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 # Peng
+Peng is a minimal Rust-based quadrotor simulation pipeline. It includes a simulator, controller, and planner, providing a basic framework for simulating quadrotor dynamics and control.
+## Dependencies
+nalgebra
+rand
+rerun
+## Getting Started
+terminal 1
 ```
 cargo install rerun-cli 
-# terminal 1
 rerun
-# terminal 2
+```
+terminal 2
+```
 cargo run --release
 ```
+## Overview
+### Quadrotor Simulator
+Simulates dynamics with properties like position, velocity, orientation, and mass. Includes methods for updating dynamics with and without control inputs.
+### PID Controller
+Controls position and attitude with configurable gains for proportional, integral, and derivative terms.
+### Planners
+Includes a hover planner and a minimum jerk trajectory planner for generating movement commands.
+### Data Logging
+Logs simulation data for visualization using rerun.
+## License
+Licensed under the GPL-3.0 License. See the LICENSE file for details.
+
+## Why call it Peng?
+Peng (traditional Chinese: 鵬; simplified Chinese: 鹏; pinyin: péng; Wade–Giles: p'eng) or Dapeng (大鵬) is a giant bird that transforms from a Kun (鯤; 鲲; kūn; k'un) giant fish in Chinese mythology.
+Reference: https://en.wikipedia.org/wiki/Peng_(mythology)
+