Dataset generation using the simulation script.

[Danfoa]

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Dataset generation pipeline using the simulation script.

This commit introduces changes to the simulation script so it can be used for generating the datasets of sensor observations from controlled episodes of the robots in gym_quadruped using controllers from this repo.

An example script for generating and saving the data is also provided.

[giulioturrisi]

Ciao Daniel, is this pull request still valid? I saw that most of the stuff was pushed on main.