https://github.com/neka-nat/gazebo_domain_randomization

Domain randomization for gazebo simulator
https://github.com/neka-nat/gazebo_domain_randomization

domain-randomization gazebo gazebo-plugin machine-learning reinforcement-learning ros simulation

Last synced: 17 days ago
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Domain randomization for gazebo simulator

• Host: GitHub
• URL: https://github.com/neka-nat/gazebo_domain_randomization
• Owner: neka-nat
• License: bsd-3-clause
• Created: 2018-03-11T17:21:49.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2019-09-11T10:45:15.000Z (about 5 years ago)
• Last Synced: 2024-10-14T19:42:55.399Z (about 1 month ago)
• Topics: domain-randomization, gazebo, gazebo-plugin, machine-learning, reinforcement-learning, ros, simulation
• Language: C++
• Homepage:
• Size: 13 MB
• Stars: 43
• Watchers: 7
• Forks: 14
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Gazebo Domain Randomization

[![Build Status](https://travis-ci.org/neka-nat/gazebo_domain_randomization.svg?branch=master)](https://travis-ci.org/neka-nat/gazebo_domain_randomization)

https://arxiv.org/abs/1703.06907

**Double pendulum demo**

![result](gazebo_domain_randomizer/images/result.gif)

**Shadow hand demo**

![sr_hand](gazebo_domain_randomizer/images/sr_hand.gif)

## Run

```

roslaunch gazebo_domain_randomizer demo.launch

```

If you want to randomize with external trigger, execute with the following option.

```

roslaunch gazebo_domain_randomizer demo.launch event_mode:='trigger'

```

And please execute the following command on another console.

```

rostopic pub /randomizers/randomizer/trigger std_msgs/Empty "{}"  -r 1.0

```

## Settings

To use the randamizers, you need to make the following two settings.

1. For physics parameters randomization, set *physics_plugin* (WorldPlugin) in the world file.

```xml

  

    

      model://sun

    

    

      model://ground_plane

    

    ...

    

  

```

2. 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.

```xml

  ...

  

    

  

  

  ...

```

## Randomizers

|Node name |Randomized parameter|

| -------- | -------------------- | 

| **light_randomizer** | - light color  - attenuation |

| **shape_randomizer** | - shape(sphere, box, cylinder)  - shape color  - position(x, y, z) |

| **sky_randomizer** | - time of day |

| **physics properties randomizer** | - gravity(x, y, z) |

| **link_properties_randomizer** | - link mass |

| **joint_properties_randomizer** | - joint damping |

| **link_visual_properties_randomizer** | - link color |

| **surface_params_randomizer** | - link mu1, mu2, mu_torsion  - link poisson ratio |