Update examples/random_agent.py

examples/random_agent.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+# Copyright (c) Space Robotics Lab, SnT, University of Luxembourg, SpaceR
+# RANS: arXiv:2310.07393 — OpenEnv training examples
+
+"""
+Random Agent — Sanity Check
+============================
+Verifies the RANS environment works end-to-end by running a random agent.
+This is the first script to run after starting the server.
+
+Requires a running RANS server:
+    uvicorn rans_env.server.app:app --host 0.0.0.0 --port 8000
+
+Run this script:
+    python examples/random_agent.py
+    python examples/random_agent.py --task GoToPose --episodes 5
+"""
+
+import argparse
+import random
+import sys
+import time
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="RANS random agent")
+    parser.add_argument("--url", default="http://localhost:8000")
+    parser.add_argument("--task", default="GoToPosition",
+                        choices=["GoToPosition", "GoToPose",
+                                 "TrackLinearVelocity", "TrackLinearAngularVelocity"])
+    parser.add_argument("--episodes", type=int, default=3)
+    parser.add_argument("--max-steps", type=int, default=200)
+    args = parser.parse_args()
+
+    try:
+        from rans_env import RANSEnv, SpacecraftAction
+    except ImportError:
+        print("Install the RANS package first:  pip install -e .")
+        sys.exit(1)
+
+    print(f"\nRANS Random Agent  —  task={args.task}  server={args.url}")
+    print("=" * 60)
+
+    with RANSEnv(base_url=args.url).sync() as env:
+        for ep in range(1, args.episodes + 1):
+            result = env.reset()
+            obs = result.observation
+            n_thrusters = len(obs.thruster_masks)
+
+            print(f"\nEpisode {ep}  |  thrusters={n_thrusters}  |  task={obs.task}")
+            print(f"  Initial state_obs: {[f'{v:.3f}' for v in obs.state_obs]}")
+
+            total_reward = 0.0
+            t0 = time.perf_counter()
+
+            for step in range(1, args.max_steps + 1):
+                # Random binary thruster activations
+                action = SpacecraftAction(
+                    thrusters=[random.choice([0.0, 1.0]) for _ in range(n_thrusters)]
+                )
+                result = env.step(action)
+                total_reward += result.reward or 0.0
+
+                if result.done:
+                    print(f"  Step {step:4d}  |  reward={result.reward:.4f}  "
+                          f"|  DONE  ({result.info})")
+                    break
+
+                if step % 50 == 0:
+                    print(f"  Step {step:4d}  |  reward={result.reward:.4f}  "
+                          f"|  cumulative={total_reward:.3f}")
+
+            elapsed = time.perf_counter() - t0
+            fps = step / elapsed
+            print(f"  Episode done  |  steps={step}  total_reward={total_reward:.3f}  "
+                  f"|  {fps:.0f} steps/s")
+
+    print("\nDone.")
+
+
+if __name__ == "__main__":
+    main()