cmeo97 / maif Goto Github PK

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!

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