adam-sim 0.3.0

A simulator of ADAM (Autonomous Domestic Ambidextrous Manipulator), a mobile robot manipulator consisting of a base with two Degrees of Freedom (DoF) and two Universal Robots UR3 of 6 DoF each.

ADAM simulator

ADAM (Autonomous Domestic Ambidextrous Manipulator) is a mobile robot manipulator consisting of a base with two Degrees of Freedom (DoF) and two Universal Robots UR3 of 6 DoF each.

The simulation was built using MuJoCo, a free and open source physics engine designed from the ground up for the purpose of model-based optimization, and in particular optimization through contacts.

Installation

Follow the next steps for installing the simulation on your device.

Requierements:

• Ubuntu
• Python 3.10.0 or higher

Install miniconda (highly-recommended)

It is highly recommended to install all the dependencies on a new virtual environment. For more information check the conda documentation for installation and environment management. For creating the environment use the following commands on the terminal.

conda create -n adam python==3.10.8
conda activate adam

Install from pip

The ADAM simulator is available as a pip package. For installing it just use:

pip install adam-sim

Install from source

Firstly, clone the repository in your system.

git clone https://github.com/vistormu/adam_simulator.git

Then, enter the directory and install the required dependencies

cd adam_simulator
pip install -r requirements.txt

API Reference

Visit TMP

Minimal Working Examples

Basic Usage

In this example, ADAM moves the left and right wrist_2 continuously.

from adam import Simulation
from adam.entities import Configuration, Data


def main():
    sim: Simulation = Simulation()
    initial_data: Data = sim.load_scene()

    left_configuration: Configuration = initial_data.configuration.left_manipulator
    right_configuration: Configuration = initial_data.configuration.right_manipulator

    for _ in range(100):
        left_configuration += Configuration(0.0, 0.0, 0.0, 0.0, 0.1, 0.0)
        right_configuration -= Configuration(0.0, 0.0, 0.0, 0.0, 0.1, 0.0)

        sim.render()
        data: Data = sim.step(left_configuration, right_configuration)

    sim.close()


if __name__ == '__main__':
    main()

ConfigurationsManager example

In this example, the test configurations are loaded to the left manipulator.

from adam import Simulation, ConfigurationsManager
from adam.entities import Configuration, Data


def main():
    sim: Simulation = Simulation()
    initial_data: Data = sim.load_scene()

    configuration_list: list[Configuration] = ConfigurationsManager.load('test')

    for configuration in configuration_list:
        sim.render()

        data: Data = sim.step(configuration, initial_data.configuration.right_manipulator)

    sim.close()


if __name__ == '__main__':
    main()

MapMaker example

In this example, various bodies are created and then added to the scene

from adam import Simulation, MapMaker
from adam.entities import Data, Cube, Box, Capsule, Cylinder, Sphere


def main():
    directory_path: str = 'tests/assets/'
    filename: str = 'obstacles.xml'

    map_maker: MapMaker = MapMaker(directory_path+filename)

    # Cube 1
    cube_1: Cube = Cube('cube_1')
    cube_1.set_geometry(size=0.5, position=(0.5, 0.0, 0.0))
    cube_1.set_dynamics(mass=1.0)
    cube_1.set_appearance('#2f2f2f')

    # Cube 2
    cube_2: Cube = Cube('cube_2')
    cube_2.set_geometry(size=0.5, position=(1.0, 0.0, 0.0))
    cube_2.set_dynamics(mass=1.0)
    cube_2.set_appearance(color='#b64545', alpha=0.5)

    # Cube 3
    cube_3: Cube = Cube('cube_3')
    cube_3.set_geometry(size=0.5, position=(1.0, 0.0, 0.5))
    cube_3.set_appearance('#c4c476')

    # Cube 4
    cube_4: Cube = Cube('cube_4')
    cube_4.set_geometry(size=0.5, position=(0.5, 0.0, 0.5))

    # Box
    box: Box = Box('box')
    box.set_geometry(size=(0.2, 0.2, 0.5), position=(1.0, 0.0, 1.0))
    box.set_appearance(color=(0.2, 0.2, 0.2), alpha=0.2)

    # Capsule
    capsule: Capsule = Capsule('capsule')
    capsule.set_geometry(size=(0.2, 0.5), position=(0.5, -0.5, 0.0))

    # Cylinder
    cylinder: Cylinder = Cylinder('cylinder')
    cylinder.set_geometry(size=(0.2, 0.5), position=(1.0, -0.5, 0.0))

    # Sphere
    sphere: Sphere = Sphere('sphere')
    sphere.set_geometry(size=0.25, position=(0.5, -1.0, 0.0))

    map_maker.add_bodies([cube_1, cube_2, cube_3, cube_4, box, capsule, cylinder, sphere])
    map_maker.make()

    Simulation.export_scene(directory_path)
    map_maker.add_to(directory_path + 'scene.xml')

    sim: Simulation = Simulation()
    initial_data: Data = sim.load_scene('tests/assets/scene.xml')

    sim.extend_collisions({77: 'table'})

    for _ in range(1000):
        sim.step(initial_data.configuration.left_manipulator, initial_data.configuration.right_manipulator)
        sim.render()


if __name__ == '__main__':
    main()