fix: dual-shuffle bug in terrain_origins — robots now spawn on correct terrain columns

motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py

@@ -410,11 +410,16 @@ class DreamWaQTask(Go1WalkTask):
 
         # 游戏启发式地形课程（per-env，与上游一致）
         if not hasattr(self, '_terrain_origins'):
-            all_levels = np.repeat(np.arange(self._num_rows), self._num_cols)
-            all_indices = np.tile(np.arange(self._num_cols), self._num_rows)
-            all_origins = self._make_origins(all_levels, all_indices)
-            self._terrain_origins = all_origins.reshape(self._num_rows, self._num_cols, 2)
-            self._max_init_level = 0  # 从平地起步，靠课程升级
+            all_origins = np.zeros((self._num_rows, self._num_cols, 2), dtype=np.float32)
+            half_x = self._border + self._num_cols * self._cell_size / 2.0
+            half_y = self._border + self._num_rows * self._cell_size / 2.0
+            for row in range(self._num_rows):
+                for col in range(self._num_cols):
+                    cx = -half_x + self._border + col * self._cell_size + self._cell_size / 2
+                    cy = half_y - self._border - row * self._cell_size - self._cell_size / 2
+                    all_origins[row, col] = [cx, cy]
+            self._terrain_origins = all_origins
+            self._max_init_level = 5  # 上游原值，随机 0-5 起步
 
         if num_reset > 0 and self._init_done and state is not None and hasattr(state, 'info'):
             old_info = state.info