As <a ui-sref="user({id:comment.commenter_obj.id})" href="https://www.italki.com/user/3977778" style="background-color: rgb(255, 255, 255);">sepideh</a> said one meaning of adventure is "Majerajoee/ماجراجویی" and one another is "Khatar kardan/خطر کردن=an experience in which is dangerous"

"to have an adventure" is Majerajoee dashtan/ماجراجویی داشتن  or Majerajoee kardan/ماجراجویی کردن

Thank You guys very much for the kind response. May You all have a good day. Bless you.