rlevo-environments 0.2.0

RL benchmark environments and landscapes for rlevo (internal crate — use `rlevo` for the full API)
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//! Configuration for [`super::InvertedDoublePendulum`].

use crate::locomotion::common::{Gear, HealthyCheck, TerminationMode};

/// Environment configuration for [`super::InvertedDoublePendulum`].
///
/// Defaults match the Gymnasium v5 XML: gear 100, dt 0.01, frame_skip 1,
/// reset noise 0.1, truncation at 1000, termination on `y_tip ≤ 1.0`.
#[derive(Debug, Clone)]
pub struct InvertedDoublePendulumConfig {
    /// RNG seed used for both weight initialisation and reset noise sampling.
    /// Each call to `reset` re-seeds from this value, so episodes are
    /// deterministic for a given seed.
    pub seed: u64,
    /// Gear multiplier applied to the clipped action before it becomes a
    /// force (Newtons). Default `[100.0]` matches the Gymnasium v5 XML.
    pub gear: Gear<1>,
    /// Physics timestep in seconds. Default `0.01`.
    pub dt: f32,
    /// Number of Rapier substeps per `Environment::step` call. Default `1`.
    pub frame_skip: u32,
    /// Gate on the tip's world-z (Gymnasium's `y_tip`). Default
    /// `z_range = Some((1.0, ∞))`.
    pub healthy: HealthyCheck,
    /// Whether an unhealthy state triggers `Terminated` or is ignored.
    /// Default `TerminationMode::OnUnhealthy`.
    pub termination: TerminationMode,
    /// Half-width of the uniform distribution used to perturb `cart_x`,
    /// `θ₁`, and `θ₂` at reset; also the standard deviation of the Gaussian
    /// used to perturb velocities. Default `0.1`.
    pub reset_noise_scale: f32,
    /// Maximum number of steps before the episode is truncated. Default
    /// `1000`.
    pub max_steps: usize,
    /// `(min, max)` bounds applied to the raw action before the gear
    /// multiplier. Default `(-1.0, 1.0)`.
    pub action_clip: (f32, f32),
    // Physical geometry
    /// Total mass of the cart body in kg. Default `10.0`.
    pub cart_mass: f32,
    /// Mass of each pole capsule in kg. Both poles share this value. Default
    /// `0.5`.
    pub pole_mass: f32,
    /// Total length of one pole in metres (capsule height = `pole_length`,
    /// so half-length = `pole_length * 0.5`). Default `0.6`.
    pub pole_length: f32,
    /// Radius of each pole capsule in metres. Default `0.045`.
    pub pole_radius: f32,
    /// Half-extents `[x, y, z]` of the cart cuboid in metres. Default
    /// `[0.15, 0.05, 0.05]`.
    pub cart_half_extents: [f32; 3],
    /// Gravitational acceleration (negative = downward along world-z).
    /// Default `-9.81`.
    pub gravity: f32,
    // Reward weights
    /// Bonus added to the reward each step the tip remains healthy. Default
    /// `10.0`.
    pub alive_reward: f32,
    /// Coefficient of the `x_tip²` penalty. Default `0.01`.
    pub x_tip_weight: f32,
    /// Target height for the pole tip along world-z (Gymnasium's `y_tip`
    /// target). Default `2.0`.
    pub y_tip_target: f32,
    /// Coefficient of the `|ω₁|` angular-velocity penalty for pole1.
    /// Default `1e-3`.
    pub omega1_weight: f32,
    /// Coefficient of the `|ω₂|` angular-velocity penalty for pole2.
    /// Default `5e-3`.
    pub omega2_weight: f32,
}

/// Returns the Gymnasium v5-equivalent defaults.
impl Default for InvertedDoublePendulumConfig {
    fn default() -> Self {
        Self {
            seed: 0,
            gear: Gear::new([100.0]),
            dt: 0.01,
            frame_skip: 1,
            healthy: HealthyCheck {
                z_range: Some((1.0, f32::INFINITY)),
                ..HealthyCheck::none()
            },
            termination: TerminationMode::OnUnhealthy,
            reset_noise_scale: 0.1,
            max_steps: 1000,
            action_clip: (-1.0, 1.0),
            cart_mass: 10.0,
            pole_mass: 0.5,
            pole_length: 0.6,
            pole_radius: 0.045,
            cart_half_extents: [0.15, 0.05, 0.05],
            gravity: -9.81,
            alive_reward: 10.0,
            x_tip_weight: 0.01,
            y_tip_target: 2.0,
            omega1_weight: 1e-3,
            omega2_weight: 5e-3,
        }
    }
}