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Acrobot

mujorax.AcrobotSwingupEnv

Bases: MjxPlaygroundEnv

DM Control AcrobotSwingup.

Two-link underactuated pendulum starting at rest hanging down; dense reward for swinging the tip to the target position.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 required
Source code in mujorax/envs/acrobot.py
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class AcrobotSwingupEnv(MjxPlaygroundEnv):
    """
    DM Control `AcrobotSwingup`.

    Two-link underactuated pendulum starting at rest hanging down;
    dense reward for swinging the tip to the target position.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "AcrobotSwingup"

mujorax.AcrobotSwingupSparseEnv

Bases: MjxPlaygroundEnv

DM Control AcrobotSwingupSparse.

Same dynamics as AcrobotSwingup with a sparse (binary) reward triggered when the tip reaches the target.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 required
Source code in mujorax/envs/acrobot.py
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class AcrobotSwingupSparseEnv(MjxPlaygroundEnv):
    """
    DM Control `AcrobotSwingupSparse`.

    Same dynamics as `AcrobotSwingup` with a sparse (binary) reward
    triggered when the tip reaches the target.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "AcrobotSwingupSparse"