Wesley WesleyYue

WesleyYue / notebook.ipynb

Last active December 11, 2019 22:22

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WesleyYue / lqr.py

Last active April 2, 2017 22:45 — forked from jeiting/lqr.py

Iterative LQR in OpenAI's CartPole Environment

	#! /usr/local/bin/python3
	import gym
	import numpy as np

	env = gym.make('CartPole-v0').env

	x = env.reset()
	# x, xdot, theta, thetadot

	gamma = (4.0 / 3.0 - env.masspole / env.total_mass)