Acrobot Environment

The Acrobot environment is configured to allow non-stationarity in physics parameters like link mass and link length. See Gymnasium documentation for more details on the environment.

The Acrobot Environment. GIF courtesy of the Gymnasium Documentation.

Tunable Parameters

Parameter	Description	Default Value
dt	Time between control updates	0.2
LINK_LENGTH_1	Length of the link connecting the first joint to the second joint	1.0
LINK_LENGTH_2	Length of the link only connected the second joint	1.0
LINK_MASS_1	Mass of the first link	1.0
LINK_MASS_2	Mass of the second link	1.0
LINK_COM_POS_1	Center of mass position of the first link	0.5
LINK_COM_POS_2	Center of mass position of the second link	0.5
LINK_MOI	Moment of inertia of the links	1.0