Update README with deploy.yaml instructions and build steps

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

README.md

@@ -43,6 +43,7 @@ RL locomotion policy for the [Unitree Go2](https://www.unitree.com/go2/) quadrup
 | `policy.onnx` + `policy.onnx.data` | ONNX model for deployment (go2_ctrl) |
 | `model_500.pt` | Final PyTorch checkpoint (best for fine-tuning) |
 | `model_0.pt` ... `model_400.pt` | Intermediate checkpoints every 100 steps |
+| `params/deploy.yaml` | Deploy configuration (obs order, action scale, joint mapping) |
 | `params/env.yaml` | Environment configuration |
 | `params/agent.yaml` | Agent/PPO configuration |
 | `events.out.tfevents.*` | TensorBoard training logs |
@@ -52,15 +53,24 @@ RL locomotion policy for the [Unitree Go2](https://www.unitree.com/go2/) quadrup
 ### Deploy in MuJoCo simulator
 
 ```bash
-# Copy ONNX model
+# Copy ONNX model + deploy config
 cp policy.onnx policy.onnx.data \
   unitree_rl_mjlab/deploy/robots/go2/config/policy/velocity/v0/exported/
+cp params/deploy.yaml \
+  unitree_rl_mjlab/deploy/robots/go2/config/policy/velocity/v0/params/
+
+# Build controller
+cd unitree_rl_mjlab/deploy/robots/go2
+mkdir -p build && cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release && make -j$(nproc)
 
 # Run simulator + controller
 cd unitree_mujoco/simulate/build && ./unitree_mujoco
 cd unitree_rl_mjlab/deploy/robots/go2/build && ./go2_ctrl --network=lo
 ```
 
+> **Important:** This model was trained **without `gait_phase`** and with **action scale 0.5**. The default `deploy.yaml` in unitree_rl_mjlab may differ — use `params/deploy.yaml` from this repo.
+
 ### Fine-tune on rough terrain
 
 ```bash