Load SARCOS data in Python

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:]