Add deploy.yaml with correct obs/action config for this model

- 45 obs (no gait_phase, no height_scan) matching ONNX input shape
- action scale 0.5 matching training config
- velocity ranges matching full training curriculum

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

params/deploy.yaml

@@ -0,0 +1,51 @@
+joint_ids_map: [3,4,5,0,1,2,9,10,11,6,7,8,]
+step_dt: 0.02
+stiffness: [20, 20, 40, 20, 20, 40, 20, 20, 40, 20, 20, 40]
+damping:   [ 1,  1,  2,  1,  1,  2,  1,  1,  2,  1,  1,  2]
+default_joint_pos: [-0.1,0.9,-1.8, 0.1,0.9,-1.8, -0.1,0.9,-1.8, 0.1,0.9,-1.8]
+
+commands:
+  base_velocity:
+    ranges:
+      lin_vel_x: [-1.0, 2.0]
+      lin_vel_y: [-1.0, 1.0]
+      ang_vel_z: [-1.0, 1.0]
+      heading: null
+actions:
+  JointPositionAction:
+    clip: null
+    joint_names: [.*]
+    scale: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5]
+    offset: [-0.1,0.9,-1.8, 0.1,0.9,-1.8, -0.1,0.9,-1.8, 0.1,0.9,-1.8]
+    joint_ids: null
+observations:
+  base_ang_vel:
+    params: {}
+    clip: null
+    scale: [1.0, 1.0, 1.0]
+    history_length: 1
+  projected_gravity:
+    params: {}
+    clip: null
+    scale: [1.0, 1.0, 1.0]
+    history_length: 1
+  velocity_commands:
+    params: {command_name: base_velocity}
+    clip: null
+    scale: [1.0, 1.0, 1.0]
+    history_length: 1
+  joint_pos_rel:
+    params: {}
+    clip: null
+    scale: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+    history_length: 1
+  joint_vel_rel:
+    params: {}
+    clip: null
+    scale: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+    history_length: 1
+  last_action:
+    params: {}
+    clip: null
+    scale: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+    history_length: 1