feat: huoyi M20 smooth/bridge training and stability docs

Current code snapshot: smooth/bridge task configs, smooth random terrain,
roll/pitch stability rewards, M20 URDF updates, eval profile and stability
training documentation.

pyproject.toml

@@ -0,0 +1,85 @@
+[build-system]
+requires = ["setuptools", "toml"]
+build-backend = "setuptools.build_meta"
+
+[tool.isort]
+
+atomic = true
+profile = "black"
+line_length = 120
+py_version = 310
+skip_glob = ["docs/*", "logs/*"]
+group_by_package = true
+
+sections = [
+    "FUTURE",
+    "STDLIB",
+    "THIRDPARTY",
+    "ISAACLABPARTY",
+    "FIRSTPARTY",
+    "LOCALFOLDER",
+]
+extra_standard_library = [
+    "numpy",
+    "h5py",
+    "open3d",
+    "torch",
+    "tensordict",
+    "bpy",
+    "matplotlib",
+    "gymnasium",
+    "gym",
+    "scipy",
+    "hid",
+    "yaml",
+    "prettytable",
+    "toml",
+    "trimesh",
+    "tqdm",
+    "psutil",
+]
+known_thirdparty = [
+    "isaacsim.core.api",
+    "omni.replicator.core",
+    "pxr",
+    "omni.kit.*",
+    "warp",
+    "carb",
+    "Semantics",
+]
+known_isaaclabparty = [
+    "isaaclab",
+    "isaaclab_tasks",
+    "isaaclab_assets",
+    "isaaclab_mimic",
+    "isaaclab_rl"
+]
+
+# Modify the following to include the package names of your first-party code
+known_firstparty = "rl_training"
+known_local_folder = "config"
+
+[tool.pyright]
+
+exclude = [
+    "**/__pycache__",
+    "**/docs",
+    "**/logs",
+    ".git",
+    ".vscode",
+]
+
+typeCheckingMode = "basic"
+pythonVersion = "3.11"
+pythonPlatform = "Linux"
+enableTypeIgnoreComments = true
+
+# This is required as the CI pre-commit does not download the module (i.e. numpy, torch, prettytable)
+# Therefore, we have to ignore missing imports
+reportMissingImports = "none"
+# This is required to ignore for type checks of modules with stubs missing.
+reportMissingModuleSource = "none" # -> most common: prettytable in mdp managers
+
+reportGeneralTypeIssues = "none"       # -> raises 218 errors (usage of literal MISSING in dataclasses)
+reportOptionalMemberAccess = "warning" # -> raises 8 errors
+reportPrivateUsage = "warning"