def create_default_randomizer_bob() -> DomainRandomizer:
"""
Create the default randomizer for the `BallOnBeamSim`.
:return: randomizer based on the nominal domain parameter values
"""
from pyrado.environments.pysim.ball_on_beam import BallOnBeamSim
dp_nom = BallOnBeamSim.get_nominal_domain_param()
return DomainRandomizer(
NormalDomainParam(name='g', mean=dp_nom['g'], std=dp_nom['g']/10, clip_lo=1e-4),
NormalDomainParam(name='m_ball', mean=dp_nom['m_ball'], std=dp_nom['m_ball']/5, clip_lo=1e-4),
NormalDomainParam(name='r_ball', mean=dp_nom['r_ball'], std=dp_nom['r_ball']/5, clip_lo=1e-4),
NormalDomainParam(name='m_beam', mean=dp_nom['m_beam'], std=dp_nom['m_beam']/5, clip_lo=1e-3),
NormalDomainParam(name='l_beam', mean=dp_nom['l_beam'], std=dp_nom['l_beam']/5, clip_lo=1e-3),
NormalDomainParam(name='d_beam', mean=dp_nom['d_beam'], std=dp_nom['d_beam']/5, clip_lo=1e-3),
UniformDomainParam(name='c_frict', mean=dp_nom['c_frict'], halfspan=dp_nom['c_frict'], clip_lo=0),
UniformDomainParam(name='ang_offset', mean=0./180*np.pi, halfspan=0.1/180*np.pi)
)
def create_default_randomizer_bob() -> DomainRandomizer:
"""
Create the default randomizer for the `BallOnBeamSim`.
:return: randomizer based on the nominal domain parameter values
"""
from pyrado.environments.pysim.ball_on_beam import BallOnBeamSim
dp_nom = BallOnBeamSim.get_nominal_domain_param()
return DomainRandomizer(
NormalDomainParam(name="gravity_const",
mean=dp_nom["gravity_const"],
std=dp_nom["gravity_const"] / 10,
clip_lo=1e-4),
NormalDomainParam(name="ball_mass",
mean=dp_nom["ball_mass"],
std=dp_nom["ball_mass"] / 5,
clip_lo=1e-4),
NormalDomainParam(name="ball_radius",
mean=dp_nom["ball_radius"],
std=dp_nom["ball_radius"] / 5,
clip_lo=1e-4),
NormalDomainParam(name="beam_mass",
mean=dp_nom["beam_mass"],
std=dp_nom["beam_mass"] / 5,
clip_lo=1e-3),
NormalDomainParam(name="beam_length",
mean=dp_nom["beam_length"],
std=dp_nom["beam_length"] / 5,
clip_lo=1e-3),
NormalDomainParam(name="beam_thickness",
mean=dp_nom["beam_thickness"],
std=dp_nom["beam_thickness"] / 5,
clip_lo=1e-3),
UniformDomainParam(name="friction_coeff",
mean=dp_nom["friction_coeff"],
halfspan=dp_nom["friction_coeff"],
clip_lo=0),
UniformDomainParam(name="ang_offset",
mean=0.0 / 180 * np.pi,
halfspan=0.1 / 180 * np.pi),
)