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Sample symmetric DreamWaQ speed commands

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This commit is contained in:
8x54zj-m
2026-07-22 20:08:07 +08:00
parent 3fa2849123
commit 3963773b6f
2 changed files with 12 additions and 3 deletions
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9
motrix_envs/tests/test_dreamwaq_state_safety.py
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@@ -59,7 +59,7 @@ def test_apply_action_advances_three_frame_action_history():
np.testing.assert_array_equal(state.info["current_actions"], 3.0)
def test_dreamwaq_commands_are_zero_or_forward_between_half_and_one(monkeypatch):
def test_dreamwaq_commands_are_zero_or_symmetric_without_low_speeds(monkeypatch):
task = DreamWaQTask.__new__(DreamWaQTask)
task._cfg = SimpleNamespace(
commands=SimpleNamespace(
@@ -71,6 +71,11 @@ def test_dreamwaq_commands_are_zero_or_forward_between_half_and_one(monkeypatch)
"uniform",
lambda low, high, size: np.array([0.5, 0.75, 1.0], dtype=np.float32),
)
monkeypatch.setattr(
np.random,
"choice",
lambda values, size: np.array([-1.0, -1.0, 1.0], dtype=np.float32),
)
monkeypatch.setattr(
np.random,
"random",
@@ -79,7 +84,7 @@ def test_dreamwaq_commands_are_zero_or_forward_between_half_and_one(monkeypatch)
commands = task.resample_commands(3)
np.testing.assert_array_equal(commands[:, 0], [0.0, 0.75, 1.0])
np.testing.assert_array_equal(commands[:, 0], [0.0, -0.75, 1.0])
np.testing.assert_array_equal(commands[:, 1:], 0.0)