From 012181e1103a7e7518ed877f46006e01b9f7e47d Mon Sep 17 00:00:00 2001 From: Octi Date: Fri, 30 Aug 2024 14:52:08 -0700 Subject: [PATCH 1/3] Keyboard device now has A binded to +y axis(was -y) and D binded to -y axis(was +y), this is now in accordance with both keyboard device documentation and right hand rule. --- source/extensions/omni.isaac.lab/docs/CHANGELOG.rst | 9 +++++++++ .../omni/isaac/lab/devices/keyboard/se3_keyboard.py | 6 +++--- 2 files changed, 12 insertions(+), 3 deletions(-) diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst index 64753ec7a2..fcd82abaad 100644 --- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst @@ -1,6 +1,15 @@ Changelog --------- +0.22.5 (2024-08-30) +~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Keyboard :meth:`omni.isaac.lab.device.Se3Keyboard._create_key_bindings` now has A binded to +y axis(was -y) and D + binded to -y axis(was +y), this is now in accordance with both keyboard device documentation and right hand rule. + 0.22.4 (2024-08-29) ~~~~~~~~~~~~~~~~~~~ diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py index 53b3afa6cd..80f3d209e4 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py @@ -170,9 +170,9 @@ def _create_key_bindings(self): # x-axis (forward) "W": np.asarray([1.0, 0.0, 0.0]) * self.pos_sensitivity, "S": np.asarray([-1.0, 0.0, 0.0]) * self.pos_sensitivity, - # y-axis (right-left) - "D": np.asarray([0.0, 1.0, 0.0]) * self.pos_sensitivity, - "A": np.asarray([0.0, -1.0, 0.0]) * self.pos_sensitivity, + # y-axis (left-right) + "A": np.asarray([0.0, 1.0, 0.0]) * self.pos_sensitivity, + "D": np.asarray([0.0, -1.0, 0.0]) * self.pos_sensitivity, # z-axis (up-down) "Q": np.asarray([0.0, 0.0, 1.0]) * self.pos_sensitivity, "E": np.asarray([0.0, 0.0, -1.0]) * self.pos_sensitivity, From 989836a1ae19aacf4ee11865dc903aac4c576951 Mon Sep 17 00:00:00 2001 From: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Date: Thu, 5 Sep 2024 09:38:40 +0200 Subject: [PATCH 2/3] Apply suggestions from code review Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> --- source/extensions/omni.isaac.lab/docs/CHANGELOG.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst index fcd82abaad..86a6990805 100644 --- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst @@ -10,6 +10,7 @@ Fixed * Keyboard :meth:`omni.isaac.lab.device.Se3Keyboard._create_key_bindings` now has A binded to +y axis(was -y) and D binded to -y axis(was +y), this is now in accordance with both keyboard device documentation and right hand rule. + 0.22.4 (2024-08-29) ~~~~~~~~~~~~~~~~~~~ From 0073155f92c291780f77ae4735f9fa28d375eeea Mon Sep 17 00:00:00 2001 From: Octi Date: Thu, 5 Sep 2024 03:01:07 -0700 Subject: [PATCH 3/3] Update extension.toml --- source/extensions/omni.isaac.lab/config/extension.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml index 66d17de023..c3ea884e54 100644 --- a/source/extensions/omni.isaac.lab/config/extension.toml +++ b/source/extensions/omni.isaac.lab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.22.6" +version = "0.22.7" # Description title = "Isaac Lab framework for Robot Learning"