Skip to content

Pendulum

mujorax.PendulumSwingupEnv

Bases: MjxPlaygroundEnv

DM Control PendulumSwingup.

Single-link pendulum starting hanging down; dense reward for swinging up to and balancing at the upright position.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 required
Source code in mujorax/envs/pendulum.py
Python
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
class PendulumSwingupEnv(MjxPlaygroundEnv):
    """
    DM Control `PendulumSwingup`.

    Single-link pendulum starting hanging down; dense reward for
    swinging up to and balancing at the upright position.

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

    _PLAYGROUND_NAME = "PendulumSwingup"