Module ImportFrom alias Import alias Import alias Import alias ImportFrom alias alias Import alias identifier ImportFrom alias Import alias Import alias Import alias ClassDef bases NameLoad body FunctionDef arguments args NameParam NameParam defaults NameLoad body If CompareIsNot NameLoad NameLoad body Assign AttributeStore NameLoad attr NameLoad orelse Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore NameLoad attr ListLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad body If NameLoad body Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr For NameStore NameLoad body If AttributeLoad NameLoad attr body Raise Call NameLoad Str orelse Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad If CompareGt Call NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad body If AttributeLoad NameLoad attr body Raise Call NameLoad Str Assign AttributeStore NameLoad attr SubscriptLoad Call AttributeLoad AttributeLoad NameLoad attr attr Index Num If NameLoad body Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad body If NameLoad body Expr Call AttributeLoad NameLoad attr For NameStore NameLoad body If AttributeLoad NameLoad attr body Raise Call NameLoad Str orelse Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr If BoolOpAnd AttributeLoad NameLoad attr CompareNotIn AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr body Raise Call NameLoad Str If NameLoad body Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore ListComp Call AttributeLoad NameLoad attr comprehension NameStore AttributeLoad NameLoad attr Assign NameStore Dict For NameStore AttributeLoad NameLoad attr body Assign NameStore Call AttributeLoad Str attr AttributeLoad NameLoad attr Assert CompareNotIn NameLoad NameLoad Str Assign SubscriptStore NameLoad Index NameLoad Call AttributeLoad NameLoad attr Assign SubscriptStore NameLoad Index Str Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr Assign SubscriptStore NameLoad Index Str Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore TupleLoad NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign TupleStore NameStore NameStore NameLoad Assign NameStore ListComp Call AttributeLoad NameLoad attr comprehension NameStore AttributeLoad NameLoad attr Assign NameStore ListComp NameLoad comprehension NameStore NameLoad CompareNotIn NameLoad NameLoad Assign NameStore ListComp NameLoad comprehension NameStore NameLoad CompareNotIn NameLoad NameLoad Assign NameStore ListLoad Assign NameStore ListLoad For NameStore NameLoad body Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad For NameStore NameLoad body Assign TupleStore TupleStore NameStore NameStore NameStore NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd ListComp Call AttributeLoad Str attr AttributeLoad NameLoad attr comprehension NameStore AttributeLoad NameLoad attr ListLoad Str Str Assert CompareEq Call NameLoad NameLoad Call NameLoad Call AttributeLoad NameLoad attr For NameStore AttributeLoad NameLoad attr body Assign NameStore Call AttributeLoad Str attr AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr SubscriptLoad NameLoad Index Str Expr Call AttributeLoad AttributeLoad NameLoad attr attr SubscriptLoad NameLoad Index Str decorator_list FunctionDef arguments args NameParam defaults body If BoolOpAnd UnaryOpNot AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr body Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr If CompareIs NameLoad NameLoad body Assign NameStore AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad If CompareIs NameLoad NameLoad body Assign NameStore AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body If UnaryOpNot AttributeLoad NameLoad attr body Return Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr For NameStore Str body For NameStore Str body Assign NameStore BinOpMod Str TupleLoad NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad For NameStore AttributeLoad NameLoad attr body For NameStore Call AttributeLoad NameLoad attr body For NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr body Expr Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body If UnaryOpNot AttributeLoad NameLoad attr body Return Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr For NameStore Str body For NameStore Str body Assign NameStore BinOpMod Str TupleLoad NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad For NameStore AttributeLoad NameLoad attr body For NameStore Call AttributeLoad NameLoad attr body For NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr body Expr Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body If CompareNotEq SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num body Return NameLoad Assign NameStore SubscriptLoad NameLoad Index Num Assign NameStore SubscriptLoad NameLoad Index Num If UnaryOpNot CompareEq Call NameLoad Call AttributeLoad NameLoad attr Call NameLoad Call AttributeLoad NameLoad attr body Return NameLoad For TupleStore NameStore NameStore Call AttributeLoad NameLoad attr body Assign NameStore SubscriptLoad NameLoad Index NameLoad If UnaryOpNot Call AttributeLoad NameLoad attr CompareEq NameLoad NameLoad body Return NameLoad Return NameLoad decorator_list NameLoad decorator_list ClassDef bases NameLoad body FunctionDef arguments args NameParam NameParam defaults NameLoad body Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr keyword NameLoad Assign AttributeStore NameLoad attr ListLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr ListLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore ListComp NameLoad comprehension NameStore NameLoad UnaryOpNot AttributeLoad NameLoad attr Assign NameStore ListComp NameLoad comprehension NameStore NameLoad AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr For NameStore NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore ListComp NameLoad comprehension NameStore NameLoad UnaryOpNot AttributeLoad NameLoad attr Assign NameStore ListComp NameLoad comprehension NameStore NameLoad AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr For NameStore NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Expr Call AttributeLoad AttributeLoad NameLoad attr attr Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Expr Call AttributeLoad AttributeLoad NameLoad attr attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Num Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Expr Str Return Call AttributeLoad NameLoad attr ListComp SubscriptLoad Call AttributeLoad NameLoad attr ListComp Call AttributeLoad NameLoad attr comprehension NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr ExtSlice Slice Slice Num Index Num comprehension NameStore AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults Num Num Num body Expr Str Assign NameStore Call AttributeLoad NameLoad attr For NameStore Call NameLoad NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Num Expr Call AttributeLoad NameLoad attr If BoolOpAnd AttributeLoad NameLoad attr CompareNotEq NameLoad Num CompareEq BinOpMod NameLoad NameLoad Num body If AttributeLoad NameLoad attr body Expr Call AttributeLoad AttributeLoad NameLoad attr attr If BoolOpAnd CompareEq BinOpMod NameLoad Num Num CompareNotEq NameLoad Num body Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad BinOpPow BinOpSub NameLoad NameLoad Num attr keyword Num If CompareLt Call AttributeLoad NameLoad attr NameLoad body Break Assign NameStore NameLoad Expr Call AttributeLoad NameLoad attr If BoolOpAnd AttributeLoad NameLoad attr CompareNotEq NameLoad Num body Expr Call AttributeLoad AttributeLoad NameLoad attr attr decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore ListLoad For NameStore AttributeLoad NameLoad attr body If UnaryOpNot AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr ListLoad Num Num Num If AttributeLoad NameLoad attr body Assign AttributeStore NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad AttributeLoad NameLoad attr attr For NameStore AttributeLoad NameLoad attr body If AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr NameLoad For NameStore AttributeLoad NameLoad attr body Expr Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body For NameStore AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr ListLoad decorator_list FunctionDef arguments args NameParam defaults body For NameStore AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr decorator_list decorator_list ClassDef bases NameLoad NameLoad body FunctionDef arguments args NameParam NameParam NameParam NameParam defaults NameLoad NameLoad Num body Expr Str Assign AttributeStore NameLoad attr Dict Str Str ListLoad ListLoad Assign AttributeStore NameLoad attr Dict Str Str ListLoad ListLoad Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr keyword NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body If CompareIs AttributeLoad NameLoad attr NameLoad body If CompareIs AttributeLoad NameLoad attr NameLoad body Raise Call NameLoad Str orelse ImportFrom alias Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore BinOpSub Num Num Assign NameStore BinOpSub Num Num Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore Call AttributeLoad AttributeLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad attr attr TupleLoad Num Num Assign NameStore BinOpMult AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad BinOpDiv BinOpSub NameLoad Call AttributeLoad NameLoad attr ListLoad NameLoad NameLoad NameLoad Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd Call AttributeLoad NameLoad attr AttributeLoad SubscriptLoad AttributeLoad NameLoad attr ExtSlice Slice Num Slice Num attr SubscriptLoad AttributeLoad NameLoad attr ExtSlice Slice Num Index Num Assign NameStore BinOpAdd Call AttributeLoad NameLoad attr AttributeLoad SubscriptLoad AttributeLoad NameLoad attr ExtSlice Slice Num Slice Num attr SubscriptLoad AttributeLoad NameLoad attr ExtSlice Slice Num Index Num Assign NameStore ListLoad For NameStore AttributeLoad NameLoad attr body For NameStore Call AttributeLoad NameLoad attr body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr TupleLoad Call NameLoad NameLoad Num For TupleStore NameStore NameStore Call NameLoad NameLoad body Assign SubscriptStore NameLoad ExtSlice Index NameLoad Slice AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore ListComp NameLoad comprehension NameStore AttributeLoad NameLoad attr CompareIn Str AttributeLoad NameLoad attr Assert CompareEq Call NameLoad NameLoad Num Assign NameStore SubscriptLoad NameLoad Index Num Assign NameStore BinOpAdd SubscriptLoad AttributeLoad NameLoad attr Index Num SubscriptLoad AttributeLoad NameLoad attr Index Num Assign NameStore SubscriptLoad NameLoad ExtSlice Index CompareGt SubscriptLoad NameLoad ExtSlice Slice Index Num NameLoad Slice Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults NameLoad Num Num body Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpMod Str NameLoad attr Assign NameStore SubscriptLoad Call AttributeLoad AttributeLoad NameLoad attr attr ListLoad NameLoad Index Num If CompareIs NameLoad NameLoad body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Call AttributeLoad NameLoad attr BinOpDiv Call NameLoad BinOpSub NameLoad NameLoad NameLoad For NameStore NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr ListLoad NameLoad ListLoad NameLoad Expr Call AttributeLoad NameLoad attr If BoolOpAnd AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam defaults Num Num Num Num body Print Str Assign NameStore Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpMod Str NameLoad attr Assign NameStore SubscriptLoad Call AttributeLoad AttributeLoad NameLoad attr attr ListLoad NameLoad Index Num Print Str NameLoad Assign NameStore ListComp NameLoad comprehension NameStore AttributeLoad NameLoad attr comprehension NameStore Call AttributeLoad NameLoad attr Assign NameStore NameLoad While NameLoad body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign TupleStore NameStore NameStore TupleLoad SubscriptLoad NameLoad Index Str SubscriptLoad NameLoad Index Str Assign NameStore NameLoad For NameStore NameLoad body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad NameLoad Assign NameStore BinOpMult AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr TupleLoad Call NameLoad NameLoad Num For NameStore NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Num BinOpSub NameLoad AttributeLoad NameLoad attr Assign SubscriptStore NameLoad Index TupleLoad NameLoad Num Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub AttributeLoad NameLoad attr AttributeLoad NameLoad attr For NameStore NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Num BinOpSub NameLoad AttributeLoad NameLoad attr Assign SubscriptStore NameLoad Index TupleLoad NameLoad Num Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr CompareNotEq SubscriptLoad NameLoad ExtSlice Slice Index Num AttributeLoad NameLoad attr CompareNotEq SubscriptLoad NameLoad ExtSlice Slice Index Num AttributeLoad NameLoad attr If Call AttributeLoad NameLoad attr NameLoad body Assign NameStore SubscriptLoad NameLoad ExtSlice Index NameLoad Slice If Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr CompareLt SubscriptLoad NameLoad ExtSlice Slice Index Num NameLoad CompareLt SubscriptLoad NameLoad ExtSlice Slice Index Num NameLoad body Assign NameStore Num orelse Assign NameStore Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr keyword Num If CompareEq NameLoad Num body Break Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr ListLoad NameLoad ListLoad NameLoad Expr Call AttributeLoad NameLoad attr If BoolOpAnd AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore ListLoad For NameStore NameLoad body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad NameLoad Assign NameStore ListComp NameLoad comprehension NameStore ListLoad NameLoad NameLoad comprehension NameStore NameLoad For NameStore NameLoad body If CompareLt Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign SubscriptStore NameLoad ExtSlice Slice Num Index Num AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr NameLoad If BoolOpAnd AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam defaults Num NameLoad Num NameLoad body If CompareIs NameLoad NameLoad body Assign NameStore Lambda arguments args NameParam defaults Call AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad ListLoad NameLoad ListLoad SubscriptLoad NameLoad Index Num Expr Call AttributeLoad NameLoad attr NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr keyword NameLoad keyword NameLoad keyword NameLoad keyword IfExp AttributeLoad NameLoad attr NameLoad Num Assign SubscriptStore NameLoad Index Num SubscriptLoad NameLoad Index Num Expr Call AttributeLoad NameLoad attr NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr keyword NameLoad keyword NameLoad keyword NameLoad keyword IfExp AttributeLoad NameLoad attr NameLoad Num If BoolOpAnd AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body For NameStore Str body If BoolOpOr SubscriptLoad AttributeLoad NameLoad attr Index NameLoad SubscriptLoad AttributeLoad NameLoad attr Index NameLoad body Raise Call NameLoad Str Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body For NameStore Str body If BoolOpOr SubscriptLoad AttributeLoad NameLoad attr Index NameLoad SubscriptLoad AttributeLoad NameLoad attr Index NameLoad body Raise Call NameLoad Str Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num body Assign NameStore NameLoad Assign NameStore Dict For NameStore Str body Assign NameStore Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpMod Str TupleLoad NameLoad NameLoad attr Assign NameStore BinOpAdd SubscriptLoad NameLoad ExtSlice Slice Num Index Num Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr AttributeLoad SubscriptLoad NameLoad ExtSlice Slice Num Slice Num attr Assign NameStore SubscriptLoad SubscriptLoad NameLoad Index IfExp CompareEq NameLoad Str Num Num ExtSlice Index NameLoad Slice Assign NameStore SubscriptLoad SubscriptLoad NameLoad Index IfExp CompareEq NameLoad Str Num Num ExtSlice Index NameLoad Slice Assign NameStore SubscriptLoad SubscriptLoad NameLoad Index IfExp CompareEq NameLoad Str Num Num ExtSlice Index NameLoad Slice If CompareIs NameLoad NameLoad body Assign NameStore Call AttributeLoad NameLoad attr BinOpDiv Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpDiv Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Num Num NameLoad Call AttributeLoad NameLoad attr Num Num NameLoad attr attr TupleLoad Num Num Assign SubscriptStore NameLoad Index NameLoad BinOpAdd BinOpAdd NameLoad Call AttributeLoad SubscriptLoad SubscriptLoad NameLoad ExtSlice Slice Index Num ExtSlice Slice Index NameLoad attr BinOpSub NameLoad NameLoad Call AttributeLoad SubscriptLoad SubscriptLoad NameLoad ExtSlice Slice Index Num ExtSlice Slice Index NameLoad attr BinOpSub NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad body Expr Str Assign NameStore Num For TupleStore NameStore NameStore Call NameLoad SubscriptLoad AttributeLoad NameLoad attr Index NameLoad SubscriptLoad AttributeLoad NameLoad attr Index NameLoad body If BoolOpOr CompareIs NameLoad NameLoad CompareEq NameLoad NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignAdd NameStore Num For NameStore SubscriptLoad AttributeLoad NameLoad attr Index NameLoad body If BoolOpOr CompareIs NameLoad NameLoad CompareEq NameLoad NameLoad body For NameStore Call AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num If CompareIs NameLoad NameLoad body Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad ListLoad Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad ListLoad orelse If CompareIn NameLoad SubscriptLoad AttributeLoad NameLoad attr Index NameLoad body Assign NameStore Call NameLoad ListComp TupleLoad NameLoad NameLoad comprehension TupleStore NameStore NameStore Call NameLoad SubscriptLoad AttributeLoad NameLoad attr Index NameLoad SubscriptLoad AttributeLoad NameLoad attr Index NameLoad CompareNotEq NameLoad NameLoad If NameLoad body Assign TupleStore NameStore NameStore NameLoad Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad Call NameLoad NameLoad Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad Call NameLoad NameLoad orelse Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad ListLoad Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad ListLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults NameLoad body If CompareIs NameLoad NameLoad body Assign NameStore Call AttributeLoad NameLoad attr For NameStore Call AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num For NameStore Str body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr BinOpMod Str TupleLoad NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Dict Str Str Str Dict Str Str Str Str Str Str Str Str NameLoad NameLoad Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr attr NameLoad Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr attr NameLoad NameLoad Num Num NameLoad Expr Call AttributeLoad SubscriptLoad AttributeLoad NameLoad attr Index NameLoad attr NameLoad Expr Call AttributeLoad SubscriptLoad AttributeLoad NameLoad attr Index NameLoad attr NameLoad decorator_list decorator_list ClassDef bases NameLoad body FunctionDef arguments args NameParam NameParam NameParam NameParam defaults body Assign NameStore Num Assign NameStore SubscriptLoad Dict Str Str Str Str Index NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpMod Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpMod Str NameLoad FunctionDef arguments args NameParam NameParam defaults body Return BinOpAdd Call AttributeLoad SubscriptLoad NameLoad ExtSlice Slice Num Slice Num attr NameLoad SubscriptLoad NameLoad ExtSlice Slice Num Index Num decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore BinOpDiv Call AttributeLoad NameLoad attr ListLoad Num Num Num Num If CompareEq NameLoad Str body Assign NameStore NameLoad AugAssignMult NameStore Num AugAssignMult SubscriptStore NameLoad Index Num Num Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr NameLoad Return CompareGt Call AttributeLoad Call AttributeLoad SubscriptLoad Call AttributeLoad NameLoad attr ExtSlice Slice Num Slice Num attr NameLoad attr BinOpSub NameLoad NameLoad Num decorator_list Assign NameStore Call NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr NameLoad If CompareGt SubscriptLoad NameLoad Index Num BinOpAdd Num NameLoad body Return NameLoad If CompareGt Call NameLoad SubscriptLoad NameLoad Index Num BinOpAdd Num NameLoad body Return NameLoad If BoolOpOr UnaryOpNot Call NameLoad NameLoad Str UnaryOpNot Call NameLoad NameLoad Str body Return NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam defaults Num Num Num Num body Print Str Assign NameStore Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpMod Str NameLoad attr Assign NameStore SubscriptLoad Call AttributeLoad AttributeLoad NameLoad attr attr ListLoad NameLoad Index Num Print Str NameLoad Assign NameStore ListComp NameLoad comprehension NameStore AttributeLoad NameLoad attr comprehension NameStore Call AttributeLoad NameLoad attr Assign NameStore NameLoad While NameLoad body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign TupleStore NameStore NameStore TupleLoad SubscriptLoad NameLoad Index Str SubscriptLoad NameLoad Index Str Assign NameStore NameLoad For NameStore NameLoad body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad NameLoad Assign NameStore BinOpMult AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr TupleLoad Call NameLoad NameLoad Num For NameStore NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Num BinOpSub NameLoad AttributeLoad NameLoad attr Assign SubscriptStore NameLoad Index TupleLoad NameLoad Num Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub AttributeLoad NameLoad attr AttributeLoad NameLoad attr For NameStore NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Num BinOpSub NameLoad AttributeLoad NameLoad attr Assign SubscriptStore NameLoad Index TupleLoad NameLoad Num Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr CompareNotEq SubscriptLoad NameLoad ExtSlice Slice Index Num AttributeLoad NameLoad attr CompareNotEq SubscriptLoad NameLoad ExtSlice Slice Index Num AttributeLoad NameLoad attr If Call AttributeLoad NameLoad attr NameLoad body Assign NameStore SubscriptLoad NameLoad ExtSlice Index NameLoad Slice If Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr CompareLt SubscriptLoad NameLoad ExtSlice Slice Index Num NameLoad CompareLt SubscriptLoad NameLoad ExtSlice Slice Index Num NameLoad body Assign NameStore Num orelse Assign NameStore Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr keyword Num If CompareEq NameLoad Num body Break Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr ListLoad NameLoad ListLoad NameLoad Expr Call AttributeLoad NameLoad attr If BoolOpAnd AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore SubscriptLoad ListComp NameLoad comprehension NameStore AttributeLoad NameLoad attr comprehension NameStore Call AttributeLoad NameLoad attr Index Num Assign TupleStore NameStore NameStore TupleLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListComp Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListComp Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Slice Num SubscriptLoad NameLoad Slice Num Print BinOpMod Str TupleLoad NameLoad Call NameLoad NameLoad If CompareEq Call NameLoad NameLoad Num body Return NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr BinOpMod Str NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr For NameStore NameLoad body Assign NameStore NameLoad For NameStore Call AttributeLoad SubscriptLoad NameLoad Index NameLoad attr body Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore SubscriptLoad NameLoad Index NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Call AttributeLoad NameLoad attr If BoolOpAnd NameLoad AttributeLoad NameLoad attr body Expr Call AttributeLoad AttributeLoad NameLoad attr attr Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body For NameStore SubscriptLoad AttributeLoad NameLoad attr Index NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr attr For NameStore SubscriptLoad AttributeLoad NameLoad attr Index NameLoad body For NameStore Call AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad ListLoad Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad ListLoad decorator_list decorator_list
N/A __future__ division N/A openravepy N/A trajoptpy N/A bulletsimpy lfd.rapprentice animate_traj ropesim N/A numpy np robot_world RobotWorld N/A sim_util N/A settings N/A importlib StaticSimulation N/A object N/A __init__ N/A N/A self env N/A None N/A N/A N/A env None N/A N/A N/A self env env N/A N/A N/A self env N/A N/A openravepy Environment N/A N/A N/A N/A self env StopSimulation N/A N/A self sim_objs N/A N/A N/A self robot None N/A N/A self __viewer_cache None N/A add_objects N/A N/A self objs_to_add consider_finger_collisions N/A True N/A N/A consider_finger_collisions N/A N/A N/A N/A self _include_gripper_finger_collisions N/A n_robots N/A len N/A N/A N/A self env GetRobots N/A obj_to_add objs_to_add N/A N/A N/A obj_to_add dynamic N/A N/A N/A RuntimeError Dynamic object can't be added to StaticSimulation N/A N/A N/A N/A N/A self sim_objs append obj_to_add N/A N/A N/A obj_to_add add_to_env self N/A N/A N/A len N/A N/A N/A self env GetRobots n_robots N/A N/A N/A self robot N/A N/A N/A NotImplementedError Behavior for adding more than one robot has not been defined N/A N/A self robot N/A N/A N/A N/A self env GetRobots N/A -1 N/A consider_finger_collisions N/A N/A N/A N/A self _exclude_gripper_finger_collisions N/A remove_objects N/A N/A self objs_to_remove consider_finger_collisions N/A True N/A N/A consider_finger_collisions N/A N/A N/A N/A self _include_gripper_finger_collisions N/A obj_to_remove objs_to_remove N/A N/A N/A obj_to_remove dynamic N/A N/A N/A RuntimeError Dynamic object can't be removed from StaticSimulation N/A N/A N/A N/A N/A self sim_objs remove obj_to_remove N/A N/A N/A obj_to_remove remove_from_env N/A N/A N/A self robot N/A N/A self robot N/A N/A N/A self env GetRobots N/A N/A N/A NotImplementedError Behavior for removing robots has not been defined N/A consider_finger_collisions N/A N/A N/A N/A self _exclude_gripper_finger_collisions N/A get_state N/A N/A self N/A N/A N/A sim_objs_constructor_infos N/A N/A N/A sim_obj _get_constructor_info N/A sim_obj N/A self sim_objs N/A states N/A N/A sim_obj N/A self sim_objs N/A N/A state_key N/A N/A join N/A sim_obj names N/A N/A state_key states multiple sim_objs with same names N/A N/A states N/A state_key N/A N/A sim_obj get_state N/A N/A states N/A dof_limits N/A N/A np asarray N/A N/A N/A self robot GetDOFLimits N/A N/A states N/A dof_values N/A N/A N/A self robot GetDOFValues N/A sim_state N/A sim_objs_constructor_infos states N/A sim_state N/A set_state N/A N/A self sim_state N/A N/A N/A N/A constr_infos states sim_state N/A cur_constr_infos N/A N/A N/A sim_obj _get_constructor_info N/A sim_obj N/A self sim_objs N/A constr_infos_to_remove N/A constr_info N/A constr_info cur_constr_infos N/A constr_info constr_infos N/A constr_infos_to_add N/A constr_info N/A constr_info constr_infos N/A constr_info cur_constr_infos N/A sim_objs_to_add N/A N/A sim_objs_to_remove N/A N/A constr_info constr_infos_to_remove N/A N/A sim_obj N/A N/A self sim_objs N/A N/A N/A cur_constr_infos index constr_info N/A N/A N/A sim_objs_to_remove append sim_obj N/A constr_info constr_infos_to_add N/A N/A N/A N/A class_name class_module args kwargs constr_info N/A class_module N/A N/A importlib import_module class_module N/A c N/A getattr class_module class_name N/A N/A N/A sim_objs_to_add append N/A c args kwargs N/A N/A N/A self remove_objects sim_objs_to_remove N/A N/A N/A self add_objects sim_objs_to_add N/A states_keys N/A N/A N/A N/A join N/A sim_obj names N/A sim_obj N/A self sim_objs N/A dof_limits dof_values N/A N/A N/A set states_keys N/A set N/A N/A states keys N/A sim_obj N/A self sim_objs N/A N/A state_key N/A N/A join N/A sim_obj names N/A N/A N/A sim_obj set_state N/A states N/A state_key N/A N/A N/A N/A self robot SetDOFLimits N/A states N/A dof_limits N/A N/A N/A N/A self robot SetDOFValues N/A states N/A dof_values N/A viewer N/A N/A self N/A N/A N/A N/A N/A N/A self __viewer_cache N/A N/A trajoptpy ViewerExists N/A self env N/A N/A N/A self __viewer_cache N/A N/A trajoptpy GetViewer N/A self env N/A N/A self __viewer_cache N/A property create_viewer N/A N/A self window_prop camera_matrix N/A None None N/A N/A N/A N/A trajoptpy GetViewer N/A self env N/A N/A window_prop None N/A N/A window_prop N/A settings WINDOW_PROP N/A N/A N/A N/A self viewer SetWindowProp window_prop N/A N/A camera_matrix None N/A N/A camera_matrix N/A settings CAMERA_MATRIX N/A N/A N/A N/A self viewer SetCameraManipulatorMatrix N/A N/A np asarray camera_matrix N/A _exclude_gripper_finger_collisions N/A N/A self N/A N/A N/A N/A N/A self robot N/A N/A N/A cc N/A N/A trajoptpy GetCollisionChecker N/A self env N/A lr lr N/A N/A flr lr N/A N/A finger_link_name N/A %s_gripper_%s_finger_tip_link N/A lr flr N/A finger_link N/A N/A N/A self robot GetLink finger_link_name N/A sim_obj N/A self sim_objs N/A N/A bt_obj N/A N/A sim_obj get_bullet_objects N/A N/A link N/A N/A N/A N/A bt_obj GetKinBody GetLinks N/A N/A N/A N/A cc ExcludeCollisionPair finger_link link N/A _include_gripper_finger_collisions N/A N/A self N/A N/A N/A N/A N/A self robot N/A N/A N/A cc N/A N/A trajoptpy GetCollisionChecker N/A self env N/A lr lr N/A N/A flr lr N/A N/A finger_link_name N/A %s_gripper_%s_finger_tip_link N/A lr flr N/A finger_link N/A N/A N/A self robot GetLink finger_link_name N/A sim_obj N/A self sim_objs N/A N/A bt_obj N/A N/A sim_obj get_bullet_objects N/A N/A link N/A N/A N/A N/A bt_obj GetKinBody GetLinks N/A N/A N/A N/A cc IncludeCollisionPair finger_link link N/A simulation_state_equal N/A N/A s0 s1 N/A N/A N/A N/A N/A s0 N/A 0 N/A s1 N/A 0 N/A N/A False N/A d0 N/A s0 N/A 1 N/A d1 N/A s1 N/A 1 N/A N/A N/A N/A set N/A N/A d0 keys N/A set N/A N/A d1 keys N/A N/A False N/A N/A k v0 N/A N/A d0 iteritems N/A N/A v1 N/A d1 N/A k N/A N/A N/A N/A np all N/A v0 v1 N/A N/A False N/A True N/A staticmethod N/A DynamicSimulation N/A StaticSimulation N/A __init__ N/A N/A self env N/A None N/A N/A N/A N/A N/A super DynamicSimulation self __init__ env env N/A N/A self dyn_sim_objs N/A N/A N/A self bt_env None N/A N/A self bt_robot None N/A N/A self dyn_bt_objs N/A N/A add_objects N/A N/A self sim_objs N/A N/A N/A static_sim_objs N/A sim_obj N/A sim_obj sim_objs N/A N/A sim_obj dynamic N/A dyn_sim_objs N/A sim_obj N/A sim_obj sim_objs N/A sim_obj dynamic N/A N/A N/A self _include_gripper_finger_collisions N/A N/A N/A N/A super DynamicSimulation self add_objects static_sim_objs consider_finger_collisions False N/A N/A N/A self _remove_bullet N/A sim_obj dyn_sim_objs N/A N/A N/A N/A N/A self sim_objs append sim_obj N/A N/A N/A N/A self dyn_sim_objs append sim_obj N/A N/A N/A self _create_bullet N/A N/A N/A self _exclude_gripper_finger_collisions N/A remove_objects N/A N/A self sim_objs N/A N/A N/A static_sim_objs N/A sim_obj N/A sim_obj sim_objs N/A N/A sim_obj dynamic N/A dyn_sim_objs N/A sim_obj N/A sim_obj sim_objs N/A sim_obj dynamic N/A N/A N/A self _include_gripper_finger_collisions N/A N/A N/A N/A super DynamicSimulation self remove_objects static_sim_objs consider_finger_collisions False N/A N/A N/A self _remove_bullet N/A sim_obj dyn_sim_objs N/A N/A N/A N/A N/A self sim_objs remove sim_obj N/A N/A N/A N/A self dyn_sim_objs remove sim_obj N/A N/A N/A self _create_bullet N/A N/A N/A self _exclude_gripper_finger_collisions N/A set_state N/A N/A self sim_state N/A N/A N/A 
        Defined such that execution1 and execution2 gives the same results
        if execution1 == execution2 in the following code:

        set_state(sim_state)
        execution1()
        set_state(sim_state)
        execution2()
         N/A N/A N/A self _include_gripper_finger_collisions N/A N/A N/A self _remove_bullet N/A N/A N/A self _create_bullet N/A N/A N/A self _exclude_gripper_finger_collisions N/A N/A N/A N/A super DynamicSimulation self set_state sim_state N/A N/A N/A self update N/A update N/A N/A self N/A N/A N/A N/A N/A N/A self bt_robot UpdateBullet N/A N/A N/A self _update_rave N/A step N/A N/A self N/A N/A N/A N/A N/A N/A self bt_robot UpdateBullet N/A N/A N/A N/A self bt_env Step 0.01 200 0.005 N/A N/A N/A self _update_rave N/A get_translations N/A N/A self N/A N/A N/A return translation part of all links of all dynamic objects N/A N/A N/A np concatenate N/A N/A N/A N/A np asarray N/A N/A N/A link GetTransform N/A link N/A N/A N/A N/A bt_obj GetKinBody GetLinks N/A N/A N/A 3 N/A 3 N/A bt_obj N/A self dyn_bt_objs N/A settle N/A N/A self max_steps tol step_viewer N/A 100 0.001 1 N/A N/A Keep stepping until the dynamic objects doesn't move, up to some tolerance N/A prev_trans N/A N/A self get_translations N/A i N/A range max_steps N/A N/A N/A N/A N/A self bt_env Step 0.01 200 0.005 N/A N/A N/A self _update_rave N/A N/A N/A self viewer N/A step_viewer 0 N/A N/A i step_viewer 0 N/A N/A N/A self viewer N/A N/A N/A N/A N/A self viewer Step N/A N/A N/A N/A i 10 0 N/A i 0 N/A N/A curr_trans N/A N/A self get_translations N/A diff N/A N/A np sqrt N/A N/A N/A N/A curr_trans prev_trans 2 sum axis 1 N/A N/A N/A N/A diff max tol N/A N/A N/A prev_trans curr_trans N/A N/A N/A self _update_rave N/A N/A N/A self viewer N/A step_viewer 0 N/A N/A N/A N/A N/A self viewer Step N/A _create_bullet N/A N/A self N/A N/A N/A dyn_obj_names N/A N/A sim_obj N/A self dyn_sim_objs N/A N/A N/A N/A sim_obj add_after N/A N/A N/A N/A sim_obj add_to_env self N/A N/A N/A dyn_obj_names extend N/A sim_obj names N/A N/A self bt_env N/A N/A bulletsimpy BulletEnvironment N/A self env dyn_obj_names N/A N/A N/A N/A self bt_env SetGravity N/A 0 0 -9.8 N/A N/A self robot N/A N/A N/A self bt_robot N/A N/A N/A self bt_env GetObjectByName N/A N/A N/A self robot GetName N/A sim_obj N/A self dyn_sim_objs N/A N/A N/A sim_obj add_after N/A N/A N/A N/A sim_obj add_to_env self N/A sim_obj N/A self dyn_sim_objs N/A N/A N/A N/A N/A self dyn_bt_objs extend N/A N/A sim_obj get_bullet_objects N/A N/A N/A self _update_rave N/A _remove_bullet N/A N/A self N/A N/A N/A sim_obj N/A self dyn_sim_objs N/A N/A N/A N/A sim_obj remove_from_env N/A N/A self bt_env None N/A N/A self bt_robot None N/A N/A self dyn_bt_objs N/A N/A _update_rave N/A N/A self N/A N/A N/A bt_obj N/A self dyn_bt_objs N/A N/A N/A N/A bt_obj UpdateRave N/A N/A N/A N/A self env UpdatePublishedBodies N/A N/A DynamicSimulationRobotWorld N/A DynamicSimulation RobotWorld N/A __init__ N/A N/A self env T_w_k range_k N/A None None 2.0 N/A N/A 
        T_w_k: world transform of the depth camera
        range_k: length of the rays. 2 meters by default
         N/A N/A self constraints N/A l r N/A N/A N/A N/A self constraints_links N/A l r N/A N/A N/A N/A N/A N/A super DynamicSimulationRobotWorld self __init__ env env N/A N/A self T_w_k T_w_k N/A N/A self range_k range_k N/A observe_cloud N/A N/A self N/A N/A N/A N/A N/A self T_w_k None N/A N/A N/A N/A self robot None N/A N/A N/A RuntimeError Can't observe cloud when there is no robot N/A lfd.rapprentice berkeley_pr2 N/A N/A self T_w_k N/A N/A berkeley_pr2 get_kinect_transform N/A self robot N/A cx N/A 320.0 0.5 N/A cy N/A 240.0 0.5 N/A f 525.0 N/A w 640.0 N/A h 480.0 N/A pixel_ij N/A N/A N/A N/A N/A np array N/A N/A np meshgrid N/A N/A np arange w N/A N/A np arange h T reshape N/A -1 2 N/A rays_to N/A N/A self range_k N/A N/A np c_ N/A N/A N/A N/A pixel_ij N/A N/A np array N/A cx cy f N/A N/A np ones N/A N/A pixel_ij shape N/A 0 N/A rays_from N/A N/A np zeros_like rays_to N/A rays_to N/A N/A N/A rays_to dot N/A N/A N/A self T_w_k N/A N/A 3 N/A 3 T N/A N/A self T_w_k N/A N/A 3 N/A 3 N/A rays_from N/A N/A N/A rays_from dot N/A N/A N/A self T_w_k N/A N/A 3 N/A 3 T N/A N/A self T_w_k N/A N/A 3 N/A 3 N/A cloud N/A N/A sim_obj N/A self dyn_sim_objs N/A N/A bt_obj N/A N/A sim_obj get_bullet_objects N/A N/A ray_collisions N/A N/A N/A self bt_env RayTest rays_from rays_to bt_obj N/A pts N/A N/A np empty N/A N/A len ray_collisions 3 N/A N/A i ray_collision N/A enumerate ray_collisions N/A N/A N/A pts N/A N/A i N/A N/A ray_collision pt N/A N/A N/A cloud append pts N/A cloud N/A N/A np concatenate cloud N/A table_sim_objs N/A sim_obj N/A sim_obj N/A self sim_objs N/A table N/A sim_obj names N/A N/A N/A len table_sim_objs 1 N/A table_sim_obj N/A table_sim_objs N/A 0 N/A table_height N/A N/A N/A table_sim_obj translation N/A 2 N/A N/A table_sim_obj extents N/A 2 N/A cloud N/A cloud N/A N/A N/A N/A cloud N/A N/A N/A 2 table_height N/A N/A cloud N/A open_gripper N/A N/A self lr target_val step_viewer max_vel N/A None 1 0.02 N/A N/A N/A N/A self _remove_constraints lr N/A joint_ind N/A N/A N/A N/A N/A self robot GetJoint N/A %s_gripper_l_finger_joint lr GetDOFIndex N/A start_val N/A N/A N/A N/A self robot GetDOFValues N/A joint_ind N/A 0 N/A N/A target_val None N/A N/A target_val N/A N/A sim_util get_binary_gripper_angle True N/A joint_traj N/A N/A np linspace start_val target_val N/A N/A np ceil N/A N/A abs N/A target_val start_val max_vel N/A val joint_traj N/A N/A N/A N/A N/A self robot SetDOFValues N/A val N/A joint_ind N/A N/A N/A self step N/A N/A N/A self viewer step_viewer N/A N/A N/A N/A N/A self viewer Step N/A close_gripper N/A N/A self lr step_viewer max_vel close_dist_thresh grab_dist_thresh N/A 1 0.02 0.004 0.005 N/A N/A CLOSING GRIPPER N/A joint_ind N/A N/A N/A N/A N/A self robot GetJoint N/A %s_gripper_l_finger_joint lr GetDOFIndex N/A start_val N/A N/A N/A N/A self robot GetDOFValues N/A joint_ind N/A 0 N/A start_val:  start_val N/A dyn_bt_objs N/A bt_obj N/A sim_obj N/A self dyn_sim_objs N/A bt_obj N/A N/A sim_obj get_bullet_objects N/A next_val start_val N/A next_val N/A N/A flr2finger_pts_grid N/A N/A self _get_finger_pts_grid lr N/A N/A ray_froms ray_tos N/A N/A flr2finger_pts_grid N/A l N/A flr2finger_pts_grid N/A r N/A next_vel max_vel N/A bt_obj dyn_bt_objs N/A N/A from_to_ray_collisions N/A N/A N/A self bt_env RayTest ray_froms ray_tos bt_obj N/A to_from_ray_collisions N/A N/A N/A self bt_env RayTest ray_tos ray_froms bt_obj N/A rays_dists N/A N/A np inf N/A N/A np ones N/A N/A len ray_froms 2 N/A rc from_to_ray_collisions N/A N/A ray_id N/A N/A np argmin N/A N/A np apply_along_axis N/A N/A np linalg norm 1 N/A ray_froms N/A rc rayFrom N/A N/A rays_dists N/A N/A ray_id 0 N/A N/A N/A np linalg norm N/A N/A rc pt N/A rc rayFrom N/A rc to_from_ray_collisions N/A N/A ray_id N/A N/A np argmin N/A N/A np apply_along_axis N/A N/A np linalg norm 1 N/A ray_tos N/A rc rayFrom N/A N/A rays_dists N/A N/A ray_id 1 N/A N/A N/A np linalg norm N/A N/A rc pt N/A rc rayFrom N/A colliding_rays_inds N/A N/A np logical_and N/A N/A rays_dists N/A N/A N/A 0 N/A np inf N/A N/A rays_dists N/A N/A N/A 1 N/A np inf N/A N/A N/A np any colliding_rays_inds N/A N/A rays_dists N/A rays_dists N/A N/A colliding_rays_inds N/A N/A N/A N/A np any N/A N/A np logical_and N/A N/A rays_dists N/A N/A N/A 0 close_dist_thresh N/A N/A rays_dists N/A N/A N/A 1 close_dist_thresh N/A N/A next_vel 0 N/A N/A next_vel N/A N/A np minimum next_vel N/A N/A np min N/A N/A rays_dists sum axis 1 N/A N/A next_vel 0 N/A N/A N/A next_val N/A N/A np maximum N/A next_val next_vel 0 N/A N/A N/A N/A self robot SetDOFValues N/A next_val N/A joint_ind N/A N/A N/A self step N/A N/A N/A self viewer step_viewer N/A N/A N/A N/A N/A self viewer Step N/A handles N/A N/A bt_obj dyn_bt_objs N/A N/A from_to_ray_collisions N/A N/A N/A self bt_env RayTest ray_froms ray_tos bt_obj N/A to_from_ray_collisions N/A N/A N/A self bt_env RayTest ray_tos ray_froms bt_obj N/A ray_collisions N/A rc N/A rcs N/A from_to_ray_collisions to_from_ray_collisions N/A rc rcs N/A rc ray_collisions N/A N/A N/A N/A N/A N/A np linalg norm N/A N/A rc pt N/A rc rayFrom grab_dist_thresh N/A N/A link_tf N/A N/A N/A rc link GetTransform N/A N/A link_tf N/A N/A 3 N/A 3 N/A rc pt N/A N/A N/A self _add_constraints lr N/A rc link link_tf N/A N/A N/A self viewer step_viewer N/A N/A N/A N/A N/A self viewer Step N/A execute_trajectory N/A N/A self full_traj step_viewer interactive max_cart_vel_trans_traj sim_callback N/A 1 False 0.05 None N/A N/A N/A sim_callback None N/A N/A sim_callback N/A N/A N/A i N/A N/A N/A self step N/A N/A traj dof_inds full_traj N/A N/A N/A N/A self robot SetActiveDOFs dof_inds N/A curr_vals N/A N/A N/A self robot GetActiveDOFValues N/A transition_traj N/A N/A np r_ N/A N/A N/A curr_vals N/A N/A traj N/A 0 N/A N/A N/A sim_util unwrap_in_place transition_traj dof_inds dof_inds N/A transition_traj N/A N/A ropesim retime_traj N/A self robot dof_inds transition_traj max_cart_vel max_cart_vel_trans_traj N/A N/A N/A animate_traj animate_traj transition_traj N/A self robot restore False pause interactive callback sim_callback step_viewer N/A N/A self viewer step_viewer 0 N/A N/A traj N/A 0 N/A transition_traj N/A -1 N/A N/A N/A sim_util unwrap_in_place traj dof_inds dof_inds N/A traj N/A N/A ropesim retime_traj N/A self robot dof_inds traj N/A N/A N/A animate_traj animate_traj traj N/A self robot restore False pause interactive callback sim_callback step_viewer N/A N/A self viewer step_viewer 0 N/A N/A N/A self viewer step_viewer N/A N/A N/A N/A N/A self viewer Step N/A True N/A _create_bullet N/A N/A self N/A N/A N/A lr lr N/A N/A N/A N/A N/A self constraints N/A lr N/A N/A self constraints_links N/A lr N/A N/A N/A RuntimeError Bullet environment can't be removed while the robot is grasping an object N/A N/A N/A N/A super DynamicSimulationRobotWorld self _create_bullet N/A _remove_bullet N/A N/A self N/A N/A N/A lr lr N/A N/A N/A N/A N/A self constraints N/A lr N/A N/A self constraints_links N/A lr N/A N/A N/A RuntimeError Bullet environment can't be removed while the robot is grasping an object N/A N/A N/A N/A super DynamicSimulationRobotWorld self _remove_bullet N/A _get_finger_pts_grid N/A N/A self lr min_sample_dist N/A 0.005 N/A N/A sample_grid None N/A flr2finger_pts_grid N/A N/A finger_lr lr N/A N/A world_from_finger N/A N/A N/A N/A N/A self robot GetLink N/A %s_gripper_%s_finger_tip_link N/A lr finger_lr GetTransform N/A finger_pts N/A N/A world_from_finger N/A N/A 3 N/A 3 N/A N/A N/A N/A sim_util get_finger_rel_pts finger_lr dot N/A N/A world_from_finger N/A N/A 3 N/A 3 T N/A pt0 N/A N/A finger_pts N/A N/A N/A finger_lr l 0 3 N/A N/A None N/A N/A pt1 N/A N/A finger_pts N/A N/A N/A finger_lr l 1 2 N/A N/A None N/A N/A pt3 N/A N/A finger_pts N/A N/A N/A finger_lr l 3 0 N/A N/A None N/A N/A N/A sample_grid None N/A N/A num_sample_01 N/A N/A np round N/A N/A N/A N/A np linalg norm N/A pt1 pt0 min_sample_dist N/A num_sample_03 N/A N/A np round N/A N/A N/A N/A np linalg norm N/A pt3 pt0 min_sample_dist N/A sample_grid N/A N/A N/A N/A N/A np array N/A N/A np meshgrid N/A N/A np linspace 0 1 num_sample_01 N/A N/A np linspace 0 1 num_sample_03 T reshape N/A -1 2 N/A N/A flr2finger_pts_grid N/A finger_lr N/A N/A pt0 N/A N/A N/A N/A sample_grid N/A N/A N/A 0 N/A N/A N/A None dot N/A pt1 pt0 N/A N/A N/A N/A sample_grid N/A N/A N/A 1 N/A N/A N/A None dot N/A pt3 pt0 N/A flr2finger_pts_grid N/A _remove_constraints N/A N/A self lr grab_link N/A None N/A N/A 
        If grab_link is None, remove all constraints that attaches the lr gripper,
        else remove all constraints that attaches between the lr gripper and grab_link
         N/A num_links_removed 0 N/A N/A cnt link N/A zip N/A N/A self constraints N/A lr N/A N/A self constraints_links N/A lr N/A N/A N/A N/A grab_link None N/A link grab_link N/A N/A N/A N/A N/A self bt_env RemoveConstraint cnt N/A num_links_removed 1 N/A link N/A N/A self constraints_links N/A lr N/A N/A N/A N/A grab_link None N/A link grab_link N/A N/A geom N/A N/A link GetGeometries N/A N/A N/A N/A geom SetDiffuseColor N/A 1.0 1.0 1.0 N/A N/A grab_link None N/A N/A N/A N/A self constraints N/A lr N/A N/A N/A N/A self constraints_links N/A lr N/A N/A N/A N/A grab_link N/A N/A self constraints_links N/A lr N/A N/A constraints_links_pairs N/A zip N/A N/A cnt link N/A N/A cnt link N/A zip N/A N/A self constraints N/A lr N/A N/A self constraints_links N/A lr N/A link grab_link N/A constraints_links_pairs N/A N/A N/A constraints constraints_links constraints_links_pairs N/A N/A N/A self constraints N/A lr N/A list constraints N/A N/A N/A self constraints_links N/A lr N/A list constraints_links N/A N/A N/A N/A self constraints N/A lr N/A N/A N/A N/A self constraints_links N/A lr N/A N/A _add_constraints N/A N/A self lr grab_link grab_tf N/A None N/A N/A N/A grab_tf None N/A N/A grab_tf N/A N/A grab_link GetTransform N/A geom N/A N/A grab_link GetGeometries N/A N/A N/A N/A geom SetDiffuseColor N/A 1.0 0.0 0.0 N/A flr lr N/A N/A robot_link N/A N/A N/A self robot GetLink N/A %s_gripper_%s_finger_tip_link N/A lr flr N/A cnt N/A N/A N/A self bt_env AddConstraint N/A type params generic6dof N/A link_a link_b frame_in_a frame_in_b use_linear_reference_frame_a stop_erp stop_cfm disable_collision_between_linked_bodies robot_link grab_link N/A N/A N/A N/A N/A np linalg inv N/A N/A robot_link GetTransform dot grab_tf N/A N/A N/A N/A N/A np linalg inv N/A N/A grab_link GetTransform dot grab_tf False 0.8 0.1 True N/A N/A N/A N/A N/A self constraints N/A lr append cnt N/A N/A N/A N/A N/A self constraints_links N/A lr append grab_link N/A N/A DynamicRopeSimulationRobotWorld N/A DynamicSimulationRobotWorld N/A in_grasp_region N/A N/A self robot lr pt N/A N/A N/A tol 0.0 N/A manip_name N/A N/A l r leftarm rightarm N/A lr N/A manip N/A N/A robot GetManipulator manip_name N/A l_finger N/A N/A robot GetLink N/A %s_gripper_l_finger_tip_link lr N/A r_finger N/A N/A robot GetLink N/A %s_gripper_r_finger_tip_link lr transform N/A N/A hmat p N/A N/A N/A N/A N/A N/A N/A hmat N/A N/A 3 N/A 3 dot p N/A hmat N/A N/A 3 N/A 3 N/A on_inner_side N/A N/A pt finger_lr N/A N/A N/A finger l_finger N/A closing_dir N/A N/A np cross N/A N/A manip GetLocalToolDirection N/A -1 0 0 N/A local_inner_pt N/A N/A N/A np array N/A 0.234402 -0.299 0 20.0 N/A N/A finger_lr r N/A N/A finger r_finger N/A closing_dir -1 N/A N/A local_inner_pt N/A 1 -1 N/A inner_pt N/A transform N/A N/A finger GetTransform local_inner_pt N/A N/A N/A N/A N/A N/A N/A N/A N/A manip GetTransform N/A N/A 3 N/A 3 dot closing_dir dot N/A pt inner_pt 0 N/A N/A pt_local N/A transform N/A N/A N/A np linalg inv N/A N/A manip GetTransform pt N/A N/A N/A pt_local N/A 2 N/A 0.03 tol N/A N/A False N/A N/A N/A abs N/A pt_local N/A 0 N/A 0.01 tol N/A N/A False N/A N/A N/A N/A on_inner_side pt l N/A N/A on_inner_side pt r N/A N/A False N/A True N/A close_gripper N/A N/A self lr step_viewer max_vel close_dist_thresh grab_dist_thresh N/A 1 0.02 0.004 0.005 N/A N/A CLOSING GRIPPER N/A joint_ind N/A N/A N/A N/A N/A self robot GetJoint N/A %s_gripper_l_finger_joint lr GetDOFIndex N/A start_val N/A N/A N/A N/A self robot GetDOFValues N/A joint_ind N/A 0 N/A start_val:  start_val N/A dyn_bt_objs N/A bt_obj N/A sim_obj N/A self dyn_sim_objs N/A bt_obj N/A N/A sim_obj get_bullet_objects N/A next_val start_val N/A next_val N/A N/A flr2finger_pts_grid N/A N/A self _get_finger_pts_grid lr N/A N/A ray_froms ray_tos N/A N/A flr2finger_pts_grid N/A l N/A flr2finger_pts_grid N/A r N/A next_vel max_vel N/A bt_obj dyn_bt_objs N/A N/A from_to_ray_collisions N/A N/A N/A self bt_env RayTest ray_froms ray_tos bt_obj N/A to_from_ray_collisions N/A N/A N/A self bt_env RayTest ray_tos ray_froms bt_obj N/A rays_dists N/A N/A np inf N/A N/A np ones N/A N/A len ray_froms 2 N/A rc from_to_ray_collisions N/A N/A ray_id N/A N/A np argmin N/A N/A np apply_along_axis N/A N/A np linalg norm 1 N/A ray_froms N/A rc rayFrom N/A N/A rays_dists N/A N/A ray_id 0 N/A N/A N/A np linalg norm N/A N/A rc pt N/A rc rayFrom N/A rc to_from_ray_collisions N/A N/A ray_id N/A N/A np argmin N/A N/A np apply_along_axis N/A N/A np linalg norm 1 N/A ray_tos N/A rc rayFrom N/A N/A rays_dists N/A N/A ray_id 1 N/A N/A N/A np linalg norm N/A N/A rc pt N/A rc rayFrom N/A colliding_rays_inds N/A N/A np logical_and N/A N/A rays_dists N/A N/A N/A 0 N/A np inf N/A N/A rays_dists N/A N/A N/A 1 N/A np inf N/A N/A N/A np any colliding_rays_inds N/A N/A rays_dists N/A rays_dists N/A N/A colliding_rays_inds N/A N/A N/A N/A np any N/A N/A np logical_and N/A N/A rays_dists N/A N/A N/A 0 close_dist_thresh N/A N/A rays_dists N/A N/A N/A 1 close_dist_thresh N/A N/A next_vel 0 N/A N/A next_vel N/A N/A np minimum next_vel N/A N/A np min N/A N/A rays_dists sum axis 1 N/A N/A next_vel 0 N/A N/A N/A next_val N/A N/A np maximum N/A next_val next_vel 0 N/A N/A N/A N/A self robot SetDOFValues N/A next_val N/A joint_ind N/A N/A N/A self step N/A N/A N/A self viewer step_viewer N/A N/A N/A N/A N/A self viewer Step N/A rope N/A N/A bt_obj N/A sim_obj N/A self dyn_sim_objs N/A bt_obj N/A N/A sim_obj get_bullet_objects N/A 0 N/A N/A nodes ctl_pts N/A N/A N/A rope GetNodes N/A N/A rope GetControlPoints N/A graspable_nodes N/A N/A np array N/A N/A N/A self in_grasp_region N/A self robot lr n N/A n nodes N/A graspable_ctl_pts N/A N/A np array N/A N/A N/A self in_grasp_region N/A self robot lr n N/A n ctl_pts N/A graspable_inds N/A N/A np flatnonzero N/A N/A np logical_or graspable_nodes N/A N/A np logical_or N/A graspable_ctl_pts N/A -1 N/A graspable_ctl_pts N/A 1 N/A N/A graspable inds for %s: %s N/A lr N/A str graspable_inds N/A N/A N/A len graspable_inds 0 N/A N/A False N/A robot_link N/A N/A N/A self robot GetLink N/A %s_gripper_l_finger_tip_link lr N/A rope_links N/A N/A N/A N/A rope GetKinBody GetLinks N/A i_node graspable_inds N/A N/A i_cnt i_node N/A geom N/A N/A N/A rope_links N/A i_cnt GetGeometries N/A N/A N/A N/A geom SetDiffuseColor N/A 1.0 0.0 0.0 N/A link N/A rope_links N/A i_cnt N/A N/A N/A self _add_constraints lr link N/A N/A link GetTransform N/A N/A step_viewer N/A self viewer N/A N/A N/A N/A N/A self viewer Step N/A True N/A release_rope N/A N/A self lr N/A N/A N/A c N/A N/A self constraints N/A lr N/A N/A N/A N/A N/A self bt_env RemoveConstraint c N/A rope_links N/A N/A N/A N/A N/A self rope GetKinBody GetLinks N/A link N/A N/A self constraints_links N/A lr N/A N/A geom N/A N/A link GetGeometries N/A N/A N/A N/A geom SetDiffuseColor N/A 1.0 1.0 1.0 N/A N/A N/A self constraints N/A lr N/A N/A N/A N/A self constraints_links N/A lr N/A N/A N/A