def get_deltas()

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

• 30 lines of code
• 12 McCabe index (conditional complexity)

    def get_deltas(self):
        """Get the current movement deltas from gamepad state."""
        import pygame

        try:
            # Get axis mappings from config
            axes = self.controller_config.get("axes", {})
            axis_inversion = self.controller_config.get("axis_inversion", {})

            # Get axis indices from config (with defaults if not found)
            left_x_axis = axes.get("left_x", 0)
            left_y_axis = axes.get("left_y", 1)
            right_y_axis = axes.get("right_y", 3)

            # Get axis inversion settings (with defaults if not found)
            invert_left_x = axis_inversion.get("left_x", False)
            invert_left_y = axis_inversion.get("left_y", True)
            invert_right_y = axis_inversion.get("right_y", True)

            # Read joystick axes
            x_input = self.joystick.get_axis(left_x_axis)  # Left/Right
            y_input = self.joystick.get_axis(left_y_axis)  # Up/Down
            z_input = self.joystick.get_axis(right_y_axis)  # Up/Down for Z

            # Apply deadzone to avoid drift
            x_input = 0 if abs(x_input) < self.deadzone else x_input
            y_input = 0 if abs(y_input) < self.deadzone else y_input
            z_input = 0 if abs(z_input) < self.deadzone else z_input

            # Apply inversion if configured
            if invert_left_x:
                x_input = -x_input
            if invert_left_y:
                y_input = -y_input
            if invert_right_y:
                z_input = -z_input

            # Calculate deltas
            delta_x = y_input * self.y_step_size  # Forward/backward
            delta_y = x_input * self.x_step_size  # Left/right
            delta_z = z_input * self.z_step_size  # Up/down

            return delta_x, delta_y, delta_z

        except pygame.error:
            print("Error reading gamepad. Is it still connected?")
            return 0.0, 0.0, 0.0