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feat(dsl): skeletal motion DSL — walk, reach and wave gaits for COCO-17 - #98

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Nitjsefnie-OSC:feat/29-skeletal-motion-dsl

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feat(dsl): skeletal motion DSL — walk, reach and wave gaits for COCO-17#98
Nitjsefnie wants to merge 6 commits into
bamdadd:mainfrom
Nitjsefnie-OSC:feat/29-skeletal-motion-dsl

Commits on Jul 31, 2026
- Add skeletal-motion DSL: walk/reach/wave gaits for COCO-17
  
  Nitjsefnie
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  Kimi K3
  committed
  8e84b5d
- Test gaits: joint completeness, continuity, root translation, manifest
  
  Nitjsefnie
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  Kimi K3
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  ca9d778
- Document the gait layer in DESIGN.md
  
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- Make gait limbs rigid via closed-form two-link IK
  
  Nitjsefnie
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  Kimi K3
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- Test limb rigidity, measured-root continuity, golden joint positions
  
  Nitjsefnie
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  Kimi K3
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- Note rigid two-link IK in the DESIGN.md gait section
  
  Nitjsefnie
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  Kimi K3
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  d5898d3