Fixes apply actions method in the NonHolonomicAction action term class

[KyleM73]

Description

in NonHolonomicAction.apply_actions() the velocity command was incorrectly named self.joint_vel instead of self._joint_vel_command as initialized in NonHolonomicAction.__init__(). This causes an error when trying to instantiate the action config. I have made the correction and tested that it works.

Type of change

• Bug fix (non-breaking change which fixes an issue)

Screenshots

Please attach before and after screenshots of the change if applicable.

Before:

    def apply_actions(self):
        # obtain current heading
        quat_w = self._asset.data.body_quat_w[:, self._body_idx]
        yaw_w = euler_xyz_from_quat(quat_w)[2]
        # compute joint velocities targets
        self.joint_vel[:, 0] = torch.cos(yaw_w) * self.processed_actions[:, 0]  # x
        self.joint_vel[:, 1] = torch.sin(yaw_w) * self.processed_actions[:, 0]  # y
        self.joint_vel[:, 2] = self.processed_actions[:, 1]  # yaw
        # set the joint velocity targets
        self._asset.set_joint_velocity_target(self.joint_vel, joint_ids=self._joint_ids)

After:

    def apply_actions(self):
        # obtain current heading
        quat_w = self._asset.data.body_quat_w[:, self._body_idx]
        yaw_w = euler_xyz_from_quat(quat_w)[2]
        # compute joint velocities targets
        self._joint_vel_command[:, 0] = torch.cos(yaw_w) * self.processed_actions[:, 0]  # x
        self._joint_vel_command[:, 1] = torch.sin(yaw_w) * self.processed_actions[:, 0]  # y
        self._joint_vel_command[:, 2] = self.processed_actions[:, 1]  # yaw
        # set the joint velocity targets
        self._asset.set_joint_velocity_target(self._joint_vel_command, joint_ids=self._joint_ids)

Checklist

• I have run the pre-commit checks with ./orbit.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have run all the tests with ./orbit.sh --test and they pass
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[Mayankm96]

Thanks a lot for sending this fix. Could you please also modify extension.toml file and also run the pre-commit checks? :)

[KyleM73]

just did both, all tests green :)

[Mayankm96]

Thanks a lot for the fix :)