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 will be installed through pip installation, see below. It uses the lightweight implementation for forward kinematics in casadi.

Installation

Clone the repository

git clone git@github.com:maxspahn/gym_envs_planar.git

virtual environment installation using poetry

If you are not familiar with poetry see Poetry Installation. Once poetry is installed you can run

poetry install

If you want the motion planning scenes

poetry install -E scenes

The virtual environment with everything installed is entered with

poetry shell

global installation via pip

pip3 install .

When obstacles are required, you must use

pip3 install ".[scenes]"

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.

env = gym.make('nLink-reacher-tor-v0', n=3, dt=0.01, k=2.1)

Examples

For a constant controlled torque, the simulation is displayed below: