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update close gripper button

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This commit is contained in:
Khalil Meftah
2026-04-05 18:05:19 +02:00
parent 1d275e2021
commit a0dc324b81
1 changed files with 28 additions and 16 deletions
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src/lerobot/teleoperators/gamepad/gamepad_utils.py
+28 -16
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@@ -202,13 +202,11 @@ 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
AXIS_LEFT_Y = 1 AXIS_LEFT_Y = 1
AXIS_RIGHT_X = 3 AXIS_RIGHT_X = 2
AXIS_RIGHT_Y = 4 AXIS_RIGHT_Y = 3
# Default trigger buttons # Default trigger buttons
BUTTON_LT = 6 BUTTON_LT = 6
@@ -226,6 +224,8 @@ class GamepadController(InputController):
self.is_xbox = False self.is_xbox = False
self._xbox360_profile = False self._xbox360_profile = False
self._invert_left_x = False self._invert_left_x = False
self._invert_left_y = True
self._invert_right_y = True
def _detect_xbox(self, name): def _detect_xbox(self, name):
name_lower = name.lower() name_lower = name.lower()
@@ -247,14 +247,26 @@ class GamepadController(InputController):
joystick_name = self.joystick.get_name() joystick_name = self.joystick.get_name()
self.is_xbox = self._detect_xbox(joystick_name) self.is_xbox = self._detect_xbox(joystick_name)
self._xbox360_profile = joystick_name == "Xbox 360 Controller" self._xbox360_profile = joystick_name == "Xbox 360 Controller"
self._invert_left_x = self._xbox360_profile if self._xbox360_profile:
# gym-hil "Xbox 360 Controller" profile
self.AXIS_RIGHT_X = 3
self.AXIS_RIGHT_Y = 4
self.BUTTON_LT = self.XBOX_BUTTON_LT
self.BUTTON_RT = self.XBOX_BUTTON_RT
self._invert_left_x = True
else:
# gym-hil default profile
self.AXIS_RIGHT_X = 2
self.AXIS_RIGHT_Y = 3
self.BUTTON_LT = 6
self.BUTTON_RT = 7
self._invert_left_x = False
logging.info(f"Initialized gamepad: {joystick_name} (xbox={self.is_xbox})") logging.info(f"Initialized gamepad: {joystick_name} (xbox={self.is_xbox})")
print("Gamepad controls:") print("Gamepad controls:")
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")
@@ -280,21 +292,17 @@ 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.BUTTON_R3 or event.button == ( elif event.button == self.BUTTON_LT:
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.BUTTON_RT:
self.open_gripper_command = True self.open_gripper_command = True
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.BUTTON_R3 or event.button == ( elif event.button == self.BUTTON_LT:
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.BUTTON_RT:
self.open_gripper_command = False self.open_gripper_command = False
if self.joystick.get_button(self.BUTTON_RB): if self.joystick.get_button(self.BUTTON_RB):
@@ -316,10 +324,14 @@ class GamepadController(InputController):
if self._invert_left_x: if self._invert_left_x:
x_input = -x_input x_input = -x_input
if self._invert_left_y:
y_input = -y_input
if self._invert_right_y:
z_input = -z_input
delta_x = -y_input * self.y_step_size delta_x = y_input * self.y_step_size
delta_y = x_input * self.x_step_size delta_y = x_input * self.x_step_size
delta_z = -z_input * self.z_step_size delta_z = z_input * self.z_step_size
return delta_x, delta_y, delta_z return delta_x, delta_y, delta_z