--- a
+++ b/SAC/kinematics_preprocessing_specs.py
@@ -0,0 +1,69 @@
+from itertools import compress
+import numpy as np
+import pickle
+import os
+
+import sys
+sys.path.insert(0, '../')
+import config
+
+parser = config.config_parser()
+args, unknown = parser.parse_known_args()
+
+###Please do not change this code###
+### -----------------------------------------------###
+
+#Load the train and test kinematics
+#Get the timepoints of each condition per cycle
+
+#Check if the file is being called from main.py or Jupyter notebooks
+if os.path.isfile(args.kinematics_path + '/kinematics.pkl'):
+	with open(args.kinematics_path + '/kinematics.pkl', 'rb') as f:
+		kin_train_test = pickle.load(f)
+
+else:
+	with open('../' + args.kinematics_path + '/kinematics.pkl', 'rb') as f:
+		kin_train_test = pickle.load(f)
+
+
+kin_train = kin_train_test['train']
+kin_test = kin_train_test['test']
+
+#Load a random condition
+cond2load = np.random.randint(0, len(kin_train))
+kin2load = kin_train[cond2load] #[num_targets, num_coords, timepoints]
+
+xyz_target = []
+for target in range(kin2load.shape[0]):
+	xyz_coord = []
+	for coord in range(kin2load.shape[1]):
+		xyz_coord.append(int(np.logical_not(np.isnan(kin2load[target, coord, :]).any())))
+
+	xyz_target.append(xyz_coord)
+
+
+#Targets are as specified in kin_train.pkl, kin_test.pkl
+#Specify the musculo bodies in order that have to track the targets as specified in the given kinematics pkl file.
+#For example, here the musculo body 'hand' has to track the first 'target' kinematics.
+musculo_tracking = kin_train_test['marker_names']
+
+
+#Specify the xyz coordinates of the target movement
+# x: -->, y: ↑, z: out of page
+#Set True/False for x, y and z coords respectively
+#Defines the num_coords
+#Should be num_targets, num_coords
+#Provide a NaN option in the kinematics path file
+xyz_target = xyz_target
+num_targets = len(xyz_target)
+
+musculo_target_joints = []
+for target_append in range(num_targets):
+	musculo_tracking[target_append] = (musculo_tracking[target_append], f'target{target_append}')
+
+	#The joints associated with the target
+	musculo_target_joints_t = [f'box:x{target_append}', f'box:y{target_append}', f'box:z{target_append}']
+	musculo_target_joints_t= list(compress(musculo_target_joints_t, xyz_target[target_append]))
+	musculo_target_joints = [*musculo_target_joints, *musculo_target_joints_t]
+
+### -----------------------------------------------####
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