Add double pendulum environment#550
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Adds
double_pendulum, a native Ocean control environment.Details
Environment
Box(8,) observations: normalized cart position/velocity + sin/cos angle and angular velocity for both pendulum links
Discrete(3) actions: left force, coast, right force
Two-link pendulum on a cart, starting from the downward hanging position
Reward:
0.5 * height + hold_bonus, whereheightmeasures tip height andhold_bonusrewards sustained stable upright balanceTerminates on cart out-of-bounds, invalid physics, or timeout
On my machine, the env trains around ~1M SPS with the included config.
double_pendulum_demo.mp4