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Max Spahn
planarEnvs
Commits
6d614b89
Commit
6d614b89
authored
3 years ago
by
Max Spahn
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Adds readme and adds casadi as dependency
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#42882
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3 years ago
Stage: build
Stage: test
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README.md
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README.md
setup.py
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### 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
)
```
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setup.py
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...
@@ -4,5 +4,6 @@ setup(
...
@@ -4,5 +4,6 @@ setup(
name
=
"
planarEnvs
"
,
name
=
"
planarEnvs
"
,
version
=
'
0.0.1
'
,
version
=
'
0.0.1
'
,
install_requires
=
[
'
gym
'
,
install_requires
=
[
'
gym
'
,
'
numpy
'
]
'
numpy
'
,
'
casadi
'
]
)
)
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