Inverted Double Pendulum Environment

The Inverted Double Pendulum environment is a high-dimensional continuous control task where a cart must balance a double pendulum upright while moving along a one-dimensional track. The goal is to keep the pendulum balanced while maximizing the distance traveled by the cart. See the Gymnasium documentation for more details.

The Inverted Double Pendulum Environment. GIF courtesy of the Gymnasium Documentation.

Tunable Parameters

Parameter	Description	Default Value
gravity	Global gravitational acceleration	[ 1.00e-05 0.00e+00 -9.81e+00]
cart_mass	Mass of the cart	10.47197551196598
pole1_mass	Mass of the first pole	4.198738581522758
pole2_mass	Mass of the second pole	4.198738581522758
floor_friction	Coefficient of friction for the floor	1.0
slider_damping	Damping of the slider joint	0.05
hinge1_damping	Damping of the first hinge joint	0.05
hinge2_damping	Damping of the second hinge joint	0.05