Sample forward DreamWaQ speed commands

motrix_envs/tests/test_dreamwaq_state_safety.py

@@ -59,6 +59,30 @@ 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):
+    task = DreamWaQTask.__new__(DreamWaQTask)
+    task._cfg = SimpleNamespace(
+        commands=SimpleNamespace(
+            forward_speed_range=(0.5, 1.0), stand_probability=0.2
+        )
+    )
+    monkeypatch.setattr(
+        np.random,
+        "uniform",
+        lambda low, high, size: np.array([0.5, 0.75, 1.0], dtype=np.float32),
+    )
+    monkeypatch.setattr(
+        np.random,
+        "random",
+        lambda size: np.array([0.1, 0.2, 0.9], dtype=np.float32),
+    )
+
+    commands = task.resample_commands(3)
+
+    np.testing.assert_array_equal(commands[:, 0], [0.0, 0.75, 1.0])
+    np.testing.assert_array_equal(commands[:, 1:], 0.0)
+
+
 def test_dreamwaq_feet_air_time_matches_upstream_contact_filtering():
     task = DreamWaQTask.__new__(DreamWaQTask)
     task._cfg = SimpleNamespace(ctrl_dt=0.02)