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Adam_U_demo Version Updates & Feature Description

Basic Functions

Mode

The robot supports the following basic modes:

  1. Stop: Damping mode. Triggered by pressing LT+B. Initializes the robot state. Except for the waist PITCH and ROLL joints, all other joints enter damping mode.
  2. Zero: Zero return mode. Triggered by pressing A. The robot returns to the zero position.
  3. Func: Function mode. Triggered by pressing X. The robot enters function mode.
    • Predefined Actions: Pre-set actions are triggered sequentially by pressing RB.
    • Continuous Predefined Actions: Multiple predefined actions are executed continuously by pressing RT+RB. Pressing the combination again will stop the sequence after the current action finishes.
    • Teleoperation Data Reception: Enter teleoperation data reception mode using the D-pad xx(+).
    • Teleoperation Data Exit: Exit teleoperation data reception mode using the D-pad xx(-).
    • Data Recording: Record data by pressing LT+LB.
      • In Function mode, press LT+LB -> terminal prompts retarget log start record (recording starts). Press LT+LB again -> terminal prompts retarget log stop record (recording stops)
      • Recorded data files are saved in the logs directory under the filename retarget_record.txt
      • The recorded data includes the position information of all joints and fingers
      • Data order is as follows (31 data points total):
        • WaistROLL``PITCH``YAW
        • HeadYAW``PITCH
        • Left arm joints
        • Left hand fingers
        • Right arm joints
        • Right hand fingers
      • Action Replay Method: Copy the retarget_record.txt file from the logs directory to the install/cpp_demo/share/cpp_demo/resource/motion directory. This action can then be switched to during cyclic action playback.
  4. Robot Power Off: Triggered by pressing LB+RB
  5. Robot Power On: Triggered by pressing Y+B

Project Structure

The following is the configuration folder structure of the project:

  • install/: Contains library files, executable files, resource files, and configuration files.
  • logs/: Log folder, containing robot operation log files.
  • run.sh: Script file for starting the robot software.
  • run_pndrobotros2.sh: Script file for starting the robot's SDK developed based on ROS2. Running this script only starts the robot SDK. Controlling the robot's movement requires starting another project from the open-source library. For specific operation methods, refer to the PND Adam U Deploy SDK page.