Commit 7d084d0

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sinusoidal gait (#493)

* sinusoidal gait * command visualizations * sinusoidal gait * typed dict to dataclass * trains * marker updates * minor cleanup * fix marker * small tweak * remove unused * lint

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examples
- data
  - joystick_teacher
    - teacher.eqx
  - walk_normal.yaml
  - walk_normal_dh.bvh
  - walk_relaxed_dh.bvh
- walking.py
ksim
- commands.py
- rewards.py
- task
  - rl.py
- vis.py

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-1764

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`‎examples/data/joystick_teacher/teacher.eqx‎`

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`‎examples/data/walk_normal.yaml‎`

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