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

Commits on Jul 31, 2026

Add skeletal-motion DSL: walk/reach/wave gaits for COCO-17

Nitjsefnie
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Kimi K3
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Test gaits: joint completeness, continuity, root translation, manifest

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Kimi K3
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ca9d778
Document the gait layer in DESIGN.md

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Kimi K3
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Make gait limbs rigid via closed-form two-link IK

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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

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Kimi K3
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d5898d3