from osim.env import ProstheticsEnv

import numpy as np

import unittest

class SimulationTest(unittest.TestCase):

    def test1(self):

        env = ProstheticsEnv(visualize=True)

        observation = env.reset()

        simbody_state = env.osim_model.get_state()

        print(simbody_state.getNumSubsystems())

        print(simbody_state.getY())

        oldy = simbody_state.updY()

        for i in range(len(oldy)):

            oldy[i] += 0.2

        print(simbody_state.getY())

        env.osim_model.set_state(simbody_state)

        action = env.action_space.sample()

        for i in range(50):

            env.step(action)

if __name__ == '__main__':

    unittest.main()