,6 +32,8 @@ Options:
   -l, --level N          Terrain difficulty level passed to sim2sim. Default: 0.
       --speed MPS        Autonomous forward command. Default: 0.5.
       --timeout SEC      Validation timeout in simulation seconds. Default: 30.
+      --realtime-factor X
+                         Viewer playback speed. Default: 1.0 (real time).
       --manual           Start at zero velocity and use keyboard commands.
       --headless         Run validation without a viewer or real-time delay.
       --no-validation    Run until the viewer closes instead of returning PASS/FAIL.
@@ -82,6 +85,11 @@ while (($#)); do
             timeout="$2"
             shift 2
             ;;
+        --realtime-factor)
+            (($# >= 2)) || die "$1 requires a number"
+            realtime_factor="$2"
+            shift 2
+            ;;
         --manual)
             manual=true
             shift
@@ -115,6 +123,8 @@ esac
 [[ "$level" =~ ^[0-9]+$ ]] || die "level must be a non-negative integer: ${level}"
 [[ "$forward_speed" =~ ^[0-9]+([.][0-9]+)?$ ]] || die "speed must be a non-negative number: ${forward_speed}"
 [[ "$timeout" =~ ^[0-9]+([.][0-9]+)?$ ]] || die "timeout must be a non-negative number: ${timeout}"
+[[ "$realtime_factor" =~ ^[0-9]+([.][0-9]+)?$ ]] || die "realtime-factor must be a positive number: ${realtime_factor}"
+[[ "$realtime_factor" != "0" && "$realtime_factor" != "0.0" ]] || die "realtime-factor must be positive"
 command -v uv >/dev/null 2>&1 || die "uv is not available in PATH"
 
 if [[ -z "$checkpoint" ]]; then
@@ -159,6 +169,7 @@ sim_args=(
     --level "$level"
     --forward-speed "$forward_speed"
     --timeout "$timeout"
+    --realtime-factor "$realtime_factor"
 )
 [[ "$manual" == true ]] && sim_args+=(--manual)
 [[ "$headless" == true ]] && sim_args+=(--headless)