def get_gamepad_action()

in gym_hil/wrappers/hil_wrappers.py [0:0]

• 24 lines of code
• 5 McCabe index (conditional complexity)

    def get_gamepad_action(self):
        """
        Get the current action from the gamepad if any input is active.

        Returns:
            Tuple of (is_active, action, terminate_episode, success)
        """
        # Update the controller to get fresh inputs
        self.controller.update()

        # Get movement deltas from the controller
        delta_x, delta_y, delta_z = self.controller.get_deltas()

        intervention_is_active = self.controller.should_intervene()

        # Create action from gamepad input
        gamepad_action = np.array([delta_x, delta_y, delta_z], dtype=np.float32)

        if self.use_gripper:
            gripper_command = self.controller.gripper_command()
            if gripper_command == "open":
                gamepad_action = np.concatenate([gamepad_action, [2.0]])
            elif gripper_command == "close":
                gamepad_action = np.concatenate([gamepad_action, [0.0]])
            else:
                gamepad_action = np.concatenate([gamepad_action, [1.0]])

        # Check episode ending buttons
        # We'll rely on controller.get_episode_end_status() which returns "success", "failure", or None
        episode_end_status = self.controller.get_episode_end_status()
        terminate_episode = episode_end_status is not None
        success = episode_end_status == "success"
        rerecord_episode = episode_end_status == "rerecord_episode"

        return (
            intervention_is_active,
            gamepad_action,
            terminate_episode,
            success,
            rerecord_episode,
        )