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Commit 6d614b89 authored by Max Spahn's avatar Max Spahn
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Adds readme and adds casadi as dependency

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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)
```
...@@ -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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