diff --git a/deploy/deploy_mujoco/configs/go2.yaml b/deploy/deploy_mujoco/configs/go2.yaml
index bfc8f5f..76764fa 100644
--- a/deploy/deploy_mujoco/configs/go2.yaml
+++ b/deploy/deploy_mujoco/configs/go2.yaml
@@ -1,4 +1,4 @@
-policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_137000_0.6365.pt"
+policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_137k_0.6739.pt"
# policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_cts_150k.pt"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/flat.xml"
diff --git a/deploy/pre_train/go2/go2_moe_cts_137000_0.6365.pt b/deploy/pre_train/go2/go2_moe_cts_137k_0.6739.pt
similarity index 100%
rename from deploy/pre_train/go2/go2_moe_cts_137000_0.6365.pt
rename to deploy/pre_train/go2/go2_moe_cts_137k_0.6739.pt
diff --git a/resources/robots/go2/stairs.xml b/resources/robots/go2/stairs.xml
old mode 100644
new mode 100755
index 6fb6c1a..a689b65
--- a/resources/robots/go2/stairs.xml
+++ b/resources/robots/go2/stairs.xml
@@ -1,33 +1,187 @@
-
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\ No newline at end of file
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