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Add a strictly equivariant model for symmetry-aware RL - #241

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vanillaturtlechips wants to merge 5 commits into
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vanillaturtlechips:feature/equivariant-model
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vanillaturtlechips wants to merge 5 commits into
leggedrobotics:extrasfrom
vanillaturtlechips:feature/equivariant-model

Address review: decouple from the symmetry extension and fold on export

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