Module ImportFrom alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias identifier ImportFrom alias ImportFrom alias ImportFrom alias alias ImportFrom alias ImportFrom alias alias ImportFrom alias ClassDef bases body Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore NameLoad For NameStore AttributeLoad NameLoad attr body If Call NameLoad NameLoad NameLoad body Assign NameStore NameLoad Break If NameLoad body Expr Call AttributeLoad NameLoad attr ListLoad NameLoad Assign NameStore Call NameLoad Str NameLoad Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr ListLoad NameLoad Expr Call AttributeLoad NameLoad attr keyword NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore ListComp NameLoad comprehension NameStore Call AttributeLoad AttributeLoad NameLoad attr attr CompareIn Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Return TupleLoad SubscriptLoad SubscriptLoad AttributeLoad NameLoad attr Index NameLoad Index Str NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam NameParam defaults NameLoad Num Num Num body Assign NameStore NameLoad While UnaryOpNot NameLoad body Assign TupleStore NameStore NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad keyword NameLoad keyword NameLoad Expr Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr If NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr If NameLoad body Assign NameStore Call NameLoad Str Assign NameStore CompareNotIn NameLoad TupleLoad Str Str orelse Assign NameStore NameLoad Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num body Expr Str Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Str Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Str TryFinally body TryExcept body For NameStore Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr body Expr Call NameLoad Call AttributeLoad Str attr NameLoad AttributeLoad AttributeLoad NameLoad attr attr Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad AttributeLoad NameLoad attr keyword AttributeLoad NameLoad attr keyword AttributeLoad AttributeLoad NameLoad attr attr keyword AttributeLoad AttributeLoad NameLoad attr attr keyword AttributeLoad AttributeLoad NameLoad attr attr Expr Call AttributeLoad NameLoad attr Call NameLoad NameLoad Assign SubscriptStore SubscriptLoad NameLoad Index Call NameLoad NameLoad Index Str NameLoad Assign SubscriptStore SubscriptLoad NameLoad Index Call NameLoad NameLoad Index Str Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Str Assign SubscriptStore SubscriptLoad NameLoad Index Str Index Str AttributeLoad AttributeLoad NameLoad attr attr Assign SubscriptStore SubscriptLoad NameLoad Index Str Index Str AttributeLoad AttributeLoad NameLoad attr attr Assign SubscriptStore SubscriptLoad NameLoad Index Str Index Str TupleLoad AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr Assign SubscriptStore SubscriptLoad NameLoad Index Str Index Str AttributeLoad AttributeLoad NameLoad attr attr Assign SubscriptStore SubscriptLoad NameLoad Index Str Index Str Call NameLoad NameLoad Print Str handlers ExceptHandler body Print Str Call AttributeLoad NameLoad attr Raise finalbody Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Assert Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore NameLoad For NameStore Call NameLoad NameLoad body If CompareNotIn Call NameLoad NameLoad NameLoad body Print Call AttributeLoad Str attr NameLoad NameLoad Assign NameStore NameLoad Expr Call AttributeLoad NameLoad attr Return 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 Str 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 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 NameLoad keyword Num 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 Num 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 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 ListLoad Num Num BinOpAdd NameLoad BinOpAdd Num Num ListLoad Num Num Num keyword NameLoad Assign NameStore Call NameLoad Assign NameStore 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 Return NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad Expr Call NameLoad NameLoad Expr Call NameLoad NameLoad Assign NameStore Call NameLoad NameLoad If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore Call AttributeLoad NameLoad attr Expr Call NameLoad NameLoad NameLoad Print Call AttributeLoad Str attr BinOpSub Call AttributeLoad NameLoad attr 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 random N/A sys N/A trajoptpy N/A numpy np lfd.environment sim_util lfd.environment.simulation DynamicSimulation lfd.environment.simulation_object BoxSimulationObject RopeSimulationObject lfd.rapprentice util lfd.rapprentice task_execution rope_initialization lfd.rapprentice.util redprint GlobalVars N/A N/A N/A exec_log None N/A actions None N/A actions_cache None N/A replace_rope N/A N/A sim new_rope animation N/A N/A N/A rope_sim_obj None N/A sim_obj N/A sim sim_objs N/A N/A N/A isinstance sim_obj RopeSimulationObject N/A N/A rope_sim_obj sim_obj N/A N/A rope_sim_obj N/A N/A N/A N/A sim remove_objects N/A rope_sim_obj N/A rope N/A RopeSimulationObject rope new_rope N/A N/A sim_util RopeParams N/A N/A N/A sim add_objects N/A rope N/A N/A N/A sim settle step_viewer animation N/A load_random_start_segment N/A N/A demofile N/A N/A N/A start_keys N/A seg N/A seg N/A N/A N/A GlobalVars actions keys N/A seg00 seg N/A seg_name N/A N/A random choice start_keys N/A N/A N/A N/A N/A GlobalVars actions N/A seg_name N/A cloud_xyz seg_name N/A sample_rope_state N/A N/A demofile sim animation human_check perturb_points min_rad max_rad N/A False 7 0.1 0.1 N/A N/A success False N/A N/A success N/A N/A N/A new_xyz demo_id N/A load_random_start_segment demofile N/A perturb_radius N/A N/A random uniform min_rad max_rad N/A rope_nodes N/A N/A rope_initialization find_path_through_point_cloud new_xyz perturb_peak_dist perturb_radius num_perturb_points perturb_points N/A N/A replace_rope sim rope_nodes animation N/A N/A N/A sim settle N/A animation N/A N/A N/A N/A N/A sim viewer Step N/A human_check N/A N/A resp N/A raw_input Use this simulation?[Y/n] N/A success N/A resp N/A N n N/A N/A success True N/A N/A rope_nodes demo_id N/A gen_task_file N/A N/A args sim rotation_angle N/A 0 N/A N/A 
    draw n_examples states from the initial state distribution defined by
    sample_rope_state using random intial states from actionfile

    writes results to task file name

    TODO: Add rotation angle to available perturbation
     N/A taskfile N/A N/A h5py File N/A N/A args gen_tasks taskfile w N/A actionfile N/A N/A h5py File N/A N/A args gen_tasks actionfile r N/A N/A N/A N/A N/A i N/A range N/A N/A args gen_tasks n_examples N/A N/A N/A redprint N/A N/A Creating State {}/{} format i N/A N/A args gen_tasks n_examples N/A N/A rope_nodes demo_id N/A sample_rope_state actionfile sim N/A args animation human_check N/A args interactive perturb_points N/A N/A args gen_tasks n_perturb_pts min_rad N/A N/A args gen_tasks min_rad max_rad N/A N/A args gen_tasks max_rad N/A N/A N/A taskfile create_group N/A str i N/A N/A N/A taskfile N/A N/A str i N/A rope_nodes rope_nodes N/A N/A N/A taskfile N/A N/A str i N/A demo_id N/A str demo_id N/A N/A N/A taskfile create_group args N/A N/A N/A taskfile N/A args N/A num_examples N/A N/A args gen_tasks n_examples N/A N/A N/A taskfile N/A args N/A actionfname N/A N/A args gen_tasks actionfile N/A N/A N/A taskfile N/A args N/A perturb_bounds N/A N/A N/A args gen_tasks min_rad N/A N/A args gen_tasks max_rad N/A N/A N/A taskfile N/A args N/A num_perturb_pts N/A N/A args gen_tasks n_perturb_pts N/A N/A N/A taskfile N/A args N/A rotation N/A float rotation_angle N/A N/A N/A N/A N/A encountered exception N/A N/A sys exc_info N/A N/A N/A N/A N/A taskfile close N/A N/A N/A actionfile close N/A N/A check_task_file N/A N/A args gen_tasks taskfile N/A N/A args gen_tasks n_examples N/A check_task_file N/A N/A fname n_examples N/A N/A N/A 
    probably unecessary, but checks that a task file is properly labelled sequentially
     N/A f N/A N/A h5py File fname r N/A success True N/A i N/A range n_examples N/A N/A N/A N/A str i f N/A N/A N/A N/A task file {} is missing key {} format fname i N/A success False N/A N/A N/A f close N/A success 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 non-zero. viewer is stepped according to this number N/A N/A N/A parser add_argument --interactive action store_true help Ask for human confirmation after each new rope state 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 gen_tasks 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 taskfile type str nargs ? 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 --n_examples type int default 100 N/A N/A N/A parser_eval add_argument --min_rad type float default 0.1 help min perturbation radius N/A N/A N/A parser_eval add_argument --max_rad type float default 0.1 help max perturbation radius N/A N/A N/A parser_eval add_argument --n_perturb_pts type int default 5 help number of points perturbed from demo start state 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 gen_tasks actionfile r N/A N/A actions_root actions_ext N/A N/A N/A os path splitext N/A N/A args gen_tasks 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 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 gen_tasks 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 gen_tasks fake_data_segment N/A N/A args gen_tasks 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 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 sim N/A DynamicSimulation N/A world sim N/A N/A N/A sim add_objects sim_objs 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 sim N/A main N/A N/A N/A N/A N/A args N/A parse_input_args N/A N/A setup_log_file args N/A N/A set_global_vars args N/A sim N/A setup_lfd_environment_sim args N/A N/A N/A args subparser_name gen_tasks N/A N/A start N/A N/A time time N/A N/A gen_task_file args sim N/A N/A N/A time is:	{} format N/A N/A N/A time time start 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