Revert "Limit DreamWaQ commands to stand or walk"

This reverts commit 6d6a805091.

motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py

@@ -94,11 +94,10 @@ class DreamWaQCfg(Go1WalkNpEnvCfg):
     cell_size: float = 8.0
     border_size: float = 5.0
 
-    # Stair training commands: stand or walk straight forward at 0.5 m/s.
+    # 命令范围（上游: [-1,1] 对称）
     @dataclass
     class Commands:
-        forward_values = (0.0, 0.5)
-        stand_probability = 0.2
+        vel_limit = [[-1.0, -1.0, -1.0], [1.0, 1.0, 1.0]]
 
     commands: Commands = field(default_factory=Commands)
 
@@ -192,12 +191,13 @@ class DreamWaQTask(Go1WalkTask):
         self._hf_cache = None
         self._hm_cache = None
 
-    # ── 命令：站立或固定速度直行 ──
+    # ── 命令：全范围，无课程（匹配上游）──
 
     def resample_commands(self, num_envs: int) -> np.ndarray:
-        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]
+        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
         return cmds
 
     # ── 动作裁剪 + 力矩计算 ──

motrix_envs/tests/test_dreamwaq_state_safety.py

@@ -44,19 +44,6 @@ 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)