def start()

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

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

    def start(self):
        """Initialize pygame and the gamepad."""
        import pygame

        pygame.init()
        pygame.joystick.init()

        if pygame.joystick.get_count() == 0:
            print("No gamepad detected. Please connect a gamepad and try again.")
            self.running = False
            return

        self.joystick = pygame.joystick.Joystick(0)
        self.joystick.init()
        joystick_name = self.joystick.get_name()
        print(f"Initialized gamepad: {joystick_name}")

        # Load controller configuration based on joystick name
        self.controller_config = load_controller_config(joystick_name, self.config_path)

        # Get button mappings from config
        buttons = self.controller_config.get("buttons", {})

        print("Gamepad controls:")
        print(f"  {buttons.get('rb', 'RB')} button: Intervention")
        print("  Left analog stick: Move in X-Y plane")
        print("  Right analog stick (vertical): Move in Z axis")
        print(f"  {buttons.get('lt', 'LT')} button: Close gripper")
        print(f"  {buttons.get('rt', 'RT')} button: Open gripper")
        print(f"  {buttons.get('b', 'B')}/Circle button: Exit")
        print(f"  {buttons.get('y', 'Y')}/Triangle button: End episode with SUCCESS")
        print(f"  {buttons.get('a', 'A')}/Cross button: End episode with FAILURE")
        print(f"  {buttons.get('x', 'X')}/Square button: Rerecord episode")