Quick Development (Simulation)

This document introduces the use of pnd_sdk_python or pnd_ros2 for rapid development of Adam-U. It includes the simulation framework pnd_mujoco, which enables simulated emulation on the Mujoco platform on the user's computer.

System Environment

Development is recommended on Ubuntu 22.04 x86_64.
macOS and Windows are not supported at this time.

Mujoco Installation

# Install Mujoco platform
cd ~
pip3 install mujoco==3.2.0

# Install pnd_mujoco
cd ~
git clone https://github.com/pndbotics/pnd_mujoco.git

🔗 Reference: Mujoco, pnd_mujoco

SDK Installation

Select_sdk_type

pnd_sdk_pythonpnd_ros2

# Install system dependencies
sudo apt install libyaml-cpp-dev libspdlog-dev libboost-all-dev libglfw3-dev python3-pip

# Install Python SDK
cd ~
git clone https://github.com/pndbotics/pnd_sdk_python.git
cd pnd_sdk_python
sudo pip3 install -e .

🔗 Reference link: pnd_sdk_python

# Download & build pnd_ros2
git clone https://github.com/pndbotics/pnd_ros2.git
cd pnd_ros2
colcon build
source install/setup.bash

DDS is used by default. To switch to ROS2:

Open the configuration file config.py

cd ~
xdg-open ~/pnd_mujoco/simulate_python/config.py

Set the SDK type to ROS2:
```
SDK_TYPE="ROS2"
```

🔗 Reference link: pnd_ros2

Simulation Test

Modify the configuration file config.py according to the specific model.

# Open configuration file
cd ~
xdg-open ~/pnd_mujoco/simulate_python/config.py

Modify the first line of code to the Adam-U model.

ROBOT = "adam_u"

Start Mujoco.

cd ~/pnd_mujoco/simulate_python
python3 pnd_mujoco.py

mujoco_u

Open a new terminal.

# Run control example (pnd_sdk_python)
cd ~/pnd_sdk_python/example/low_level/adam_u
python3 open_arm.py 

# Or Run control example (pnd_ros2)
cd ~/pnd_ros2/example/low_level/adam_u
python3 adam_u_low_level_example.py

open_arm