When is $R \ltimes I$ an almost Gorenstein local ring?

Let $(R, \mathfrak{m})$ be a Gorenstein local ring of dimension $d > 0$ and let $I$ be an ideal of $R$ such that $(0) \ne I \subsetneq R$ and $R/I$ is a Cohen-Macaulay ring of dimension $d$. There is given a complete answer to the question of when the idealization $A = R \ltimes I$ of $I$ over $R$ is an almost Gorenstein local ring.