You need to sign in or sign up before continuing.
Newer
Older
### Generic Planar Robots
In this package, generic robot for simple tests are made available for gym environments.
## Dependencies
This package depends on casadi for dynamics generation and gym.
Dependencies should be installed through pip installation, see below.
## Installation
```bash
pip3 install -e .
```
## Switching
Environments can be created using the normal gym syntax.
For example the below code line creates a planar robot with 3 links and a constant k.
Actions are torques to the individual joints.
```python
env = gym.make('nLink-reacher-tor-v0', n=3, dt=0.01, k=2.1)
```