fix(keyboard teleop), update(end-effector-frame), added not for urdf path

Author: michel-aractingi

src/lerobot/model/kinematics.py

@@ -21,7 +21,7 @@ class RobotKinematics:
     def __init__(
         self,
         urdf_path: str,
-        target_frame_name: str = "gripperframe",
+        target_frame_name: str = "gripper_frame_link",
         joint_names: list[str] = None,
     ):
         """

src/lerobot/robots/so100_follower/config_so100_follower.py

@@ -45,10 +45,12 @@ class SO100FollowerEndEffectorConfig(SO100FollowerConfig):
     """Configuration for the SO100FollowerEndEffector robot."""
 
     # Path to URDF file for kinematics
+    # NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo:
+    # https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
     urdf_path: str | None = None
 
     # End-effector frame name in the URDF
-    target_frame_name: str = "gripperframe"
+    target_frame_name: str = "gripper_frame_link"
 
     # Default bounds for the end-effector position (in meters)
     end_effector_bounds: dict[str, list[float]] = field(

src/lerobot/scripts/find_joint_limits.py

@@ -36,6 +36,7 @@
 import draccus
 import numpy as np
 
+from lerobot.common.utils.robot_utils import busy_wait
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
@@ -50,7 +51,6 @@
     make_teleoperator_from_config,
     so100_leader,
 )
-from lerobot.common.utils.robot_utils import busy_wait
 
 
 @dataclass

src/lerobot/teleoperators/gamepad/gamepad_utils.py

@@ -307,8 +307,8 @@ def get_deltas(self):
             z_input = 0 if abs(z_input) < self.deadzone else z_input
 
             # Calculate deltas (note: may need to invert axes depending on controller)
-            delta_x = -x_input * self.x_step_size  # Forward/backward
-            delta_y = y_input * self.y_step_size  # Left/right
+            delta_x = -y_input * self.y_step_size  # Forward/backward
+            delta_y = -x_input * self.x_step_size  # Left/right
             delta_z = -z_input * self.z_step_size  # Up/down
 
             return delta_x, delta_y, delta_z
@@ -465,8 +465,8 @@ def _update(self):
     def get_deltas(self):
         """Get the current movement deltas from gamepad state."""
         # Calculate deltas - invert as needed based on controller orientation
-        delta_x = -self.left_x * self.x_step_size  # Forward/backward
-        delta_y = self.left_y * self.y_step_size  # Left/right
+        delta_x = -self.left_y * self.y_step_size  # Forward/backward
+        delta_y = -self.left_x * self.x_step_size  # Left/right
         delta_z = -self.right_y * self.z_step_size  # Up/down
 
         return delta_x, delta_y, delta_z

src/lerobot/teleoperators/keyboard/teleop_keyboard.py

@@ -196,6 +196,7 @@ def get_action(self) -> dict[str, Any]:
         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():
@@ -230,7 +231,6 @@ def get_action(self) -> dict[str, Any]:
             "delta_z": delta_z,
         }
 
-        gripper_action = 1  # default gripper action is to stay
         if self.config.use_gripper:
             action_dict["gripper"] = gripper_action