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Examples

Examples overview

1. Simple Reach Example
2. Switching between sim and real
3. Recording demonstrations and replaying actions

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

      • 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. For projects, in the config file change the data_dir key to the filepath for the perls2 data folder.

Run PERL demos

Check out the demos in the examples folder. 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