Module ImportFrom alias Import alias Import alias Import alias Import alias Import alias Import alias identifier ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias alias alias alias ImportFrom alias ImportFrom alias alias alias alias ImportFrom alias alias ImportFrom alias alias alias alias alias ImportFrom alias alias ImportFrom alias alias ImportFrom alias ImportFrom alias ImportFrom alias alias ImportFrom alias ImportFrom alias identifier ImportFrom alias alias ClassDef bases body Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad keyword AttributeLoad NameLoad attr keyword AttributeLoad NameLoad attr keyword AttributeLoad NameLoad attr keyword AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr If CompareIsNot AttributeLoad AttributeLoad NameLoad attr attr NameLoad body Assign AttributeStore NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr If CompareIsNot AttributeLoad AttributeLoad NameLoad attr attr NameLoad body Assign AttributeStore NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Num Assign NameStore Num For TupleStore NameStore NameStore NameLoad body Expr Call NameLoad BinOpMod Str NameLoad Assign NameStore SubscriptLoad SubscriptLoad NameLoad Index Str Slice Assign NameStore Call NameLoad Str NameLoad NameLoad Expr Call AttributeLoad NameLoad attr ListLoad NameLoad Expr Call AttributeLoad NameLoad attr keyword AttributeLoad NameLoad attr For NameStore Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr body Expr Call NameLoad BinOpMod Str TupleLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad If AttributeLoad NameLoad attr body Expr Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore ListLoad If AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr SubscriptLoad AttributeLoad NameLoad attr ExtSlice Slice Slice Num Num IfExp CompareIsNot AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr TupleLoad Num Num Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr If CompareEq Call NameLoad AttributeLoad NameLoad attr Num body Expr Call NameLoad Str Break TryExcept body Assign TupleStore TupleStore NameStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad handlers ExceptHandler type NameLoad body Expr Call NameLoad Str Break AugAssignAdd AttributeStore NameLoad attr BinOpSub Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign NameStore IfExp AttributeLoad AttributeLoad NameLoad attr attr NameLoad Num For NameStore Call NameLoad NameLoad body If CompareEq SubscriptLoad NameLoad Index NameLoad UnaryOpUSub AttributeLoad NameLoad attr body Assign AttributeStore NameLoad attr NameLoad Break Expr Call NameLoad BinOpMod Str SubscriptLoad NameLoad Index NameLoad Assign NameStore Call NameLoad SubscriptLoad NameLoad Index NameLoad Assign NameStore Call AttributeLoad NameLoad attr TryExcept body Assign NameStore Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index NameLoad NameLoad keyword AttributeLoad NameLoad attr handlers ExceptHandler type NameLoad body Expr Call NameLoad Str Break Assign TupleStore AttributeStore NameLoad attr AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad keyword AttributeLoad NameLoad attr keyword AttributeLoad NameLoad attr keyword AttributeLoad AttributeLoad NameLoad attr attr AugAssignAdd AttributeStore NameLoad attr BinOpSub Call AttributeLoad NameLoad attr NameLoad If BoolOpOr UnaryOpNot AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Break orelse Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Dict Str Str Str Str Str Str Str Str NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad NameLoad NameLoad If UnaryOpNot AttributeLoad NameLoad attr body Assert UnaryOpNot NameLoad Break If BoolOpAnd AttributeLoad AttributeLoad NameLoad attr attr UnaryOpNot AttributeLoad NameLoad attr body Assert UnaryOpNot NameLoad Break If NameLoad body AugAssignAdd NameStore Num Break Expr Call AttributeLoad NameLoad attr ListLoad NameLoad AugAssignAdd NameStore Num Expr Call NameLoad BinOpAdd BinOpAdd BinOpAdd Str Call NameLoad NameLoad Str Call NameLoad NameLoad Expr Call NameLoad BinOpAdd Str Call NameLoad BinOpDiv Call NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults body Raise NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad keyword AttributeLoad NameLoad attr keyword AttributeLoad NameLoad attr keyword AttributeLoad NameLoad attr keyword AttributeLoad NameLoad attr Assign NameStore Num Assign NameStore Num For TupleStore NameStore NameStore NameLoad body Expr Call NameLoad BinOpMod Str NameLoad For NameStore Call NameLoad Call NameLoad NameLoad body Expr Call NameLoad BinOpMod Str TupleLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad Assign NameStore SubscriptLoad NameLoad Index Str If CompareGt NameLoad Num body Expr Call AttributeLoad NameLoad attr NameLoad If Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr body Expr Call NameLoad Str orelse Expr Call NameLoad Str Expr Call AttributeLoad NameLoad attr NameLoad If BoolOpAnd CompareIsNot AttributeLoad AttributeLoad NameLoad attr attr NameLoad CompareNotIn NameLoad AttributeLoad AttributeLoad NameLoad attr attr body Continue If CompareIn NameLoad AttributeLoad AttributeLoad NameLoad attr attr body Assign NameStore SubscriptLoad NameLoad Index Str Assign NameStore SubscriptLoad NameLoad Index Str Assign NameStore ListLoad If AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr SubscriptLoad AttributeLoad NameLoad attr ExtSlice Slice Slice Num Num IfExp CompareIsNot AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr TupleLoad Num Num Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index NameLoad NameLoad keyword AttributeLoad NameLoad attr orelse Assign NameStore SubscriptLoad NameLoad Index Str Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad keyword AttributeLoad NameLoad attr keyword AttributeLoad NameLoad attr keyword AttributeLoad AttributeLoad NameLoad attr attr If SubscriptLoad NameLoad Index Str body AugAssignAdd NameStore Num AugAssignAdd NameStore Num Expr Call NameLoad BinOpAdd BinOpAdd BinOpAdd Str Call NameLoad NameLoad Str Call NameLoad NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num keyword Str Expr Call AttributeLoad NameLoad attr Str keyword Str keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str Assign NameStore Call AttributeLoad NameLoad attr keyword Str Assign NameStore Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str keyword ListLoad Str Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str keyword ListLoad Str Str Str Str Str Str Str Str Str Str Str keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str keyword ListLoad Str Str keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword ListLoad Str Str Str keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str keyword ListLoad Str Str Str keyword ListLoad Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num keyword TupleLoad Str Str Str Str Str Str keyword ListLoad Num Num Num Num Num Num keyword Str Expr Call AttributeLoad NameLoad attr Str keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str keyword Str Expr Call AttributeLoad NameLoad attr Str keyword Str keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword ListLoad keyword Str keyword Str keyword Str Expr Call AttributeLoad NameLoad attr Str keyword NameLoad keyword NameLoad keyword Str keyword Str keyword Str Assign NameStore Call AttributeLoad NameLoad attr If UnaryOpNot AttributeLoad NameLoad attr body Assign AttributeStore NameLoad attr Num Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body If AttributeLoad NameLoad attr body Expr Call NameLoad BinOpMod Str AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Expr Call AttributeLoad NameLoad attr Num Str NameLoad decorator_list FunctionDef arguments args NameParam defaults body If CompareIsNot AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Str Assign TupleStore NameStore NameStore Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr BinOpAdd BinOpAdd NameLoad Str NameLoad Str Assign AttributeStore NameLoad attr Dict For TupleStore NameStore NameStore Call AttributeLoad AttributeLoad NameLoad attr attr body If AttributeLoad AttributeLoad NameLoad attr attr body Assign NameStore SubscriptLoad SubscriptLoad NameLoad Index Str Index TupleLoad Assign NameStore Call NameLoad NameLoad AttributeLoad NameLoad attr keyword AttributeLoad AttributeLoad NameLoad attr attr keyword AttributeLoad AttributeLoad NameLoad attr attr keyword AttributeLoad AttributeLoad NameLoad attr attr orelse Assign NameStore SubscriptLoad SubscriptLoad NameLoad Index Str Index TupleLoad Assign NameStore Call NameLoad NameLoad keyword AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Dict Assign NameStore Dict Assign NameStore Dict Assign NameStore Dict Assign NameStore Dict For NameStore Str body Assign NameStore SubscriptLoad Dict Str Str Str Str Index NameLoad Assign SubscriptStore NameLoad Index NameLoad Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index NameLoad Assign SubscriptStore NameLoad Index NameLoad SubscriptLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index BinOpMod Str NameLoad ExtSlice Slice Index NameLoad Assign SubscriptStore NameLoad Index NameLoad Call AttributeLoad NameLoad attr SubscriptLoad SubscriptLoad NameLoad Index BinOpMod Str NameLoad Index Str Assign SubscriptStore NameLoad Index NameLoad Call AttributeLoad NameLoad attr Call NameLoad SubscriptLoad NameLoad Index NameLoad keyword NameLoad Assign SubscriptStore NameLoad Index NameLoad Call AttributeLoad NameLoad attr Call NameLoad SubscriptLoad NameLoad Index NameLoad keyword NameLoad Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index NameLoad Assign SubscriptStore SubscriptLoad NameLoad Index NameLoad Index NameLoad NameLoad Assign SubscriptStore SubscriptLoad NameLoad Index NameLoad Index NameLoad NameLoad Assign NameStore Call NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Str Assign TupleStore NameStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore BinOpSub Call AttributeLoad SubscriptLoad NameLoad ExtSlice Slice Index Num attr Num Assign NameStore ListLoad Expr Call AttributeLoad NameLoad attr Call NameLoad Str keyword NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad Str ListLoad Num Num BinOpAdd NameLoad BinOpAdd Num Num ListLoad Num Num Num keyword NameLoad If CompareIn Str AttributeLoad AttributeLoad NameLoad attr attr body Expr Call AttributeLoad NameLoad attr Call NameLoad Str keyword NameLoad If CompareIn Str AttributeLoad AttributeLoad NameLoad attr attr body Expr Call AttributeLoad NameLoad attr Call NameLoad Str ListLoad Num Num BinOpAdd NameLoad BinOpAdd Num Num ListLoad Num Num Num keyword NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad Str ListLoad Num Num BinOpAdd NameLoad BinOpAdd BinOpAdd Num BinOpMult Num Num Num ListLoad Num Num Num keyword NameLoad If CompareIn Str AttributeLoad AttributeLoad NameLoad attr attr body Expr Call AttributeLoad NameLoad attr Call NameLoad Str ListLoad Num Num BinOpAdd NameLoad BinOpAdd Num Num Num Num keyword NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad Str ListLoad Num Num BinOpAdd NameLoad BinOpAdd Num Num Num Num keyword NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad Str ListLoad Num Num BinOpAdd NameLoad BinOpAdd Num Num Num Num keyword NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad Str ListLoad Num Num BinOpAdd NameLoad BinOpAdd Num Num Num Num keyword NameLoad Assign NameStore Call NameLoad Assign NameStore NameLoad Expr Call AttributeLoad NameLoad attr NameLoad If AttributeLoad AttributeLoad NameLoad attr attr body Assign NameStore Call NameLoad NameLoad NameLoad keyword AttributeLoad AttributeLoad NameLoad attr attr keyword AttributeLoad AttributeLoad NameLoad attr attr keyword AttributeLoad AttributeLoad NameLoad attr attr orelse Assign NameStore Call NameLoad NameLoad NameLoad keyword AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Call AttributeLoad Str attr NameLoad Assign TupleStore NameStore NameStore Call NameLoad ListComp TupleLoad NameLoad NameLoad comprehension TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad CompareNotEq NameLoad Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad If AttributeLoad NameLoad attr body Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr If BoolOpAnd Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Print Str Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr TryExcept body Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad handlers ExceptHandler body Print Str orelse Print Str Print Str Expr Call AttributeLoad NameLoad attr Print Str TryExcept body Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad keyword Str Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad handlers ExceptHandler body Print Str Expr Call AttributeLoad NameLoad attr If CompareNotEq AttributeLoad AttributeLoad NameLoad attr attr Num body Assert BoolOpAnd CompareLt Num AttributeLoad AttributeLoad NameLoad attr attr CompareLtE AttributeLoad AttributeLoad NameLoad attr attr Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr For NameStore Str body Assign NameStore SubscriptLoad Dict Str Str Str Str Index NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr keyword Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad keyword Num Assign NameStore BinOpAdd NameLoad BinOpMult AttributeLoad AttributeLoad NameLoad attr attr SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad BinOpDiv UnaryOpUSub NameLoad Num BinOpDiv NameLoad Num For TupleStore NameStore NameStore Call NameLoad NameLoad body Assign SubscriptStore SubscriptLoad NameLoad Index Num Index Call AttributeLoad Call AttributeLoad NameLoad attr attr NameLoad SubscriptLoad NameLoad Index TupleLoad Num NameLoad Assign SubscriptStore SubscriptLoad NameLoad Index Num Index Call AttributeLoad Call AttributeLoad NameLoad attr attr NameLoad SubscriptLoad NameLoad Index TupleLoad Num NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body If AttributeLoad AttributeLoad NameLoad attr attr body If CompareEq AttributeLoad AttributeLoad NameLoad attr attr Str body Assign NameStore Call NameLoad AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr orelse If CompareEq AttributeLoad AttributeLoad NameLoad attr attr Str body Assign NameStore Call NameLoad AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr orelse Raise Call NameLoad BinOpMod Str AttributeLoad AttributeLoad NameLoad attr attr orelse If CompareEq AttributeLoad AttributeLoad NameLoad attr attr Str body Assign NameStore Call NameLoad AttributeLoad NameLoad attr orelse If CompareEq AttributeLoad AttributeLoad NameLoad attr attr Str body Assign NameStore Call NameLoad AttributeLoad NameLoad attr orelse If CompareEq AttributeLoad AttributeLoad NameLoad attr attr Str body Assign NameStore Call NameLoad AttributeLoad NameLoad attr keyword AttributeLoad AttributeLoad NameLoad attr attr orelse Raise Call NameLoad BinOpMod Str AttributeLoad AttributeLoad NameLoad attr attr If BoolOpOr CompareEq AttributeLoad AttributeLoad NameLoad attr attr Str CompareEq AttributeLoad AttributeLoad NameLoad attr attr Str body Assign NameStore Call NameLoad NameLoad AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr If CompareEq AttributeLoad AttributeLoad NameLoad attr attr Str body Assign NameStore Call NameLoad NameLoad AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr keyword NameLoad orelse Raise Call NameLoad BinOpMod Str AttributeLoad AttributeLoad NameLoad attr attr If AttributeLoad AttributeLoad NameLoad attr attr body Assign NameStore Call NameLoad NameLoad NameLoad orelse Assign NameStore Call NameLoad NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr If CompareEq NameLoad Str body ImportFrom alias identifier orelse If CompareEq NameLoad Str body ImportFrom alias identifier orelse If CompareEq NameLoad Str body ImportFrom alias identifier orelse If CompareEq NameLoad Str body ImportFrom alias identifier orelse If CompareEq NameLoad Str body ImportFrom alias identifier orelse If CompareEq NameLoad Str body ImportFrom alias identifier orelse If CompareEq NameLoad Str body ImportFrom alias identifier orelse If CompareEq NameLoad Str body ImportFrom alias identifier orelse If CompareEq NameLoad Str body ImportFrom alias identifier orelse If CompareEq NameLoad Str body ImportFrom alias identifier orelse If CompareEq NameLoad Str body ImportFrom alias identifier orelse Raise Call NameLoad Str Assign NameStore Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr TryExcept body Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr handlers ExceptHandler type NameLoad body Pass If AttributeLoad AttributeLoad NameLoad attr attr body Expr Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad If CompareEq AttributeLoad NameLoad attr Str body Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Assert CompareNotIn Str Call NameLoad NameLoad Assign AttributeStore NameLoad attr AttributeLoad NameLoad attr orelse Raise Call NameLoad Str Expr Call NameLoad NameLoad Expr Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore Call NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad If CompareEq AttributeLoad AttributeLoad NameLoad attr attr Str body Expr Call NameLoad NameLoad If CompareEq AttributeLoad AttributeLoad NameLoad attr attr Str body Assign NameStore Call NameLoad AttributeLoad NameLoad attr orelse Assign NameStore Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr keyword NameLoad keyword NameLoad keyword AttributeLoad AttributeLoad NameLoad attr attr keyword AttributeLoad AttributeLoad NameLoad attr attr If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore Call AttributeLoad NameLoad attr If AttributeLoad AttributeLoad NameLoad attr attr body Expr Call NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad orelse Expr Call NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad Print Call AttributeLoad Str attr BinOpSub Call AttributeLoad NameLoad attr NameLoad orelse If CompareEq AttributeLoad NameLoad attr Str body Expr Call NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad orelse Raise Call NameLoad Str decorator_list If CompareEq NameLoad Str body Expr Call NameLoad
N/A __future__ division N/A time N/A os.path N/A h5py N/A atexit N/A trajoptpy N/A numpy np lfd.environment sim_util lfd.environment settings constants MAX_ACTIONS_TO_TRY lfd.demonstration.demonstration SceneState GroundTruthRopeSceneState AugmentedTrajectory Demonstration lfd.environment.simulation DynamicRopeSimulationRobotWorld lfd.environment.simulation_object XmlSimulationObject BoxSimulationObject CylinderSimulationObject RopeSimulationObject lfd.environment.environment LfdEnvironment GroundTruthRopeLfdEnvironment lfd.registration.registration TpsRpmBijRegistrationFactory TpsRpmRegistrationFactory TpsSegmentRegistrationFactory BatchGpuTpsRpmBijRegistrationFactory BatchGpuTpsRpmRegistrationFactory lfd.transfer.transfer PoseTrajectoryTransferer FingerTrajectoryTransferer lfd.transfer.registration_transfer TwoStepRegistrationAndTrajectoryTransferer UnifiedRegistrationAndTrajectoryTransferer lfd.action_selection GreedyActionSelection lfd.action_selection FeatureActionSelection lfd.rapprentice eval_util util lfd.rapprentice task_execution lfd.rapprentice.knot_classifier isKnot is_knot lfd.rapprentice.util redprint yellowprint GlobalVars N/A N/A N/A exec_log None N/A actions None N/A actions_cache None N/A demos None N/A features None N/A eval_on_holdout N/A N/A args action_selection reg_and_traj_transferer lfd_env sim N/A N/A N/A TODO
    
    Args:
        action_selection: ActionSelection
        reg_and_traj_transferer: RegistrationAndTrajectoryTransferer
        lfd_env: LfdEnvironment
        sim: DynamicSimulation
     N/A holdoutfile N/A N/A h5py File N/A N/A args eval holdoutfile r N/A holdout_items N/A N/A eval_util get_indexed_items holdoutfile task_list N/A args tasks task_file N/A args taskfile i_start N/A args i_start i_end N/A args i_end N/A rope_params N/A N/A sim_util RopeParams N/A N/A N/A N/A args eval rope_param_radius None N/A N/A N/A rope_params radius N/A N/A args eval rope_param_radius N/A N/A N/A N/A args eval rope_param_angStiffness None N/A N/A N/A rope_params angStiffness N/A N/A args eval rope_param_angStiffness N/A num_successes 0 N/A num_total 0 N/A N/A i_task demo_id_rope_nodes holdout_items N/A N/A N/A redprint N/A task %s i_task N/A init_rope_nodes N/A N/A demo_id_rope_nodes N/A rope_nodes N/A N/A rope N/A RopeSimulationObject rope init_rope_nodes rope_params N/A N/A N/A sim add_objects N/A rope N/A N/A N/A sim settle step_viewer N/A args animation N/A i_step N/A range N/A N/A args eval num_steps N/A N/A N/A redprint N/A task %s step %i N/A i_task i_step N/A N/A N/A sim_util reset_arms_to_side sim N/A N/A args animation N/A N/A N/A N/A N/A sim viewer Step N/A sim_state N/A N/A sim get_state N/A N/A N/A sim set_state sim_state N/A scene_state N/A N/A lfd_env observe_scene N/A handles N/A N/A N/A args plotting N/A N/A N/A N/A handles append N/A N/A N/A sim env plot3 N/A N/A scene_state cloud N/A N/A N/A 3 2 N/A N/A N/A scene_state color None N/A scene_state color N/A 0 0 1 N/A N/A N/A N/A sim viewer Step N/A eval_stats N/A N/A eval_util EvalStats N/A start_time N/A N/A time time N/A N/A N/A len N/A scene_state cloud 0 N/A N/A N/A redprint Detected 0 points in scene N/A N/A N/A N/A N/A N/A agenda q_values_root goal_found N/A N/A action_selection plan_agenda scene_state i_step N/A N/A N/A ValueError N/A N/A N/A redprint **Raised Value Error during action selection N/A N/A N/A eval_stats action_elapsed_time N/A N/A N/A time time start_time N/A N/A eval_stats generalized True N/A num_actions_to_try N/A N/A N/A args eval search_until_feasible MAX_ACTIONS_TO_TRY 1 N/A i_choice N/A range num_actions_to_try N/A N/A N/A N/A q_values_root N/A i_choice N/A N/A np inf N/A N/A N/A eval_stats generalized False N/A N/A N/A redprint N/A TRYING %s N/A agenda N/A i_choice N/A best_root_action N/A str N/A agenda N/A i_choice N/A start_time N/A N/A time time N/A N/A N/A test_aug_traj N/A N/A reg_and_traj_transferer transfer N/A N/A GlobalVars demos N/A best_root_action scene_state plotting N/A args plotting N/A N/A N/A ValueError N/A N/A N/A redprint **Raised value error during traj transfer N/A N/A N/A N/A eval_stats feasible N/A eval_stats misgrasp N/A N/A lfd_env execute_augmented_trajectory test_aug_traj step_viewer N/A args animation interactive N/A args interactive check_feasible N/A N/A args eval check_feasible N/A N/A eval_stats exec_elapsed_time N/A N/A N/A time time start_time N/A N/A N/A N/A N/A args eval check_feasible N/A eval_stats feasible N/A N/A N/A N/A N/A N/A sim set_state sim_state N/A knot N/A is_knot N/A N/A N/A rope rope GetControlPoints N/A results N/A scene_state best_action values aug_traj eval_stats sim_state knot goal_found scene_state best_root_action q_values_root test_aug_traj eval_stats sim_state knot goal_found N/A N/A N/A eval_util save_task_results_step N/A args resultfile i_task i_step results N/A N/A N/A eval_stats generalized N/A N/A N/A knot N/A N/A N/A N/A N/A args eval check_feasible N/A N/A eval_stats feasible N/A N/A N/A knot N/A N/A knot N/A N/A num_successes 1 N/A N/A N/A N/A sim remove_objects N/A rope N/A num_total 1 N/A N/A redprint N/A N/A N/A Eval Successes / Total:  N/A str num_successes / N/A str num_total N/A N/A redprint N/A Success Rate:  N/A str N/A N/A float num_successes num_total N/A eval_on_holdout_parallel N/A N/A args action_selection reg_and_traj_transferer lfd_env sim N/A N/A N/A NotImplementedError N/A replay_on_holdout N/A N/A args action_selection reg_and_traj_transferer lfd_env sim N/A N/A N/A loadresultfile N/A N/A h5py File N/A N/A args replay loadresultfile r N/A loadresult_items N/A N/A eval_util get_indexed_items loadresultfile task_list N/A args tasks task_file N/A args taskfile i_start N/A args i_start i_end N/A args i_end N/A num_successes 0 N/A num_total 0 N/A N/A i_task task_info loadresult_items N/A N/A N/A redprint N/A task %s i_task N/A i_step N/A range N/A len task_info N/A N/A N/A redprint N/A task %s step %i N/A i_task i_step N/A replay_results N/A N/A eval_util load_task_results_step N/A N/A args replay loadresultfile i_task i_step N/A sim_state N/A replay_results N/A sim_state N/A N/A i_step 0 N/A N/A N/A N/A sim_util reset_arms_to_side sim N/A N/A N/A sim simulation_state_equal sim_state N/A N/A sim get_state N/A N/A N/A yellowprint Reproducible results OK N/A N/A N/A yellowprint The replayed simulation state doesn't match the one from the result file N/A N/A N/A sim set_state sim_state N/A N/A N/A N/A N/A args replay simulate_traj_steps None N/A i_step N/A N/A args replay simulate_traj_steps N/A N/A N/A N/A i_step N/A N/A args replay compute_traj_steps N/A N/A best_root_action N/A replay_results N/A best_action N/A scene_state N/A replay_results N/A scene_state N/A handles N/A N/A N/A args plotting N/A N/A N/A N/A handles append N/A N/A N/A sim env plot3 N/A N/A scene_state cloud N/A N/A N/A 3 2 N/A N/A N/A scene_state color None N/A scene_state color N/A 0 0 1 N/A N/A N/A N/A sim viewer Step N/A test_aug_traj N/A N/A reg_and_traj_transferer transfer N/A N/A GlobalVars demos N/A best_root_action scene_state plotting N/A args plotting N/A N/A test_aug_traj N/A replay_results N/A aug_traj N/A N/A feasible misgrasp N/A N/A lfd_env execute_augmented_trajectory test_aug_traj step_viewer N/A args animation interactive N/A args interactive check_feasible N/A N/A args eval check_feasible N/A N/A replay_results N/A knot N/A N/A num_successes 1 N/A num_total 1 N/A N/A redprint N/A N/A N/A REPLAY Successes / Total:  N/A str num_successes / N/A str num_total N/A parse_input_args N/A N/A N/A N/A N/A parser N/A N/A util ArgumentParser N/A N/A N/A parser add_argument --animation type int default 0 help animates if it is non-zero. the viewer is stepped according to this number N/A N/A N/A parser add_argument --plotting type int default 1 help plots if animation != 0 and plotting != 0 N/A N/A N/A parser add_argument --interactive action store_true help step animation and optimization if specified N/A N/A N/A parser add_argument --resultfile type str help no results are saved if this is not specified N/A N/A N/A parser add_argument --tasks type int nargs * metavar i_task N/A N/A N/A parser add_argument --taskfile type str N/A N/A N/A parser add_argument --i_start type int default -1 metavar i_task N/A N/A N/A parser add_argument --i_end type int default -1 metavar i_task N/A N/A N/A parser add_argument --camera_matrix_file type str default ../.camera_matrix.txt N/A N/A N/A parser add_argument --window_prop_file type str default ../.win_prop.txt N/A N/A N/A parser add_argument --random_seed type int default None N/A N/A N/A parser add_argument --log type str default N/A subparsers N/A N/A parser add_subparsers dest subparser_name N/A parser_eval N/A N/A subparsers add_parser eval N/A N/A N/A parser_eval add_argument actionfile type str nargs ? default ../bigdata/misc/overhand_actions.h5 N/A N/A N/A parser_eval add_argument holdoutfile type str nargs ? default ../bigdata/misc/holdout_set_Jun20_0.10.h5 N/A N/A N/A parser add_argument --landmarkfile type str default ../data/misc/landmarks.h5 N/A N/A N/A parser_eval add_argument action_selection type str nargs ? choices N/A greedy feature N/A N/A N/A parser_eval add_argument --weightfile type str default N/A N/A N/A parser_eval add_argument --feature_type type str nargs ? choices N/A base mul mul_quad mul_quad_ind mul_quad_bendind mul_quad_mapind mul_s mul_grip mul_s_map landmark timestep default base N/A N/A N/A parser_eval add_argument transferopt type str nargs ? choices N/A pose finger default finger N/A N/A N/A parser_eval add_argument reg_type type str choices N/A segment rpm bij default bij N/A N/A N/A parser_eval add_argument --unified type int default 0 N/A N/A N/A parser_eval add_argument --obstacles type str nargs * choices N/A bookshelve boxes cylinders default N/A N/A N/A N/A parser_eval add_argument --downsample type int default 1 N/A N/A N/A parser_eval add_argument --downsample_size type float default 0.025 N/A N/A N/A parser_eval add_argument --upsample type int default 0 N/A N/A N/A parser_eval add_argument --upsample_rad type int default 1 help upsample_rad > 1 incompatible with downsample != 0 N/A N/A N/A parser_eval add_argument --ground_truth type int default 0 N/A N/A N/A parser_eval add_argument --fake_data_segment type str default demo1-seg00 N/A N/A N/A parser_eval add_argument --fake_data_transform type float nargs 6 metavar N/A tx ty tz rx ry rz default N/A 0 0 0 0 0 0 help translation=(tx,ty,tz), axis-angle rotation=(rx,ry,rz) N/A N/A N/A parser_eval add_argument --search_until_feasible action store_true N/A N/A N/A parser_eval add_argument --check_feasible type int default 0 N/A N/A N/A parser_eval add_argument --width type int default 1 N/A N/A N/A parser_eval add_argument --depth type int default 0 N/A N/A N/A parser_eval add_argument --alpha type float default 1000000.0 N/A N/A N/A parser_eval add_argument --beta_pos type float default 1000000.0 N/A N/A N/A parser_eval add_argument --beta_rot type float default 100.0 N/A N/A N/A parser_eval add_argument --gamma type float default 1000.0 N/A N/A N/A parser_eval add_argument --use_collision_cost type int default 1 N/A N/A N/A parser_eval add_argument --num_steps type int default 5 help maximum number of steps to simulate each task N/A N/A N/A parser_eval add_argument --dof_limits_factor type float default 1.0 N/A N/A N/A parser_eval add_argument --rope_param_radius type str default None N/A N/A N/A parser_eval add_argument --rope_param_angStiffness type str default None N/A N/A N/A parser_eval add_argument --use_color type int default 0 N/A N/A N/A parser_eval add_argument --parallel action store_true N/A N/A N/A parser_eval add_argument --batch action store_true default False N/A parser_replay N/A N/A subparsers add_parser replay N/A N/A N/A parser_replay add_argument loadresultfile type str N/A N/A N/A parser_replay add_argument --compute_traj_steps type int default N/A nargs * metavar i_step help recompute trajectories for the i_step of all tasks N/A N/A N/A parser_replay add_argument --simulate_traj_steps type int default None nargs * metavar i_step help if specified, restore the rope state from file and then simulate for the i_step of all tasks N/A args N/A N/A parser parse_args N/A N/A N/A args animation N/A N/A N/A args plotting 0 N/A args N/A setup_log_file N/A N/A args N/A N/A N/A N/A args log N/A N/A N/A redprint N/A Writing log to file %s N/A args log N/A N/A GlobalVars exec_log N/A N/A task_execution ExecutionLog N/A args log N/A N/A N/A atexit register N/A N/A GlobalVars exec_log close N/A N/A N/A GlobalVars exec_log 0 main.args args N/A set_global_vars N/A N/A args N/A N/A N/A N/A N/A args random_seed None N/A N/A N/A N/A N/A np random seed N/A args random_seed N/A N/A GlobalVars actions N/A N/A h5py File N/A N/A args eval actionfile r N/A N/A actions_root actions_ext N/A N/A N/A os path splitext N/A N/A args eval actionfile N/A N/A GlobalVars actions_cache N/A N/A h5py File N/A N/A actions_root .cache actions_ext a N/A N/A GlobalVars demos N/A N/A N/A action seg_info N/A N/A N/A GlobalVars actions iteritems N/A N/A N/A N/A args eval ground_truth N/A N/A rope_nodes N/A N/A seg_info N/A rope_nodes N/A N/A N/A scene_state N/A GroundTruthRopeSceneState rope_nodes N/A settings ROPE_RADIUS upsample N/A N/A args eval upsample upsample_rad N/A N/A args eval upsample_rad downsample_size N/A N/A args eval downsample_size N/A N/A full_cloud N/A N/A seg_info N/A cloud_xyz N/A N/A N/A scene_state N/A SceneState full_cloud downsample_size N/A N/A args eval downsample_size N/A lr2arm_traj N/A N/A lr2finger_traj N/A N/A lr2ee_traj N/A N/A lr2open_finger_traj N/A N/A lr2close_finger_traj N/A N/A lr lr N/A N/A arm_name N/A N/A l r leftarm rightarm N/A lr N/A N/A lr2arm_traj N/A lr N/A N/A np asarray N/A seg_info N/A arm_name N/A N/A lr2finger_traj N/A lr N/A N/A N/A sim_util gripper_joint2gripper_l_finger_joint_values N/A N/A np asarray N/A seg_info N/A N/A %s_gripper_joint lr N/A N/A N/A None N/A N/A lr2ee_traj N/A lr N/A N/A np asarray N/A N/A seg_info N/A N/A %s_gripper_tool_frame lr N/A hmat N/A N/A lr2open_finger_traj N/A lr N/A N/A np zeros N/A len N/A lr2finger_traj N/A lr dtype bool N/A N/A lr2close_finger_traj N/A lr N/A N/A np zeros N/A len N/A lr2finger_traj N/A lr dtype bool N/A N/A opening_inds closing_inds N/A N/A sim_util get_opening_closing_inds N/A lr2finger_traj N/A lr N/A N/A N/A lr2open_finger_traj N/A lr N/A opening_inds True N/A N/A N/A lr2close_finger_traj N/A lr N/A closing_inds True N/A aug_traj N/A AugmentedTrajectory lr2arm_traj lr2arm_traj lr2finger_traj lr2finger_traj lr2ee_traj lr2ee_traj lr2open_finger_traj lr2open_finger_traj lr2close_finger_traj lr2close_finger_traj N/A demo N/A Demonstration action scene_state aug_traj N/A N/A N/A GlobalVars demos N/A action demo N/A setup_lfd_environment_sim N/A N/A args N/A N/A N/A actions N/A N/A h5py File N/A N/A args eval actionfile r N/A N/A init_rope_xyz init_joint_names init_joint_values N/A N/A sim_util load_fake_data_segment actions N/A N/A args eval fake_data_segment N/A N/A args eval fake_data_transform N/A table_height N/A N/A N/A N/A init_rope_xyz N/A N/A N/A 2 mean 0.02 N/A sim_objs N/A N/A N/A N/A sim_objs append N/A XmlSimulationObject robots/pr2-beta-static.zae dynamic False N/A N/A N/A sim_objs append N/A BoxSimulationObject table N/A 1 0 N/A table_height N/A -0.1 0.01 N/A 0.85 0.85 0.1 dynamic False N/A N/A bookshelve N/A N/A args eval obstacles N/A N/A N/A N/A sim_objs append N/A XmlSimulationObject ../data/bookshelve.env.xml dynamic False N/A N/A boxes N/A N/A args eval obstacles N/A N/A N/A N/A sim_objs append N/A BoxSimulationObject box0 N/A 0.7 0.43 N/A table_height N/A 0.01 0.12 N/A 0.12 0.12 0.12 dynamic False N/A N/A N/A sim_objs append N/A BoxSimulationObject box1 N/A 0.74 0.47 N/A table_height N/A N/A 0.01 N/A 0.12 2 0.08 N/A 0.08 0.08 0.08 dynamic False N/A N/A cylinders N/A N/A args eval obstacles N/A N/A N/A N/A sim_objs append N/A CylinderSimulationObject cylinder0 N/A 0.7 0.43 N/A table_height N/A 0.01 0.5 0.12 1.0 dynamic False N/A N/A N/A sim_objs append N/A CylinderSimulationObject cylinder1 N/A 0.7 -0.43 N/A table_height N/A 0.01 0.5 0.12 1.0 dynamic False N/A N/A N/A sim_objs append N/A CylinderSimulationObject cylinder2 N/A 0.4 0.2 N/A table_height N/A 0.01 0.65 0.06 0.5 dynamic False N/A N/A N/A sim_objs append N/A CylinderSimulationObject cylinder3 N/A 0.4 -0.2 N/A table_height N/A 0.01 0.65 0.06 0.5 dynamic False N/A sim N/A DynamicRopeSimulationRobotWorld N/A world sim N/A N/A N/A sim add_objects sim_objs N/A N/A N/A args eval ground_truth N/A N/A lfd_env N/A GroundTruthRopeLfdEnvironment sim world upsample N/A N/A args eval upsample upsample_rad N/A N/A args eval upsample_rad downsample_size N/A N/A args eval downsample_size N/A N/A lfd_env N/A LfdEnvironment sim world downsample_size N/A N/A args eval downsample_size N/A dof_inds N/A N/A sim_util dof_inds_from_name N/A sim robot N/A N/A + join init_joint_names N/A N/A values dof_inds N/A zip N/A N/A value dof_ind N/A N/A value dof_ind N/A zip init_joint_values dof_inds N/A dof_ind -1 N/A N/A N/A N/A sim robot SetDOFValues values dof_inds N/A N/A N/A sim_util reset_arms_to_side sim N/A N/A args animation N/A N/A viewer N/A N/A trajoptpy GetViewer N/A sim env N/A N/A N/A N/A N/A os path isfile N/A args window_prop_file N/A N/A N/A os path isfile N/A args camera_matrix_file N/A N/A loading window and camera properties N/A window_prop N/A N/A np loadtxt N/A args window_prop_file N/A camera_matrix N/A N/A np loadtxt N/A args camera_matrix_file N/A N/A N/A N/A N/A viewer SetWindowProp window_prop N/A N/A N/A viewer SetCameraManipulatorMatrix camera_matrix N/A N/A N/A N/A SetWindowProp and SetCameraManipulatorMatrix are not defined. Pull and recompile Trajopt. N/A N/A move viewer to viewpoint that isn't stupid N/A then hit 'p' to continue N/A N/A N/A viewer Idle N/A saving window and camera properties N/A N/A N/A window_prop N/A N/A viewer GetWindowProp N/A camera_matrix N/A N/A viewer GetCameraManipulatorMatrix N/A N/A N/A np savetxt N/A args window_prop_file window_prop fmt %d N/A N/A N/A np savetxt N/A args camera_matrix_file camera_matrix N/A N/A N/A N/A GetWindowProp and GetCameraManipulatorMatrix are not defined. Pull and recompile Trajopt. N/A N/A N/A viewer Step N/A N/A N/A N/A args eval dof_limits_factor 1.0 N/A N/A N/A N/A 0 N/A N/A args eval dof_limits_factor N/A N/A N/A args eval dof_limits_factor 1.0 N/A active_dof_indices N/A N/A N/A sim robot GetActiveDOFIndices N/A active_dof_limits N/A N/A N/A sim robot GetActiveDOFLimits N/A lr lr N/A N/A manip_name N/A N/A l r leftarm rightarm N/A lr N/A dof_inds N/A N/A N/A N/A N/A sim robot GetManipulator manip_name GetArmIndices N/A limits N/A N/A np asarray N/A N/A N/A sim robot GetDOFLimits dof_inds N/A limits_mean N/A N/A limits mean axis 0 N/A limits_width N/A N/A np diff limits axis 0 N/A new_limits N/A limits_mean N/A N/A N/A args eval dof_limits_factor N/A N/A np r_ N/A N/A N/A N/A limits_width 2.0 N/A limits_width 2.0 N/A N/A i ind N/A enumerate dof_inds N/A N/A N/A N/A active_dof_limits N/A 0 N/A N/A N/A N/A N/A active_dof_indices tolist index ind N/A new_limits N/A N/A 0 i N/A N/A N/A active_dof_limits N/A 1 N/A N/A N/A N/A N/A active_dof_indices tolist index ind N/A new_limits N/A N/A 1 i N/A N/A N/A N/A sim robot SetDOFLimits N/A active_dof_limits N/A 0 N/A active_dof_limits N/A 1 N/A N/A lfd_env sim N/A setup_registration_and_trajectory_transferer N/A N/A args sim N/A N/A N/A N/A N/A args eval batch N/A N/A N/A N/A N/A args eval reg_type rpm N/A N/A reg_factory N/A BatchGpuTpsRpmRegistrationFactory N/A GlobalVars demos N/A N/A args eval actionfile N/A N/A N/A N/A N/A args eval reg_type bij N/A N/A reg_factory N/A BatchGpuTpsRpmBijRegistrationFactory N/A GlobalVars demos N/A N/A args eval actionfile N/A N/A N/A RuntimeError N/A Invalid reg_type option %s N/A N/A args eval reg_type N/A N/A N/A N/A N/A args eval reg_type segment N/A N/A reg_factory N/A TpsSegmentRegistrationFactory N/A GlobalVars demos N/A N/A N/A N/A N/A args eval reg_type rpm N/A N/A reg_factory N/A TpsRpmRegistrationFactory N/A GlobalVars demos N/A N/A N/A N/A N/A args eval reg_type bij N/A N/A reg_factory N/A TpsRpmBijRegistrationFactory N/A GlobalVars demos actionfile N/A N/A args eval actionfile N/A N/A N/A RuntimeError N/A Invalid reg_type option %s N/A N/A args eval reg_type N/A N/A N/A N/A N/A args eval transferopt pose N/A N/A N/A args eval transferopt finger N/A N/A traj_transferer N/A PoseTrajectoryTransferer sim N/A N/A args eval beta_pos N/A N/A args eval beta_rot N/A N/A args eval gamma N/A N/A args eval use_collision_cost N/A N/A N/A N/A args eval transferopt finger N/A N/A traj_transferer N/A FingerTrajectoryTransferer sim N/A N/A args eval beta_pos N/A N/A args eval gamma N/A N/A args eval use_collision_cost init_trajectory_transferer traj_transferer N/A N/A N/A RuntimeError N/A Invalid transferopt option %s N/A N/A args eval transferopt N/A N/A N/A args eval unified N/A N/A reg_and_traj_transferer N/A UnifiedRegistrationAndTrajectoryTransferer reg_factory traj_transferer N/A N/A reg_and_traj_transferer N/A TwoStepRegistrationAndTrajectoryTransferer reg_factory traj_transferer N/A reg_and_traj_transferer N/A get_features N/A N/A args N/A N/A N/A feat_type N/A N/A args eval feature_type N/A N/A feat_type base N/A lfd.mmqe.features BatchRCFeats feat N/A N/A N/A feat_type mul N/A lfd.mmqe.features MulFeats feat N/A N/A N/A feat_type mul_quad N/A lfd.mmqe.features QuadSimpleMulFeats feat N/A N/A N/A feat_type mul_quad_ind N/A lfd.mmqe.features QuadSimpleMulIndFeats feat N/A N/A N/A feat_type mul_quad_mapind N/A lfd.mmqe.features QuadSimpleMulMapIndFeats feat N/A N/A N/A feat_type mul_quad_bendind N/A lfd.mmqe.features QuadSimpleMulBendIndFeats feat N/A N/A N/A feat_type mul_s N/A lfd.mmqe.features SimpleMulFeats feat N/A N/A N/A feat_type mul_grip N/A lfd.mmqe.features SimpleMulGripperFeats feat N/A N/A N/A feat_type mul_s_map N/A lfd.mmqe.features SimpleMulMapIndFeats feat N/A N/A N/A feat_type landmark N/A lfd.mmqe.features LandmarkFeats feat N/A N/A N/A feat_type timestep N/A lfd.mmqe.features TimestepActionMulFeats feat N/A N/A N/A ValueError Incorrect Feature Type N/A feats N/A feat N/A N/A args eval actionfile N/A N/A N/A N/A N/A feats set_landmark_file N/A args landmarkfile N/A N/A N/A AttributeError N/A N/A N/A N/A N/A args eval weightfile N/A N/A N/A N/A feats load_weights N/A N/A args eval weightfile N/A N/A GlobalVars features feats N/A feats N/A main N/A N/A N/A N/A N/A args N/A parse_input_args N/A N/A N/A args subparser_name eval N/A N/A N/A N/A eval_util save_results_args N/A args resultfile args N/A N/A N/A N/A args subparser_name replay N/A N/A loaded_args N/A N/A eval_util load_results_args N/A N/A args replay loadresultfile N/A N/A eval N/A vars args N/A N/A args eval N/A loaded_args eval N/A N/A N/A RuntimeError Invalid subparser name N/A N/A setup_log_file args N/A N/A set_global_vars args N/A N/A N/A trajoptpy SetInteractive N/A args interactive N/A N/A lfd_env sim N/A setup_lfd_environment_sim args N/A reg_and_traj_transferer N/A setup_registration_and_trajectory_transferer args sim N/A N/A N/A N/A args eval action_selection feature N/A N/A N/A get_features args N/A N/A N/A N/A args eval action_selection greedy N/A N/A action_selection N/A GreedyActionSelection N/A reg_and_traj_transferer registration_factory N/A N/A action_selection N/A FeatureActionSelection N/A reg_and_traj_transferer registration_factory N/A GlobalVars features N/A GlobalVars actions N/A GlobalVars demos simulator reg_and_traj_transferer lfd_env lfd_env width N/A N/A args eval width depth N/A N/A args eval depth N/A N/A N/A args subparser_name eval N/A N/A start N/A N/A time time N/A N/A N/A args eval parallel N/A N/A N/A eval_on_holdout_parallel args action_selection reg_and_traj_transferer lfd_env sim N/A N/A N/A eval_on_holdout args action_selection reg_and_traj_transferer lfd_env sim N/A N/A N/A eval time is:	{} format N/A N/A N/A time time start N/A N/A N/A N/A args subparser_name replay N/A N/A N/A replay_on_holdout args action_selection reg_and_traj_transferer lfd_env sim N/A N/A N/A RuntimeError Invalid subparser name N/A N/A N/A __name__ __main__ N/A N/A N/A main