Fixes typos in comments and docs (#1216)

## 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
- [X] 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
- [X] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

docs/source/migration/migrating_from_isaacgymenvs.rst

@@ -196,7 +196,7 @@ adding any other optional objects into the scene, such as lights.
 |     self.sim = super().create_sim(self.device_id, self.graphics_device_id,   |     # clone, filter, and replicate                                     |
 |                                     self.physics_engine, self.sim_params)    |     self.scene.clone_environments(copy_from_source=False)              |
 |     self._create_ground_plane()                                              |     self.scene.filter_collisions(global_prim_paths=[])                 |
-|     self._create_envs(self.num_envs, self.cfg["env"]['envSpacing'],          |     # add articultion to scene                                         |
+|     self._create_envs(self.num_envs, self.cfg["env"]['envSpacing'],          |     # add articulation to scene                                        |
 |                         int(np.sqrt(self.num_envs)))                         |     self.scene.articulations["cartpole"] = self.cartpole               |
 |                                                                              |     # add lights                                                       |
 |                                                                              |     light_cfg = sim_utils.DomeLightCfg(intensity=2000.0)               |
@@ -660,7 +660,7 @@ the need to set simulation parameters for actors in the task implementation.
 |     self._create_ground_plane()                                        |         copy_from_source=False)                                     |
 |     self._create_envs(self.num_envs,                                   |     self.scene.filter_collisions(                                   |
 |         self.cfg["env"]['envSpacing'],                                 |         global_prim_paths=[])                                       |
-|         int(np.sqrt(self.num_envs)))                                   |     # add articultion to scene                                      |
+|         int(np.sqrt(self.num_envs)))                                   |     # add articulation to scene                                     |
 |                                                                        |     self.scene.articulations["cartpole"] = self.cartpole            |
 | def _create_ground_plane(self):                                        |     # add lights                                                    |
 |     plane_params = gymapi.PlaneParams()                                |     light_cfg = sim_utils.DomeLightCfg(                             |

docs/source/migration/migrating_from_omniisaacgymenvs.rst

@@ -219,7 +219,7 @@ will automatically be created for the actor. This avoids the need to separately
 |     self._cartpoles = ArticulationView(                                      |     # clone, filter, and replicate                                     |
 |                  prim_paths_expr="/World/envs/.*/Cartpole",                  |     self.scene.clone_environments(copy_from_source=False)              |
 |                  name="cartpole_view", reset_xform_properties=False          |     self.scene.filter_collisions(global_prim_paths=[])                 |
-|     )                                                                        |     # add articultion to scene                                         |
+|     )                                                                        |     # add articulation to scene                                        |
 |     scene.add(self._cartpoles)                                               |     self.scene.articulations["cartpole"] = self.cartpole               |
 |                                                                              |     # add lights                                                       |
 |                                                                              |     light_cfg = sim_utils.DomeLightCfg(intensity=2000.0)               |
@@ -638,7 +638,7 @@ Adding actors to the scene has been replaced by ``self.scene.articulations["cart
 |         reset_xform_properties=False                      |         copy_from_source=False)                          |
 |     )                                                     |     self.scene.filter_collisions(                        |
 |     scene.add(self._cartpoles)                            |         global_prim_paths=[])                            |
-|     return                                                |     # add articultion to scene                           |
+|     return                                                |     # add articulation to scene                          |
 |                                                           |     self.scene.articulations["cartpole"] = self.cartpole |
 | def get_cartpole(self):                                   |                                                          |
 |     cartpole = Cartpole(                                  |     # add lights                                         |

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py

@@ -125,7 +125,7 @@ class CartpoleCameraEnv(DirectRLEnv):
         self.scene.clone_environments(copy_from_source=False)
         self.scene.filter_collisions(global_prim_paths=[])
 
-        # add articultion and sensors to scene
+        # add articulation and sensors to scene
         self.scene.articulations["cartpole"] = self._cartpole
         self.scene.sensors["tiled_camera"] = self._tiled_camera
         # add lights

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py

@@ -74,7 +74,7 @@ class CartpoleEnv(DirectRLEnv):
         # clone, filter, and replicate
         self.scene.clone_environments(copy_from_source=False)
         self.scene.filter_collisions(global_prim_paths=[])
-        # add articultion to scene
+        # add articulation to scene
         self.scene.articulations["cartpole"] = self.cartpole
         # add lights
         light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/inhand_manipulation/inhand_manipulation_env.py

@@ -84,7 +84,7 @@ class InHandManipulationEnv(DirectRLEnv):
         spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg())
         # clone and replicate (no need to filter for this environment)
         self.scene.clone_environments(copy_from_source=False)
-        # add articultion to scene - we must register to scene to randomize with EventManager
+        # add articulation to scene - we must register to scene to randomize with EventManager
         self.scene.articulations["robot"] = self.hand
         self.scene.rigid_objects["object"] = self.object
         # add lights

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/locomotion/locomotion_env.py

@@ -54,7 +54,7 @@ class LocomotionEnv(DirectRLEnv):
         # clone, filter, and replicate
         self.scene.clone_environments(copy_from_source=False)
         self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
-        # add articultion to scene
+        # add articulation to scene
         self.scene.articulations["robot"] = self.robot
         # add lights
         light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_vision_env.py

@@ -88,7 +88,7 @@ class ShadowHandVisionEnv(InHandManipulationEnv):
         sem.GetSemanticDataAttr().Set("cube")
         # clone and replicate (no need to filter for this environment)
         self.scene.clone_environments(copy_from_source=False)
-        # add articultion to scene - we must register to scene to randomize with EventManager
+        # add articulation to scene - we must register to scene to randomize with EventManager
         self.scene.articulations["robot"] = self.hand
         self.scene.rigid_objects["object"] = self.object
         self.scene.sensors["tiled_camera"] = self._tiled_camera

source/standalone/tutorials/01_assets/run_deformable_object.py

@@ -109,7 +109,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Deformab
             # write nodal state to simulation
             cube_object.write_nodal_state_to_sim(nodal_state)
 
-            # write kinematic target to nodal state and free all vertices
+            # Write the nodal state to the kinematic target and free all vertices
             nodal_kinematic_target[..., :3] = nodal_state[..., :3]
             nodal_kinematic_target[..., 3] = 1.0
             cube_object.write_nodal_kinematic_target_to_sim(nodal_kinematic_target)