From 6d6a805091c4e56736748cf52b5df9e2376da3b9 Mon Sep 17 00:00:00 2001
From: 8x54zj-m <8x54zj-m@motrixlab.local>
Date: Wed, 22 Jul 2026 19:39:13 +0800
Subject: [PATCH] Limit DreamWaQ commands to stand or walk

---
 .../src/motrix_envs/locomotion/go1/dreamwaq.py     | 14 +++++++-------
 motrix_envs/tests/test_dreamwaq_state_safety.py    | 13 +++++++++++++
 2 files changed, 20 insertions(+), 7 deletions(-)

diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py b/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
index f693ab2..79db784 100644
--- a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
+++ b/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
@@ -94,10 +94,11 @@ class DreamWaQCfg(Go1WalkNpEnvCfg):
     cell_size: float = 8.0
     border_size: float = 5.0
 
-    # 命令范围（上游: [-1,1] 对称）
+    # Stair training commands: stand or walk straight forward at 0.5 m/s.
     @dataclass
     class Commands:
-        vel_limit = [[-1.0, -1.0, -1.0], [1.0, 1.0, 1.0]]
+        forward_values = (0.0, 0.5)
+        stand_probability = 0.2
 
     commands: Commands = field(default_factory=Commands)
 
@@ -191,13 +192,12 @@ class DreamWaQTask(Go1WalkTask):
         self._hf_cache = None
         self._hm_cache = None
 
-    # ── 命令：全范围，无课程（匹配上游）──
+    # ── 命令：站立或固定速度直行 ──
 
     def resample_commands(self, num_envs: int) -> np.ndarray:
-        lim = np.array(self.cfg.commands.vel_limit, dtype=np.float32)
-        cmds = np.random.uniform(lim[0], lim[1], size=(num_envs, 3)).astype(np.float32)
-        small = np.linalg.norm(cmds[:, :2], axis=1) < 0.2
-        cmds[small, :2] = 0.0
+        cmds = np.zeros((num_envs, 3), dtype=np.float32)
+        walk = np.random.random(num_envs) >= self.cfg.commands.stand_probability
+        cmds[walk, 0] = self.cfg.commands.forward_values[1]
         return cmds
 
     # ── 动作裁剪 + 力矩计算 ──
diff --git a/motrix_envs/tests/test_dreamwaq_state_safety.py b/motrix_envs/tests/test_dreamwaq_state_safety.py
index 0b4c7b7..f043ca5 100644
--- a/motrix_envs/tests/test_dreamwaq_state_safety.py
+++ b/motrix_envs/tests/test_dreamwaq_state_safety.py
@@ -44,6 +44,19 @@ 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_stand_or_fixed_forward_speed(monkeypatch):
+    task = DreamWaQTask.__new__(DreamWaQTask)
+    task._cfg = DreamWaQCfg()
+    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, 0.5, 0.5])
+    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)