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

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

Note rigid two-link IK in the DESIGN.md gait section

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succeeded Jul 31, 2026 in 18s