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Limit DreamWaQ commands to stand or walk

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This commit is contained in:
8x54zj-m
2026-07-22 19:39:13 +08:00
parent d22292d726
commit 6d6a805091
2 changed files with 20 additions and 7 deletions
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13
motrix_envs/tests/test_dreamwaq_state_safety.py
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@@ -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)