auto-detect controller

sim/base_sim.py

@@ -580,12 +580,12 @@ class BaseSimulator:
         pass
 
     def init_unitree_bridge(self):
-        """Initialize the unitree SDK bridge"""
+        """Initialize the unitree SDK bridge and auto-detect joystick."""
         self.unitree_bridge = UnitreeSdk2Bridge(self.config)
-        if self.config["USE_JOYSTICK"]:
-            self.unitree_bridge.SetupJoystick(
-                device_id=self.config["JOYSTICK_DEVICE"], js_type=self.config["JOYSTICK_TYPE"]
-            )
+        self.unitree_bridge.SetupJoystick(
+            device_id=self.config.get("JOYSTICK_DEVICE", 0),
+            js_type=self.config.get("JOYSTICK_TYPE", "xbox"),
+        )
 
     def start(self):
         """Main simulation loop"""