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Update osim.py #105

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Update osim.py #105

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6a284b6
Update osim.py
gautam1858 May 8, 2018
5ec5314
Updating
gautam1858 May 8, 2018
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8 changes: 7 additions & 1 deletion osim/env/osim.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import gym
import opensim
import random
from gym.utils import seeding

## OpenSim interface
# The amin purpose of this class is to provide wrap all
Expand Down Expand Up @@ -298,7 +299,8 @@ def is_done(self):

def __init__(self, visualize = True, integrator_accuracy = 5e-5):
self.osim_model = OsimModel(self.model_path, visualize, integrator_accuracy = integrator_accuracy)


self.seed()
# Create specs, action and observation spaces mocks for compatibility with OpenAI gym
self.spec = Spec()
self.spec.timestep_limit = self.time_limit
Expand All @@ -311,6 +313,10 @@ def __init__(self, visualize = True, integrator_accuracy = 5e-5):
self.action_space = convert_to_gym(self.action_space)
self.observation_space = convert_to_gym(self.observation_space)

def seed(self, seed=None):
self.np_random, seed = seeding.np_random(seed)
return [seed]

def get_state_desc(self):
return self.osim_model.get_state_desc()

Expand Down