domain_randomization

Domain Randomization plugin

This multi-purpose Domain Randomization plugin allows changing both physical and visual model properties, namely:

1. Change gravity 3D vector;
2. Scale spawned model;
3. Change individual link properties, such as:
   1. Link's mass;
   2. Link's inertia tensor;
4. Change individual joint properties, such as:
   1. Joint limits (angle, effort and velocity);
   2. Joint friction;
   3. Joint damping;
5. Change joint PID controller parameters and target;
6. Change individual link's visual colors;
7. Change individual collision surface properties.

We provide an Interface class for interacting with the plugin, and an example client which uses this interface.