DataLoaders/MIME_DataLoader.py [78:135]:
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	def __len__(self):
		# Return length of file list. 
		return len(self.filelist)

	def __getitem__(self, index):
		'''
		# Returns Joint Angles as: 
		# List of length Number_Timesteps, with each element of the list a dictionary containing the sequence of joint angles. 
		# Assumes index is within range [0,len(filelist)-1]
		'''
		file = self.filelist[index]

		left_gripper = np.loadtxt(os.path.join(os.path.split(file)[0],'left_gripper.txt'))
		right_gripper = np.loadtxt(os.path.join(os.path.split(file)[0],'right_gripper.txt'))

		orig_left_traj = np.load(osp.join(osp.split(file)[0], 'Left_EE.npy'))
		orig_right_traj = np.load(osp.join(osp.split(file)[0], 'Right_EE.npy'))        

		joint_angle_trajectory = []
		# Open file. 
		with open(file, 'r') as file:
			lines = file.readlines()
			for line in lines:
				dict_element = eval(line.rstrip('\n'))
				if len(dict_element.keys()) == len(self.joint_names):
					# some files have extra lines with gripper keys e.g. MIME_jointangles/4/12405Nov19/joint_angles.txt
					array_element = np.array([dict_element[joint] for joint in self.joint_names])
					joint_angle_trajectory.append(array_element)

		joint_angle_trajectory = np.array(joint_angle_trajectory)

		n_samples = len(orig_left_traj) // self.ds_freq

		elem = {}
		elem['joint_angle_trajectory'] = resample(joint_angle_trajectory, n_samples)
		elem['left_trajectory'] = resample(orig_left_traj, n_samples)
		elem['right_trajectory'] = resample(orig_right_traj, n_samples)
		elem['left_gripper'] = resample(left_gripper, n_samples)/100
		elem['right_gripper'] = resample(right_gripper, n_samples)/100
		elem['path_prefix'] = os.path.split(self.filelist[index])[0]
		elem['ra_trajectory'] = select_baxter_angles(elem['joint_angle_trajectory'], self.joint_names, arm='right')
		elem['la_trajectory'] = select_baxter_angles(elem['joint_angle_trajectory'], self.joint_names, arm='left')
		# If max norm of differences is <1.0, valid. 
		elem['is_valid'] = int(np.linalg.norm(np.diff(elem['joint_angle_trajectory'],axis=0),axis=1).max() < 1.0)

		return elem

	def recreate_dictionary(self, arm, joint_angles):
		if arm=="left":
			offset = 2
			width = 7 
		elif arm=="right":
			offset = 9
			width = 7
		elif arm=="full":
			offset = 0
			width = len(self.joint_names)
		return dict((self.joint_names[i],joint_angles[i-offset]) for i in range(offset,offset+width))
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Experiments/MIME_DataLoader.py [59:118]:
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	def __len__(self):
		# Return length of file list. 
		return len(self.filelist)

	def __getitem__(self, index):
		'''
		# Returns Joint Angles as: 
		# List of length Number_Timesteps, with each element of the list a dictionary containing the sequence of joint angles. 
		# Assumes index is within range [0,len(filelist)-1]
		'''
		file = self.filelist[index]

		left_gripper = np.loadtxt(os.path.join(os.path.split(file)[0],'left_gripper.txt'))
		right_gripper = np.loadtxt(os.path.join(os.path.split(file)[0],'right_gripper.txt'))

		orig_left_traj = np.load(osp.join(osp.split(file)[0], 'Left_EE.npy'))
		orig_right_traj = np.load(osp.join(osp.split(file)[0], 'Right_EE.npy'))        

		joint_angle_trajectory = []
		# Open file. 
		with open(file, 'r') as file:
			lines = file.readlines()
			for line in lines:
				dict_element = eval(line.rstrip('\n'))
				if len(dict_element.keys()) == len(self.joint_names):
					# some files have extra lines with gripper keys e.g. MIME_jointangles/4/12405Nov19/joint_angles.txt
					array_element = np.array([dict_element[joint] for joint in self.joint_names])
					joint_angle_trajectory.append(array_element)

		joint_angle_trajectory = np.array(joint_angle_trajectory)

		n_samples = len(orig_left_traj) // self.ds_freq

		elem = {}
		elem['joint_angle_trajectory'] = resample(joint_angle_trajectory, n_samples)
		elem['left_trajectory'] = resample(orig_left_traj, n_samples)
		elem['right_trajectory'] = resample(orig_right_traj, n_samples)
		elem['left_gripper'] = resample(left_gripper, n_samples)/100
		elem['right_gripper'] = resample(right_gripper, n_samples)/100
		elem['path_prefix'] = os.path.split(self.filelist[index])[0]
		elem['ra_trajectory'] = select_baxter_angles(elem['joint_angle_trajectory'], self.joint_names, arm='right')
		elem['la_trajectory'] = select_baxter_angles(elem['joint_angle_trajectory'], self.joint_names, arm='left')
		# If max norm of differences is <1.0, valid. 

		# if elem['joint_angle_trajectory'].shape[0]>1:
		elem['is_valid'] = int(np.linalg.norm(np.diff(elem['joint_angle_trajectory'],axis=0),axis=1).max() < 1.0)

		return elem

	def recreate_dictionary(self, arm, joint_angles):
		if arm=="left":
			offset = 2
			width = 7 
		elif arm=="right":
			offset = 9
			width = 7
		elif arm=="full":
			offset = 0
			width = len(self.joint_names)
		return dict((self.joint_names[i],joint_angles[i-offset]) for i in range(offset,offset+width))
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