The problem setup for this example is shown in the following code snippet. For all planners, the constructor argument golem config is available, which expects a dictionary whose keys are parameter names for which the user would like to specify an input uncertainty distribution. The corresponding values are themselves dictionaries, for which the user must specify the distribution type and its associated parameters. Golem ships with a diverse set of distribution types, which are detailed in its documentation. For all parameters not itemized within the golem config argument, Atlas automatically assigns them a Delta distribution, meaning no uncertainty/noiseless.