Add closed-loop DreamWaQ stair validation

scripts/run_dreamwaq_sim2sim.sh

@@ -7,13 +7,18 @@ RUNS_DIR="${PROJECT_DIR}/runs/go1-dreamwaq-walk/rslrl"
 
 checkpoint=""
 output=""
-terrain="flat"
+terrain="stairs_box"
 level="0"
+forward_speed="0.5"
+timeout="30"
 export_only=false
+manual=false
+headless=false
+no_validation=false
 
 usage() {
     cat <<'EOF'
-Export a DreamWaQ checkpoint to ONNX and run MuJoCo sim2sim.
+Export a DreamWaQ checkpoint and run the MuJoCo stair-course validation.
 
 Usage:
   scripts/run_dreamwaq_sim2sim.sh [options]
@@ -22,15 +27,21 @@ Options:
   -c, --checkpoint PATH  Checkpoint to export. Defaults to the newest model_*.pt.
   -o, --output PATH      ONNX output path. Defaults to policy.onnx beside checkpoint.
   -t, --terrain NAME     flat, rough, stairs, dreamwaq, stairs_test,
-                         stairs_box, or flat_stairs. Default: flat.
+                         stairs_box, or flat_stairs. Default: stairs_box.
   -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.
+      --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.
       --export-only      Export and validate ONNX without starting MuJoCo.
   -h, --help             Show this help.
 
 Examples:
   scripts/run_dreamwaq_sim2sim.sh
   scripts/run_dreamwaq_sim2sim.sh -c runs/.../model_1200.pt
-  scripts/run_dreamwaq_sim2sim.sh -t dreamwaq -l 3
+  scripts/run_dreamwaq_sim2sim.sh --headless
+  scripts/run_dreamwaq_sim2sim.sh -c runs/.../model_1200.pt --speed 0.6
 EOF
 }
 
@@ -61,6 +72,28 @@ while (($#)); do
             level="$2"
             shift 2
             ;;
+        --speed)
+            (($# >= 2)) || die "$1 requires a number"
+            forward_speed="$2"
+            shift 2
+            ;;
+        --timeout)
+            (($# >= 2)) || die "$1 requires a number"
+            timeout="$2"
+            shift 2
+            ;;
+        --manual)
+            manual=true
+            shift
+            ;;
+        --headless)
+            headless=true
+            shift
+            ;;
+        --no-validation)
+            no_validation=true
+            shift
+            ;;
         --export-only)
             export_only=true
             shift
@@ -80,6 +113,8 @@ case "$terrain" in
     *) die "unsupported terrain: ${terrain}" ;;
 esac
 [[ "$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}"
 command -v uv >/dev/null 2>&1 || die "uv is not available in PATH"
 
 if [[ -z "$checkpoint" ]]; then
@@ -118,7 +153,14 @@ if [[ "$export_only" == true ]]; then
 fi
 
 echo "[Pipeline] starting MuJoCo: terrain=${terrain}, level=${level}"
-exec uv run scripts/dreamwaq_sim2sim_mujoco.py \
-    --onnx "$output" \
-    --terrain "$terrain" \
+sim_args=(
+    --onnx "$output"
+    --terrain "$terrain"
     --level "$level"
+    --forward-speed "$forward_speed"
+    --timeout "$timeout"
+)
+[[ "$manual" == true ]] && sim_args+=(--manual)
+[[ "$headless" == true ]] && sim_args+=(--headless)
+[[ "$no_validation" == true ]] && sim_args+=(--no-validation)
+exec uv run scripts/dreamwaq_sim2sim_mujoco.py "${sim_args[@]}"