Fixes error in apply_actions method in NonHolonomicAction action term. (#1513)

# Description


After indexing the size of `quad_w` in the `apply_actions` method is
(N,B,4) where B will always equal 1, since it is enforced in the
`__init__` that only one body name is passed to the action term config.
However, the `euler_xyz_from_quat` method requires inputs to be size
(N,4), and so an error is thrown for input size (N,1,4). This PR just
creates a (N,4) view of quat_w to be passed to `euler_xyz_from_quat`.
This simple change does not introduce any new warnings and works with a
simple non holonomic robot, like the Clearpath Husky.

## Type of change

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

## Checklist

- [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [X] I have made corresponding changes to the documentation
- [X] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [X] 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

---------

Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

Author: KyleM73

source/extensions/omni.isaac.lab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.27.26"
+version = "0.27.27"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.27.27 (2024-12-13)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the shape of ``quat_w`` in the ``apply_actions`` method of :attr:`~omni.isaac.lab.env.mdp.NonHolonomicAction` (previously (N,B,4), now (N,4) since the number of root bodies B is required to be 1). Previously ``apply_actions`` errored because ``euler_xyz_from_quat`` requires inputs of shape (N,4).
+
+
 0.27.26 (2024-12-11)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/non_holonomic_actions.py

@@ -132,7 +132,7 @@ def process_actions(self, actions):
 
     def apply_actions(self):
         # obtain current heading
-        quat_w = self._asset.data.body_quat_w[:, self._body_idx]
+        quat_w = self._asset.data.body_quat_w[:, self._body_idx].view(self.num_envs, 4)
         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