Inverts SE-2 keyboard device actions (Z, X) for yaw command (isaac-si…

…m#1030)

# Description

This MR swaps the keyboard command (X, Z) for yaw in the `Se2Keyboard` class
to have the following mapping:
- Z - positive yaw
- X - negative yaw

It also corrects the docstring of the `Se2Keyboard` class.

Fixes isaac-sim#1029

_Note:_ I double checked the `Se3Keyboard` class and the implementation
there is correct.

## 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
- [ ] I have run all the tests with `./isaaclab.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

source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py

@@ -30,7 +30,7 @@ class Se2Keyboard(DeviceBase):
         ====================== ========================= ========================
         Move along x-axis      Numpad 8 / Arrow Up       Numpad 2 / Arrow Down
         Move along y-axis      Numpad 4 / Arrow Right    Numpad 6 / Arrow Left
-        Rotate along z-axis    Numpad 7 / X              Numpad 9 / Y
+        Rotate along z-axis    Numpad 7 / Z              Numpad 9 / X
         ====================== ========================= ========================
 
     .. seealso::
@@ -82,8 +82,8 @@ def __str__(self) -> str:
         msg += "\tMove backward  (along x-axis): Numpad 2 / Arrow Down\n"
         msg += "\tMove right     (along y-axis): Numpad 4 / Arrow Right\n"
         msg += "\tMove left      (along y-axis): Numpad 6 / Arrow Left\n"
-        msg += "\tYaw positively (along z-axis): Numpad 7 / X\n"
-        msg += "\tYaw negatively (along z-axis): Numpad 9 / Y"
+        msg += "\tYaw positively (along z-axis): Numpad 7 / Z\n"
+        msg += "\tYaw negatively (along z-axis): Numpad 9 / X"
         return msg
 
     """
@@ -160,8 +160,8 @@ def _create_key_bindings(self):
             "RIGHT": np.asarray([0.0, -1.0, 0.0]) * self.v_y_sensitivity,
             # yaw command (positive)
             "NUMPAD_7": np.asarray([0.0, 0.0, 1.0]) * self.omega_z_sensitivity,
-            "X": np.asarray([0.0, 0.0, 1.0]) * self.omega_z_sensitivity,
+            "Z": np.asarray([0.0, 0.0, 1.0]) * self.omega_z_sensitivity,
             # yaw command (negative)
             "NUMPAD_9": np.asarray([0.0, 0.0, -1.0]) * self.omega_z_sensitivity,
-            "Z": np.asarray([0.0, 0.0, -1.0]) * self.omega_z_sensitivity,
+            "X": np.asarray([0.0, 0.0, -1.0]) * self.omega_z_sensitivity,
         }