perls2: Perception and Robot Learning System

Index for documentation related to perls2. perls2 is a library that connects simulators, robots, cameras, sensors and controllers for robot learning experiments. It allows for easily switching between simulated and real robot experiments, and provides access to documented and validated robot controllers in joint space and operational space.

perls2

Introduction

• Introduction
• Install
• Quickstart
• Franka Panda Setup

Modules

• Environments
• World
• RobotInterfaces
• Controllers

Examples

• Simple Reach Example
• Examples: Objects
• Switching between Real and Sim Example
• Project Template

API

• Environment (Env)
  • Env
• World
  • World
  • BulletWorld
  • RealWorld
• Robot Interfaces
  • RobotInterface
  • BulletRobotInterface
  • BulletSawyerInterface
  • BulletPandaInterface
  • RealRobotInterface
  • RealSawyerInterface
  • RealPandaInterface
• Controller
  • Base Controller
  • Joint Impedance Controller
  • Joint Velocity Controller
  • Joint Torque Controller
  • EEImpedance Controller
  • EEPosture Controller
• Object Interface
  • ObjectInterface
  • BulletObjectInterface
• Camera Interface
  • CameraInterface
  • BulletCameraInterface

Real Robot Control

• Franka Panda Setup
• Set up NUC (Control PC) for the Franka Panda
• Set up workstation for Franka Panda
• Using the Franka Panda
• Rethink Sawyer Setup
• Sawyer NUC Setup
• Setup workstation for Rethink Sawyer
• Using the Rethink Sawyer Arm
• Redis Help
• Controller Demos

Real Cameras

• perls2 with Real Cameras

Indices and tables

• Index

• Module Index

• Search Page