Skip to content

🛠ī¸ PND Adam U Deploy SDK

PND Upper-Body Robot Development Kit Supports the complete workflow from source code building to simulation & real robot control.

🏗ī¸ Building from Source Code

Environment Requirements

  • Operating System: Ubuntu 22.04 (Mac/Windows are not currently supported)
  • Network Configuration: For real robot operation, the development machine and the robot's NUC must be on the same local area network.

đŸĸ Mujoco Deployment Process

1. Environment Preparation

  1. Mujoco Version: 3.2.0
  2. Git LFS for large file support:
sudo apt install git-lfs && git lfs install

2. Download and Launch pnd_adam_u_mujoco (Simulation Node)

  1. Open a terminal
git clone https://github.com/pndbotics/pnd_adam_u_mujoco.git && cd pnd_adam_u_mujoco
sudo ./run_pndrobotros2.sh mujoco

Note: The node is ready when the terminal prints TRUE

3. Download and Run pnd_adam_u_deploy (Control Node)

  1. Open a new terminal
git clone https://github.com/pndbotics/pnd_adam_u_deploy && cd pnd_adam_u_deploy
colcon build && sudo ./run.sh

Status Note: The control is ready after FSM start! is displayed

4. Joystick Control

  1. Ensure both the simulation and control nodes are running
  2. Ensure the joystick is successfully connected to the computer
  3. Control sequence: Once in simulation, press A → X → RB

đŸĸ Real Robot Deployment Process

1. Start the Robot Control Node

Open a terminal

ssh pnd-humanoid@192.168.41.xx
cd ~/Documents/adam_u_demo
sudo ./run_pndrobotros2.sh

节į‚šå¯åŠ¨æˆåŠŸ

Note: The node is ready when the terminal prints TRUE

2. Download and Run deploy

Open a new terminal

ssh pnd-humanoid@192.168.41.xx
git clone https://github.com/pndbotics/pnd_adam_u_deploy && cd pnd_adam_u_deploy
colcon build && sudo ./run.sh

į¨‹åēå°ąįģĒįŠļ态

Status Note: The control is ready after FSM start! is displayed

3. Joystick Control

  1. Ensure the control node is running
  2. Ensure the joystick is successfully connected to the robot's NUC
  3. Control sequence: Once control is active, press A → X → RB mujocoSim_adam_u

đŸ“Ļ Module Diagram

Adam_u_deploy

🔗 Joint Data Interface

1. Subscribe to /joint_cmd (Command Downstream)

Field Dimension Meaning
q_d 25 Joint Desired Position
q_dot_d 25 Joint Desired Velocity
tau_d 25 Joint Desired Torque
hands_d 12 Hand Desired Position

2. Subscribe to /robot_state (Actual State)

Field Dimension Meaning
q_a 25 Joint Actual Position
q_dot_a 25 Joint Actual Velocity
tau_a 25 Joint Actual Torque
hands_a 12 Hand Actual Position

đŸĻž Dimension Mapping Explanation

Body Joints (25 Dimensions)

Indexes Joint Name Part
0–5 Base Data Fixed
6 waistRoll Torso
7 waistPitch Torso
8 waistYaw Torso
9 neckYaw Neck
10 neckPitch Neck
11–17 Left Arm Joints Left Arm
18–24 Right Arm Joints Right Arm

Hand Data (12 Dimensions)

Index Range Corresponding
0–5 Left Hand
6–11 Right Hand

Single Hand Joint Mapping

Index Part
1 Pinky
2 Ring
3 Middle
4 Index
5 Thumb
6 Lateral

🎮 Joystick Control Protocol

Button Function Mapping

Button Combination Function Description
A All joints return to zero
X Toggle Ready state
B Damping mode lock
LB + RB Toggle joint power (Disabled)

Data Structure Definition

#define XBOX_TYPE_BUTTON 0x01
#define XBOX_TYPE_AXIS   0x02

// Button mapping
#define XBOX_BUTTON_A     0x00
#define XBOX_BUTTON_B     0x01
#define XBOX_BUTTON_X     0x03
#define XBOX_BUTTON_Y     0x04
#define XBOX_BUTTON_LB    0x06
#define XBOX_BUTTON_RB    0x07
#define XBOX_BUTTON_START 0x02
#define XBOX_BUTTON_BACK  0x05
#define XBOX_BUTTON_HOME  0x08
#define XBOX_BUTTON_LO    0x09  /* Left stick button */
#define XBOX_BUTTON_RO    0x0a  /* Right stick button */

// Stick and D-pad mapping
#define XBOX_AXIS_LX 0x00
#define XBOX_AXIS_LY 0x01
#define XBOX_AXIS_RX 0x02
#define XBOX_AXIS_RY 0x03
#define XBOX_AXIS_LT 0x05
#define XBOX_AXIS_RT 0x04
#define XBOX_AXIS_XX 0x06
#define XBOX_AXIS_YY 0x07

// Value definitions
#define XBOX_AXIS_VAL_UP    -32767
#define XBOX_AXIS_VAL_DOWN   32767
#define XBOX_AXIS_VAL_LEFT  -32767
#define XBOX_AXIS_VAL_RIGHT  32767
#define XBOX_AXIS_VAL_MIN   -32767
#define XBOX_AXIS_VAL_MAX    32767
#define XBOX_AXIS_VAL_MID    0x00

// Structure
typedef struct xbox_map {
  int time;
  int a, b, x, y;
  int lb, rb, start, back, home;
  int lo, ro;
  int lx, ly, rx, ry;
  int lt, rt, xx, yy;
} xbox_map_t;

đŸ”Ŗ Kp / Kd Parameter Explanation

In Simulation (Isaac Gym)

PD Controller:

\(\tau = K_p e_p + K_d e_v\)

  • $K_p$: Stiffness
  • $K_d$: Damping
  • $e_p$: Position error
  • $e_v$: Velocity error

On Real Robot Actuators

PID Controller:

\(I = P_p P_v e_p + P_v e_v\)
\(\tau' = g I K_t = g(P_p P_v K_t e_p + P_v K_t e_v)\)

  • $P_p$: Position loop proportional parameter
  • $P_v$: Velocity loop proportional parameter
  • $g$: Gear ratio
  • $K_t$: Torque constant

Sim-to-Real Parameter Relationship

When $ \tau = \tau' $ is satisfied:

\(K_p = g P_p P_v K_t\)
\(K_d = g P_v K_t\)
\(P_v = \frac{K_d}{K_t g}\)
\(P_p = \frac{K_p}{K_d}\)