Introduction

perls2_map 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.

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Features

perls2 makes it easier to run experiments on real robots. Code for running experiments is agnostic to the simulation / reality. This means that code written for simulation can be made to run on real robots, just by changing a single config key. It is also easy to switch between the different robots offered in the lab.

Available Robots, Cameras and Renderers

perls2_features

Controllers

perls2 offers consistent robot control between simulated and real robots through a unified torque-based library of robot controllers. This makes it easy to explore different action spaces and forms for robot control. Current controllers include:

  • Joint Impedance

  • Operational Space Control

  • Joint Velocity

  • Joint Torque

Easily switch from sim to real.

perls2_switch

Why use perls2?

Additionally, perls2 offers consistent robot control between simulated and real robots through a unified torque-based library of robot controllers. This makes it easy to explore different action spaces and forms for robot control. Current controllers include:

  • Joint Impedance

  • Operational Space Control

  • Joint Velocity

  • Joint Torque

All controllers have been validated to meet specifications and performance metrics.

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.

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 PERL demos

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

Acknowledgements:

The following icons from the Noun Project are used through out this website: