from gripper.PyControl import *
from gripper.xboxController import *
from pipeline.bincam import BinaryCamera
from options import Options
from lfd import LFD
from Net.tensor import net2
bincam = BinaryCamera("./meta.txt")
bincam.open()
options = Options()
t = TurnTableControl() # the com number may need to be changed. Default of com7 is used
izzy = PyControl(115200, 0.04, [0, 0, 0, 0, 0], [0, 0, 0])
# same with this
c = XboxController([options.scales[0], 155, options.scales[1], 155, options.scales[2], options.scales[3]])
options.tf_net = net2.NetTwo()
options.tf_sess = options.tf_net.load(options.tf_dir + "net2/net2_01-21-2016_02h14m08s.ckpt")
options.record = True
lfd = LFD(bincam, izzy, t, c, options=options)
dataset_name = "" # if you want to add to existing dataset, specifiy directory name (not path).
# else a new one is created in datetime format
lfd.rollout_tf(dataset_name)
