diff --git a/deploy/deploy_mujoco/configs/go2.yaml b/deploy/deploy_mujoco/configs/go2.yaml
index 0ad696b..bfc8f5f 100644
--- a/deploy/deploy_mujoco/configs/go2.yaml
+++ b/deploy/deploy_mujoco/configs/go2.yaml
@@ -3,9 +3,9 @@ policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_137000_0.63
 
 # xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/flat.xml"
 # xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/race_track.xml"
-xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/stairs.xml"
+# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/stairs.xml"
 # xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_slope.xml"
-# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_stairs.xml"
+xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_stairs.xml"
 
 # Total simulation time
 simulation_duration: 60000000.0
diff --git a/resources/robots/go2/cross_slope.xml b/resources/robots/go2/cross_slope.xml
old mode 100644
new mode 100755
index f5cf284..cdd9a94
--- a/resources/robots/go2/cross_slope.xml
+++ b/resources/robots/go2/cross_slope.xml
@@ -12,32 +12,32 @@
     <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
     <texture name="tex_label_1" type="2d" file="./imgs/label_1.png" />
-    <material name="mat_label_1" texture="tex_label_1" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
+    <material name="mat_label_1" texture="tex_label_1" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
     <texture name="tex_label_7" type="2d" file="./imgs/label_7.png" />
-    <material name="mat_label_7" texture="tex_label_7" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
+    <material name="mat_label_7" texture="tex_label_7" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
     <texture name="tex_label_10" type="2d" file="./imgs/label_10.png" />
-    <material name="mat_label_10" texture="tex_label_10" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
+    <material name="mat_label_10" texture="tex_label_10" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
     <texture name="tex_label_4" type="2d" file="./imgs/label_4.png" />
-    <material name="mat_label_4" texture="tex_label_4" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
+    <material name="mat_label_4" texture="tex_label_4" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
   </asset>
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
     <geom pos="-3.5072718512065544 1.8458756480250123e-16 0.1710316244452101" type="box" size="1.5161201304646015 1.75 0.05" quat="6.106936001461366e-17 0.07291258089041118 -4.464607940250726e-18 0.9973383355451144" />
-    <geom pos="-2.593329632609217 7.266192354141525e-17 0.08924094950084102" type="box" size="1.0 0.35064935064935066 0.001" quat="0.7052247002012548 0.05155698038142243 0.05155698038142243 0.7052247002012548" contype="0" conaffinity="0" group="1" material="mat_label_1" rgba="1 1 1 1" />
+    <geom pos="-2.593329632609217 7.266192354141525e-17 0.08924094950084102" type="box" size="1.0 0.35064935064935066 0.001" quat="0.7052247002012548 0.05155698038142243 0.05155698038142242 0.7052247002012547" contype="0" conaffinity="0" group="1" material="mat_label_1" rgba="1 1 1 1" />
     <geom pos="-5.75 4.592425496802575e-16 0.39100000000000007" type="box" size="0.75 1.75 0.05" quat="6.123233995736766e-17 0.0 0.0 1.0" />
     <geom pos="-7.992728148793446 7.338975345580137e-16 0.1710316244452101" type="box" size="1.5161201304646015 1.75 0.05" quat="6.106936001461366e-17 -0.07291258089041118 4.464607940250726e-18 0.9973383355451144" />
-    <geom pos="9.305555860662829e-17 3.519712600750146 0.5975498817012911" type="box" size="1.6322047206156463 1.75 0.05" quat="0.69264030455464 0.14230041639593213 -0.14230041639593213 0.69264030455464" />
+    <geom pos="9.305555860662829e-17 3.519712600750146 0.5975498817012911" type="box" size="1.6322047206156463 1.75 0.05" quat="0.69264030455464 0.1423004163959321 -0.14230041639593213 0.6926403045546399" />
     <geom pos="3.371531723015055e-17 2.5506129155545008 0.23838921373370156" type="box" size="1.0 0.35064935064935066 0.001" quat="0.9795413125474028 0.20124317879846595 0.0 0.0" contype="0" conaffinity="0" group="1" material="mat_label_7" rgba="1 1 1 1" />
-    <geom pos="2.2962127484012875e-16 5.75 1.2369999999999999" type="box" size="0.75 1.75 0.05" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="3.661869910736292e-16 7.980287399249854 0.5975498817012911" type="box" size="1.6322047206156463 1.75 0.05" quat="0.69264030455464 -0.14230041639593213 0.14230041639593213 0.69264030455464" />
+    <geom pos="2.2962127484012875e-16 5.75 1.2369999999999999" type="box" size="0.75 1.75 0.05" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="3.661869910736292e-16 7.980287399249854 0.5975498817012911" type="box" size="1.6322047206156463 1.75 0.05" quat="0.69264030455464 -0.1423004163959321 0.14230041639593213 0.6926403045546399" />
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+    <geom pos="2.520275956027577 0.0 0.2988593809462753" type="box" size="1.0 0.35064935064935066 0.001" quat="0.6835161428585028 0.1811233901290355 -0.18112339012903547 -0.6835161428585027" contype="0" conaffinity="0" group="1" material="mat_label_10" rgba="1 1 1 1" />
     <geom pos="5.75 0.0 1.66" type="box" size="0.75 1.75 0.05" quat="1.0 0.0 0.0 0.0" />
     <geom pos="7.975239847799509 0.0 0.811561136490367" type="box" size="1.7265645079173844 1.75 0.05" quat="0.9666377993314406 0.0 0.25614715478347516 0.0" />
-    <geom pos="9.269581606609379e-17 -3.5138375592151503 0.38395291939183823" type="box" size="1.5609689298637561 1.75 0.05" quat="0.7001681248391769 -0.09881597522258664 -0.09881597522258664 -0.7001681248391769" />
+    <geom pos="9.269581606609379e-17 -3.5138375592151503 0.38395291939183823" type="box" size="1.5609689298637561 1.75 0.05" quat="0.7001681248391769 -0.09881597522258663 -0.09881597522258664 -0.7001681248391768" />
     <geom pos="3.5270529839894456e-17 -2.5760114649293357 0.16797259380613377" type="box" size="1.0 0.35064935064935066 0.001" quat="6.063148280875342e-17 8.557029219681535e-18 -0.13974689233890575 -0.9901872580889023" contype="0" conaffinity="0" group="1" material="mat_label_4" rgba="1 1 1 1" />
-    <geom pos="2.2962127484012875e-16 -5.75 0.8140000000000001" type="box" size="0.75 1.75 0.05" quat="0.7071067811865476 0.0 0.0 -0.7071067811865476" />
-    <geom pos="3.665467336141637e-16 -7.98616244078485 0.38395291939183823" type="box" size="1.5609689298637561 1.75 0.05" quat="0.7001681248391769 0.09881597522258664 0.09881597522258664 -0.7001681248391769" />
+    <geom pos="2.2962127484012875e-16 -5.75 0.8140000000000001" type="box" size="0.75 1.75 0.05" quat="0.7071067811865476 0.0 0.0 -0.7071067811865475" />
+    <geom pos="3.665467336141637e-16 -7.98616244078485 0.38395291939183823" type="box" size="1.5609689298637561 1.75 0.05" quat="0.7001681248391769 0.09881597522258663 0.09881597522258664 -0.7001681248391768" />
   </worldbody>
 </mujoco>
diff --git a/resources/robots/go2/cross_stairs.xml b/resources/robots/go2/cross_stairs.xml
old mode 100644
new mode 100755
index ec1e85e..8d0f944
--- a/resources/robots/go2/cross_stairs.xml
+++ b/resources/robots/go2/cross_stairs.xml
@@ -1,6 +1,6 @@
 <mujoco model="cross_stairs_1_4_7_10">
   <include file="go2.xml"/>
-  <!-- Terrain Type: cross_stairs, Level: 1_4_7_10, Cross Layout: Center Gap 2.0m. Arch step height: 0.0800 Arch step height: 0.2000 Arch step height: 0.2300 Arch step height: 0.1700 -->
+  <!-- Terrain: Cross Stairs Arch, Levels: 1,4,7,10. Cross Layout: Center Gap 2.0m. Arch step height: 0.0800 Arch step height: 0.2000 Arch step height: 0.2300 Arch step height: 0.1700 -->
   <statistic center="0 0 0.1" extent="0.8" />
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
@@ -12,13 +12,13 @@
     <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
     <texture name="tex_label_1" type="2d" file="./imgs/label_1.png" />
-    <material name="mat_label_1" texture="tex_label_1" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
+    <material name="mat_label_1" texture="tex_label_1" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
     <texture name="tex_label_7" type="2d" file="./imgs/label_7.png" />
-    <material name="mat_label_7" texture="tex_label_7" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
+    <material name="mat_label_7" texture="tex_label_7" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
     <texture name="tex_label_10" type="2d" file="./imgs/label_10.png" />
-    <material name="mat_label_10" texture="tex_label_10" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
+    <material name="mat_label_10" texture="tex_label_10" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
     <texture name="tex_label_4" type="2d" file="./imgs/label_4.png" />
-    <material name="mat_label_4" texture="tex_label_4" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
+    <material name="mat_label_4" texture="tex_label_4" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
   </asset>
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
@@ -39,23 +39,23 @@
     <geom pos="-7.474999999999999 6.704941225331758e-16 0.19999999999999996" type="box" size="0.155 1.75 0.04" quat="6.123233995736766e-17 0.0 0.0 1.0" />
     <geom pos="-7.784999999999998 7.084581733067436e-16 0.11999999999999995" type="box" size="0.155 1.75 0.04" quat="6.123233995736766e-17 0.0 0.0 1.0" />
     <geom pos="-8.094999999999999 7.464222240803115e-16 0.03999999999999995" type="box" size="0.155 1.75 0.04" quat="6.123233995736766e-17 0.0 0.0 1.0" />
-    <geom pos="-2.155 1.8982025386783976e-17 0.082" type="box" size="0.5 0.17532467532467533 0.0001" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" contype="0" conaffinity="0" group="1" material="mat_label_1" rgba="1 1 1 1" />
-    <geom pos="9.491012693391988e-18 2.155 0.1" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="2.847303808017596e-17 2.465 0.30000000000000004" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="4.745506346695993e-17 2.775 0.5" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="6.64370888537439e-17 3.085 0.7" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="8.541911424052789e-17 3.395 0.8999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="1.0440113962731187e-16 3.705 1.0999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="1.2338316501409585e-16 4.015000000000001 1.2999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="1.4236519040087982e-16 4.325 1.4999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="2.0084207506016595e-16 5.28 1.4999999999999998" type="box" size="0.8 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="2.5931895971945205e-16 6.235 1.2999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="2.78300985106236e-16 6.545 1.0999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="2.9728301049301994e-16 6.8549999999999995 0.8999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="3.162650358798039e-16 7.164999999999999 0.7" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
-    <geom pos="3.352470612665879e-16 7.474999999999999 0.49999999999999994" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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-    <geom pos="3.7321111204015577e-16 8.094999999999999 0.09999999999999992" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
+    <geom pos="-2.155 1.8982025386783976e-17 0.082" type="box" size="0.5 0.17532467532467533 0.0001" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" contype="0" conaffinity="0" group="1" material="mat_label_1" rgba="1 1 1 1" />
+    <geom pos="9.491012693391988e-18 2.155 0.1" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="2.847303808017596e-17 2.465 0.30000000000000004" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="4.745506346695993e-17 2.775 0.5" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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+    <geom pos="8.541911424052789e-17 3.395 0.8999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="1.0440113962731187e-16 3.705 1.0999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="1.2338316501409585e-16 4.015000000000001 1.2999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="1.4236519040087982e-16 4.325 1.4999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="2.0084207506016595e-16 5.28 1.4999999999999998" type="box" size="0.8 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="2.5931895971945205e-16 6.235 1.2999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="2.78300985106236e-16 6.545 1.0999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="2.9728301049301994e-16 6.8549999999999995 0.8999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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+    <geom pos="3.352470612665879e-16 7.474999999999999 0.49999999999999994" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="3.542290866533718e-16 7.784999999999998 0.29999999999999993" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
+    <geom pos="3.7321111204015577e-16 8.094999999999999 0.09999999999999992" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
     <geom pos="9.491012693391988e-18 2.155 0.202" type="box" size="0.5 0.17532467532467533 0.0001" quat="1.0 0.0 0.0 0.0" contype="0" conaffinity="0" group="1" material="mat_label_7" rgba="1 1 1 1" />
     <geom pos="2.155 0.0 0.115" type="box" size="0.155 1.75 0.115" quat="1.0 0.0 0.0 0.0" />
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@@ -73,23 +73,23 @@
     <geom pos="7.474999999999999 0.0 0.5750000000000002" type="box" size="0.155 1.75 0.115" quat="1.0 0.0 0.0 0.0" />
     <geom pos="7.784999999999998 0.0 0.3450000000000002" type="box" size="0.155 1.75 0.115" quat="1.0 0.0 0.0 0.0" />
     <geom pos="8.094999999999999 0.0 0.11500000000000019" type="box" size="0.155 1.75 0.115" quat="1.0 0.0 0.0 0.0" />
-    <geom pos="2.155 0.0 0.232" type="box" size="0.5 0.17532467532467533 0.0001" quat="0.7071067811865476 0.0 0.0 -0.7071067811865476" contype="0" conaffinity="0" group="1" material="mat_label_10" rgba="1 1 1 1" />
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