This is a forked repository of the Double Pendulum Repository developed and hosted by the Underactuated Lab, RIC, DFKI. The link for the original repository :
https://github.com/dfki-ric-underactuated-lab/double_pendulum
A new learning based controller has been included in this repository. The controller can be found under sac_lqr folder in the controllers for python. An example for the given controller is also added to the realistic folder in examples under the name sac_lqr.py
python-env folder contains the docker file that install all the dependencoes required to run the given controller. The major dependencies are: stable_baselines3==1.8.0