movement_primitives.data.load_lasa

movement_primitives.data.load_lasa(shape_idx)

Load demonstrations from LASA dataset.

The LASA dataset contains 2D handwriting motions recorded from a Tablet-PC. It can be found here Take a look at the detailed explanation for more information.

The following plot shows multiple demonstrations for the same shape.

Parameters:

shape_idxint

Choose demonstrated shape, must be within range(30).

Returns:

Tarray, shape (n_demos, n_steps)

Times

Xarray, shape (n_demos, n_steps, n_dims)

Positions

Xdarray, shape (n_demos, n_steps, n_dims)

Velocities

Xddarray, shape (n_demos, n_steps, n_dims)

Accelerations

dtfloat

Time between steps

shape_namestring

Name of the Matlab file from which we load the demonstrations (without suffix).