diff --git a/lerobot/scripts/server/end_effector_control_utils.py b/lerobot/scripts/server/end_effector_control_utils.py
index 3bd927b4..f272426d 100644
--- a/lerobot/scripts/server/end_effector_control_utils.py
+++ b/lerobot/scripts/server/end_effector_control_utils.py
@@ -311,6 +311,31 @@ class GamepadController(InputController):
         except pygame.error:
             logging.error("Error reading gamepad. Is it still connected?")
             return 0.0, 0.0, 0.0
+    
+    def get_gripper_action(self):
+        """
+        Get gripper action using L3/R3 buttons.
+        Press left stick (L3) to open the gripper.
+        Press right stick (R3) to close the gripper.
+        """
+        import pygame
+        
+        try:
+            # Check if buttons are pressed
+            l3_pressed = self.joystick.get_button(9)
+            r3_pressed = self.joystick.get_button(10)
+            
+            # Determine action based on button presses
+            if r3_pressed:
+                return 1.0  # Close gripper
+            elif l3_pressed:
+                return -1.0  # Open gripper
+            else:
+                return 0.0  # No change
+                
+        except pygame.error:
+            logging.error(f"Error reading gamepad. Is it still connected?")
+            return 0.0
 
 
 class GamepadControllerHID(InputController):