parameters: (self, minitaur)
docstring: Randomize various physical properties of minitaur.
  
      It randomizes the mass/inertia of the base, mass/inertia of the legs,
      friction coefficient of the feet, the battery voltage and the motor damping
      at each reset() of the environment.
  
      Args:
        minitaur: the Minitaur instance in minitaur_gym_env environment.
docstring_summary: Randomize various physical properties of minitaur.
docstring_tokens: Randomize various physical properties of minitaur .
function: def _randomize_minitaur(self, minitaur):
      """Randomize various physical properties of minitaur.
  
      It randomizes the mass/inertia of the base, mass/inertia of the legs,
      friction coefficient of the feet, the battery voltage and the motor damping
      at each reset() of the environment.
  
      Args:
        minitaur: the Minitaur instance in minitaur_gym_env environment.
      """
      base_mass = minitaur.GetBaseMassFromURDF()
      randomized_base_mass = random.uniform(
          base_mass * (1.0 + self._minitaur_base_mass_err_range[0]),
          base_mass * (1.0 + self._minitaur_base_mass_err_range[1]))
      minitaur.SetBaseMass(randomized_base_mass)
  
      leg_masses = minitaur.GetLegMassesFromURDF()
      leg_masses_lower_bound = np.array(leg_masses) * (1.0 + self._minitaur_leg_mass_err_range[0])
      leg_masses_upper_bound = np.array(leg_masses) * (1.0 + self._minitaur_leg_mass_err_range[1])
      randomized_leg_masses = [
          np.random.uniform(leg_masses_lower_bound[i], leg_masses_upper_bound[i])
          for i in range(len(leg_masses))
      ]
      minitaur.SetLegMasses(randomized_leg_masses)
  
      randomized_battery_voltage = random.uniform(BATTERY_VOLTAGE_RANGE[0], BATTERY_VOLTAGE_RANGE[1])
      minitaur.SetBatteryVoltage(randomized_battery_voltage)
  
      randomized_motor_damping = random.uniform(MOTOR_VISCOUS_DAMPING_RANGE[0],
                                                MOTOR_VISCOUS_DAMPING_RANGE[1])
      minitaur.SetMotorViscousDamping(randomized_motor_damping)
  
      randomized_foot_friction = random.uniform(MINITAUR_LEG_FRICTION[0], MINITAUR_LEG_FRICTION[1])
      minitaur.SetFootFriction(randomized_foot_friction)
function_tokens: def _randomize_minitaur ( self , minitaur ) : base_mass = minitaur . GetBaseMassFromURDF ( ) randomized_base_mass = random . uniform ( base_mass * ( 1.0 + self . _minitaur_base_mass_err_range [ 0 ] ) , base_mass * ( 1.0 + self . _minitaur_base_mass_err_range [ 1 ] ) ) minitaur . SetBaseMass ( randomized_base_mass ) leg_masses = minitaur . GetLegMassesFromURDF ( ) leg_masses_lower_bound = np . array ( leg_masses ) * ( 1.0 + self . _minitaur_leg_mass_err_range [ 0 ] ) leg_masses_upper_bound = np . array ( leg_masses ) * ( 1.0 + self . _minitaur_leg_mass_err_range [ 1 ] ) randomized_leg_masses = [ np . random . uniform ( leg_masses_lower_bound [ i ] , leg_masses_upper_bound [ i ] ) for i in range ( len ( leg_masses ) ) ] minitaur . SetLegMasses ( randomized_leg_masses ) randomized_battery_voltage = random . uniform ( BATTERY_VOLTAGE_RANGE [ 0 ] , BATTERY_VOLTAGE_RANGE [ 1 ] ) minitaur . SetBatteryVoltage ( randomized_battery_voltage ) randomized_motor_damping = random . uniform ( MOTOR_VISCOUS_DAMPING_RANGE [ 0 ] , MOTOR_VISCOUS_DAMPING_RANGE [ 1 ] ) minitaur . SetMotorViscousDamping ( randomized_motor_damping ) randomized_foot_friction = random . uniform ( MINITAUR_LEG_FRICTION [ 0 ] , MINITAUR_LEG_FRICTION [ 1 ] ) minitaur . SetFootFriction ( randomized_foot_friction )