while(runEpisode == 1):
## Reset / Update
episodeTime = episodeTime + 1
simulationTime = simulationTime + 1
motherWrist = []
motherShoulder = []
motherElbow = []
motherHead = []
babyWrist = []
babyShoulder = []
babyElbow = []
babyHead = []
## Receive / Parse message
animMessage = win32file.ReadFile(p, 4096)[1]
uf.parseMessage(animMessage, motherWrist, motherShoulder, motherElbow, motherHead, babyWrist, babyShoulder, babyElbow, babyHead)
uf.writeReceivedCoordinatesToFile(babyFile, motherWrist, motherShoulder, motherElbow, motherHead, babyWrist, babyShoulder, babyElbow, babyHead, simulationTime)
## Manages decisions
if(babyEpisodeStatus == 'TO_START'):
messageToSend = 'INIT '
babyEpisodeStatus = 'INITIALIZED'
print "BABY TO_START"
elif(babyEpisodeStatus == 'INITIALIZED'):
print "BABY INITIALIZED"
#makes so baby always must walk at least a little
if(motherHead[0] - babyHead[0] > GESTURE_THRESHOLD):
babyEpisodeStatus = 'WALK'
messageToSend = 'DO_NOTHING'
moWristInit = np.array([motherWrist[0],motherWrist[1],motherWrist[2]])
elif(babyEpisodeStatus == 'WALK'):
print "BABY WALK"
motherFile = open('trainer_motherTrajectory.txt', 'w')
while(runSimulation == 1):
motherWrist = []
motherShoulder = []
motherElbow = []
motherHead = []
babyWrist = []
babyShoulder = []
babyElbow = []
babyHead = []
animMessage = win32file.ReadFile(p, 4096)[1]
uf.parseMessage(animMessage, motherWrist, motherShoulder, motherElbow, motherHead, babyWrist, babyShoulder, babyElbow, babyHead)
uf.writeReceivedCoordinatesToFile(motherFile, motherWrist, motherShoulder, motherElbow, motherHead, babyWrist, babyShoulder, babyElbow, babyHead, episodeTime)
episodeTime = episodeTime + 1
if(simulationStatus == 'TRAIN'):
messageToSend = 'MOVE_HEAD ' + str(MOTHER_INITIAL_POSITION[0]) + ' ' + str(MOTHER_INITIAL_POSITION[1]) + ' ' + str(MOTHER_INITIAL_POSITION[2]) + ' ' + str(episodeTime)
simulationStatus = 'INITIALIZED'
print "Initialized mother at initial position"
elif (simulationStatus == 'INITIALIZED'):
babyReachTarget = motherWrist
messageToSend = 'DO_NOTHING'
simulationStatus = 'WATCHING'
elif(simulationStatus == 'WATCHING'):
if episodeTime < 30:
messageToSend = 'DO_NOTHING'
else:
