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bug(gamepad_utils) inverted axis between x and y (#1572)

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Michel Aractingi
2025-07-22 14:31:30 +02:00
committed by GitHub
parent 5d2aef61b8
commit 835f0eddfa
1 changed files with 3 additions and 3 deletions
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6
src/lerobot/teleoperators/gamepad/gamepad_utils.py
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@@ -295,8 +295,8 @@ class GamepadController(InputController):
try: try:
# Read joystick axes # Read joystick axes
# Left stick X and Y (typically axes 0 and 1) # Left stick X and Y (typically axes 0 and 1)
y_input = self.joystick.get_axis(0) # Left/Right x_input = self.joystick.get_axis(0) # Left/Right
x_input = self.joystick.get_axis(1) # Up/Down (often inverted) y_input = self.joystick.get_axis(1) # Up/Down (often inverted)
# Right stick Y (typically axis 3 or 4) # Right stick Y (typically axis 3 or 4)
z_input = self.joystick.get_axis(3) # Up/Down for Z z_input = self.joystick.get_axis(3) # Up/Down for Z
@@ -308,7 +308,7 @@ class GamepadController(InputController):
# Calculate deltas (note: may need to invert axes depending on controller) # Calculate deltas (note: may need to invert axes depending on controller)
delta_x = -x_input * self.x_step_size # Forward/backward delta_x = -x_input * self.x_step_size # Forward/backward
delta_y = -y_input * self.y_step_size # Left/right delta_y = y_input * self.y_step_size # Left/right
delta_z = -z_input * self.z_step_size # Up/down delta_z = -z_input * self.z_step_size # Up/down
return delta_x, delta_y, delta_z return delta_x, delta_y, delta_z