feat: manager-based humanoid velocity-tracking environment

[wlgys8]

Summary

• 新增 Manager 工作流的 humanoid velocity-tracking 环境（walk_manager_mdp：command / observations / reset / rewards / terrain builder）
• HeightFieldGrid 补充完整字段文档与采样高度计算公式（与 heightfield_lookup 双线性插值实现一一对应）
• colliding_termination 用 bool(colliding.any()) 替代手写短路循环（Numba 编译验证通过，行为等价）

Closes #42

Test plan

• python -m pytest motrix_env_core/tests -k term：12 passed
• Numba @njit 下 bool(arr.any()) 编译与行为验证通过

[Copilot]

🟡 Changes recommended

There is at least one confirmed joint-name resolution/alignment bug in the new humanoid manager reward term, and the newly added SciPy dependency appears unused and should be justified or removed.

Get a fresh assessment by requesting another Copilot review.

Pull request overview

This PR migrates the humanoid velocity-tracking “walk” task from a direct NumPy environment to a Manager-based workflow, enabling in-kernel terrain height lookup and consolidating task logic into manager terms/config while extending the manager compiler to support richer term arguments and query collection.

Changes:

• Added a new manager-based humanoid velocity-tracking task family (walk_manager_mdp) and updated humanoid presets (g1/k1/microduck/dex_evt) to register ManagerEnv with the new HumanoidVelocityTrackingManagerEnvCfg.
• Introduced in-kernel heightfield support via HeightFieldDataQuery + HeightFieldGrid/heightfield_lookup, and wired MotrixSim runtime compilation for heightfield grid export.
• Refactored manager term plumbing to canonicalize/compile ndarray + SimDataQuery term args, and adjusted tests plus WBT/ball_balance terms to the new build-context calling convention.

File summaries

File	Description
uv.lock	Locks added SciPy + updated motrixsim wheel set.
motrix_envs/tests/test_wbt_numba.py	Updates WBT Numba tests for renamed obs/command fields.
motrix_envs/tests/test_mdp_obs.py	Refactors observation-term tests to use BuildContext and new obs terms.
motrix_envs/tests/test_humanoid_walk.py	Updates humanoid walk preset contract tests for ManagerEnv configs.
motrix_envs/src/motrix_envs/locomotion/wbt/mdp/terminations.py	Adapts termination cfgs to build-context calling surface.
motrix_envs/src/motrix_envs/locomotion/wbt/mdp/rewards.py	Vectorizes reward math and switches cfgs to build-context calls.
motrix_envs/src/motrix_envs/locomotion/wbt/mdp/reset.py	Updates reset cfgs to use build context and vector math helpers.
motrix_envs/src/motrix_envs/locomotion/wbt/mdp/observations.py	Removes WBT-local ActionsObs (now core) + build-context changes.
motrix_envs/src/motrix_envs/locomotion/wbt/mdp/command.py	Aligns command buffer with CommandTerm.command contract.
motrix_envs/src/motrix_envs/locomotion/wbt/mdp/action.py	Adjusts expected joint shapes away from sim_data-derived shapes.
motrix_envs/src/motrix_envs/locomotion/wbt/k1.py	Imports shared ActionRate reward from core MDP rewards.
motrix_envs/src/motrix_envs/locomotion/wbt/g1.py	Imports shared ActionRate reward from core MDP rewards.
motrix_envs/src/motrix_envs/locomotion/wbt/dex_evt.py	Imports shared ActionRate reward from core MDP rewards.
motrix_envs/src/motrix_envs/locomotion/wbt/cfg.py	Switches to new body-based obs terms + shared ActionRate reward cfg.
motrix_envs/src/motrix_envs/locomotion/humanoid/walk_np.py	Removes legacy direct NumPy humanoid walk environment.
motrix_envs/src/motrix_envs/locomotion/humanoid/walk_manager_mdp/terrain.py	Adds builder for per-task in-kernel terrain grid.
motrix_envs/src/motrix_envs/locomotion/humanoid/walk_manager_mdp/rewards.py	Adds manager reward terms for humanoid walk (incl. terrain lookups).
motrix_envs/src/motrix_envs/locomotion/humanoid/walk_manager_mdp/reset.py	Adds manager reset term for spawn sampling + terrain-aware base pose.
motrix_envs/src/motrix_envs/locomotion/humanoid/walk_manager_mdp/observations.py	Adds gait-phase observation term.
motrix_envs/src/motrix_envs/locomotion/humanoid/walk_manager_mdp/command.py	Adds velocity command + gait clock + curriculum command term.
motrix_envs/src/motrix_envs/locomotion/humanoid/walk_manager_mdp/init.py	Declares package for manager walk terms.
motrix_envs/src/motrix_envs/locomotion/humanoid/microduck.py	Converts microduck walk presets to manager-based cfg + terms.
motrix_envs/src/motrix_envs/locomotion/humanoid/k1.py	Converts k1 walk presets to manager-based cfg + terms.
motrix_envs/src/motrix_envs/locomotion/humanoid/g1.py	Converts g1 walk presets to manager-based cfg + terms.
motrix_envs/src/motrix_envs/locomotion/humanoid/dex_evt.py	Converts dex-evt walk presets to manager-based cfg + terms.
motrix_envs/src/motrix_envs/locomotion/humanoid/cfg.py	Replaces direct-env cfg schema with manager-based walk schema + query assembly.
motrix_envs/src/motrix_envs/locomotion/humanoid/init.py	Stops importing removed walk_np registration module.
motrix_envs/src/motrix_envs/locomotion/ball_balance/microduck.py	Updates ball-balance manager cfg to new body-based obs + ActionRate reward.
motrix_envs/src/motrix_envs/locomotion/ball_balance/mdp/terminations.py	Moves termination cfgs to build-context calling convention.
motrix_envs/src/motrix_envs/locomotion/ball_balance/mdp/rewards.py	Moves reward cfgs to build-context calling convention + joint ordering checks.
motrix_envs/src/motrix_envs/locomotion/ball_balance/mdp/reset.py	Moves reset cfgs to build-context calling convention.
motrix_envs/src/motrix_envs/locomotion/ball_balance/mdp/observations.py	Moves observation cfgs to build-context calling convention.
motrix_env_motrixsim/src/motrix_env_motrixsim/runtime.py	Implements compile_height_field_data model query compilation.
motrix_env_core/tests/test_required_queries.py	Removes tests for the deprecated required_sim_queries merge path.
motrix_env_core/tests/test_numba_manager.py	Updates tests for new metric/command-term behavior.
motrix_env_core/tests/test_model_query_dispatch.py	Adds HeightFieldDataQuery dispatch coverage.
motrix_env_core/src/motrix_env_core/sim/model.py	Adds HeightFieldDataQuery and compiler interface hook.
motrix_env_core/src/motrix_env_core/sim/init.py	Re-exports HeightFieldDataQuery.
motrix_env_core/src/motrix_env_core/numba/math/quaternion.py	Adds rotate_inverse_components helper for allocation-free kernels.
motrix_env_core/src/motrix_env_core/numba/manager/terms.py	Introduces shared term arg canonicalization + BaseTerm.
motrix_env_core/src/motrix_env_core/numba/manager/terminations.py	Uses BuildContext + shared term arg canonicalization.
motrix_env_core/src/motrix_env_core/numba/manager/sim_reset.py	Converts ResetTerm to BaseTerm + shared arg canonicalization.
motrix_env_core/src/motrix_env_core/numba/manager/rewards.py	Converts RewardTerm to BaseTerm + BuildContext + shared arg canonicalization.
motrix_env_core/src/motrix_env_core/numba/manager/rand.py	Adds uniform_range primitive + lowered method overload.
motrix_env_core/src/motrix_env_core/numba/manager/observations.py	Switches observation term building to BuildContext + shared arg canonicalization.
motrix_env_core/src/motrix_env_core/numba/manager/env.py	Collects SimDataQuery args from terms and compiles merged read program.
motrix_env_core/src/motrix_env_core/numba/manager/context.py	Adds BuildContext surface for term construction.
motrix_env_core/src/motrix_env_core/numba/manager/compiler/program.py	Handles ForceLiteralArg for numba.literally string args during warmup.
motrix_env_core/src/motrix_env_core/numba/manager/compiler/compiler.py	Lowers ndarray + string + SimDataQuery term args; tracks sim slots by key.
motrix_env_core/src/motrix_env_core/numba/manager/commands.py	Makes CommandTerm kernel_data and standardizes command field contract.
motrix_env_core/src/motrix_env_core/numba/kernel_data/canonical.py	Formatting-only import restructuring.
motrix_env_core/src/motrix_env_core/mdp/terrain.py	Adds HeightFieldGrid + bilinear lookup used by manager tasks.
motrix_env_core/src/motrix_env_core/mdp/terminations.py	Adds reusable CollidingTermination term/cfg.
motrix_env_core/src/motrix_env_core/mdp/rewards.py	Adds reusable Alive/ActionRate/Tracking reward term cfgs.
motrix_env_core/src/motrix_env_core/mdp/observations.py	Adds reusable body-based observations + command/actions obs terms.
motrix_env_core/src/motrix_env_core/manager/init.py	Re-exports BaseTerm from new shared terms module.
motrix_env_core/src/motrix_env_core/config/sim_reset.py	Updates reset cfg signature to accept build context.
motrix_env_core/pyproject.toml	Adds SciPy as a pinned runtime dependency.

Review details

• Files reviewed: 57/58 changed files
• Comments generated: 3
• Review effort level: Lite

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