Can I use the keyboard or steering wheel to control the car while using PythonAPI?

[Cdanzhi]

Hello and thank you for your beautiful project!
Can I use the keyboard or steering wheel to control the car while using PythonAPI?
In fact, I also want to get some data that I define in sensors like ComfortSensor through the API. How should I do that? Could you give me an example?
For the stability of the project, I still use release2020.06 for the time being.
Thank you very much!