DataLoaders/MIME_DataLoader.py [23:45]:
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def select_baxter_angles(trajectory, joint_names, arm='right'):
    # joint names in order as used via mujoco visualizer
    baxter_joint_names = ['right_s0', 'right_s1', 'right_e0', 'right_e1', 'right_w0', 'right_w1', 'right_w2', 'left_s0', 'left_s1', 'left_e0', 'left_e1', 'left_w0', 'left_w1', 'left_w2']
    if arm == 'right':
        select_joints = baxter_joint_names[:7]
    elif arm == 'left':
        select_joints = baxter_joint_names[7:]
    elif arm == 'both':
        select_joints = baxter_joint_names
    inds = [joint_names.index(j) for j in select_joints]
    return trajectory[:, inds]


def resample(original_trajectory, desired_number_timepoints):
	original_traj_len = len(original_trajectory)
	new_timepoints = np.linspace(0, original_traj_len-1, desired_number_timepoints, dtype=int)
	return original_trajectory[new_timepoints]


class MIME_Dataset(Dataset):
	'''
	Class implementing instance of dataset class for MIME data. 
	'''
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Experiments/MIME_DataLoader.py [14:34]:
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def select_baxter_angles(trajectory, joint_names, arm='right'):
    # joint names in order as used via mujoco visualizer
    baxter_joint_names = ['right_s0', 'right_s1', 'right_e0', 'right_e1', 'right_w0', 'right_w1', 'right_w2', 'left_s0', 'left_s1', 'left_e0', 'left_e1', 'left_w0', 'left_w1', 'left_w2']
    if arm == 'right':
        select_joints = baxter_joint_names[:7]
    elif arm == 'left':
        select_joints = baxter_joint_names[7:]
    elif arm == 'both':
        select_joints = baxter_joint_names
    inds = [joint_names.index(j) for j in select_joints]
    return trajectory[:, inds]

def resample(original_trajectory, desired_number_timepoints):
	original_traj_len = len(original_trajectory)
	new_timepoints = np.linspace(0, original_traj_len-1, desired_number_timepoints, dtype=int)
	return original_trajectory[new_timepoints]

class MIME_Dataset(Dataset):
	'''
	Class implementing instance of dataset class for MIME data. 
	'''
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