import os

import opensim

opensim.Body('block', 0.0001 , opensim.Vec3(0), opensim.Inertia(1,1,.0001,0,0,0) );

opensim.Body('block', 0.0001 , opensim.Vec3(0), opensim.Inertia(1,1,.0001,0,0,0) );

model_path = os.path.join(os.path.dirname(__file__), '../osim/models/gait9dof18musc.osim')

def test(model_path, visualize):

    model = opensim.Model(model_path)

    brain = opensim.PrescribedController()

    model.addController(brain)

    state = model.initSystem()

    muscleSet = model.getMuscles()

    for j in range(muscleSet.getSize()):

        brain.addActuator(muscleSet.get(j))

        func = opensim.Constant(1.0)

        brain.prescribeControlForActuator(j, func)

    block = opensim.Body('block', 0.0001 , opensim.Vec3(0), opensim.Inertia(1,1,.0001,0,0,0) );

    model.addComponent(block)

    pj = opensim.PlanarJoint('pin',

                             model.getGround(), # PhysicalFrame

                             opensim.Vec3(0, 0, 0),

                             opensim.Vec3(0, 0, 0),

                             block, # PhysicalFrame

                             opensim.Vec3(0, 0, 0),

                             opensim.Vec3(0, 0, 0))

    model.addComponent(pj)

    model.initSystem()

    pj.getCoordinate(1)

test(model_path,False)

test(model_path,False)

from osim.env import L2RunEnv

env = L2RunEnv(visualize=False)

env1 = L2RunEnv(visualize=False)

env1.reset()

env1.reward()

env.reset()

env.reward()