DataLoaders/MIMEandPlan_DataLoader.py [100:123]:
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		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)
		elem['right_gripper'] = resample(right_gripper, n_samples)
		elem['path_prefix'] = os.path.split(self.filelist[index])[0]
		elem['JA_Plan'] = ja_plan
		elem['EE_Plan'] = ee_plan

		return elem
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DataLoaders/MIMEandPlan_DataLoader.py [157:180]:
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		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)
		elem['right_gripper'] = resample(right_gripper, n_samples)
		elem['path_prefix'] = os.path.split(self.filelist[index])[0]
		elem['JA_Plan'] = ja_plan
		elem['EE_Plan'] = ee_plan

		return elem
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