Table 1 Range of dynamics variables in domain randomization
Variables | Range |
|---|---|
m | \(\pm 10 \% \times\) default |
\(x_G\) | \(\pm 20 mm +\) default (49 mm) |
\(z_G\) | \(\pm 20 mm +\) default (28 mm) |
\(x_T\) | \(\pm 10 mm +\) default (41 mm) |
\(z_T\) | \(\pm 10 mm +\) default (-29 mm) |
\(I_{yy}\) | \(\pm 20 \% \times\) default |
\(F_c\) | \(\pm 20 \% \times\) default |
\(F_z\) | \(\pm 20 \% \times\) default |
\(\tau\) | \(\pm 0.1 s +\) default (0.2 s) |
Thrust angle offset | \(\pm 3.0 ^\circ +\) default (0.0 \(^\circ\) ) |