config file

Add the specific robot config in the config file at config/robot_name.yaml

Generating the dataset *_data.pkl file

Set the rosbag that you want to process and pickle into a dataset in this roslaunch file : src/rosbag_sync_data_rerecorder/launch/rosbag_data_recorder.launch

This launch file will generate a dataset file in the data/ folder. Point to this dataset file in scripts/train.py to train the visual IKD model.