Fix cartpole dynamics equations #449
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Two algebraic errors in the physics: 1. polemass_length was total_mass + pole_mass, should be pole_mass * pole_length 2. thetaacc denominator used total_mass where it should use pole_mass Reference: Florian's cart-pole dynamics (equations 23 and 24) Fixes PufferAI#447
Was not aware of #447 at time of writing. |
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Summary
polemass_lengthwastotal_mass + pole_mass, should bepole_mass * pole_lengththetaaccdenominator usedtotal_masswhere it should usepole_massReference
Florian's cart-pole dynamics paper (equations 23 and 24)
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