Fix hardware observation mismatch and policy refactor#14

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Commits on Aug 4, 2025

feat: 統一觀察工具與策略控制 dispatch\n\n- 建立 calculate_relative_joint_positions 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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