Import upstream snapshot d424a0c899f6b33cbd3daeb279913134349c0b63

Upstream: https://github.com/pollen-robotics/microduck_rl
Upstream-Commit: d424a0c899f6b33cbd3daeb279913134349c0b63
Upstream-Branch: develop

tests/test_swizzle_head_cfg.py

@@ -0,0 +1,42 @@
+from mjlab.tasks.velocity import mdp
+from mjlab_microduck.tasks.microduck_velocity_swizzle_env_cfg import (
+    make_microduck_velocity_swizzle_env_cfg,
+)
+from mjlab_microduck.tasks.microduck_velocity_rollers_env_cfg import (
+    make_microduck_velocity_rollers_env_cfg,
+)
+
+
+def test_swizzle_head_control_wired():
+    cfg = make_microduck_velocity_swizzle_env_cfg()
+    roller_cfg = make_microduck_velocity_rollers_env_cfg()
+
+    # Head-pose command term exists.
+    assert "head_pose" in cfg.commands
+
+    # head_command obs is the REAL command (not zero-padded) on both groups.
+    for group in ("actor", "critic"):
+        term = cfg.observations[group].terms["head_command"]
+        assert term.func is mdp.generated_commands
+        assert term.params["command_name"] == "head_pose"
+
+    # head_pose_tracking reward exists.
+    assert "head_pose_tracking" in cfg.rewards
+
+    # The two HOME-pullers that would fight the head command are handled:
+    #  - neck_joint_pos_l2 removed
+    assert "neck_joint_pos_l2" not in cfg.rewards
+    #  - pose reward scoped to leg joints via a negative-lookahead regex that
+    #    excludes neck/head (and passive wheels)
+    pose_joints = cfg.rewards["pose"].params["asset_cfg"].joint_names
+    assert any(
+        "(?!" in j and "neck" in j and "head" in j for j in pose_joints
+    ), f"pose reward not scoped away from neck/head: {pose_joints}"
+
+    # Pose reward function unchanged (not swapped to a different function)
+    assert cfg.rewards["pose"].func is roller_cfg.rewards["pose"].func, \
+        "pose reward function was swapped (should only scope asset_cfg)"
+
+    # Late head curricula exist.
+    assert "head_pose_tracking_weight" in cfg.curriculum
+    assert "head_pose_range" in cfg.curriculum