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Adapts A and D button bindings in the keyboard device #910

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merged 4 commits into from
Sep 5, 2024
Merged

Adapts A and D button bindings in the keyboard device #910

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012181e
Keyboard device now has A binded to +y axis(was -y) and D
Aug 30, 2024
989836a
Apply suggestions from code review
Mayankm96 Sep 5, 2024
e2db319
Merge branch 'main' into fix/keyboard
Mayankm96 Sep 5, 2024
0073155
Update extension.toml
Sep 5, 2024
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10 changes: 10 additions & 0 deletions source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
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Original file line number Diff line number Diff line change
@@ -1,6 +1,16 @@
Changelog
---------

0.22.7 (2024-09-05)
~~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Adapted the ``A`` and ``D`` button bindings inside :meth:`omni.isaac.lab.device.Se3Keyboard` to make them now
more-intuitive to control the y-axis motion based on the right-hand rule.


0.22.6 (2024-08-29)
~~~~~~~~~~~~~~~~~~~

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6 changes: 3 additions & 3 deletions source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py
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Expand Up @@ -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,
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