# Description

This MR adds command manager terms so that it is possible to apply
multiple types of commands in the same environment. Before, you could
only use one. Now you can add multiple, for example, to generate a base
velocity command and an end effector pose command simultaneously.

## Type of change

- New feature (non-breaking change which adds functionality)

## 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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Signed-off-by: David Hoeller <dhoeller@ethz.ch>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>