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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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6
motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
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@@ -99,7 +99,7 @@ class DreamWaQCfg(Go1WalkNpEnvCfg):
cell_size: float = 8.0 cell_size: float = 8.0
border_size: float = 5.0 border_size: float = 5.0
# Forward stair commands: stand or walk at 0.5-1.0 m/s. # Symmetric walking commands with no low-speed samples except standing.
@dataclass @dataclass
class Commands: class Commands:
forward_speed_range = (0.5, 1.0) forward_speed_range = (0.5, 1.0)
@@ -205,6 +205,10 @@ class DreamWaQTask(Go1WalkTask):
cmds[:, 0] = np.random.uniform( cmds[:, 0] = np.random.uniform(
speed_min, speed_max, size=num_envs speed_min, speed_max, size=num_envs
).astype(np.float32) ).astype(np.float32)
signs = np.random.choice(
np.array([-1.0, 1.0], dtype=np.float32), size=num_envs
)
cmds[:, 0] *= signs
stand = np.random.random(num_envs) < self.cfg.commands.stand_probability stand = np.random.random(num_envs) < self.cfg.commands.stand_probability
cmds[stand, 0] = 0.0 cmds[stand, 0] = 0.0
return cmds return cmds

9
motrix_envs/tests/test_dreamwaq_state_safety.py
View File

@@ -59,7 +59,7 @@ def test_apply_action_advances_three_frame_action_history():
np.testing.assert_array_equal(state.info["current_actions"], 3.0) 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 = DreamWaQTask.__new__(DreamWaQTask)
task._cfg = SimpleNamespace( task._cfg = SimpleNamespace(
commands=SimpleNamespace( commands=SimpleNamespace(
@@ -71,6 +71,11 @@ def test_dreamwaq_commands_are_zero_or_forward_between_half_and_one(monkeypatch)
"uniform", "uniform",
lambda low, high, size: np.array([0.5, 0.75, 1.0], dtype=np.float32), 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( monkeypatch.setattr(
np.random, np.random,
"random", "random",
@@ -79,7 +84,7 @@ def test_dreamwaq_commands_are_zero_or_forward_between_half_and_one(monkeypatch)
commands = task.resample_commands(3) 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) np.testing.assert_array_equal(commands[:, 1:], 0.0)