def __init__(self, extract_from_bags=True):
self.setup_openrave()
self.use_bags = extract_from_bags
self.traj_proc = TrajectoryProcessor(self.env)
self.analyzer = TrajectoryAnalyzer(self.env)
self.num_samples = 100 # number of points to resample the trajectories
# TODO IMPORT FILENAMES AS PARAMETERS
self.bag_name = "UnhangHangWithoutHandArtem1" # filename of a bag with demonstration
self.action_seg_name = "action_segmentation.txt" # filename with segmentation points between actions
self.hold_seg_name_postfix = "_segmentation_holding.txt" # part of a filename (postfix) for each action holding/not holding segmentation points
