fix: MuJoCo sim2sim default_angles match MotrixSim training

scripts/dreamwaq_sim2sim_mujoco.py

@@ -37,11 +37,12 @@ MAX_VX, MAX_VY, MAX_WZ = 1.0, 1.0, 1.0
 
 # DreamWaQ default joint angles — MUST match MuJoCo XML joint order:
 # qpos[7:19] = FR_hip,FR_thigh,FR_calf, FL_hip,FL_thigh,FL_calf, RR_hip,RR_thigh,RR_calf, RL_hip,RL_thigh,RL_calf
+# 必须与 MotrixSim 训练的 default_angles 完全一致！
 DEFAULT_ANGLES = np.array([
-    -0.1, 0.8, -1.5,   # FR
-    0.1, 0.8, -1.5,     # FL
-    -0.1, 1.0, -1.5,    # RR
-    0.1, 1.0, -1.5,     # RL
+    0.0, 0.9, -1.8,   # FR
+    0.0, 0.9, -1.8,   # FL
+    0.0, 0.9, -1.8,   # RR
+    0.0, 0.9, -1.8,   # RL
 ], dtype=np.float32)