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