Examples

In this section several examples are given to illustrate the use of the library.

Basic usage

The following example shows how to use the library to move the robotic manipulators.

from adam_sim import Adam
from adam_sim.entities import Configuration, AdamInfo


def main():
    adam: Adam = Adam()

    initial_info: AdamInfo = adam.load()

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

    for _ in range(1000):
        adam.render()

        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)

        adam.right_manipulator.set_to(right_configuration)
        adam.left_manipulator.set_to(left_configuration)

        info: AdamInfo = adam.step()

    adam.close()


if __name__ == '__main__':
    main()

The following examples shows how to control the manipulator through Inverse Kinematics

import numpy as np

from adam_sim import Adam
from adam_sim.entities import AdamInfo, Point


def main():
    adam: Adam = Adam()

    initial_info: AdamInfo = adam.load()

    x_path: np.ndarray = np.linspace(0.0, 1.0, 100)
    left_path: list[Point] = [initial_info.left_manipulator.end_effector.position + Point(x, 0.0, 0.0) for x in x_path]
    right_path: list[Point] = [initial_info.right_manipulator.end_effector.position + Point(x, 0.0, 0.0) for x in x_path]

    for left_point, right_point in zip(left_path, right_path):
        adam.render()

        adam.left_manipulator.move_to(left_point)
        adam.right_manipulator.move_to(right_point)

        info: AdamInfo = adam.step()

    adam.close()


if __name__ == '__main__':
    main()

The following code lets the user control both manipulators.

from adam_sim import Adam
from adam_sim.entities import AdamInfo


def main():
    adam: Adam = Adam()

    initial_info: AdamInfo = adam.load()

    while True:
        adam.render()

        adam.left_manipulator.control()
        adam.right_manipulator.control()

        info: AdamInfo = adam.step()


if __name__ == '__main__':
    main()

DataManager usage

The following code shoes how to load the test configurations and then save them into a file

from adam_sim import Adam, DataManager
from adam_sim.entities import Configuration, AdamInfo, Point


def main():
    adam: Adam = Adam()
    initial_info: AdamInfo = adam.load()

    configuration_list: list[Configuration] = DataManager.load_configurations('test')

    end_effector_positions: list[Point] = [initial_info.left_manipulator.systems[-1].position]

    for configuration in configuration_list:
        adam.render()

        adam.left_manipulator.set_to(configuration)
        info: AdamInfo = adam.step()

        end_effector_positions.append(info.left_manipulator.systems[-1].position)

    adam.close()

    DataManager.save_end_effector_positions('end_effector_positions_test.csv', end_effector_positions)


if __name__ == '__main__':
    main()

Communication Usage

The following code shows how to use the communication library to send and receive data from the real robot.

from adam_sim import Adam
from adam_sim.entities import Configuration, AdamInfo

def main():
    adam: Adam = Adam()
    info: AdamInfo = adam.connect('localhost', 1883, rate=10)

    for _ in range(10):
        left_configuration = info.left_manipulator.configuration + Configuration(0.0, 0.0, 0.0, 0.0, 0.0, 0.1)

        adam.left_manipulator.set_to(left_configuration)

        info = adam.step()

    adam.close()


if __name__ == '__main__':
    main()