Quick Development (Simulation)

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

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](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

Control_example

Adam_LiteAdam_SPAdam_Pro

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 Lite model.

ROBOT = "adam_lite"

Start Mujoco.

cd ~/pnd_mujoco/simulate_python
python3 pnd_mujoco.py

mujoco_lite

Open a new terminal.

# Run control example (pnd_sdk_python)
cd ~/pnd_sdk_python/example/low_level/adam_lite
python3 adam_lite_low_level_example.py 

# Or Run control example (pnd_ros2)
cd ~/pnd_ros2/example/low_level/adam_lite
python3 adam_lite_low_level_example.py

The robot's ankle movement indicates that the example has run successfully.

low_level

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 SP model.

ROBOT = "adam_sp"

Start Mujoco.

cd ~/pnd_mujoco/simulate_python
python3 pnd_mujoco.py

mujoco_sp

Open a new terminal.

# Run control example (pnd_sdk_python)
cd ~/pnd_sdk_python/example/low_level/adam_sp
python3 adam_sp_low_level_example.py 

# Or Run control example (pnd_ros2)
cd ~/pnd_ros2/example/low_level/adam_sp
python3 adam_sp_low_level_example.py

The robot's ankle movement indicates that the example has run successfully.

low_level

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 Pro model.

ROBOT = "adam_pro"

Start Mujoco.

cd ~/pnd_mujoco/simulate_python
python3 pnd_mujoco.py

mujoco_pro

Open a new terminal.

# Run control example (pnd_sdk_python)
cd ~/pnd_sdk_python/example/low_level/adam_pro
python3 adam_pro_low_level_example.py

# Or Run control example (pnd_ros2)
cd ~/pnd_ros2/example/low_level/adam_pro
python3 adam_pro_low_level_example.py

The robot's ankle movement indicates that the example has run successfully.

low_level