Object Mover package

Dyno-robotics/Infotiv delivery

Setting self.MODE = "abnormal/normal" in the main script causes the object movement to deviate from the normal distribution specified above.

To reproduce

git checkout ....
# In three separate terminals:
./control.sh clean ; ./control.sh build ; ./control.sh sim
./control.sh move_object
./control.sh camera_dump

Random, In Distribution Objects Movement (normal mode)

Data collection from cameras according to requirements

  • Random self.objects are placed within the position range self.grid_x, self.grid_y: REQ.ID.1
  • Random rotation along the z axis.
  • You can use camera_config ID.xacro for placement of several cameras in the intersection. You can alternatively use camera_config ID_noise.xacro to slightly changes the camera settings (REQ.ID.2) as below:
  • at most +-10 degree (+-0.1) rotation around one of the axis
  • at most +-10cm (+-0.1) change in x,y,z coordinates

Random, Out of Distribution Objects Movement (abnormal mode)

Data collection from cameras according to requirements.

  • Addition of other objects (spotlight, support pole, traffic cone): REQ.OD.1, REQ.OD.2.
  • With some probability, the objects don't leave the scene and may coexist and collide with new objects: REQ.OD.3.
  • Objects are at least rotated by π/4 (45 degrees, upside-down object): REQ.OD.3, REQ.OD.4.
  • The spotlight is tilted by π/6 (30 degrees): REQ.OD.1.
  • Objects are not placed on the ground and instead are dropped from a height of 2-3 meters: REQ.OD.4.

Deterministic, Disentanglement One-parameter Object Movements (one_object_deterministic mode)

  • Object: forklift
  • Camera: 1
  • (#Parameter: orientation of forklift)
  • Annotation: Position and rotation of the forklift. Annotation in filename.
  • 256x256 RGB non compression

./control.sh sim ./control.sh move_object ./control.sh camera_dump