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Inverts SE-2 keyboard device actions (Z, X) for yaw command #1030

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merged 1 commit into from
Sep 25, 2024
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Inverts SE-2 keyboard device actions (Z, X) for yaw command #1030

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10 changes: 5 additions & 5 deletions source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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::
Expand Down Expand Up @@ -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

"""
Expand Down Expand Up @@ -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,
}
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