how can I create the s2 moving left-right (uwsim/cola2)?

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I am using cola2 repository to run the underwater simulation and joystick controller in order to control the machine with logitech. There seems to be no function to make it move left-right (not turning left-right) using the joystick. I believe that teleoperation.py in the cola2_control is the key file to look at, but without documentation I could not make any progress. Can anybody, if possible, explain to me what happens when teleoperation.py runs? Or anybody know the reference I can look at?