From 8d0788b4c7b41d3357c7930013924fb44dfa696c Mon Sep 17 00:00:00 2001 From: UWLab BOT Date: Mon, 5 Jan 2026 11:03:50 -0800 Subject: [PATCH] Prepares pre-merge --- .../manipulation/factory_extension/mdp/observations.py | 6 +++--- .../manipulation/reset_states/mdp/observations.py | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/mdp/observations.py b/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/mdp/observations.py index 3454416..97742bd 100644 --- a/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/mdp/observations.py +++ b/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) diff --git a/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/mdp/observations.py b/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/mdp/observations.py index b58188c..457f630 100644 --- a/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/mdp/observations.py +++ b/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)