{"id":17133658,"url":"https://github.com/neka-nat/gazebo_domain_randomization","last_synced_at":"2025-03-22T18:33:23.213Z","repository":{"id":75431371,"uuid":"124780464","full_name":"neka-nat/gazebo_domain_randomization","owner":"neka-nat","description":"Domain randomization for gazebo simulator","archived":false,"fork":false,"pushed_at":"2019-09-11T10:45:15.000Z","size":13596,"stargazers_count":43,"open_issues_count":2,"forks_count":14,"subscribers_count":7,"default_branch":"master","last_synced_at":"2024-10-14T19:42:55.399Z","etag":null,"topics":["domain-randomization","gazebo","gazebo-plugin","machine-learning","reinforcement-learning","ros","simulation"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/neka-nat.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2018-03-11T17:21:49.000Z","updated_at":"2024-04-23T05:10:28.000Z","dependencies_parsed_at":"2023-03-11T19:50:08.710Z","dependency_job_id":null,"html_url":"https://github.com/neka-nat/gazebo_domain_randomization","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/neka-nat%2Fgazebo_domain_randomization","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/neka-nat%2Fgazebo_domain_randomization/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/neka-nat%2Fgazebo_domain_randomization/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/neka-nat%2Fgazebo_domain_randomization/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/neka-nat","download_url":"https://codeload.github.com/neka-nat/gazebo_domain_randomization/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":221832297,"owners_count":16888209,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["domain-randomization","gazebo","gazebo-plugin","machine-learning","reinforcement-learning","ros","simulation"],"created_at":"2024-10-14T19:42:43.019Z","updated_at":"2024-10-28T13:32:09.555Z","avatar_url":"https://github.com/neka-nat.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Gazebo Domain Randomization\n\n[![Build Status](https://travis-ci.org/neka-nat/gazebo_domain_randomization.svg?branch=master)](https://travis-ci.org/neka-nat/gazebo_domain_randomization)\n\nhttps://arxiv.org/abs/1703.06907\n\n**Double pendulum demo**\n\n![result](gazebo_domain_randomizer/images/result.gif)\n\n**Shadow hand demo**\n\n![sr_hand](gazebo_domain_randomizer/images/sr_hand.gif)\n\n## Run\n\n```\nroslaunch gazebo_domain_randomizer demo.launch\n```\n\nIf you want to randomize with external trigger, execute with the following option.\n\n```\nroslaunch gazebo_domain_randomizer demo.launch event_mode:='trigger'\n```\n\nAnd please execute the following command on another console.\n\n```\nrostopic pub /randomizers/randomizer/trigger std_msgs/Empty \"{}\"  -r 1.0\n```\n\n## Settings\nTo use the randamizers, you need to make the following two settings.\n\n1. For physics parameters randomization, set *physics_plugin* (WorldPlugin) in the world file.\n\n```xml\n\u003csdf version=\"1.6\"\u003e\n  \u003cworld name=\"default\"\u003e\n    \u003cinclude\u003e\n      \u003curi\u003emodel://sun\u003c/uri\u003e\n    \u003c/include\u003e\n    \u003cinclude\u003e\n      \u003curi\u003emodel://ground_plane\u003c/uri\u003e\n    \u003c/include\u003e\n    ...\n    \u003cplugin name=\"physics_plugin\" filename=\"libgazebo_physics_plugin.so\"/\u003e\n  \u003c/world\u003e\n\u003c/sdf\u003e\n```\n\n2. For visual randomization, you need to load *scene_plugin* (SystemPlugin) for gzclient. Therefore, please use the gzclient script in gazebo_domain_randomizer package. It configures to load the system plugin in the script.\n\n```xml\n\u003claunch\u003e\n  ...\n  \u003cinclude file=\"$(find gazebo_ros)/launch/empty_world.launch\"\u003e\n    \u003carg name=\"gui\" value=\"false\" /\u003e\n  \u003c/include\u003e\n  \u003cnode name=\"gazebo_gui\" pkg=\"gazebo_domain_randomizer\" type=\"gzclient\" respawn=\"false\" output=\"screen\" /\u003e\n  ...\n\u003c/launch\u003e\n```\n\n## Randomizers\n\n|Node name |Randomized parameter|\n| -------- | -------------------- | \n| **light_randomizer** | - light color \u003c/br\u003e - attenuation |\n| **shape_randomizer** | - shape(sphere, box, cylinder) \u003c/br\u003e - shape color \u003c/br\u003e - position(x, y, z) |\n| **sky_randomizer** | - time of day |\n| **physics properties randomizer** | - gravity(x, y, z) |\n| **link_properties_randomizer** | - link mass |\n| **joint_properties_randomizer** | - joint damping |\n| **link_visual_properties_randomizer** | - link color |\n| **surface_params_randomizer** | - link mu1, mu2, mu_torsion \u003c/br\u003e - link poisson ratio |\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fneka-nat%2Fgazebo_domain_randomization","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fneka-nat%2Fgazebo_domain_randomization","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fneka-nat%2Fgazebo_domain_randomization/lists"}