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AlexanderFabisch/load_sarcos.py

Last active September 1, 2020 09:45
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Load SARCOS data in Python
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load_sarcos.py
# Get the dataset here: http://www.gaussianprocess.org/gpml/data/
import scipy.io
# Load training set
train = scipy.io.loadmat("sarcos_inv.mat")
# Inputs (7 joint positions, 7 joint velocities, 7 joint accelerations)
Xtrain = train["sarcos_inv"][:, :21]
# Outputs (7 joint torques)
Ytrain = train["sarcos_inv"][:, 21:]
# Load test set
test = scipy.io.loadmat("sarcos_inv_test.mat")
Xtest = test["sarcos_inv_test"][:, :21]
Ytest = test["sarcos_inv_test"][:, 21:]
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