The present invention relates to a device for conditioning a soil or rock sample polluted by hydrocarbons. The guidance and control system creates a reconstructed line-of-sight vector to avoid system destabilization associated with small angle approximation during high bore sight engagements. Thus, the cleat can be mounted on and detached from the pedal body easily and conveniently, and can be clamped on the pedal body rigidly and stably by the elastic clamping force of the front binding plate and the rear binding plate.