def _from_keyboard_to_base_action()

in lerobot/common/robots/lekiwi/lekiwi_client.py [0:0]

• 28 lines of code
• 11 McCabe index (conditional complexity)

    def _from_keyboard_to_base_action(self, pressed_keys: np.ndarray):
        # Speed control
        if self.teleop_keys["speed_up"] in pressed_keys:
            self.speed_index = min(self.speed_index + 1, 2)
        if self.teleop_keys["speed_down"] in pressed_keys:
            self.speed_index = max(self.speed_index - 1, 0)
        speed_setting = self.speed_levels[self.speed_index]
        xy_speed = speed_setting["xy"]  # e.g. 0.1, 0.25, or 0.4
        theta_speed = speed_setting["theta"]  # e.g. 30, 60, or 90

        x_cmd = 0.0  # m/s forward/backward
        y_cmd = 0.0  # m/s lateral
        theta_cmd = 0.0  # deg/s rotation

        if self.teleop_keys["forward"] in pressed_keys:
            x_cmd += xy_speed
        if self.teleop_keys["backward"] in pressed_keys:
            x_cmd -= xy_speed
        if self.teleop_keys["left"] in pressed_keys:
            y_cmd += xy_speed
        if self.teleop_keys["right"] in pressed_keys:
            y_cmd -= xy_speed
        if self.teleop_keys["rotate_left"] in pressed_keys:
            theta_cmd += theta_speed
        if self.teleop_keys["rotate_right"] in pressed_keys:
            theta_cmd -= theta_speed
        return {
            "x.vel": x_cmd,
            "y.vel": y_cmd,
            "theta.vel": theta_cmd,
        }