code: def get_controller_state(self):
          
          dpos = self.pos - self.last_pos
          self.last_pos = np.array(self.pos)
          return dict(
              dpos=dpos,
              rotation=self.rotation,
              grasp=int(self.grasp),
              reset=self._reset_state,
          )
docs: Returns the current state of the keyboard, a dictionary of pos, orn, grasp, and reset.