From d70b08431813f0556b37e5c41dc032d3e5148f89 Mon Sep 17 00:00:00 2001 From: 8x54zj-m <8x54zj-m@motrixlab.local> Date: Wed, 22 Jul 2026 19:42:40 +0800 Subject: [PATCH] Revert "Limit DreamWaQ commands to stand or walk" This reverts commit 6d6a805091c4e56736748cf52b5df9e2376da3b9. --- .../src/motrix_envs/locomotion/go1/dreamwaq.py | 14 +++++++------- motrix_envs/tests/test_dreamwaq_state_safety.py | 13 ------------- 2 files changed, 7 insertions(+), 20 deletions(-) diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py b/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py index 79db784..f693ab2 100644 --- a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py +++ b/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 ── diff --git a/motrix_envs/tests/test_dreamwaq_state_safety.py b/motrix_envs/tests/test_dreamwaq_state_safety.py index f043ca5..0b4c7b7 100644 --- a/motrix_envs/tests/test_dreamwaq_state_safety.py +++ b/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)