Adds readme and adds casadi as dependency

README.md

+### 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)
+```

setup.py

@@ -4,5 +4,6 @@ setup(
     name="planarEnvs",
     version='0.0.1',
     install_requires=['gym',
-                      'numpy']
+                      'numpy',
+                      'casadi']
 )