# head + tail name pipe
read_name_list = [(i + "%s.pipe" % (channel_down + 1)) for i in read_name_down]
write_name_list = [(i + "%s.pipe" % (channel_down + 1))
for i in write_name_down]
all_path = read_name_list + write_name_list
# print(all_path)
make_pipe(all_path)
obs_pipe_down, touch_pipe_down, reward_pipe_down, over_pipe_down, terminal_pipe_down = open_write_pipe(
write_name_list)
action_pipe_down, reset_pipe_down = open_read_pipe(read_name_list)
CAM_A = Camera("CAM_A")
CAM_A.enable(32)
CAM_A.recognitionEnable(32)
CAM_B = Camera("CAM_B")
CAM_B.enable(32)
CAM_B.recognitionEnable(32)
CAM_C = Camera("CAM_C")
CAM_C.enable(32)
CAM_C.recognitionEnable(32)
CAM_D = Camera("CAM_D")
CAM_D.enable(32)
CAM_D.recognitionEnable(32)
'''
ik code------------------------------------------------------------------------------------------------------
'''
#position Sensor
positionSensorList = []
for i in range(7):
# head + tail name pipe
read_name_list = [(i + "%s.pipe" % (channel_down + 1)) for i in read_name_down]
write_name_list = [(i + "%s.pipe" % (channel_down + 1))
for i in write_name_down]
all_path = read_name_list + write_name_list
# print(all_path)
make_pipe(all_path)
obs_pipe_down, touch_pipe_down, reward_pipe_down, over_pipe_down, terminal_pipe_down = open_write_pipe(
write_name_list)
action_pipe_down, reset_pipe_down = open_read_pipe(read_name_list)
CAM_A = Camera("CAM_A")
CAM_A.enable(32)
CAM_A.recognitionEnable(32)
'''
initial_obs, initial_state = initial_step()
write_to_pipe([obs_pipe, touch_pipe], [initial_obs, initial_state])
print(np.array(initial_obs).shape, initial_state)
'''
initial_state = initial_step()
print("init_state: {}".format(initial_state))
write_to_pipe(touch_pipe, initial_state)
class TaskType(Enum):
UP = 'up_dopamine'
DOWN = 'down_dopamine'
GRAB = 'grab_ik'
POUR = 'pour_ik'
