Based on my experience...Yes...I am %99.999 certain that it was tested without an explosive warhead. The clue is between time index 1:14 to 1:30. Note the metallic device in front of the wall that look like a triangle. It is called a 'target corner reflector'.
The one in front of the test wall is very similar to the image above, which is for coastal marine use.
What a 'target corner reflector' does is bounce a radar signal back to the transmitter. It is how radar signals behave upon contact with a planar surface.
This is a test rigged with a passive device designed to assist the missile in finding the wall. The missile uses its own radar in a sweeping motion ahead. Radar signals loses strength as it travels through the atmosphere -- atmospheric attenuation. The reflector collect whatever energy remain and act as an electronic beacon for the missile testing. The missile's own flight control system respond and home in on this beacon.
For coastal marine use, reflectors let radar operators ashore and on ships know there are small crafts about.
Here is one example...
Observations of Radar Corner Reflectors on Life Boat and Balsa Life Floats.
The frame can be made cheaply of wood and covered with aluminum foil for increased effectiveness with a metal. Plain wood will work just not as good.
This is probably one in a series of tests for the missile radar on target acquisition. The previous tests had active transmitters to assess the receiver portion of the missile's radar. Passive signals that bounced off reflectors are more difficult to acquire. Next tests will be, or should be, with no assist at all. In real life, there may or may not be a structure on a target that will perform the same function as a purposely designed 'target corner reflector'. If the target is a ship, then the missile flight will be over water where mosture vapor level will sap the radar signal energy even more.
An honest test will have the missile over water in several sea conditions...
Douglas Sea Scale - Wikipedia, the free encyclopedia
The missile should be able to detect a higher sea state, increase its flight altitude to avoid being swat out of the air if it is designed to fly that low, and increase the gain on the receiver portion of the radar. Increased gain also mean increased background noise that must be filtered out. There is also the problem of multi-path propagation that is unique to water and I briefly explained that here...
Anytime radar is over water, water related multi-path propagation issues must be dealt with, so do not presume Indian technology is any different.