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fix keyboard bindings for pitch up/down and docs. #76

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EverNorif merged 2 commits into from
Nov 27, 2025
Merged

fix keyboard bindings for pitch up/down and docs. #76

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7d689b4
docs fix.
EverNorif Nov 27, 2025
62b3a7e
change key binding for pitch up/down.
EverNorif Nov 27, 2025
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10 changes: 10 additions & 0 deletions docs/docs/docs/features/envhub_support.md
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Expand Up @@ -37,6 +37,9 @@ EnvHub exposes every LeIsaac-supported task in a uniform interface. The examples

### Random Action

<details>
<summary><strong>Example code for envhub_random_action.py</strong></summary>

```python
# envhub_random_action.py

Expand Down Expand Up @@ -64,6 +67,8 @@ while True:
env.close()
```

</details>

```bash
python envhub_random_action.py
```
Expand All @@ -86,6 +91,9 @@ lerobot-calibrate \

And then launch the teleop script.

<details>
<summary><strong>Example code for envhub_teleop_example.py</strong></summary>

```python
# envhub_teleop_example.py

Expand Down Expand Up @@ -200,6 +208,8 @@ if __name__ == "__main__":

```

</details>

```bash
python envhub_teleop_example.py
```
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2 changes: 1 addition & 1 deletion docs/docs/docs/getting_started/installation.md
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Expand Up @@ -52,7 +52,7 @@ pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvid
# Install IsaacLab
sudo apt install cmake build-essential

cd dependencies/IsaacLab
cd leisaac/dependencies/IsaacLab
./isaaclab.sh --install
```

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2 changes: 1 addition & 1 deletion docs/docs/docs/getting_started/teleoperation.md
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Expand Up @@ -17,7 +17,7 @@ python scripts/environments/teleoperation/teleop_se3_agent.py \
```

<details>
<summary><strong>Parameter descriptions for teleop_se3_agent.py</strong></summary><p></p>
<summary><strong>Parameter descriptions for teleop_se3_agent.py</strong></summary>

- `--task`: Specify the task environment name to run, e.g., `LeIsaac-SO101-PickOrange-v0`.

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2 changes: 1 addition & 1 deletion docs/docs/resources/available_devices.md
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Expand Up @@ -35,7 +35,7 @@ The keyboard mapping is as follows:
| `A` / `D` | Left/right, aligned with the green arrows in the translation diagram |
| `Q` / `E` | Up/down, aligned with the blue arrows in the translation diagram |
| `J` / `L` | Rotate (yaw) left/right, aligned with the blue arrows in the rotation diagram |
| `I` / `K` | Rotate (pitch) up/down, aligned with the green arrows in the rotation diagram |
| `K` / `I` | Rotate (pitch) up/down, aligned with the green arrows in the rotation diagram |
| `U` / `O` | Gripper open/close |


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8 changes: 4 additions & 4 deletions source/leisaac/leisaac/devices/keyboard/so101_keyboard.py
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Expand Up @@ -25,7 +25,7 @@ class SO101Keyboard(Device):
Left/Right A D
Up/Down Q E
Rotate (Yaw) Left/Right J L
Rotate (Pitch) Up/Down I K
Rotate (Pitch) Up/Down K I
Gripper Open/Close U O
============================== ================= =================

Expand Down Expand Up @@ -83,7 +83,7 @@ def __str__(self) -> str:
msg += "\tLeft/Right: A / D\n"
msg += "\tUp/Down: Q / E\n"
msg += "\tRotate (Yaw) Left/Right: J / L\n"
msg += "\tRotate (Pitch) Up/Down: I / K\n"
msg += "\tRotate (Pitch) Up/Down: K / I\n"
msg += "\tGripper Open/Close: U / O\n"
msg += "\t----------------------------------------------\n"
msg += "\tStart Control: B\n"
Expand Down Expand Up @@ -155,8 +155,8 @@ def _create_key_bindings(self):
"D": np.asarray([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0]) * self.joint_sensitivity,
"Q": np.asarray([1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) * self.pos_sensitivity,
"E": np.asarray([-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) * self.pos_sensitivity,
"I": np.asarray([0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0]) * self.rot_sensitivity,
"K": np.asarray([0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) * self.rot_sensitivity,
"K": np.asarray([0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0]) * self.rot_sensitivity,
"I": np.asarray([0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) * self.rot_sensitivity,
"J": np.asarray([0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0]) * self.rot_sensitivity,
"L": np.asarray([0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0]) * self.rot_sensitivity,
"U": np.asarray([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]) * self.joint_sensitivity,
Expand Down