Panda3D has mouse support built in. Keyboard presses send Events. Each key will send an event when it is first pressed down, when it is released, and one repeatedly while its pressed.
self.accept( 'k' , <Function> )
self.accept( 'k-up' , <Function> )
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If you have multiple keys being pressed at once you will need to look for the up and down events, the continuous presses won't work for multiple keys.
Here are some examples of keys that are more than one letter:
self.accept( 'escape' , <Function> )
self.accept( 'arrow_up' , <Function> )
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