Merge branch 'isaac-sim:main' into main

Author: gursi26

Diff for: CONTRIBUTORS.md

@@ -69,6 +69,7 @@ Guidelines for modifications:
 * Muhong Guo
 * Nicola Loi
 * Nuralem Abizov
+* Ori Gadot
 * Oyindamola Omotuyi
 * Özhan Özen
 * Peter Du

Diff for: source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py

@@ -547,7 +547,7 @@ def root_link_pos_w(self) -> torch.Tensor:
 
         This quantity is the position of the actor frame of the root rigid body relative to the world.
         """
-        if self._body_com_state_w.timestamp < self._sim_timestamp:
+        if self._root_link_state_w.timestamp < self._sim_timestamp:
             # read data from simulation (pose is of link)
             pose = self._root_physx_view.get_root_transforms()
             return pose[:, :3]
@@ -559,7 +559,7 @@ def root_link_quat_w(self) -> torch.Tensor:
 
         This quantity is the orientation of the actor frame of the root rigid body.
         """
-        if self._body_com_state_w.timestamp < self._sim_timestamp:
+        if self._root_link_state_w.timestamp < self._sim_timestamp:
             # read data from simulation (pose is of link)
             pose = self._root_physx_view.get_root_transforms().clone()
             pose[:, 3:7] = math_utils.convert_quat(pose[:, 3:7], to="wxyz")

Diff for: source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py

@@ -399,7 +399,7 @@ def root_com_vel_w(self) -> torch.Tensor:
 
         This quantity contains the linear and angular velocities of the root rigid body's center of mass frame relative to the world.
         """
-        if self._root_link_state_w.timestamp < self._sim_timestamp:
+        if self._root_com_state_w.timestamp < self._sim_timestamp:
             # read data from simulation
             velocity = self._root_physx_view.get_velocities()
             return velocity
@@ -411,7 +411,7 @@ def root_com_lin_vel_w(self) -> torch.Tensor:
 
         This quantity is the linear velocity of the root rigid body's center of mass frame relative to the world.
         """
-        if self._root_link_state_w.timestamp < self._sim_timestamp:
+        if self._root_com_state_w.timestamp < self._sim_timestamp:
             # read data from simulation
             velocity = self._root_physx_view.get_velocities()
             return velocity[:, 0:3]
@@ -423,7 +423,7 @@ def root_com_ang_vel_w(self) -> torch.Tensor:
 
         This quantity is the angular velocity of the root rigid body's center of mass frame relative to the world.
         """
-        if self._root_link_state_w.timestamp < self._sim_timestamp:
+        if self._root_com_state_w.timestamp < self._sim_timestamp:
             # read data from simulation
             velocity = self._root_physx_view.get_velocities()
             return velocity[:, 3:6]

Diff for: source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env.py

@@ -130,7 +130,7 @@ def _get_rewards(self) -> torch.Tensor:
         air_time = torch.sum((last_air_time - 0.5) * first_contact, dim=1) * (
             torch.norm(self._commands[:, :2], dim=1) > 0.1
         )
-        # undersired contacts
+        # undesired contacts
         net_contact_forces = self._contact_sensor.data.net_forces_w_history
         is_contact = (
             torch.max(torch.norm(net_contact_forces[:, :, self._undesired_contact_body_ids], dim=-1), dim=1)[0] > 1.0
@@ -148,7 +148,7 @@ def _get_rewards(self) -> torch.Tensor:
             "dof_acc_l2": joint_accel * self.cfg.joint_accel_reward_scale * self.step_dt,
             "action_rate_l2": action_rate * self.cfg.action_rate_reward_scale * self.step_dt,
             "feet_air_time": air_time * self.cfg.feet_air_time_reward_scale * self.step_dt,
-            "undesired_contacts": contacts * self.cfg.undersired_contact_reward_scale * self.step_dt,
+            "undesired_contacts": contacts * self.cfg.undesired_contact_reward_scale * self.step_dt,
             "flat_orientation_l2": flat_orientation * self.cfg.flat_orientation_reward_scale * self.step_dt,
         }
         reward = torch.sum(torch.stack(list(rewards.values())), dim=0)

Diff for: source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env_cfg.py

@@ -107,7 +107,7 @@ class AnymalCFlatEnvCfg(DirectRLEnvCfg):
     joint_accel_reward_scale = -2.5e-7
     action_rate_reward_scale = -0.01
     feet_air_time_reward_scale = 0.5
-    undersired_contact_reward_scale = -1.0
+    undesired_contact_reward_scale = -1.0
     flat_orientation_reward_scale = -5.0