Fix hardware observation mismatch and policy refactor#14
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Fix hardware observation mismatch and policy refactor#14
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… 供模擬與硬體共用\n- Promote default_pose to config and verify against XML\n- Refactor controllers with dispatch table for clearer模式
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Summary
Testing
pytest -qhttps://chatgpt.com/codex/tasks/task_e_6890b5c84ef883288c927dc9e7b432dd