PND Adam-U Deploy

🏷️ Version Information

Version: v1.2.8
Release Date: 2026-05-22 Compatible System: Ubuntu 22.04 x86_64
Supported Platform: PND Adam-U Humanoid Robot

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🚀 New Features and Updates

• 🔧 New Deployment Scripts and Automation Support
  • Support for compiling pnd_service_dds and pnd_adam_dds modules from source
  • Built-in installation of cyclonedds and cyclonedds-cxx dependencies
• 🤖 Improved Simulation and Real Robot Control Flow
  • Added Mujoco simulation environment configuration and startup examples
  • Complete control link support for Zero / UserControl / Func / Stop modes
• 🎮 Xbox Controller Interaction Support
  • Built-in multi-mode mapping logic and safe exit mechanism
  • Action recording functionality written to pnd_adam_dds/logs/retarget_record.txt
• 🧠 Unified DDS Message Definitions
  • Added four message structures: rt/lowcmd, rt/lowstate, rt/handcmd, rt/handstate
  • Aligned C++ and Python SDK message interface formats
• 🧩 System Compatibility Optimization
  • Support for wired direct connection development mode (static IP 10.10.20.111)
  • Optimized network auto-discovery mechanism and secure disconnection recovery

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📦 Installation and Setup

1️⃣ Environment Dependencies

sudo apt update
sudo apt install -y libyaml-cpp-dev libspdlog-dev libboost-all-dev libglfw3-dev python3-pip

2️⃣ Install Cyclone DDS

git clone https://github.com/eclipse-cyclonedds/cyclonedds.git
cd cyclonedds && git checkout 0.10.2
mkdir build && cd build && cmake .. && make -j8
sudo make install && sudo ldconfig

3️⃣ Install Python SDK

git clone https://github.com/pndbotics/pnd_sdk_python.git
cd pnd_sdk_python
sudo pip3 install -e .

4️⃣ Install Simulation Environment

pip3 install mujoco pygame

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⚙️ Startup and Execution

Real Robot Mode

# Start the main robot process
ssh pnd-humanoid@192.168.41.xx
cd ~/Documents/adam_u_deploy_dds/pnd_service_dds
sudo ./run.sh

# Start the Adam-U control service
cd ~/Documents/adam_u_deploy_dds/pnd_adam_dds
sh run.sh

Simulation Mode

git clone https://github.com/pndbotics/pnd_mujoco.git
python3 pnd_mujoco/simulate_python/pnd_mujoco.py

📘 Structure and Protocol Description

• Message Topics
  • rt/lowcmd: Sends desired joint data
  • rt/lowstate: Subscribes to joint state
  • rt/handcmd: Sends hand control commands
  • rt/handstate: Subscribes to hand state
• Number of Actuators
  • Body: 19 joints
  • Hands: 12 degrees of freedom (6 for each hand)
• Control Parameters
  • Supports PD/PID control models and Sim-to-Real parameter mapping

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🧩 Example File Structure

pnd_adam_u_sdk/
├── docs/
│   ├── wiki/                      # Deployment documentation
│   ├── img/                       # Image resources
├── src/
│   ├── pnd_service_dds/               # Main robot DDS service
│   ├── pnd_adam_dds/               # Adam-U control node
├── scripts/
│   ├── install_deps.sh            # One-click dependency installation
│   ├── run_robot.sh               # Startup script
├── python/
│   ├── sdk/                       # Python SDK interface
└── README.md

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🔗 Related Repositories

Module	Repository Link
💡 SDK (Python)	pndbotics/pnd_sdk_python
🎮 Simulation Module	pndbotics/pnd_mujoco
🤖 Deployment Module	pndbotics/pnd_adam_u_sdk

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📜 Version Log

Version	Date	Updates
v1.2.5	2026-04-21	Update robot profile, joints configuration, and PND service runtime
v1.2.1	2026-01-28	Update default adam type
v1.2.0	2026-01-19	Align with Adam
v1.0.5	2025-12-30	Update hand type
v1.0.4	2025-12-10	Fix hand-related errors
v1.0.3	2025-11-20	Fix start hand position bug
v1.0.2	2025-11-20	Update user receive data
v1.0.1	2025-11-19	Fix stop2zero bug
v1.0.0	2025-11-11	First official release, supports integrated Adam-U deployment and simulation control
v0.9.0	2025-10-15	Beta version, added DDS message structure and Python SDK bindings

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🧠 Future Roadmap

• ✅ Support Isaac Gym high-speed simulation interface
• 🚧 Integrate ROS 2 DDS bridge (ROS 2 Humble)
• 🚀 Add finger action learning (retargeting replay)
• 📡 Support remote Web control API

Reference Documentation

• PND Adam U SDK