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perls2

PErception and Robotic Learning System v2

perls2 provides robot software infrastructure for projects within SVL. It serves as a unified framework that connects both simulated and real robots, sensors, renders and simulation environments for performing robotics experiments.

The design document describes the goals, specifications and milestones for perls2 development.

Website and Read the docs

Design Document

New to perls2? Start Here

Installing

PERLS2 only supports python3.6 for the core libraries (python 2.7 is used for interfacing to robots that use ROS.) PERLS2 only supports ubuntu 16.04 and later.

Installing python 3.6

sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt-get update
sudo apt-get install python3.6

On Ubuntu 16.04

  1. Clone and install PERLs repo

    1. Clone repo:

      git clone https://github.com/StanfordVL/perls2.git

    2. Create a virtual environment, e.g.

      virtualenv -p python3.6 perls2env

    3. Source your virtual environment e.g.

      source perls2env/bin/activate

    4. Go to the perls2 directory and install requirements

      cd ~/perls2

      pip install -r requirements.txt

    5. Install perls2

      pip install -e .

Run an example

Check out the examples in the examples folder Overview

Intructions for each demo may be found in the README in each folder.

Example: Run simple reach demo

cd perls2

python examples/simple_reach/run_simple_reach.py

Setup for real robot control

Instructions for setting up perls2 with real robot control are specific to machine and robot type.

Setup instructions for Franka Panda Setup instructions for Rethink Sawyer