# Description

This PR introduces the concept of command generators that can be used
for goal-conditioned environments. The idea is that these classes can be
used for task specification and the same environment can be configured
for different task logics (position-based locomotion vs velocity based
control).

Currently, the included command generators are specific to locomotion
(SE(2) control). They have their own visualization schemes (arrows,
boxes etc.) that can be useful for debugging.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file