Extend support for body input components

### What change is being made

Add support for body twist matchers and fix support for deployment of
policies exported with mjlab.

This PR adds missing deployment matchers and addresses existing ones for
body components:

- Add matchers for body twists
- Body matchers were previously only supporting
"obj.BODY_CONFIG_NAME.bodies.BODY_LINK_NAME.suffix". This PR changes
matchers to support body inputs which drop the "bodies" string in their
name.

### Why this change is being made

Support deployment of policies that require body twist inputs.

### Tested

Tests cover new matchers. Deployed in sim and on hardware.

GitOrigin-RevId: 54379a8fe98d40f30b9ff4b4f186f4134b978296

Author: dbellicoso-bdai

.github/workflows/docs.yml

@@ -39,7 +39,7 @@ jobs:
       - name: Setup pixi
         uses: prefix-dev/setup-pixi@v0.9.5
         with:
-          pixi-version: latest
+          pixi-version: v0.67.2
           frozen: true
           cache: true
           environments: docs

.github/workflows/test.yml

@@ -32,7 +32,7 @@ jobs:
       - name: Setup pixi
         uses: prefix-dev/setup-pixi@v0.9.5
         with:
-          pixi-version: latest
+          pixi-version: v0.67.2
           frozen: true
           cache: false
 
@@ -50,7 +50,7 @@ jobs:
       - name: Setup pixi
         uses: prefix-dev/setup-pixi@v0.9.5
         with:
-          pixi-version: latest
+          pixi-version: v0.67.2
           frozen: true
           cache: false
 
@@ -71,7 +71,7 @@ jobs:
       - name: Setup pixi
         uses: prefix-dev/setup-pixi@v0.9.5
         with:
-          pixi-version: latest
+          pixi-version: v0.67.2
           frozen: true
           cache: false
 

control/include/exploy/components.hpp

@@ -17,6 +17,7 @@ namespace exploy::control {
  * input tensors. Subclasses implement specific data sources (joints, IMU, cameras, etc.).
  */
 struct Input {
+  explicit Input(const std::string& name) : name_(name) {}
   virtual ~Input() = default;
 
   /**
@@ -42,6 +43,15 @@ struct Input {
    */
   virtual bool read(OnnxRuntime& runtime, RobotStateInterface& state,
                     CommandInterface& command) = 0;
+
+  /**
+   * @brief Get the name of this component.
+   * @return Name of this component.
+   */
+  virtual const std::string& getName() const { return name_; }
+
+ private:
+  std::string name_;  ///< Name of this component.
 };
 
 /**
@@ -52,6 +62,7 @@ struct Input {
  * velocity commands, memory buffers, etc.).
  */
 struct Output {
+  explicit Output(const std::string& name) : name_(name) {}
   virtual ~Output() = default;
 
   /**
@@ -77,6 +88,15 @@ struct Output {
    */
   virtual bool write(OnnxRuntime& runtime, RobotStateInterface& state,
                      CommandInterface& command) = 0;
+
+  /**
+   * @brief Get the name of this component.
+   * @return Name of this component.
+   */
+  virtual const std::string& getName() const { return name_; }
+
+ private:
+  std::string name_;  ///< Name of this component.
 };
 
 /**
@@ -432,6 +452,54 @@ class BodyPositionInput : public Input {
   std::string body_name_;  ///< Rigid body name.
 };
 
+/**
+ * @brief Input component that reads linear velocity of a specific rigid body.
+ *
+ * Reads the linear velocity of a named rigid body as a 3D vector (vx, vy, vz)
+ * and copies it to the ONNX input buffer.
+ */
+class BodyLinearVelocityInput : public Input {
+ public:
+  /**
+   * @brief Construct a body linear velocity input component.
+   *
+   * @param key ONNX input tensor name (e.g., "obj.object.box.lin_vel_b_rt_w_in_b").
+   * @param body_name Name of the rigid body to read linear velocity from.
+   */
+  BodyLinearVelocityInput(const std::string& key, const std::string& body_name);
+
+  bool init(RobotStateInterface& state, CommandInterface& command) override;
+  bool read(OnnxRuntime& runtime, RobotStateInterface& state, CommandInterface& command) override;
+
+ private:
+  std::string key_;        ///< ONNX input tensor name.
+  std::string body_name_;  ///< Rigid body name.
+};
+
+/**
+ * @brief Input component that reads angular velocity of a specific rigid body.
+ *
+ * Reads the angular velocity of a named rigid body as a 3D vector (wx, wy, wz)
+ * and copies it to the ONNX input buffer.
+ */
+class BodyAngularVelocityInput : public Input {
+ public:
+  /**
+   * @brief Construct a body angular velocity input component.
+   *
+   * @param key ONNX input tensor name (e.g., "obj.object.box.ang_vel_b_rt_w_in_b").
+   * @param body_name Name of the rigid body to read angular velocity from.
+   */
+  BodyAngularVelocityInput(const std::string& key, const std::string& body_name);
+
+  bool init(RobotStateInterface& state, CommandInterface& command) override;
+  bool read(OnnxRuntime& runtime, RobotStateInterface& state, CommandInterface& command) override;
+
+ private:
+  std::string key_;        ///< ONNX input tensor name.
+  std::string body_name_;  ///< Rigid body name.
+};
+
 /**
  * @brief Input component that reads commanded SE(3) pose.
  *

control/include/exploy/controller.hpp

@@ -37,10 +37,18 @@ class OnnxRLController {
    * This function only parses the configuration needed to interface with the ONNX model. Call
    * init() to fully initialize the controller.
    *
+   * If called more than once (e.g. to reload a model), default matchers are registered only on
+   * the first call where register_default_matchers is true; custom matchers added via context()
+   * are preserved across calls.
+   *
    * @param onnx_model_path Path to the ONNX model file.
+   * @param register_default_matchers If true (default), all built-in matchers (including
+   * StepCountMatcher) are registered the first time create() is called with this parameter set to
+   * true. Passing false disables all built-in matchers for that call; only matchers added via
+   * context() will be used, and a later call with true can still register the built-in matchers.
    * @return True if parsing succeeds, false otherwise.
    */
-  bool create(const std::string& onnx_model_path);
+  bool create(const std::string& onnx_model_path, bool register_default_matchers = true);
   /**
    * @brief Initialize the controller.
    *
@@ -72,6 +80,8 @@ class OnnxRLController {
   RobotStateInterface& state_;
   CommandInterface& command_;
 
+  bool default_matchers_registered_{false};
+
   // Data collection.
   DataCollectionInterface& data_collection_;
   double inference_duration_s_{};