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"""A config file for parameters and their ranges in dynamics randomization."""
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
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).
"control step": [0.003, 0.02], # Time inteval (s).
"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).
}
def all_params():
"""Randomize all the physical parameters."""
return PARAM_RANGE
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