def get_action()

in lerobot/common/teleoperators/keyboard/teleop_keyboard.py [0:0]

• 38 lines of code
• 15 McCabe index (conditional complexity)

    def get_action(self) -> dict[str, Any]:
        if not self.is_connected:
            raise DeviceNotConnectedError(
                "KeyboardTeleop is not connected. You need to run `connect()` before `get_action()`."
            )

        self._drain_pressed_keys()
        delta_x = 0.0
        delta_y = 0.0
        delta_z = 0.0

        # Generate action based on current key states
        for key, val in self.current_pressed.items():
            if key == keyboard.Key.up:
                delta_x = int(val)
            elif key == keyboard.Key.down:
                delta_x = -int(val)
            elif key == keyboard.Key.left:
                delta_y = int(val)
            elif key == keyboard.Key.right:
                delta_y = -int(val)
            elif key == keyboard.Key.shift:
                delta_z = -int(val)
            elif key == keyboard.Key.shift_r:
                delta_z = int(val)
            elif key == keyboard.Key.ctrl_r:
                # Gripper actions are expected to be between 0 (close), 1 (stay), 2 (open)
                gripper_action = int(val) + 1
            elif key == keyboard.Key.ctrl_l:
                gripper_action = int(val) - 1
            elif val:
                # If the key is pressed, add it to the misc_keys_queue
                # this will record key presses that are not part of the delta_x, delta_y, delta_z
                # this is useful for retrieving other events like interventions for RL, episode success, etc.
                self.misc_keys_queue.put(key)

        self.current_pressed.clear()

        action_dict = {
            "delta_x": delta_x,
            "delta_y": delta_y,
            "delta_z": delta_z,
        }

        gripper_action = 1  # default gripper action is to stay
        if self.config.use_gripper:
            action_dict["gripper"] = gripper_action

        return action_dict