DataLoaders/MIMEandPlan_DataLoader.py [71:96]:
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		'''
		# 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]
		'''

		if split=="train":
			file = self.train_filelist[index]
		elif split=="val":
			file = self.val_filelist[index]
		elif split=="test":
			file = self.test_filelist[index]
		elif split is None: 
			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 = []

		folder = "New_Plans"
		if return_plan_run is not None:
			ee_plan = np.load(os.path.join(os.path.split(file)[0],"{0}/Run{1}_EE_Plan.npy".format(folder,return_plan_run)))
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DataLoaders/MIMEandPlan_DataLoader.py [128:153]:
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		'''
		# 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]
		'''

		if split=="train":
			file = self.train_filelist[index]
		elif split=="val":
			file = self.val_filelist[index]
		elif split=="test":
			file = self.test_filelist[index]
		elif split is None: 
			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 = []

		folder = "New_Plans"
		if return_plan_run is not None:
			ee_plan = np.load(os.path.join(os.path.split(file)[0],"{0}/Run{1}_EE_Plan.npy".format(folder,return_plan_run)))
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