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change close gripper button

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This commit is contained in:
Khalil Meftah
2026-04-05 18:00:43 +02:00
parent 24bb2cb0ff
commit 1d275e2021
1 changed files with 8 additions and 2 deletions
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src/lerobot/teleoperators/gamepad/gamepad_utils.py
+8 -2
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@@ -202,6 +202,7 @@ class GamepadController(InputController):
BUTTON_Y = 3 BUTTON_Y = 3
BUTTON_LB = 4 BUTTON_LB = 4
BUTTON_RB = 5 BUTTON_RB = 5
BUTTON_R3 = 10
# Stick axes # Stick axes
AXIS_LEFT_X = 0 AXIS_LEFT_X = 0
@@ -253,6 +254,7 @@ class GamepadController(InputController):
print(" Left analog stick: Move in X-Y plane") print(" Left analog stick: Move in X-Y plane")
print(" Right analog stick (vertical): Move in Z axis") print(" Right analog stick (vertical): Move in Z axis")
print(" RB: Intervention toggle") print(" RB: Intervention toggle")
print(" R3 (right stick click): Close gripper")
print(" LT / RT: Close / Open gripper") print(" LT / RT: Close / Open gripper")
print(" Y: End episode with SUCCESS") print(" Y: End episode with SUCCESS")
print(" A: End episode with FAILURE") print(" A: End episode with FAILURE")
@@ -278,7 +280,9 @@ class GamepadController(InputController):
self.episode_end_status = TeleopEvents.FAILURE self.episode_end_status = TeleopEvents.FAILURE
elif event.button == self.BUTTON_X: elif event.button == self.BUTTON_X:
self.episode_end_status = TeleopEvents.RERECORD_EPISODE self.episode_end_status = TeleopEvents.RERECORD_EPISODE
elif event.button == (self.XBOX_BUTTON_LT if self._xbox360_profile else self.BUTTON_LT): elif event.button == self.BUTTON_R3 or event.button == (
self.XBOX_BUTTON_LT if self._xbox360_profile else self.BUTTON_LT
):
self.close_gripper_command = True self.close_gripper_command = True
elif event.button == (self.XBOX_BUTTON_RT if self._xbox360_profile else self.BUTTON_RT): elif event.button == (self.XBOX_BUTTON_RT if self._xbox360_profile else self.BUTTON_RT):
self.open_gripper_command = True self.open_gripper_command = True
@@ -286,7 +290,9 @@ class GamepadController(InputController):
elif event.type == pygame.JOYBUTTONUP: elif event.type == pygame.JOYBUTTONUP:
if event.button in [self.BUTTON_Y, self.BUTTON_A, self.BUTTON_X]: if event.button in [self.BUTTON_Y, self.BUTTON_A, self.BUTTON_X]:
self.episode_end_status = None self.episode_end_status = None
elif event.button == (self.XBOX_BUTTON_LT if self._xbox360_profile else self.BUTTON_LT): elif event.button == self.BUTTON_R3 or event.button == (
self.XBOX_BUTTON_LT if self._xbox360_profile else self.BUTTON_LT
):
self.close_gripper_command = False self.close_gripper_command = False
elif event.button == (self.XBOX_BUTTON_RT if self._xbox360_profile else self.BUTTON_RT): elif event.button == (self.XBOX_BUTTON_RT if self._xbox360_profile else self.BUTTON_RT):
self.open_gripper_command = False self.open_gripper_command = False