feat(env): add NumPy velocity command - #1057
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TATP-233 merged 1 commit intoAug 17, 2026
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This was referenced Aug 17, 2026
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Closes #1056
Result
Ports pinned mjlab v1.6.0
UniformVelocityCommandCfg/UniformVelocityCommandto the UniLab NumPy manager runtime, including resampling, heading, standing, world-frame, forward-only, metrics, partial reset, and fail-closed unsupported initial velocity writes. Adds base-owned root body-frame velocity and heading views without a new backend method.Scope accounting
Validation
uv run pytest -q tests/base/test_entity_facade.py tests/envs/mdp/test_uniform_velocity_command.py tests/envs/mdp/test_joint_position_action.py tests/envs/test_manager_based_rl_env.py(60 passed)make test-all(1,865 passed, 25 skipped, 1 xfailed; benchmark import smoke passed)uv run ruff check ..., mypy, and pyright passedUmbrella: #1042