()
return param_range
Randomize all the physical parameters.
Randomize all the physical parameters.
Randomize all the physical parameters .
def all_params():
  """Randomize all the physical parameters."""
  param_range = {
      # The following ranges are in percentage. e.g. 0.8 means 80%.
      "mass": [0.8, 1.2],
      "inertia": [0.5, 1.5],
      "motor strength": [0.8, 1.2],
      # The following ranges are the physical values, in SI unit.
      "motor friction": [0, 0.05],  # Viscous damping (Nm s/rad).
      "latency": [0.0, 0.04],  # Time inteval (s).
      "lateral friction": [0.5, 1.25],  # Friction coefficient (dimensionless).
      "battery": [14.0, 16.8],  # Voltage (V).
      "joint friction": [0, 0.05],  # Coulomb friction torque (Nm).
  }
  return param_range
def all_params ( ) : param_range = { # The following ranges are in percentage. e.g. 0.8 means 80%. "mass" : [ 0.8 , 1.2 ] , "inertia" : [ 0.5 , 1.5 ] , "motor strength" : [ 0.8 , 1.2 ] , # The following ranges are the physical values, in SI unit. "motor friction" : [ 0 , 0.05 ] , # Viscous damping (Nm s/rad). "latency" : [ 0.0 , 0.04 ] , # Time inteval (s). "lateral friction" : [ 0.5 , 1.25 ] , # Friction coefficient (dimensionless). "battery" : [ 14.0 , 16.8 ] , # Voltage (V). "joint friction" : [ 0 , 0.05 ] , # Coulomb friction torque (Nm). } return param_range