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How to train VAE for MAIF?
I want to know how to setup training procedure for MAIF from 1st step.
A procedure in README seems running inference and action code using trained model
Can you tell me the training step??
Thanks for sharing codes!
Logger script not generating images
Greetings,
I am trying to generate a dataset similar to the one used in the paper, using the logger.py
script found in src/panda_simulation/MVAE/src/poses
, but while the joint positions are saved to text files there are no camera_image
jpeg files generated.
Looking at the code it seems the script subscribes to the /camera/color/image_raw
topic but checking it with rostopic
shows that there are no publishers running.
(robostackenv) asolano@p-shared-6:~/catkin_ws$ rostopic info /camera/color/image_raw
Type: sensor_msgs/Image
Publishers: None
Subscribers:
* /camera (http://p-shared-6:42577/)
* /logger (http://p-shared-6:36257/)
And searching through code there no other references to it. The setup is the one recommended on the README file:
# terminal 1 (running on a headless server)
$ roslaunch headless:=true gui:=false paused:=false panda_simulation simulation_py.launch
# terninal 2
$ python camera.py
# terminal 3
$ python logger.py
Note there is no controller running since the MAIF_controller.py
only runs for a few seconds, but I would expect the logger to save the default image over and over.
Looking at the launch file /src/panda_simulation/franka_description/robots/panda_arm_world.urdf.xacro
it seems the <!-- Camera -->
section is empty, is that by design?
I am not very familiar with the Panda + Gazebo setup but the paper mentions "A camera model" but it gives no specifics otherwise. Any hint on how to recreate the dataset (or better yet, a link to a copy!) would be much appreciated.
Thanks,
Alfredo
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