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Add inverted-pendulum PPO example extension - #11
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Register `GeneLab-Inverted-Pendulum-v0` and `GeneLab-Double-Inverted-Pendulum-v0` under examples/inverted_pendulum/. Single PD-controlled cart drives one or two underactuated hinge poles through rsl_rl PPO on the existing ManagerBasedRlEnv + BodyVelocitySensor stack. Play mode enables `scene.mouse_interaction` for spring-force disturbance, with matching English/Chinese walkthrough pages and a registration smoke test.
KraHsu
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May 15, 2026
Add inverted-pendulum PPO example extension
KraHsu
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Jun 5, 2026
Add inverted-pendulum PPO example extension
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Summary
GeneLab-Inverted-Pendulum-v0andGeneLab-Double-Inverted-Pendulum-v0underexamples/inverted_pendulum/. A single PD-controlled cart drives one or two underactuated hinge poles through rsl_rl PPO on the existingManagerBasedRlEnv+BodyVelocitySensorstack.playmode enablesscene.mouse_interaction(from Add mouse-interaction plugin hook to ManagerBasedRlEnv #10) so a left-click + drag applies a spring force to the cart/pole while the policy keeps balancing.docs/examples/inverted-pendulum.{en,zh}.md),examples/overviewentries, a registration smoke test (tests/test_inverted_pendulum_examples.py), andpythonpathwiring inpyproject.tomlso the test suite imports the extension without installation.Test plan
uv run ruff checkuv run ruff format --checkuv run pyrightuv run pytest(includes the new registration smoke test)uv run mkdocs build --strictuv run genelab train GeneLab-Inverted-Pendulum-v0 --num-envs 64 --max-iterations 5(Genesis-dependent, skipped in CI).uv run genelab play GeneLab-Inverted-Pendulum-v0 --checkpoint <run>/model_150.pt --visand verify left-click drag perturbs the cart while the policy recovers.🤖 Generated with Claude Code