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refactor: xbox gamepad buttons

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This commit is contained in:
Khalil Meftah
2026-04-05 17:56:00 +02:00
parent 1d414c07e2
commit 24bb2cb0ff
1 changed files with 27 additions and 19 deletions
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46
src/lerobot/teleoperators/gamepad/gamepad_utils.py
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@@ -191,8 +191,8 @@ class KeyboardController(InputController):
class GamepadController(InputController):
"""Generate motion deltas from gamepad input using pygame.
Supports Xbox controllers on Linux where LT/RT are analog axes (not buttons).
Auto-detects Xbox gamepads by name and adjusts accordingly.
Matches gym-hil button/axis conventions for Linux gamepads, including
Xbox mappings.
"""
# Face buttons (same across most controllers on Linux)
@@ -209,10 +209,13 @@ class GamepadController(InputController):
AXIS_RIGHT_X = 3
AXIS_RIGHT_Y = 4
# Xbox on Linux: LT/RT are axes 2/5, range -1 (released) to +1 (fully pressed)
AXIS_LT = 2
AXIS_RT = 5
TRIGGER_THRESHOLD = 0.5
# Default trigger buttons
BUTTON_LT = 6
BUTTON_RT = 7
# Xbox (gym-hil mapping on Linux)
XBOX_BUTTON_LT = 9
XBOX_BUTTON_RT = 10
def __init__(self, x_step_size=1.0, y_step_size=1.0, z_step_size=1.0, deadzone=0.1):
super().__init__(x_step_size, y_step_size, z_step_size)
@@ -220,6 +223,8 @@ class GamepadController(InputController):
self.joystick = None
self.intervention_flag = False
self.is_xbox = False
self._xbox360_profile = False
self._invert_left_x = False
def _detect_xbox(self, name):
name_lower = name.lower()
@@ -240,6 +245,8 @@ class GamepadController(InputController):
self.joystick.init()
joystick_name = self.joystick.get_name()
self.is_xbox = self._detect_xbox(joystick_name)
self._xbox360_profile = joystick_name == "Xbox 360 Controller"
self._invert_left_x = self._xbox360_profile
logging.info(f"Initialized gamepad: {joystick_name} (xbox={self.is_xbox})")
print("Gamepad controls:")
@@ -271,26 +278,24 @@ class GamepadController(InputController):
self.episode_end_status = TeleopEvents.FAILURE
elif event.button == self.BUTTON_X:
self.episode_end_status = TeleopEvents.RERECORD_EPISODE
elif event.button == (self.XBOX_BUTTON_LT if self._xbox360_profile else self.BUTTON_LT):
self.close_gripper_command = True
elif event.button == (self.XBOX_BUTTON_RT if self._xbox360_profile else self.BUTTON_RT):
self.open_gripper_command = True
elif event.type == pygame.JOYBUTTONUP and event.button in [
self.BUTTON_Y,
self.BUTTON_A,
self.BUTTON_X,
]:
self.episode_end_status = None
elif event.type == pygame.JOYBUTTONUP:
if event.button in [self.BUTTON_Y, self.BUTTON_A, self.BUTTON_X]:
self.episode_end_status = None
elif event.button == (self.XBOX_BUTTON_LT if self._xbox360_profile else self.BUTTON_LT):
self.close_gripper_command = False
elif event.button == (self.XBOX_BUTTON_RT if self._xbox360_profile else self.BUTTON_RT):
self.open_gripper_command = False
if self.joystick.get_button(self.BUTTON_RB):
self.intervention_flag = True
else:
self.intervention_flag = False
# Xbox on Linux: LT/RT are analog axes, not buttons
if self.is_xbox:
lt_value = self.joystick.get_axis(self.AXIS_LT)
rt_value = self.joystick.get_axis(self.AXIS_RT)
self.close_gripper_command = lt_value > self.TRIGGER_THRESHOLD
self.open_gripper_command = rt_value > self.TRIGGER_THRESHOLD
def get_deltas(self):
import pygame
@@ -303,6 +308,9 @@ class GamepadController(InputController):
y_input = 0 if abs(y_input) < self.deadzone else y_input
z_input = 0 if abs(z_input) < self.deadzone else z_input
if self._invert_left_x:
x_input = -x_input
delta_x = -y_input * self.y_step_size
delta_y = x_input * self.x_step_size
delta_z = -z_input * self.z_step_size