--- a
+++ b/submission/submit_env.py
@@ -0,0 +1,105 @@
+import gym
+from gym.spaces import Box
+
+
+class SubmitEnv:
+    def __init__(self):
+        from osim.http.client import Client
+        remote_base = "http://grader.crowdai.org:1729"
+        self.crowdai_token = "e47cb9f7fd533dc036dbd5d65d0d68c3"
+        self.client = Client(remote_base)
+        self.first_reset = True
+        self.action_space = Box(low=0, high=1, shape=[19])
+        self.observation_space = Box(low=-3, high=3, shape=[224])
+        self.episodic_length = 0
+        self.score = 0.0
+
+        self.reward_range = None
+        self.metadata = None
+
+    def reset(self):
+        self.episodic_length = 0
+        self.score = 0
+        if self.first_reset:
+            self.first_reset = False
+            return self.get_observation(self.client.env_create(self.crowdai_token, env_id="ProstheticsEnv"))
+        else:
+            obs = self.client.env_reset()
+            if obs is None:
+                self.client.submit()
+                print('SUBMITTED')
+                import sys
+                sys.exit(0)
+            return self.get_observation(obs)
+
+    def step(self, action):
+        [obs, rew, done, info] = self.client.env_step(action.tolist(), True)
+        self.episodic_length += 1
+        self.score += rew
+        pelvis_vx = obs['body_vel']['pelvis'][0]
+        print(f'timestamp={self.episodic_length:3d} score={self.score:5.2f} velocity={pelvis_vx:3.2f}')
+        import sys
+        sys.stdout.flush()
+        return self.get_observation(obs), rew, done, info
+
+    def close(self):
+        pass
+
+    def get_observation(self, state_desc):
+        res = []
+        pelvis = None
+
+        for body_part in ["pelvis", "head", "torso", "toes_l", "talus_l", "pros_foot_r", "pros_tibia_r"]:
+            cur = []
+            cur += state_desc["body_pos"][body_part]
+            cur += state_desc["body_vel"][body_part]
+            cur += state_desc["body_acc"][body_part]
+            cur += state_desc["body_pos_rot"][body_part]
+            cur += state_desc["body_vel_rot"][body_part]
+            cur += state_desc["body_acc_rot"][body_part]
+            if body_part == "pelvis":
+                pelvis = cur
+                res += cur[1:]  # make sense, pelvis.x is not important
+            else:
+                cur[0] -= pelvis[0]
+                cur[2] -= pelvis[2]     # relative position work for x / z axis
+                res += cur
+
+        for joint in ["ankle_l", "ankle_r", "back", "hip_l", "hip_r", "knee_l", "knee_r"]:
+            res += state_desc["joint_pos"][joint]
+            res += state_desc["joint_vel"][joint]
+            res += state_desc["joint_acc"][joint]
+
+        for muscle in sorted(state_desc["muscles"].keys()):
+            res += [state_desc["muscles"][muscle]["activation"]]
+            res += [state_desc["muscles"][muscle]["fiber_length"]]
+            res += [state_desc["muscles"][muscle]["fiber_velocity"]]
+
+        cm_pos = state_desc["misc"]["mass_center_pos"]  # relative x / z axis center of mass position
+        cm_pos[0] -= pelvis[0]
+        cm_pos[2] -= pelvis[0]
+        res = res + cm_pos + state_desc["misc"]["mass_center_vel"] + state_desc["misc"]["mass_center_acc"]
+
+        return res
+
+
+class SubmitRepeatActionEnv(gym.ActionWrapper):
+    def __init__(self, env, repeat=2):
+        super(SubmitRepeatActionEnv, self).__init__(env)
+        self._repeat = repeat
+
+    def step(self, action):
+        total_reward = 0.0
+        for _ in range(self._repeat):
+            obs, reward, done, info = self.env.step(action)
+            total_reward += reward
+            if done:
+                break
+
+        return obs, total_reward, done, info
+        
+
+def make_submit_env():
+    env = SubmitEnv()
+    env = SubmitRepeatActionEnv(env=env, repeat=2)
+    return env