randomize_inertias()

None randomize_inertias	(		self,
		float	inertia_variation
	)

Randomize the inertias of all robot links.

\param inertia_variation Magnitude of uniform noise to sample from. The actual variation is sampled uniformly from [-inertia_variation, +inertia_variation].

This method applies random variations to both masses and inertias of all robot links. The same random factor (1 + epsilon) is applied to both mass and inertia components of each link, assuming uniform mass distribution.