def get_full_traj(robot, lr2arm_traj, lr2finger_traj = {}):
    trajs = []
    dof_inds = []
    if len(lr2arm_traj) > 0:
        for (lr, arm_traj) in lr2arm_traj.items():
            manip_name = {"l":"leftarm", "r":"rightarm"}[lr]
            trajs.append(arm_traj)
            dof_inds.extend(robot.GetManipulator(manip_name).GetArmIndices())
    if len(lr2finger_traj) > 0:
        for (lr, finger_traj) in lr2finger_traj.items():
            trajs.append(finger_traj)
            dof_inds.append(robot.GetJointIndex("%s_gripper_l_finger_joint"%lr))
    if len(trajs) > 0:
        full_traj = (np.concatenate(trajs, axis=1), dof_inds)
    else:
        full_traj = (np.zeros((0,0)), [])
    return full_traj
Roll provided date backward to next offset only if not on offset
dataset/ETHPy150Open rll/lfd/lfd/environment/sim_util.py/get_full_traj--crossover with--dataset/ETHPy150Open pydata/pandas/pandas/tseries/offsets.py/DateOffset.rollback