support MuJoCo sim2sim;

refactor resource files structure;
update readme;

deploy/deploy_mujoco/config/go2.yaml

@@ -0,0 +1,65 @@
+policy_path: "{ROOT_DIR}/deploy/pretrain/go2/wyh/go2_moe_cts_1500.pt"
+xml_path: "{ROOT_DIR}/resources/go2/stairs.xml"
+
+# Total simulation time
+simulation_duration: 60000000.0
+# Simulation time step
+simulation_dt: 0.002
+# Controller update frequency (meets the requirement of simulation_dt * controll_decimation=0.02; 50Hz)
+control_decimation: 10
+base_init_pos: [0.0, 0.0, 0.57]
+base_init_quat: [1.0, 0.0, 0.0, 0.0]
+
+# For IsaacLab DelayedPDActuatorCfg, if not used, set all delay to 0.
+actuator_delay_min: 0
+actuator_delay_max: 0
+actuator_delay_seed: 0
+
+kps: [20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0] 
+kds: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] 
+
+default_angles: [0.1,  0.8,  -1.5,  -0.1, 0.8, -1.5, 
+                 0.1,  1.0,  -1.5,  -0.1, 1.0, -1.5] 
+
+lin_vel_scale: 2.0
+ang_vel_scale: 0.25 
+dof_pos_scale: 1.0 
+dof_vel_scale: 0.05 
+action_pos_scale: 0.25
+cmd_scale: [1.0, 1.0, 1.0]
+num_actions: 12
+num_obs: 45
+max_cmd: [1.0, 1.0, 1.0]
+
+cmd_init: [1.0, 0.0, 0.0]
+history_len: 5
+
+mujoco_joint_names: [
+  "FL_hip_joint",
+  "FL_thigh_joint",
+  "FL_calf_joint",
+  "FR_hip_joint",
+  "FR_thigh_joint",
+  "FR_calf_joint",
+  "RL_hip_joint",
+  "RL_thigh_joint",
+  "RL_calf_joint",
+  "RR_hip_joint",
+  "RR_thigh_joint",
+  "RR_calf_joint",
+]
+
+model_joint_names: [
+  "FL_hip_joint",
+  "FL_thigh_joint",
+  "FL_calf_joint",
+  "FR_hip_joint",
+  "FR_thigh_joint",
+  "FR_calf_joint",
+  "RL_hip_joint",
+  "RL_thigh_joint",
+  "RL_calf_joint",
+  "RR_hip_joint",
+  "RR_thigh_joint",
+  "RR_calf_joint",
+]