    def get_action(self) -> Tuple[np.ndarray, list]:
        """Returns the latest action and button state of the SpaceMouse."""
        with self.state_lock:
            return self.latest_data["action"], self.latest_data["buttons"]
Returns the latest action and button state of the SpaceMouse.
serl_robot_infra/franka_env/spacemouse/spacemouse_expert.py