Install

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. Performance on MacOS not guaranteed.

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

      • You could get an error like error: numpy 1.11.0 is installed but numpy>=1.11.1 is required by set(['opencv-python']). In that case you may want to force to install the right version of numpy: pip install --upgrade --force-reinstall numpy

    5. Install perls2

      pip install -e .

  2. Run the simple reach example in sim python examples/simple_reach/run_simple_reach.py

Installation for Real Robot Control

Getting perls2 to work with real robots requires a few extra steps to set up the control pc (NUC) and workstations. See the instructions below:

Set up instructions for Franka Panda

Set up instructions for Rethink Sawyer