Quick Development (Simulation)

This document introduces rapid development for Adam-U using pnd_sdk_python. The accompanying simulation framework pnd_mujoco enables simulation capabilities.

System Environment

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

SDK Installation

# 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: pnd_sdk_python

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

Simulation Test

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

# Open configuration file
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

Open a new terminal.

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