From 835f0eddfabc2bbf48b68094c4a2551fb4d273b3 Mon Sep 17 00:00:00 2001 From: Michel Aractingi Date: Tue, 22 Jul 2025 14:31:30 +0200 Subject: [PATCH] bug(gamepad_utils) inverted axis between x and y (#1572) --- src/lerobot/teleoperators/gamepad/gamepad_utils.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/lerobot/teleoperators/gamepad/gamepad_utils.py b/src/lerobot/teleoperators/gamepad/gamepad_utils.py index 9b62dc66..7ebed6b3 100644 --- a/src/lerobot/teleoperators/gamepad/gamepad_utils.py +++ b/src/lerobot/teleoperators/gamepad/gamepad_utils.py @@ -295,8 +295,8 @@ class GamepadController(InputController): try: # Read joystick axes # 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(1) # Up/Down (often inverted) + x_input = self.joystick.get_axis(0) # Left/Right + y_input = self.joystick.get_axis(1) # Up/Down (often inverted) # Right stick Y (typically axis 3 or 4) 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) 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 return delta_x, delta_y, delta_z