docs: update README

docs: update README

README.md

@@ -108,6 +108,40 @@ For more details, please refer to [Safety-Gymnasium](https://github.com/PKU-Alig
       <td>HalfCheetah, Hopper, Swimmer, Walker2d, Ant, Humanoid</td>
       <td>SafetyAntVelocity-v1</td>
     </tr>
+      <tr>
+      <td rowspan="2">Safe Multi-Agent</td>
+      <td>MultiGoal[012]</td>
+      <td>Multi-Point, Multi-Ant</td>
+      <td>SafetyAntMultiGoal1-v0</td>
+    </tr>
+    <tr>
+      <td>Multi-Agent Velocity</td>
+      <td>6x1HalfCheetah, 2x3HalfCheetah, 3x1Hopper, 2x1Swimmer, 2x3Walker2d, 2x4Ant, 4x2Ant, 9|8Humanoid</td>
+      <td>Safety2x4AntVelocity-v0</td>
+    </tr>
+    <tr>
+      <td rowspan="6">Safe Isaac Gym</td>
+      <td>FreightFrankaCloseDrawer</td>
+      <td rowspan="2">FreightFranka</td>
+      <td rowspan="2">FreightFrankaCloseDrawer</td>
+    </tr>
+    <tr>
+      <td>FreightFrankaPickAndPlace</td>
+    </tr>
+    <tr>
+      <td>ShadowHandCatchOver2Underarm_Safe_finger</td>
+      <td rowspan="4">ShadowHands</td>
+      <td rowspan="4">ShadowHandCatchOver2Underarm_Safe_finger</td>
+    </tr>
+    <tr>
+      <td>ShadowHandCatchOver2Underarm_Safe_joint</td>
+    </tr>
+    <tr>
+      <td>ShadowHandOver_Safe_finger</td>
+    </tr>
+    <tr>
+      <td>ShadowHandOver_Safe_joint</td>
+    </tr>
   </tbody>
 </table>
 

safepo/evaluate.py

@@ -137,7 +137,7 @@ def single_runs_eval(eval_dir, eval_episodes):
     config_path = eval_dir + '/config.json'
     config = json.load(open(config_path, 'r'))
     env = config['task'] if 'task' in config.keys() else config['env_name']
-    if env in multi_agent_velocity_map.keys() or multi_agent_goal_tasks:
+    if env in multi_agent_velocity_map.keys():
         reward, cost = eval_multi_agent(eval_dir, eval_episodes)
     else:
         reward, cost = eval_single_agent(eval_dir, eval_episodes)