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Refactor kinematics and switch to using placo (#1322)

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Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: leo-berte <leonardo.bertelli96@gmail.com>
This commit is contained in:
Michel Aractingi
2025-07-02 15:20:04 +02:00
committed by GitHub
parent 6047bbee10
commit 596e9050bd
10 changed files with 181 additions and 522 deletions
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src/lerobot/teleoperators/keyboard/teleop_keyboard.py
+7 -7
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@@ -196,17 +196,18 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
delta_x = 0.0
delta_y = 0.0
delta_z = 0.0
gripper_action = 1.0
# Generate action based on current key states
for key, val in self.current_pressed.items():
if key == keyboard.Key.up:
delta_x = int(val)
elif key == keyboard.Key.down:
delta_x = -int(val)
elif key == keyboard.Key.left:
delta_y = int(val)
elif key == keyboard.Key.right:
delta_y = -int(val)
elif key == keyboard.Key.down:
delta_y = int(val)
elif key == keyboard.Key.left:
delta_x = int(val)
elif key == keyboard.Key.right:
delta_x = -int(val)
elif key == keyboard.Key.shift:
delta_z = -int(val)
elif key == keyboard.Key.shift_r:
@@ -230,7 +231,6 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
"delta_z": delta_z,
}
gripper_action = 1 # default gripper action is to stay
if self.config.use_gripper:
action_dict["gripper"] = gripper_action