def get_actor_params_info(self, dr_params: Dict[str, Any], env):
        """Generate a flat array of actor params, their names and ranges.

        Returns:
            The array
        """

        if "actor_params" not in dr_params:
            return None
        params = []
        names = []
        lows = []
        highs = []
        param_getters_map = get_property_getter_map(self.gym)
        for actor, actor_properties in dr_params["actor_params"].items():
            handle = self.gym.find_actor_handle(env, actor)
            for prop_name, prop_attrs in actor_properties.items():
                if prop_name == 'color':
                    continue  # this is set randomly
                props = param_getters_map[prop_name](env, handle)
                if not isinstance(props, list):
                    props = [props]
                for prop_idx, prop in enumerate(props):
                    for attr, attr_randomization_params in prop_attrs.items():
                        name = prop_name+'_' + str(prop_idx) + '_'+attr
                        lo_hi = attr_randomization_params['range']
                        distr = attr_randomization_params['distribution']
                        if 'uniform' not in distr:
                            lo_hi = (-1.0*float('Inf'), float('Inf'))
                        if isinstance(prop, np.ndarray):
                            for attr_idx in range(prop[attr].shape[0]):
                                params.append(prop[attr][attr_idx])
                                names.append(name+'_'+str(attr_idx))
                                lows.append(lo_hi[0])
                                highs.append(lo_hi[1])
                        else:
                            params.append(getattr(prop, attr))
                            names.append(name)
                            lows.append(lo_hi[0])
                            highs.append(lo_hi[1])
        return params, names, lows, highs
Generate a flat array of actor params, their names and ranges.

        Returns:
            The array
        
globe_walking/go1_gym/envs/base/vec_task.py