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I've just tested some Pet commands (by using a summoned familiar) and the following commands don't seem to reach the familiar NPC:
/pet [name,] assist
/pet [name,] guard
/pet [name,] run
/pet [name,] walk

Please note the Minion behaviour used for pets is using almost the same data in SVN. The steps I used to replicate the bug:
1. summoned a familiar
2. issue a command /pet [name,] follow/stopattack/stay/run/walk
3. use the /info command to know the last perceived command.

When reaching step 3 the info command should show something like that:
(12:08:36) [System] >Last perception: ownercmd:stopattack
instead for the above commands an error message is outputted (just like the command was wrongly typed or isn't recognized).

By using the percept command on the NPC like /percept ownercmd:run the behaviour is correctly run and works as expected.

Also please note that assist/guard commands appear in the help.xml file while the new run/walk don't.