Fix typo in Anymal C DirectRL environment (#1683)

# Description

This PR fixes a small typo in the code, where "undesired" is
accidentally typed as "undersired".

## Type of change

- [x] Bug fix (non-breaking change which fixes an issue)
- [ ] New feature (non-breaking change which adds functionality)
- [ ] Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- [ ] This change requires a documentation update

## Screenshots

N/A

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
- [ ] 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

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)

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