Merge pull request #40 from OliEfr/dev2

support dynamic setting of action space in gymnasium envs

loco_mujoco/environments/gymnasium.py

@@ -42,7 +42,8 @@ def __init__(self, env_name, render_mode=None, **kwargs):
         self.metadata["render_fps"] = 1.0 / self._env.dt
 
         self.observation_space = self._convert_space(self._env.info.observation_space)
-        self.action_space = self._convert_space(self._env.info.action_space)
+        self._set_action_space()
+
 
     def step(self, action):
         """
@@ -150,10 +151,17 @@ def unwrapped(self):
         """
         return self._env
 
+    def _set_action_space(self):
+        """ 
+        Setter for the action space.
+        """
+        self.action_space = self._convert_space(self._env.info.action_space)
+        return self.action_space
+
     @staticmethod
     def _convert_space(space):
         """ Converts the observation and action space from mushroom-rl to gymnasium. """
         low = np.min(space.low)
         high = np.max(space.high)
         shape = space.shape
-        return Box(low, high, shape, np.float64)
+        return Box(low, high, shape, np.float64)