Gazebo Domain Randomization

https://arxiv.org/abs/1703.06907

Double pendulum demo

Shadow hand demo

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.

<sdf version="1.6">
  <world name="default">
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://ground_plane</uri>
    </include>
    ...
    <plugin name="physics_plugin" filename="libgazebo_physics_plugin.so"/>
  </world>
</sdf>

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.

<launch>
  ...
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="gui" value="false" />
  </include>
  <node name="gazebo_gui" pkg="gazebo_domain_randomizer" type="gzclient" respawn="false" output="screen" />
  ...
</launch>

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