diff --git a/simulation/train_models/models_dope.py b/simulation/train_models/models_dope.py
new file mode 100755
index 0000000..0c89004
--- /dev/null
+++ b/simulation/train_models/models_dope.py
@@ -0,0 +1,196 @@
+"""
+NVIDIA from jtremblay@gmail.com
+"""
+
+# Networks
+import torch
+import torch
+import torch.nn as nn
+import torch.nn.parallel
+import torch.utils.data
+import torchvision.models as models
+
+
+class DopeNetwork(nn.Module):
+    def __init__(
+        self,
+        pretrained=False,
+        numBeliefMap=9,
+        numAffinity=16,
+        stop_at_stage=6,  # number of stages to process (if less than total number of stages)
+    ):
+        super(DopeNetwork, self).__init__()
+
+        self.stop_at_stage = stop_at_stage
+
+        vgg_full = models.vgg19(pretrained=False).features
+        self.vgg = nn.Sequential()
+        for i_layer in range(24):
+            self.vgg.add_module(str(i_layer), vgg_full[i_layer])
+
+        # Add some layers
+        i_layer = 23
+        self.vgg.add_module(
+            str(i_layer), nn.Conv2d(512, 256, kernel_size=3, stride=1, padding=1)
+        )
+        self.vgg.add_module(str(i_layer + 1), nn.ReLU(inplace=True))
+        self.vgg.add_module(
+            str(i_layer + 2), nn.Conv2d(256, 128, kernel_size=3, stride=1, padding=1)
+        )
+        self.vgg.add_module(str(i_layer + 3), nn.ReLU(inplace=True))
+
+        # print('---Belief------------------------------------------------')
+        # _2 are the belief map stages
+        self.m1_2 = DopeNetwork.create_stage(128, numBeliefMap, True)
+        self.m2_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m3_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m4_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m5_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m6_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+
+        # print('---Affinity----------------------------------------------')
+        # _1 are the affinity map stages
+        self.m1_1 = DopeNetwork.create_stage(128, numAffinity, True)
+        self.m2_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m3_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m4_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m5_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m6_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+
+    def forward(self, x):
+        """Runs inference on the neural network"""
+
+        out1 = self.vgg(x)
+
+        out1_2 = self.m1_2(out1)
+        out1_1 = self.m1_1(out1)
+
+        if self.stop_at_stage == 1:
+            return [out1_2], [out1_1]
+
+        out2 = torch.cat([out1_2, out1_1, out1], 1)
+        out2_2 = self.m2_2(out2)
+        out2_1 = self.m2_1(out2)
+
+        if self.stop_at_stage == 2:
+            return [out1_2, out2_2], [out1_1, out2_1]
+
+        out3 = torch.cat([out2_2, out2_1, out1], 1)
+        out3_2 = self.m3_2(out3)
+        out3_1 = self.m3_1(out3)
+
+        if self.stop_at_stage == 3:
+            return [out1_2, out2_2, out3_2], [out1_1, out2_1, out3_1]
+
+        out4 = torch.cat([out3_2, out3_1, out1], 1)
+        out4_2 = self.m4_2(out4)
+        out4_1 = self.m4_1(out4)
+
+        if self.stop_at_stage == 4:
+            return [out1_2, out2_2, out3_2, out4_2], [out1_1, out2_1, out3_1, out4_1]
+
+        out5 = torch.cat([out4_2, out4_1, out1], 1)
+        out5_2 = self.m5_2(out5)
+        out5_1 = self.m5_1(out5)
+
+        if self.stop_at_stage == 5:
+            return [out1_2, out2_2, out3_2, out4_2, out5_2], [
+                out1_1,
+                out2_1,
+                out3_1,
+                out4_1,
+                out5_1,
+            ]
+
+        out6 = torch.cat([out5_2, out5_1, out1], 1)
+        out6_2 = self.m6_2(out6)
+        out6_1 = self.m6_1(out6)
+
+        return [out1_2, out2_2, out3_2, out4_2, out5_2, out6_2], [
+            out1_1,
+            out2_1,
+            out3_1,
+            out4_1,
+            out5_1,
+            out6_1,
+        ]
+
+    @staticmethod
+    def create_stage(in_channels, out_channels, first=False):
+        """Create the neural network layers for a single stage."""
+
+        model = nn.Sequential()
+        mid_channels = 128
+        if first:
+            padding = 1
+            kernel = 3
+            count = 6
+            final_channels = 512
+        else:
+            padding = 3
+            kernel = 7
+            count = 10
+            final_channels = mid_channels
+
+        # First convolution
+        model.add_module(
+            "0",
+            nn.Conv2d(
+                in_channels, mid_channels, kernel_size=kernel, stride=1, padding=padding
+            ),
+        )
+
+        # Middle convolutions
+        i = 1
+        while i < count - 1:
+            model.add_module(str(i), nn.ReLU(inplace=True))
+            i += 1
+            model.add_module(
+                str(i),
+                nn.Conv2d(
+                    mid_channels,
+                    mid_channels,
+                    kernel_size=kernel,
+                    stride=1,
+                    padding=padding,
+                ),
+            )
+            i += 1
+
+        # Penultimate convolution
+        model.add_module(str(i), nn.ReLU(inplace=True))
+        i += 1
+        model.add_module(
+            str(i), nn.Conv2d(mid_channels, final_channels, kernel_size=1, stride=1)
+        )
+        i += 1
+
+        # Last convolution
+        model.add_module(str(i), nn.ReLU(inplace=True))
+        i += 1
+        model.add_module(
+            str(i), nn.Conv2d(final_channels, out_channels, kernel_size=1, stride=1)
+        )
+        i += 1
+
+        return model
diff --git a/simulation/train_models/rbs_train.py b/simulation/train_models/rbs_train.py
new file mode 100644
index 0000000..2a78759
--- /dev/null
+++ b/simulation/train_models/rbs_train.py
@@ -0,0 +1,29 @@
+"""
+  rbs_train
+  Общая задача: web-service pipeline
+  Реализуемая функция: обучение нейросетевой модели по заданному BOP-датасету
+
+    python3 $PYTHON_EDUCATION --path /Users/idontsudo/webservice/server/build/public/7065d6b6-c8a3-48c5-9679-bb8f3a690296 \
+        --name test1234 --datasetName 32123213
+
+  27.04.2024 @shalenikol release 0.1
+"""
+import argparse
+from train_Yolo import train_YoloV8
+from train_Dope import train_Dope_i
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--path", required=True, help="Path for dataset")
+    parser.add_argument("--name", required=True, help="String with result weights name")
+    parser.add_argument("--datasetName", required=True, help="String with dataset name")
+    parser.add_argument("--outpath", default="weights", help="Output path for weights")
+    parser.add_argument("--type", default="ObjectDetection", help="Type of implementation")
+    parser.add_argument("--epoch", default=3, type=int, help="How many training epochs")
+    parser.add_argument('--pretrain', action="store_true", help="Use pretraining")
+    args = parser.parse_args()
+
+    if args.type == "ObjectDetection":
+        train_YoloV8(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain)
+    else:
+        train_Dope_i(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain)
diff --git a/simulation/train_models/train_Dope.py b/simulation/train_models/train_Dope.py
new file mode 100644
index 0000000..f9908bc
--- /dev/null
+++ b/simulation/train_models/train_Dope.py
@@ -0,0 +1,542 @@
+"""
+    train_Dope
+  Общая задача: оценка позиции объекта (Pose estimation)
+  Реализуемая функция: обучение нейросетевой модели DOPE по заданному BOP-датасету
+
+    python3 $PYTHON_EDUCATION --path /Users/user/webservice/server/build/public/7065d6b6-c8a3-48c5-9679-bb8f3a690296 \
+        --name test1234 --datasetName 32123213
+
+  08.05.2024 @shalenikol release 0.1
+"""
+import os
+import json
+import shutil
+import numpy as np
+import transforms3d as t3d
+
+FILE_RBS_INFO = "rbs_info.json"
+FILE_CAMERA   = "camera.json"
+FILE_GT       = "scene_gt.json"
+FILE_GT_COCO  = "scene_gt_coco.json"
+FILE_GT_INFO  = "scene_gt_info.json"
+
+FILE_MODEL     = "epoch"
+EXT_MODEL      = ".pth"
+EXT_RGB        = "jpg"
+DIR_ROOT_DS    = "dataset_dope"
+DIR_TRAIN_OUT  = "out_weights"
+
+MODEL_SCALE = 1000 # исходная модель в метрах, преобразуем в мм (для DOPE)
+
+# Own_Numbering_Files = True # наименование image-файлов: собственная нумерация
+nn_image = 0
+K_intrinsic = []
+model_info = []
+camera_data = {}
+im_width = 0
+
+nb_update_network = 0
+# [
+#     [min(x), min(y), min(z)],
+#     [min(x), max(y), min(z)],
+#     [min(x), max(y), max(z)],
+#     [min(x), min(y), max(z)],
+#     [max(x), min(y), max(z)],
+#     [max(x), max(y), min(z)],
+#     [max(x), max(y), max(z)],
+#     [max(x), min(y), max(z)],
+#     [xc, yc, zc]   # min + (max - min) / 2
+# ]
+
+def trans_3Dto2D_point_in_camera(xyz, K_m, R_m2c, t_m2c):
+    """
+        xyz   : 3D-координаты точки
+        K_m   : внутренняя матрица камеры 3х3
+        R_m2c : матрица поворота 3х3
+        t_m2c : вектор перемещения 3х1
+        return [u,v]
+    """
+    K = np.array(K_m)
+    r = np.array(R_m2c)
+    r.shape = (3, 3)
+    t = np.array(t_m2c)
+    t.shape = (3, 1)
+    T = np.concatenate((r, t), axis=1)
+
+    P_m = np.array(xyz)
+    P_m.resize(4)
+    P_m[-1] = 1.0
+    P_m.shape = (4, 1)
+
+    # Project (X, Y, Z, 1) into cameras coordinate system
+    P_c = T @ P_m # 4x1
+    # Apply camera intrinsics to map (Xc, Yc, Zc) to p=(x, y, z)
+    p = K @ P_c
+    # Normalize by z to get (u,v,1)
+    uv = (p / p[2][0])[:-1]
+    return uv.flatten().tolist()
+
+def gt_parse(path: str, out_dir: str):
+    global nn_image
+    with open(os.path.join(path, FILE_GT_COCO), "r") as fh:
+        coco_data = json.load(fh)
+    with open(os.path.join(path, FILE_GT), "r") as fh:
+        gt_data = json.load(fh)
+    with open(os.path.join(path, FILE_GT_INFO), "r") as fh:
+        gt_info = json.load(fh)
+
+    for img in coco_data["images"]:
+        rgb_file = os.path.join(path, img["file_name"])
+        if os.path.isfile(rgb_file):
+            # if Own_Numbering_Files:
+            ext = os.path.splitext(rgb_file)[1]     # only ext
+            f = f"{nn_image:06}"
+            out_img = os.path.join(out_dir, f + ext)
+            # else:
+            #     f = os.path.split(rgb_file)[1] # filename with extension
+            #     f = os.path.splitext(f)[0]     # only filename
+            #     out_img = out_dir
+            shutil.copy2(rgb_file, out_img)
+            out_file = os.path.join(out_dir,f+".json")
+            nn_image += 1
+
+            # full annotation of the one image
+            all_data = camera_data.copy()
+            cat_names = {obj["id"]: obj["name"] for obj in coco_data["categories"]}
+            id_img = img["id"]    # 0, 1, 2 ...
+            sid_img = str(id_img) # "0", "1", "2" ...
+            img_info = gt_info[sid_img]
+            img_gt = gt_data[sid_img]
+            img_idx = 0 # object index on the image
+            objs = []
+            for ann in coco_data["annotations"]:
+                if ann["image_id"] == id_img:
+                    item = ann["category_id"]
+                    obj_data = {}
+                    obj_data["class"] = cat_names[item]
+                    x, y, width, height = ann["bbox"]
+                    obj_data["bounding_box"] = {"top_left":[x,y], "bottom_right":[x+width,y+height]}
+
+                    # visibility from FILE_GT_INFO
+                    item_info = img_info[img_idx]
+                    obj_data["visibility"] = item_info["visib_fract"]
+                    
+                    # location from FILE_GT
+                    item_gt = img_gt[img_idx]
+                    obj_id = item_gt["obj_id"] - 1 # index with 0
+                    cam_R_m2c = item_gt["cam_R_m2c"]
+                    cam_t_m2c = item_gt["cam_t_m2c"]
+                    obj_data["location"] = cam_t_m2c
+                    q = t3d.quaternions.mat2quat(np.array(cam_R_m2c))
+                    obj_data["quaternion_xyzw"] = [q[1], q[2], q[3], q[0]]
+
+                    cuboid_xyz = model_info[obj_id]
+                    obj_data["projected_cuboid"] = [
+                        trans_3Dto2D_point_in_camera(cub, K_intrinsic, cam_R_m2c, cam_t_m2c)
+                        for cub in cuboid_xyz
+                        ]
+                    
+                    objs.append(obj_data)
+                    img_idx += 1
+
+            all_data["objects"] = objs
+            with open(out_file, "w") as fh:
+                json.dump(all_data, fh, indent=2)
+
+def explore(path: str, res_dir: str):
+    if not os.path.isdir(path):
+        return
+    folders = [
+        os.path.join(path, o)
+        for o in os.listdir(path)
+        if os.path.isdir(os.path.join(path, o))
+    ]
+    for path_entry in folders:
+        if os.path.isfile(os.path.join(path_entry,FILE_GT_COCO)) and \
+           os.path.isfile(os.path.join(path_entry,FILE_GT_INFO)) and \
+           os.path.isfile(os.path.join(path_entry,FILE_GT)):
+            gt_parse(path_entry, res_dir)
+        else:
+            explore(path_entry, res_dir)
+
+def BOP2DOPE_dataset(dpath: str, out_dir: str) -> str:
+    """ Convert BOP-dataset to YOLO format for train """
+    res_dir = os.path.join(out_dir, DIR_ROOT_DS)
+    if os.path.isdir(res_dir):
+        shutil.rmtree(res_dir)
+    os.mkdir(res_dir)
+
+    explore(dpath, res_dir)
+
+    return out_dir
+
+def train(dopepath:str, wname:str, epochs:int, pretrain: bool, lname: list):
+    import random
+    # try:
+    import configparser as configparser
+    # except ImportError:
+    #     import ConfigParser as configparser
+    import torch
+    # import torch.nn.parallel
+    import torch.optim as optim
+    import torch.utils.data
+    import torchvision.transforms as transforms
+    from torch.autograd import Variable
+    import datetime
+    from tensorboardX import SummaryWriter
+
+    from models_dope import DopeNetwork
+    from utils_dope import CleanVisiiDopeLoader #, VisualizeBeliefMap, save_image
+
+    import warnings
+    warnings.filterwarnings("ignore")
+
+    os.environ["CUDA_VISIBLE_DEVICES"] = "0,1,2,3,4,5,6,7"
+
+    torch.autograd.set_detect_anomaly(False)
+    torch.autograd.profiler.profile(False)
+    torch.autograd.gradcheck = False
+    torch.backends.cudnn.benchmark = True
+
+    start_time = datetime.datetime.now()
+    print("start:", start_time.strftime("%m/%d/%Y, %H:%M:%S"))
+
+    res_model = os.path.join(dopepath, wname + EXT_MODEL)
+
+    local_rank = 0
+    opt = lambda: None
+    opt.use_s3 = False
+    opt.train_buckets = []
+    opt.endpoint = None
+    opt.lr=0.0001
+    opt.loginterval=100
+    opt.sigma=0.5 # 4
+    opt.nbupdates=None
+    # opt.save=False
+    # opt.option="default"
+    # opt.gpuids=[0]
+
+    opt.namefile=FILE_MODEL
+    opt.workers=8
+    opt.batchsize=16
+
+    opt.data = [os.path.join(dopepath, DIR_ROOT_DS)]
+    opt.outf = os.path.join(dopepath, DIR_TRAIN_OUT)
+    opt.object = lname #["fork"]
+    opt.exts = [EXT_RGB]
+    # opt.imagesize = im_width
+    opt.epochs = epochs
+    opt.pretrained = pretrain
+    opt.net_path = res_model if pretrain else None
+    opt.manualseed = random.randint(1, 10000)
+
+    # # Validate Arguments
+    # if opt.use_s3 and (opt.train_buckets is None or opt.endpoint is None):
+    #     raise ValueError(
+    #         "--train_buckets and --endpoint must be specified if training with data from s3 bucket."
+    #     )
+    # if not opt.use_s3 and opt.data is None:
+    #     raise ValueError("--data field must be specified.")
+
+    os.makedirs(opt.outf, exist_ok=True)
+
+    # if local_rank == 0:
+    #     writer = SummaryWriter(opt.outf + "/runs/")
+    random.seed(opt.manualseed)
+    torch.cuda.set_device(local_rank)
+    # torch.distributed.init_process_group(backend="nccl", init_method="env://")
+    torch.manual_seed(opt.manualseed)
+    torch.cuda.manual_seed_all(opt.manualseed)
+
+    # # Data Augmentation
+    # if not opt.save:
+    #     contrast = 0.2
+    #     brightness = 0.2
+    #     noise = 0.1
+    #     normal_imgs = [0.59, 0.25]
+    #     transform = transforms.Compose(
+    #         [
+    #             AddRandomContrast(0.2),
+    #             AddRandomBrightness(0.2),
+    #             transforms.Resize(opt.imagesize),
+    #         ]
+    #     )
+    # else:
+    #     contrast = 0.00001
+    #     brightness = 0.00001
+    #     noise = 0.00001
+    #     normal_imgs = None
+    #     transform = transforms.Compose(
+    #         [transforms.Resize(opt.imagesize), transforms.ToTensor()]
+    #     )
+
+    # Load Model
+    net = DopeNetwork()
+    output_size = 50
+    # opt.sigma = 0.5
+
+    train_dataset = CleanVisiiDopeLoader(
+        opt.data,
+        sigma=opt.sigma,
+        output_size=output_size,
+        extensions=opt.exts,
+        objects=opt.object,
+        use_s3=opt.use_s3,
+        buckets=opt.train_buckets,
+        endpoint_url=opt.endpoint,
+    )
+    trainingdata = torch.utils.data.DataLoader(
+        train_dataset,
+        batch_size=opt.batchsize,
+        shuffle=True,
+        num_workers=opt.workers,
+        pin_memory=True,
+    )
+    if not trainingdata is None:
+        print(f"training data: {len(trainingdata)} batches")
+
+    print("Loading Model...")
+    net = net.cuda()
+    # net = torch.nn.parallel.DistributedDataParallel(
+    #     net.cuda(), device_ids=[local_rank], output_device=local_rank
+    # )
+    if opt.pretrained:
+        if opt.net_path is not None:
+            net.load_state_dict(torch.load(opt.net_path))
+        else:
+            print("Error: Did not specify path to pretrained weights.")
+            quit()
+
+    parameters = filter(lambda p: p.requires_grad, net.parameters())
+    optimizer = optim.Adam(parameters, lr=opt.lr)
+
+    print("ready to train!")
+
+    global nb_update_network
+    nb_update_network = 0
+    # best_results = {"epoch": None, "passed": None, "add_mean": None, "add_std": None}
+
+    scaler = torch.cuda.amp.GradScaler()
+
+    def _runnetwork(epoch, train_loader): #, syn=False
+        global nb_update_network
+        # net
+        net.train()
+
+        loss_avg_to_log = {}
+        loss_avg_to_log["loss"] = []
+        loss_avg_to_log["loss_affinities"] = []
+        loss_avg_to_log["loss_belief"] = []
+        loss_avg_to_log["loss_class"] = []
+        for batch_idx, targets in enumerate(train_loader):
+            optimizer.zero_grad()
+
+            data = Variable(targets["img"].cuda())
+            target_belief = Variable(targets["beliefs"].cuda())
+            target_affinities = Variable(targets["affinities"].cuda())
+
+            output_belief, output_aff = net(data)
+
+            loss = None
+
+            loss_belief = torch.tensor(0).float().cuda()
+            loss_affinities = torch.tensor(0).float().cuda()
+            loss_class = torch.tensor(0).float().cuda()
+
+            for stage in range(len(output_aff)):  # output, each belief map layers.
+                loss_affinities += (
+                    (output_aff[stage] - target_affinities)
+                    * (output_aff[stage] - target_affinities)
+                ).mean()
+
+                loss_belief += (
+                    (output_belief[stage] - target_belief)
+                    * (output_belief[stage] - target_belief)
+                ).mean()
+
+            loss = loss_affinities + loss_belief
+
+            # if batch_idx == 0:
+            #     post = "train"
+            #     if local_rank == 0:
+            #         for i_output in range(1):
+            #             # input images
+            #             writer.add_image(
+            #                 f"{post}_input_{i_output}",
+            #                 targets["img_original"][i_output],
+            #                 epoch,
+            #                 dataformats="CWH",
+            #             )
+            #             # belief maps gt
+            #             imgs = VisualizeBeliefMap(target_belief[i_output])
+            #             img, grid = save_image(
+            #                 imgs, "some_img.png", mean=0, std=1, nrow=3, save=False
+            #             )
+            #             writer.add_image(
+            #                 f"{post}_belief_ground_truth_{i_output}",
+            #                 grid,
+            #                 epoch,
+            #                 dataformats="CWH",
+            #             )
+            #             # belief maps guess
+            #             imgs = VisualizeBeliefMap(output_belief[-1][i_output])
+            #             img, grid = save_image(
+            #                 imgs, "some_img.png", mean=0, std=1, nrow=3, save=False
+            #             )
+            #             writer.add_image(
+            #                 f"{post}_belief_guess_{i_output}",
+            #                 grid,
+            #                 epoch,
+            #                 dataformats="CWH",
+            #             )
+
+            loss.backward()
+
+            optimizer.step()
+
+            nb_update_network += 1
+
+            # log the loss
+            loss_avg_to_log["loss"].append(loss.item())
+            loss_avg_to_log["loss_class"].append(loss_class.item())
+            loss_avg_to_log["loss_affinities"].append(loss_affinities.item())
+            loss_avg_to_log["loss_belief"].append(loss_belief.item())
+
+            if batch_idx % opt.loginterval == 0:
+                print(
+                    "Train Epoch: {} [{}/{} ({:.0f}%)] \tLoss: {:.15f} \tLocal Rank: {}".format(
+                        epoch,
+                        batch_idx * len(data),
+                        len(train_loader.dataset),
+                        100.0 * batch_idx / len(train_loader),
+                        loss.item(),
+                        local_rank,
+                    )
+                )
+        # # log the loss values
+        # if local_rank == 0:
+        #     writer.add_scalar("loss/train_loss", np.mean(loss_avg_to_log["loss"]), epoch)
+        #     writer.add_scalar("loss/train_cls", np.mean(loss_avg_to_log["loss_class"]), epoch)
+        #     writer.add_scalar("loss/train_aff", np.mean(loss_avg_to_log["loss_affinities"]), epoch)
+        #     writer.add_scalar("loss/train_bel", np.mean(loss_avg_to_log["loss_belief"]), epoch)
+
+    for epoch in range(1, opt.epochs + 1):
+
+        _runnetwork(epoch, trainingdata)
+
+        try:
+            if local_rank == 0:
+                torch.save(
+                    net.state_dict(),
+                    f"{opt.outf}/{opt.namefile}_{str(epoch).zfill(3)}.pth",
+                )
+        except Exception as e:
+            print(f"Encountered Exception: {e}")
+
+        if not opt.nbupdates is None and nb_update_network > int(opt.nbupdates):
+            break
+
+    # if local_rank == 0:
+    # save result model
+    torch.save(net.state_dict(), res_model) #os.path.join(dopepath, wname + EXT_MODEL))
+    # else:
+    #     torch.save(
+    #         net.state_dict(),
+    #         f"{opt.outf}/{opt.namefile}_{str(epoch).zfill(3)}_rank_{local_rank}.pth",
+    #     )
+
+    print("end:", datetime.datetime.now().strftime("%m/%d/%Y, %H:%M:%S"))
+    print("Total time taken: ", str(datetime.datetime.now() - start_time).split(".")[0])
+
+def train_Dope_i(path:str, wname:str, dname:str, outpath:str, epochs:int, pretrain: bool):
+    """ Main procedure for train DOPE model """
+    global K_intrinsic, model_info, camera_data, im_width
+
+    if not os.path.isdir(outpath):
+        print(f"Invalid output path '{outpath}'")
+        exit(-1)
+    out_dir = os.path.join(outpath, wname)
+    ds_path = os.path.join(path, dname)
+
+    if not os.path.isdir(ds_path):
+        print(f"{ds_path} : no BOP directory")
+        return ""
+
+    camera_json = os.path.join(ds_path, FILE_CAMERA)
+    if not os.path.isfile(camera_json):
+        print(f"{camera_json} : no intrinsic camera file")
+        return ""
+
+    rbs_info = os.path.join(ds_path, FILE_RBS_INFO)
+    if not os.path.isfile(rbs_info):
+        print(f"{rbs_info} : no dataset info file")
+        return ""
+
+    camera_data = {}
+    with open(camera_json, "r") as fh:
+        data = json.load(fh)
+    keys = ["cx","cy","fx","fy"]
+    intrinsic = {k: data[k] for k in keys}
+    im_height = data["height"]
+    im_width = data["width"]
+    camera_data["camera_data"] = dict(intrinsic=intrinsic, height=im_height, width=im_width)
+    K_intrinsic = [
+        [data["fx"], 0.0, data["cx"]],
+        [0.0, data["fy"], data["cy"]],
+        [0.0, 0.0, 1.0]
+    ]
+    # calc cuboid + center
+    with open(rbs_info, "r") as fh:
+        info = json.load(fh)
+    # список имён объектов
+    list_name = list(map(lambda x: x["name"], info))
+    # in FILE_RBS_INFO model numbering from smallest to largest
+    model_info = []
+    for m_info in info:
+        cub = np.array(m_info["cuboid"]) * MODEL_SCALE
+        xyz_min = cub.min(axis=0)
+        xyz_max = cub.max(axis=0)
+        # [xc, yc, zc] # min + (max - min) / 2
+        center = []
+        for i in range(3):
+            center.append(xyz_min[i] + (xyz_max[i]- xyz_min[i]) / 2)
+        c = np.array(center, ndmin=2)
+        model_info.append(np.append(cub, c, axis=0))
+
+    if pretrain:
+        # продолжить обучение
+        if not os.path.isdir(out_dir):
+            print(f"No dir '{out_dir}'")
+            exit(-2)
+        dpath = out_dir
+        # model_path = os.path.join(dpath, wname + ".pt")
+    else:
+        # обучение сначала
+        if not os.path.isdir(out_dir):
+            os.mkdir(out_dir)
+
+        dpath = BOP2DOPE_dataset(ds_path, out_dir)
+        if len(dpath) == 0:
+            print(f"Error in convert dataset '{ds_path}' to '{outpath}'")
+            exit(-4)
+        # model_path = os.path.join(dpath, FILE_BASEMODEL)
+
+    # results = f"python train.py --local_rank 0 --data {dpath} --object fork" \
+    #     + f" -e {epochs} --batchsize 16 --exts jpg --imagesize 640 --pretrained" \
+    #     + " --net_path /home/shalenikol/fork_work/dope_training/output/weights_2996/net_epoch_47.pth"
+    # print(results)
+    train(dpath, wname, epochs, pretrain, list_name)
+
+import argparse
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--path", required=True, help="Path for dataset")
+    parser.add_argument("--name", required=True, help="String with result weights name")
+    parser.add_argument("--datasetName", required=True, help="String with dataset name")
+    parser.add_argument("--outpath", default="weights", help="Output path for weights")
+    parser.add_argument("--epoch", default=3, help="How many training epochs")
+    parser.add_argument('--pretrain', action="store_true", help="Use pretraining")
+    args = parser.parse_args()
+
+    train_Dope_i(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain)
diff --git a/simulation/train_models/train_Yolo.py b/simulation/train_models/train_Yolo.py
new file mode 100644
index 0000000..1eaf7a0
--- /dev/null
+++ b/simulation/train_models/train_Yolo.py
@@ -0,0 +1,181 @@
+"""
+    train_Yolo
+  Общая задача: обнаружение объекта (Object detection)
+  Реализуемая функция: обучение нейросетевой модели YoloV8 по заданному BOP-датасету
+
+    python3 $PYTHON_TRAIN --path /Users/idontsudo/webservice/server/build/public/7065d6b6-c8a3-48c5-9679-bb8f3a690296/datasets \
+        --name test123 --datasetName ds213 --outpath /Users/idontsudo/webservice/server/build/public/7065d6b6-c8a3-48c5-9679-bb8f3a690296/weights
+
+  27.04.2024 @shalenikol release 0.1
+"""
+import os
+import shutil
+import json
+import yaml
+
+from ultralytics import YOLO
+# from ultralytics.utils.metrics import DetMetrics
+
+FILE_BASEMODEL = "yolov8n.pt"
+FILE_RBS_INFO  = "rbs_info.json"
+FILE_RBS_TRAIN = "rbs_train.yaml"
+FILE_GT_COCO   = "scene_gt_coco.json"
+FILE_L_TRAIN   = "i_train.txt"
+FILE_L_VAL     = "i_val.txt"
+FILE_TRAIN_RES = "weights/last.pt"
+DIR_ROOT_DS    = "datasets"
+DIR_COCO_DS    = "rbs_coco"
+DIR_RGB_DS     = "images"
+DIR_LABELS_DS  = "labels"
+
+SZ_SERIES = 15 # number of train images per validation images
+
+nn_image = 0
+f1 = f2 = None
+
+def convert2relative(height, width, bbox):
+    """ YOLO format use relative coordinates for annotation """
+    x, y, w, h = bbox
+    x += w/2
+    y += h/2
+    return x/width, y/height, w/width, h/height
+
+def gt_parse(path: str, out_dir: str):
+    global nn_image, f1, f2
+    with open(os.path.join(path, FILE_GT_COCO), "r") as fh:
+        coco_data = json.load(fh)
+
+    for img in coco_data["images"]:
+        rgb_file = os.path.join(path, img["file_name"])
+        if os.path.isfile(rgb_file):
+            ext = os.path.splitext(rgb_file)[1]     # only ext
+            f = f"{nn_image:06}"
+            out_img = os.path.join(out_dir, DIR_RGB_DS, f + ext)
+            shutil.copy2(rgb_file, out_img)
+
+            # заполним файлы с метками bbox
+            img_id = img["id"]
+            with open(os.path.join(out_dir, DIR_LABELS_DS, f + ".txt"), "w") as fh:
+                for i in coco_data["annotations"]:
+                    if i["image_id"] == img_id:
+                        cat_id = i["category_id"]
+                        if cat_id < 999:
+                            bbox = i["bbox"]
+                            im_h = i["height"]
+                            im_w = i["width"]
+                            rel = convert2relative(im_h,im_w,bbox)
+                            # формат: <target> <x-center> <y-center> <width> <height>
+                            fh.write(f"{cat_id-1} {rel[0]} {rel[1]} {rel[2]} {rel[3]}\n") # category from 0
+
+            nn_image += 1
+            line = os.path.join("./", DIR_RGB_DS, f + ext) + "\n"
+            if nn_image % SZ_SERIES == 0:
+                f2.write(line)
+            else:
+                f1.write(line)
+
+def explore(path: str, res_dir: str):
+    if not os.path.isdir(path):
+        return
+    folders = [
+        os.path.join(path, o)
+        for o in os.listdir(path)
+        if os.path.isdir(os.path.join(path, o))
+    ]
+    for path_entry in folders:
+        if os.path.isfile(os.path.join(path_entry,FILE_GT_COCO)):
+            gt_parse(path_entry, res_dir)
+        else:
+            explore(path_entry, res_dir)
+
+def BOP2Yolo_dataset(dpath: str, out_dir: str, lname: list) -> str:
+    """ Convert BOP-dataset to YOLO format for train """
+    cfg_yaml = os.path.join(out_dir, FILE_RBS_TRAIN)
+    p = os.path.join(out_dir, DIR_ROOT_DS, DIR_COCO_DS)
+    cfg_data = {"path": p, "train": FILE_L_TRAIN, "val": FILE_L_VAL}
+    cfg_data["names"] = {i:x for i,x in enumerate(lname)}
+    with open(cfg_yaml, "w") as fh:
+        yaml.dump(cfg_data, fh)
+
+    res_dir = os.path.join(out_dir, DIR_ROOT_DS)
+    if not os.path.isdir(res_dir):
+        os.mkdir(res_dir)
+
+    res_dir = os.path.join(res_dir, DIR_COCO_DS)
+    if not os.path.isdir(res_dir):
+        os.mkdir(res_dir)
+
+    p = os.path.join(res_dir, DIR_RGB_DS)
+    if not os.path.isdir(p):
+        os.mkdir(p)
+    p = os.path.join(res_dir, DIR_LABELS_DS)
+    if not os.path.isdir(p):
+        os.mkdir(p)
+
+    global f1, f2
+    f1 = open(os.path.join(res_dir, FILE_L_TRAIN), "w")
+    f2 = open(os.path.join(res_dir, FILE_L_VAL), "w")
+    explore(dpath, res_dir)
+    f1.close()
+    f2.close()
+
+    return out_dir
+
+def train_YoloV8(path:str, wname:str, dname:str, outpath:str, epochs:int, pretrain: bool):
+    """ Main procedure for train YOLOv8 model """
+    if not os.path.isdir(outpath):
+        print(f"Invalid output path '{outpath}'")
+        exit(-1)
+    out_dir = os.path.join(outpath, wname)
+
+    if pretrain:
+        # продолжить обучение
+        if not os.path.isdir(out_dir):
+            print(f"No dir '{out_dir}'")
+            exit(-2)
+        dpath = out_dir
+        model_path = os.path.join(dpath, wname + ".pt")
+    else:
+        # обучение сначала
+        if not os.path.isdir(out_dir):
+            os.mkdir(out_dir)
+
+        ds_path = os.path.join(path, dname)
+        rbs_info = os.path.join(ds_path, FILE_RBS_INFO)
+        if not os.path.isfile(rbs_info):
+            print(f"{rbs_info} : no dataset description file")
+            exit(-3)
+
+        with open(rbs_info, "r") as fh:
+            y = json.load(fh)
+        # список имён объектов
+        list_name = list(map(lambda x: x["name"], y))
+
+        dpath = BOP2Yolo_dataset(ds_path, out_dir, list_name)
+        if len(dpath) == 0:
+            print(f"Error in convert dataset '{ds_path}' to '{outpath}'")
+            exit(-4)
+        model_path = os.path.join(dpath, FILE_BASEMODEL)
+
+    model = YOLO(model_path)
+    results = model.train(data=os.path.join(dpath, FILE_RBS_TRAIN), epochs=epochs, project=out_dir)
+    wf = os.path.join(results.save_dir, FILE_TRAIN_RES)
+    if not os.path.isfile(wf):
+        print(f"Error in train: no result file '{wf}'")
+        exit(-5)
+
+    shutil.copy2(wf, os.path.join(dpath, wname + ".pt"))
+    shutil.rmtree(results.save_dir)
+
+if __name__ == "__main__":
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--path", required=True, help="Path for dataset")
+    parser.add_argument("--name", required=True, help="String with result weights name")
+    parser.add_argument("--datasetName", required=True, help="String with dataset name")
+    parser.add_argument("--outpath", default="weights", help="Output path for weights")
+    parser.add_argument("--epoch", default=3, type=int, help="How many training epochs")
+    parser.add_argument('--pretrain', action="store_true", help="Use pretraining")
+    args = parser.parse_args()
+
+    train_YoloV8(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain)
diff --git a/simulation/train_models/utils_dope.py b/simulation/train_models/utils_dope.py
new file mode 100755
index 0000000..55ab058
--- /dev/null
+++ b/simulation/train_models/utils_dope.py
@@ -0,0 +1,967 @@
+"""
+NVIDIA from jtremblay@gmail.com
+"""
+import numpy as np
+import torch
+
+import os
+
+import torch
+import torch.nn as nn
+import torch.nn.parallel
+
+import torch.utils.data
+
+import torchvision.transforms as transforms
+
+import torch.utils.data as data
+import glob
+import os
+import boto3
+import io
+
+from PIL import Image
+from PIL import ImageDraw
+from PIL import ImageEnhance
+
+from math import acos
+from math import sqrt
+from math import pi
+
+from os.path import exists, basename
+import json
+from os.path import join
+
+import albumentations as A
+
+
+def default_loader(path):
+    return Image.open(path).convert("RGB")
+
+
+def length(v):
+    return sqrt(v[0] ** 2 + v[1] ** 2)
+
+
+def dot_product(v, w):
+    return v[0] * w[0] + v[1] * w[1]
+
+
+def normalize(v):
+    norm = np.linalg.norm(v, ord=1)
+    if norm == 0:
+        norm = np.finfo(v.dtype).eps
+    return v / norm
+
+
+def determinant(v, w):
+    return v[0] * w[1] - v[1] * w[0]
+
+
+def inner_angle(v, w):
+    cosx = dot_product(v, w) / (length(v) * length(w))
+    rad = acos(cosx)  # in radians
+    return rad * 180 / pi  # returns degrees
+
+
+def py_ang(A, B=(1, 0)):
+    inner = inner_angle(A, B)
+    det = determinant(A, B)
+    if (
+        det < 0
+    ):  # this is a property of the det. If the det < 0 then B is clockwise of A
+        return inner
+    else:  # if the det > 0 then A is immediately clockwise of B
+        return 360 - inner
+
+
+import colorsys, math
+
+
+def append_dot(extensions):
+    res = []
+
+    for ext in extensions:
+        if not ext.startswith("."):
+            res.append(f".{ext}")
+        else:
+            res.append(ext)
+
+    return res
+
+
+def loadimages(root, extensions=["png"]):
+    imgs = []
+    extensions = append_dot(extensions)
+
+    def add_json_files(
+        path,
+    ):
+        for ext in extensions:
+            for file in os.listdir(path):
+                imgpath = os.path.join(path, file)
+                if (
+                    imgpath.endswith(ext)
+                    and exists(imgpath)
+                    and exists(imgpath.replace(ext, ".json"))
+                ):
+                    imgs.append(
+                        (
+                            imgpath,
+                            imgpath.replace(path, "").replace("/", ""),
+                            imgpath.replace(ext, ".json"),
+                        )
+                    )
+
+    def explore(path):
+        if not os.path.isdir(path):
+            return
+        folders = [
+            os.path.join(path, o)
+            for o in os.listdir(path)
+            if os.path.isdir(os.path.join(path, o))
+        ]
+
+        for path_entry in folders:
+            explore(path_entry)
+
+        add_json_files(path)
+
+    explore(root)
+
+    return imgs
+
+
+def loadweights(root):
+    if root.endswith(".pth") and os.path.isfile(root):
+        return [root]
+    else:
+        weights = [
+            os.path.join(root, f)
+            for f in os.listdir(root)
+            if os.path.isfile(os.path.join(root, f)) and f.endswith(".pth")
+        ]
+
+        weights.sort()
+        return weights 
+
+
+def loadimages_inference(root, extensions):
+    imgs, imgsname = [], []
+    extensions = append_dot(extensions)
+
+    def add_imgs(
+        path,
+    ):
+        for ext in extensions:
+            for file in os.listdir(path):
+                imgpath = os.path.join(path, file)
+                if imgpath.endswith(ext) and exists(imgpath):
+                    imgs.append(imgpath)
+                    imgsname.append(imgpath.replace(root, ""))
+
+    def explore(path):
+        if not os.path.isdir(path):
+            return
+        folders = [
+            os.path.join(path, o)
+            for o in os.listdir(path)
+            if os.path.isdir(os.path.join(path, o))
+        ]
+
+        for path_entry in folders:
+            explore(path_entry)
+
+        add_imgs(path)
+
+    explore(root)
+
+    return imgs, imgsname
+
+
+class CleanVisiiDopeLoader(data.Dataset):
+    def __init__(
+        self,
+        path_dataset,
+        objects=None,
+        sigma=1,
+        output_size=400,
+        extensions=["png"],
+        debug=False,
+        use_s3=False,
+        buckets=[],
+        endpoint_url=None,
+    ):
+        ###################
+        self.path_dataset = path_dataset
+        self.objects_interest = objects
+        self.sigma = sigma
+        self.output_size = output_size
+        self.extensions = append_dot(extensions)
+        self.debug = debug
+        ###################
+
+        self.imgs = []
+        self.s3_buckets = {}
+        self.use_s3 = use_s3
+
+        if self.use_s3:
+            self.session = boto3.Session()
+            self.s3 = self.session.resource(
+                service_name="s3", endpoint_url=endpoint_url
+            )
+
+            for bucket_name in buckets:
+                try:
+                    self.s3_buckets[bucket_name] = self.s3.Bucket(bucket_name)
+                except Exception as e:
+                    print(
+                        f"Error trying to load bucket {bucket_name} for training data:",
+                        e,
+                    )
+
+            for bucket in self.s3_buckets:
+                bucket_objects = [
+                    str(obj.key) for obj in self.s3_buckets[bucket].objects.all()
+                ]
+
+                jsons = set([json for json in bucket_objects if json.endswith(".json")])
+                imgs = [
+                    img
+                    for img in bucket_objects
+                    if img.endswith(tuple(self.extensions))
+                ]
+
+                for ext in self.extensions:
+                    for img in imgs:
+                        # Only add images that have a ground truth file
+                        if img.endswith(ext) and img.replace(ext, ".json") in jsons:
+                            # (img key, bucket name, json key)
+                            self.imgs.append((img, bucket, img.replace(ext, ".json")))
+
+        else:
+            for path_look in path_dataset:
+                self.imgs += loadimages(path_look, extensions=self.extensions)
+
+        # np.random.shuffle(self.imgs)
+        print("Number of Training Images:", len(self.imgs))
+        print(self.imgs)
+
+        if debug:
+            print("Debuging will be save in debug/")
+            if os.path.isdir("debug"):
+                print(f'folder {"debug"}/ exists')
+            else:
+                os.mkdir("debug")
+                print(f'created folder {"debug"}/')
+
+    def __len__(self):
+        return len(self.imgs)
+
+    def __getitem__(self, index):
+
+        # load the data
+        if self.use_s3:
+            img_key, bucket, json_key = self.imgs[index]
+            mem_img = io.BytesIO()
+
+            object_img = self.s3_buckets[bucket].Object(img_key)
+            object_img.download_fileobj(mem_img)
+
+            img = np.array(Image.open(mem_img).convert("RGB"))
+
+            object_json = self.s3_buckets[bucket].Object(json_key)
+            data_json = json.load(object_json.get()["Body"])
+
+            img_name = img_key[:-3]
+
+        else:
+            path_img, img_name, path_json = self.imgs[index]
+
+            # load the image
+            img = np.array(Image.open(path_img).convert("RGB"))
+
+            # load the json file
+            with open(path_json) as f:
+                data_json = json.load(f)
+
+        all_projected_cuboid_keypoints = []
+
+        # load the projected cuboid keypoints
+        for obj in data_json["objects"]:
+            if (
+                self.objects_interest is not None
+                and not obj["class"] in self.objects_interest
+            ):
+                continue
+            # load the projected_cuboid_keypoints
+            # 06.02.2024 @shalenikol
+            # if obj["visibility_image"] > 0:
+            if obj["visibility"] > 0:
+                projected_cuboid_keypoints = obj["projected_cuboid"]
+                # FAT dataset only has 8 corners for 'projected_cuboid'
+                if len(projected_cuboid_keypoints) == 8:
+                    projected_cuboid_keypoints.append(obj["projected_cuboid_centroid"])
+            else:
+                projected_cuboid_keypoints = [
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                ]
+            all_projected_cuboid_keypoints.append(projected_cuboid_keypoints)
+
+        if len(all_projected_cuboid_keypoints) == 0:
+            all_projected_cuboid_keypoints = [
+                [
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                ]
+            ]
+
+        # flatten the keypoints
+        flatten_projected_cuboid = []
+        for obj in all_projected_cuboid_keypoints:
+            for p in obj:
+                flatten_projected_cuboid.append(p)
+
+        #######
+        if self.debug:
+            img_to_save = Image.fromarray(img)
+            draw = ImageDraw.Draw(img_to_save)
+
+            for ip, p in enumerate(flatten_projected_cuboid):
+                draw.ellipse(
+                    (int(p[0]) - 2, int(p[1]) - 2, int(p[0]) + 2, int(p[1]) + 2),
+                    fill="green",
+                )
+
+            img_to_save.save(f"debug/{img_name.replace('.png','_original.png')}")
+        #######
+
+        # data augmentation
+        transform = A.Compose(
+            [
+                A.RandomCrop(width=400, height=400),
+                A.Rotate(limit=180),
+                A.RandomBrightnessContrast(
+                    brightness_limit=0.2, contrast_limit=0.15, p=1
+                ),
+                A.GaussNoise(p=1),
+            ],
+            keypoint_params=A.KeypointParams(format="xy", remove_invisible=False),
+        )
+        transformed = transform(image=img, keypoints=flatten_projected_cuboid)
+        img_transformed = transformed["image"]
+        flatten_projected_cuboid_transformed = transformed["keypoints"]
+
+        #######
+
+        # transform to the final output
+        if not self.output_size == 400:
+            transform = A.Compose(
+                [
+                    A.Resize(width=self.output_size, height=self.output_size),
+                ],
+                keypoint_params=A.KeypointParams(format="xy", remove_invisible=False),
+            )
+            transformed = transform(
+                image=img_transformed, keypoints=flatten_projected_cuboid_transformed
+            )
+            img_transformed_output_size = transformed["image"]
+            flatten_projected_cuboid_transformed_output_size = transformed["keypoints"]
+
+        else:
+            img_transformed_output_size = img_transformed
+            flatten_projected_cuboid_transformed_output_size = (
+                flatten_projected_cuboid_transformed
+            )
+
+        #######
+        if self.debug:
+            img_transformed_saving = Image.fromarray(img_transformed)
+
+            draw = ImageDraw.Draw(img_transformed_saving)
+
+            for ip, p in enumerate(flatten_projected_cuboid_transformed):
+                draw.ellipse(
+                    (int(p[0]) - 2, int(p[1]) - 2, int(p[0]) + 2, int(p[1]) + 2),
+                    fill="green",
+                )
+
+            img_transformed_saving.save(
+                f"debug/{img_name.replace('.png','_transformed.png')}"
+            )
+        #######
+
+        # update the keypoints list
+        # obj x keypoint_id x (x,y)
+        i_all = 0
+        for i_obj, obj in enumerate(all_projected_cuboid_keypoints):
+            for i_p, point in enumerate(obj):
+                all_projected_cuboid_keypoints[i_obj][
+                    i_p
+                ] = flatten_projected_cuboid_transformed_output_size[i_all]
+                i_all += 1
+
+        # generate the belief maps
+        beliefs = CreateBeliefMap(
+            size=int(self.output_size),
+            pointsBelief=all_projected_cuboid_keypoints,
+            sigma=self.sigma,
+            nbpoints=9,
+            save=False,
+        )
+        beliefs = torch.from_numpy(np.array(beliefs))
+        # generate affinity fields with centroid.
+        affinities = GenerateMapAffinity(
+            size=int(self.output_size),
+            nb_vertex=8,
+            pointsInterest=all_projected_cuboid_keypoints,
+            objects_centroid=np.array(all_projected_cuboid_keypoints)[:, -1].tolist(),
+            scale=1,
+        )
+
+        # prepare for the image tensors
+        normalize_tensor = transforms.Compose(
+            [
+                transforms.ToTensor(),
+                transforms.Normalize((0.485, 0.456, 0.406), (0.229, 0.224, 0.225)),
+            ]
+        )
+        to_tensor = transforms.Compose(
+            [
+                transforms.ToTensor(),
+            ]
+        )
+        img_tensor = normalize_tensor(Image.fromarray(img_transformed))
+        img_original = to_tensor(img_transformed)
+
+        ########
+        if self.debug:
+            imgs = VisualizeBeliefMap(beliefs)
+            img, grid = save_image(
+                imgs,
+                f"debug/{img_name.replace('.png','_beliefs.png')}",
+                mean=0,
+                std=1,
+                nrow=3,
+                save=True,
+            )
+            imgs = VisualizeAffinityMap(affinities)
+            save_image(
+                imgs,
+                f"debug/{img_name.replace('.png','_affinities.png')}",
+                mean=0,
+                std=1,
+                nrow=3,
+                save=True,
+            )
+        ########
+        img_tensor[torch.isnan(img_tensor)] = 0
+        affinities[torch.isnan(affinities)] = 0
+        beliefs[torch.isnan(beliefs)] = 0
+
+        img_tensor[torch.isinf(img_tensor)] = 0
+        affinities[torch.isinf(affinities)] = 0
+        beliefs[torch.isinf(beliefs)] = 0
+
+        return {
+            "img": img_tensor,
+            "affinities": torch.clamp(affinities, -1, 1),
+            "beliefs": torch.clamp(beliefs, 0, 1),
+            "file_name": img_name,
+            "img_original": img_original,
+        }
+
+
+def VisualizeAffinityMap(
+    tensor,
+    # tensor of (len(keypoints)*2)xwxh
+    threshold_norm_vector=0.4,
+    # how long does the vector has to be to be drawn
+    points=None,
+    # list of points to draw in white on top of the image
+    factor=1.0,
+    # by how much the image was reduced, scale factor
+    translation=(0, 0)
+    # by how much the points were moved
+    # return len(keypoints)x3xwxh # stack of images
+):
+    images = torch.zeros(tensor.shape[0] // 2, 3, tensor.shape[1], tensor.shape[2])
+    for i_image in range(0, tensor.shape[0], 2):  # could be read as i_keypoint
+
+        indices = (
+            torch.abs(tensor[i_image, :, :]) + torch.abs(tensor[i_image + 1, :, :])
+            > threshold_norm_vector
+        ).nonzero()
+
+        for indice in indices:
+
+            i, j = indice
+
+            angle_vector = np.array([tensor[i_image, i, j], tensor[i_image + 1, i, j]])
+            if length(angle_vector) > threshold_norm_vector:
+                angle = py_ang(angle_vector)
+                c = colorsys.hsv_to_rgb(angle / 360, 1, 1)
+            else:
+                c = [0, 0, 0]
+            for i_c in range(3):
+                images[i_image // 2, i_c, i, j] = c[i_c]
+        if not points is None:
+            point = points[i_image // 2]
+
+            print(
+                int(point[1] * factor + translation[1]),
+                int(point[0] * factor + translation[0]),
+            )
+            images[
+                i_image // 2,
+                :,
+                int(point[1] * factor + translation[1])
+                - 1 : int(point[1] * factor + translation[1])
+                + 1,
+                int(point[0] * factor + translation[0])
+                - 1 : int(point[0] * factor + translation[0])
+                + 1,
+            ] = 1
+
+    return images
+
+
+def VisualizeBeliefMap(
+    tensor,
+    # tensor of len(keypoints)xwxh
+    points=None,
+    # list of points to draw on top of the image
+    factor=1.0,
+    # by how much the image was reduced, scale factor
+    translation=(0, 0)
+    # by how much the points were moved
+    # return len(keypoints)x3xwxh # stack of images in torch tensor
+):
+    images = torch.zeros(tensor.shape[0], 3, tensor.shape[1], tensor.shape[2])
+    for i_image in range(0, tensor.shape[0]):  # could be read as i_keypoint
+
+        belief = tensor[i_image].clone()
+        belief -= float(torch.min(belief).item())
+        belief /= float(torch.max(belief).item())
+
+        belief = torch.clamp(belief, 0, 1)
+        belief = torch.cat(
+            [belief.unsqueeze(0), belief.unsqueeze(0), belief.unsqueeze(0)]
+        ).unsqueeze(0)
+
+        images[i_image] = belief
+
+    return images
+
+
+def GenerateMapAffinity(
+    size, nb_vertex, pointsInterest, objects_centroid, scale, save=False
+):
+    # Apply the downscale right now, so the vectors are correct.
+
+    img_affinity = Image.new("RGB", (int(size / scale), int(size / scale)), "black")
+    # create the empty tensors
+    totensor = transforms.Compose([transforms.ToTensor()])
+
+    affinities = []
+    for i_points in range(nb_vertex):
+        affinities.append(torch.zeros(2, int(size / scale), int(size / scale)))
+
+    for i_pointsImage in range(len(pointsInterest)):
+        pointsImage = pointsInterest[i_pointsImage]
+        center = objects_centroid[i_pointsImage]
+        for i_points in range(nb_vertex):
+            point = pointsImage[i_points]
+
+            affinity_pair, img_affinity = getAfinityCenter(
+                int(size / scale),
+                int(size / scale),
+                tuple((np.array(pointsImage[i_points]) / scale).tolist()),
+                tuple((np.array(center) / scale).tolist()),
+                img_affinity=img_affinity,
+                radius=1,
+            )
+
+            affinities[i_points] = (affinities[i_points] + affinity_pair) / 2
+
+            # Normalizing
+            v = affinities[i_points].numpy()
+
+            xvec = v[0]
+            yvec = v[1]
+
+            norms = np.sqrt(xvec * xvec + yvec * yvec)
+            nonzero = norms > 0
+
+            xvec[nonzero] /= norms[nonzero]
+            yvec[nonzero] /= norms[nonzero]
+
+            affinities[i_points] = torch.from_numpy(np.concatenate([[xvec], [yvec]]))
+    affinities = torch.cat(affinities, 0)
+
+    return affinities
+
+
+def getAfinityCenter(
+    width, height, point, center, radius=7, tensor=None, img_affinity=None
+):
+    """
+    Create the affinity map
+    """
+    if tensor is None:
+        tensor = torch.zeros(2, height, width).float()
+
+    # create the canvas for the afinity output
+    imgAffinity = Image.new("RGB", (width, height), "black")
+    totensor = transforms.Compose([transforms.ToTensor()])
+    draw = ImageDraw.Draw(imgAffinity)
+    r1 = radius
+    p = point
+    draw.ellipse((p[0] - r1, p[1] - r1, p[0] + r1, p[1] + r1), (255, 255, 255))
+
+    del draw
+
+    # compute the array to add the afinity
+    array = (np.array(imgAffinity) / 255)[:, :, 0]
+
+    angle_vector = np.array(center) - np.array(point)
+    angle_vector = normalize(angle_vector)
+    affinity = np.concatenate([[array * angle_vector[0]], [array * angle_vector[1]]])
+
+    if not img_affinity is None:
+        # find the angle vector
+        if length(angle_vector) > 0:
+            angle = py_ang(angle_vector)
+        else:
+            angle = 0
+        c = np.array(colorsys.hsv_to_rgb(angle / 360, 1, 1)) * 255
+        draw = ImageDraw.Draw(img_affinity)
+        draw.ellipse(
+            (p[0] - r1, p[1] - r1, p[0] + r1, p[1] + r1),
+            fill=(int(c[0]), int(c[1]), int(c[2])),
+        )
+        del draw
+    re = torch.from_numpy(affinity).float() + tensor
+    return re, img_affinity
+
+
+def CreateBeliefMap(size, pointsBelief, nbpoints, sigma=16, save=False):
+    # Create the belief maps in the points
+    beliefsImg = []
+    for numb_point in range(nbpoints):
+        array = np.zeros([size, size])
+        out = np.zeros([size, size])
+
+        for point in pointsBelief:
+            p = [point[numb_point][1], point[numb_point][0]]
+            w = int(sigma * 2)
+            if p[0] - w >= 0 and p[0] + w < size and p[1] - w >= 0 and p[1] + w < size:
+                for i in range(int(p[0]) - w, int(p[0]) + w + 1):
+                    for j in range(int(p[1]) - w, int(p[1]) + w + 1):
+
+                        # if there is already a point there.
+                        array[i, j] = max(
+                            np.exp(
+                                -(
+                                    ((i - p[0]) ** 2 + (j - p[1]) ** 2)
+                                    / (2 * (sigma**2))
+                                )
+                            ),
+                            array[i, j],
+                        )
+
+        beliefsImg.append(array.copy())
+
+        if save:
+            stack = np.stack([array, array, array], axis=0).transpose(2, 1, 0)
+            imgBelief = Image.fromarray((stack * 255).astype("uint8"))
+            imgBelief.save("debug/{}.png".format(numb_point))
+    return beliefsImg
+
+
+def crop(img, i, j, h, w):
+    """Crop the given PIL.Image.
+    Args:
+        img (PIL.Image): Image to be cropped.
+        i: Upper pixel coordinate.
+        j: Left pixel coordinate.
+        h: Height of the cropped image.
+        w: Width of the cropped image.
+    Returns:
+        PIL.Image: Cropped image.
+    """
+    return img.crop((j, i, j + w, i + h))
+
+
+class AddRandomContrast(object):
+    """
+    Apply some random image filters from PIL
+    """
+
+    def __init__(self, sigma=0.1):
+        self.sigma = sigma
+
+    def __call__(self, im):
+
+        contrast = ImageEnhance.Contrast(im)
+
+        im = contrast.enhance(np.random.normal(1, self.sigma))
+
+        return im
+
+
+class AddRandomBrightness(object):
+    """
+    Apply some random image filters from PIL
+    """
+
+    def __init__(self, sigma=0.1):
+        self.sigma = sigma
+
+    def __call__(self, im):
+
+        contrast = ImageEnhance.Brightness(im)
+        im = contrast.enhance(np.random.normal(1, self.sigma))
+        return im
+
+
+class AddNoise(object):
+    """Given mean: (R, G, B) and std: (R, G, B),
+    will normalize each channel of the torch.*Tensor, i.e.
+    channel = (channel - mean) / std
+    """
+
+    def __init__(self, std=0.1):
+        self.std = std
+
+    def __call__(self, tensor):
+        # TODO: make efficient
+        t = torch.FloatTensor(tensor.size()).normal_(0, self.std)
+
+        t = tensor.add(t)
+        t = torch.clamp(t, -1, 1)  # this is expansive
+        return t
+
+
+irange = range
+
+
+def make_grid(
+    tensor,
+    nrow=8,
+    padding=2,
+    normalize=False,
+    range=None,
+    scale_each=False,
+    pad_value=0,
+):
+    """Make a grid of images.
+    Args:
+        tensor (Tensor or list): 4D mini-batch Tensor of shape (B x C x H x W)
+            or a list of images all of the same size.
+        nrow (int, optional): Number of images displayed in each row of the grid.
+            The Final grid size is (B / nrow, nrow). Default is 8.
+        padding (int, optional): amount of padding. Default is 2.
+        normalize (bool, optional): If True, shift the image to the range (0, 1),
+            by subtracting the minimum and dividing by the maximum pixel value.
+        range (tuple, optional): tuple (min, max) where min and max are numbers,
+            then these numbers are used to normalize the image. By default, min and max
+            are computed from the tensor.
+        scale_each (bool, optional): If True, scale each image in the batch of
+            images separately rather than the (min, max) over all images.
+        pad_value (float, optional): Value for the padded pixels.
+    Example:
+        See this notebook `here <https://gist.github.com/anonymous/bf16430f7750c023141c562f3e9f2a91>`_
+    """
+    if not (
+        torch.is_tensor(tensor)
+        or (isinstance(tensor, list) and all(torch.is_tensor(t) for t in tensor))
+    ):
+        raise TypeError(
+            "tensor or list of tensors expected, got {}".format(type(tensor))
+        )
+
+    # if list of tensors, convert to a 4D mini-batch Tensor
+    if isinstance(tensor, list):
+        tensor = torch.stack(tensor, dim=0)
+
+    if tensor.dim() == 2:  # single image H x W
+        tensor = tensor.view(1, tensor.size(0), tensor.size(1))
+    if tensor.dim() == 3:  # single image
+        if tensor.size(0) == 1:  # if single-channel, convert to 3-channel
+            tensor = torch.cat((tensor, tensor, tensor), 0)
+        tensor = tensor.view(1, tensor.size(0), tensor.size(1), tensor.size(2))
+
+    if tensor.dim() == 4 and tensor.size(1) == 1:  # single-channel images
+        tensor = torch.cat((tensor, tensor, tensor), 1)
+
+    if normalize is True:
+        tensor = tensor.clone()  # avoid modifying tensor in-place
+        if range is not None:
+            assert isinstance(
+                range, tuple
+            ), "range has to be a tuple (min, max) if specified. min and max are numbers"
+
+        def norm_ip(img, min, max):
+            img.clamp_(min=min, max=max)
+            img.add_(-min).div_(max - min + 1e-5)
+
+        def norm_range(t, range):
+            if range is not None:
+                norm_ip(t, range[0], range[1])
+            else:
+                norm_ip(t, float(t.min()), float(t.max()))
+
+        if scale_each is True:
+            for t in tensor:  # loop over mini-batch dimension
+                norm_range(t, range)
+        else:
+            norm_range(tensor, range)
+
+    if tensor.size(0) == 1:
+        return tensor.squeeze()
+
+    # make the mini-batch of images into a grid
+    nmaps = tensor.size(0)
+    xmaps = min(nrow, nmaps)
+    ymaps = int(math.ceil(float(nmaps) / xmaps))
+    height, width = int(tensor.size(2) + padding), int(tensor.size(3) + padding)
+    grid = tensor.new(3, height * ymaps + padding, width * xmaps + padding).fill_(
+        pad_value
+    )
+    k = 0
+    for y in irange(ymaps):
+        for x in irange(xmaps):
+            if k >= nmaps:
+                break
+            grid.narrow(1, y * height + padding, height - padding).narrow(
+                2, x * width + padding, width - padding
+            ).copy_(tensor[k])
+            k = k + 1
+    return grid
+
+
+def save_image(tensor, filename, nrow=4, padding=2, mean=None, std=None, save=True):
+    """
+    Saves a given Tensor into an image file.
+    If given a mini-batch tensor, will save the tensor as a grid of images.
+    """
+    from PIL import Image
+
+    tensor = tensor.cpu()
+    grid = make_grid(tensor, nrow=nrow, padding=10, pad_value=1)
+    if not mean is None:
+        # ndarr = grid.mul(std).add(mean).mul(255).byte().transpose(0,2).transpose(0,1).numpy()
+        ndarr = (
+            grid.mul(std)
+            .add(mean)
+            .mul(255)
+            .byte()
+            .transpose(0, 2)
+            .transpose(0, 1)
+            .numpy()
+        )
+    else:
+        ndarr = (
+            grid.mul(0.5)
+            .add(0.5)
+            .mul(255)
+            .byte()
+            .transpose(0, 2)
+            .transpose(0, 1)
+            .numpy()
+        )
+    im = Image.fromarray(ndarr)
+    if save is True:
+        im.save(filename)
+    return im, grid
+
+
+from PIL import ImageDraw, Image, ImageFont
+import json
+
+
+class Draw(object):
+    """Drawing helper class to visualize the neural network output"""
+
+    def __init__(self, im):
+        """
+        :param im: The image to draw in.
+        """
+        self.draw = ImageDraw.Draw(im)
+        self.width = im.size[0]
+
+    def draw_line(self, point1, point2, line_color, line_width=2):
+        """Draws line on image"""
+        if point1 is not None and point2 is not None:
+            self.draw.line([point1, point2], fill=line_color, width=line_width)
+
+    def draw_dot(self, point, point_color, point_radius):
+        """Draws dot (filled circle) on image"""
+        if point is not None:
+            xy = [
+                point[0] - point_radius,
+                point[1] - point_radius,
+                point[0] + point_radius,
+                point[1] + point_radius,
+            ]
+            self.draw.ellipse(xy, fill=point_color, outline=point_color)
+
+    def draw_text(self, point, text, text_color):
+        """Draws text on image"""
+        if point is not None:
+            self.draw.text(point, text, fill=text_color, font=ImageFont.truetype("misc/arial.ttf", self.width // 50))
+
+    def draw_cube(self, points, color=(0, 255, 0)):
+        """
+        Draws cube with a thick solid line across
+        the front top edge and an X on the top face.
+        """
+        # draw front
+        self.draw_line(points[0], points[1], color)
+        self.draw_line(points[1], points[2], color)
+        self.draw_line(points[3], points[2], color)
+        self.draw_line(points[3], points[0], color)
+
+        # draw back
+        self.draw_line(points[4], points[5], color)
+        self.draw_line(points[6], points[5], color)
+        self.draw_line(points[6], points[7], color)
+        self.draw_line(points[4], points[7], color)
+
+        # draw sides
+        self.draw_line(points[0], points[4], color)
+        self.draw_line(points[7], points[3], color)
+        self.draw_line(points[5], points[1], color)
+        self.draw_line(points[2], points[6], color)
+
+        # draw dots
+        self.draw_dot(points[0], point_color=color, point_radius=4)
+        self.draw_dot(points[1], point_color=color, point_radius=4)
+
+        # draw x on the top
+        self.draw_line(points[0], points[5], color)
+        self.draw_line(points[1], points[4], color)
+
+        # Draw center
+        self.draw_dot(points[8], point_color=color, point_radius=6)
+
+        for i in range(9):
+            self.draw_text(points[i], str(i), (255, 0, 0))
+
+