adam-sim 0.4.0

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:

• Python 3.10.0 or higher

Note: The Adam Simulator works on Linux, Windows and Mac.

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==3.10.9
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

Documentation

The official documentation of the package is available on Read the Docs. Here you will find the installation instructions, the API reference and some minimal working examples.