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import numpy as np

import opensim as osim

subject = "mars"
pyosim_example_path = "/home/pariterre/Documents/Laboratoire/Programmation/pyosim/examples"
osim_model = "wu_scaled.osim"

Q = np.ones([19]) *2
QDot = np.ones([19])*10
muscle_excitation = np.zeros([29]) + 1.1


# Load the model
model_path = f"{pyosim_example_path}/results/{subject}/_models/{osim_model}"

# Prepare a model
model = osim.Model(model_path)
state = model.initSystem()

# Update kinematic states
for i in range(state.getQ().size()):
    state.getQ().set(i, Q[i])  # Q From inverse kinematics
    state.getQDot().set(i, QDot[i])  # QDot from inverse kinematics
model.realizeVelocity(state)

# Update muscle states
for i in range(model.getMuscles().getSize()):
    model.getMuscles().get(i).setActivation(state, muscle_excitation[i])  # Set to desired muscle excitation
model.equilibrateMuscles(state)


# DOESN'T WORK FROM HERE
# This seems to be the key, but is not interfaced in python
udot = model.getMatterSubsystem().getUDot(state)  # ERROR

# Another idea that seems promizing is:
udot = osim.Vector()
A_GB = osim.VectorOfSpatialVec()
udot = model.getMatterSubsystem().calcAcceleration(state, appliedMobilityForces, appliedBodyForces, udot, A_GB) # ERROR
# Because I don't know how to get appliedForces (even if I don't have external for now)