Fix angular velocity observation bug (#22)

Fix angular velocity observation bug

Author: patrickhaoy

source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/mdp/observations.py

@@ -53,17 +53,17 @@ def asset_link_velocity_in_root_asset_frame(
     target_asset: RigidObject | Articulation = env.scene[target_asset_cfg.name]
     root_asset: RigidObject | Articulation = env.scene[root_asset_cfg.name]
 
-    taget_body_idx = 0 if isinstance(target_asset_cfg.body_ids, slice) else target_asset_cfg.body_ids
+    target_body_idx = 0 if isinstance(target_asset_cfg.body_ids, slice) else target_asset_cfg.body_ids
 
     asset_lin_vel_b, _ = math_utils.subtract_frame_transforms(
         root_asset.data.root_pos_w,
         root_asset.data.root_quat_w,
-        target_asset.data.body_lin_vel_w[:, taget_body_idx].view(-1, 3),
+        target_asset.data.body_lin_vel_w[:, target_body_idx].view(-1, 3),
     )
     asset_ang_vel_b, _ = math_utils.subtract_frame_transforms(
         root_asset.data.root_pos_w,
         root_asset.data.root_quat_w,
-        target_asset.data.body_lin_vel_w[:, taget_body_idx].view(-1, 3),
+        target_asset.data.body_ang_vel_w[:, target_body_idx].view(-1, 3),
     )
 
     return torch.cat([asset_lin_vel_b, asset_ang_vel_b], dim=1)

source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/mdp/observations.py

@@ -129,17 +129,17 @@ def asset_link_velocity_in_root_asset_frame(
     target_asset: RigidObject | Articulation = env.scene[target_asset_cfg.name]
     root_asset: RigidObject | Articulation = env.scene[root_asset_cfg.name]
 
-    taget_body_idx = 0 if isinstance(target_asset_cfg.body_ids, slice) else target_asset_cfg.body_ids
+    target_body_idx = 0 if isinstance(target_asset_cfg.body_ids, slice) else target_asset_cfg.body_ids
 
     asset_lin_vel_b, _ = math_utils.subtract_frame_transforms(
         root_asset.data.root_pos_w,
         root_asset.data.root_quat_w,
-        target_asset.data.body_lin_vel_w[:, taget_body_idx].view(-1, 3),
+        target_asset.data.body_lin_vel_w[:, target_body_idx].view(-1, 3),
     )
     asset_ang_vel_b, _ = math_utils.subtract_frame_transforms(
         root_asset.data.root_pos_w,
         root_asset.data.root_quat_w,
-        target_asset.data.body_lin_vel_w[:, taget_body_idx].view(-1, 3),
+        target_asset.data.body_ang_vel_w[:, target_body_idx].view(-1, 3),
     )
 
     return torch.cat([asset_lin_vel_b, asset_ang_vel_b], dim=1)