Quick Development (Simulation)

This document introduces quick development for Adam using pnd_sdk_python. The accompanying simulation framework pnd_mujoco enables simulation capabilities directly on the user's computer.

System Environment

It is recommended to perform development on Ubuntu 22.04 x86_64. Mac and Windows are currently not supported.

Install SDK

# 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](https://github.com/pndbotics/pnd_sdk_python.git)
cd pnd_sdk_python && sudo pip3 install -e .

🔗 Reference: pnd_sdk_python

Install Mujoco

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

# Install pnd_mujoco
cd ~
git clone [https://github.com/pndbotics/pnd_mujoco.git](https://github.com/pndbotics/pnd_mujoco.git)

🔗 Reference: Mujoco, pnd_mujoco

Simulation Test

Control_example

Adam_LiteAdam_SPAdam_Pro

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 Lite model.

ROBOT = "adam_lite"

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_lite
python3 open_arm.py 

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 SP model.

ROBOT = "adam_sp"

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_sp
python3 open_arm.py 

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 Pro model.

ROBOT = "adam_pro"

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_pro
python3 open_arm.py