Catalysis of the reactions: ATP + adenosylcobyric acid + (R)-1-aminopropan-2-yl phosphate = ADP + phosphate + adenosylcobinamide phosphate, and ATP + adenosylcobyric acid + (R)-1-aminopropan-2-ol = ADP + phosphate + adenosylcobinamide.
adenosylcobyric acid:(R)-1-aminopropan-2-yl phosphate ligase (ADP-forming)