perf: param tuning

refactor: switch rel pos visibility gating to yaw-linear interpolated asymmetric tilt bounds

fix: an issue in skrl play script

perf: reduce model capacity

submodule: update skrl

refactor: unified param location; submodule: add swarm_attention model in skrl

feat: update milestones; omit recording reward components with coefficient 0

submodule: update skrl

feat: update milestones; submodule: update skrl

feat: refine max tilt ang in controller

feat: update milestones

feat: update acc env

perf: refine attitude tracking by tuning PID with zero jerk for aj policy

refactor: choose a specific dynamic (fixed delay: torque_ctrl_delay_ms=20, w_delay=50, q_delay=100) for sim and tune PID gains accordingly

feat: update ctrl delay from real data