Merge pull request #67 from Gaiejj/dev-control

feat: support keyboard controller

safepo/keyboard_control.py

@@ -0,0 +1,49 @@
+# Copyright 2022-2023 PKU-Alignment Team. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Examples for environments."""
+
+import argparse
+
+import safety_gymnasium
+
+
+def run_random(env_name):
+    """Random run."""
+    env = safety_gymnasium.make(env_name, render_mode='human')
+    obs, info = env.reset()  # pylint: disable=unused-variable
+    # Use below to specify seed.
+    # obs, _ = env.reset(seed=0)
+    terminated, truncated = False, False
+    ep_ret, ep_cost = 0, 0
+    while True:
+        if terminated or truncated:
+            print(f'Episode Return: {ep_ret} \t Episode Cost: {ep_cost}')
+            ep_ret, ep_cost = 0, 0
+            obs, info = env.reset()  # pylint: disable=unused-variable
+        assert env.observation_space.contains(obs)
+        act = env.action_space.sample()
+        assert env.action_space.contains(act)
+        # pylint: disable-next=unused-variable
+        obs, reward, cost, terminated, truncated, info = env.step(act)
+
+        ep_ret += reward
+        ep_cost += cost
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--env', default='SafetyPointGoal1Debug-v0')
+    args = parser.parse_args()
+    run_random(args.env)